Index: trunk/src/toolbox_calib/check_active_images.m =================================================================== --- trunk/src/toolbox_calib/check_active_images.m (revision 924) +++ trunk/src/toolbox_calib/check_active_images.m (revision 926) @@ -1,20 +1,2 @@ -%======================================================================= -% Copyright 2008-2016, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France -% http://www.legi.grenoble-inp.fr -% Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr -% -% This file is part of the toolbox UVMAT. -% -% UVMAT is free software; you can redistribute it and/or modify -% it under the terms of the GNU General Public License as published -% by the Free Software Foundation; either version 2 of the license, -% or (at your option) any later version. -% -% UVMAT is distributed in the hope that it will be useful, -% but WITHOUT ANY WARRANTY; without even the implied warranty of -% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -% GNU General Public License (see LICENSE.txt) for more details. -%======================================================================= - if n_ima ~= 0, @@ -35,5 +17,5 @@ if prod(double(active_images == 0)), disp('Error: There is no active image. Run Add/Suppress images to add images'); - break + return; end; Index: trunk/src/toolbox_calib/check_directory.m =================================================================== --- trunk/src/toolbox_calib/check_directory.m (revision 924) +++ trunk/src/toolbox_calib/check_directory.m (revision 926) @@ -1,20 +1,2 @@ -%======================================================================= -% Copyright 2008-2016, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France -% http://www.legi.grenoble-inp.fr -% Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr -% -% This file is part of the toolbox UVMAT. -% -% UVMAT is free software; you can redistribute it and/or modify -% it under the terms of the GNU General Public License as published -% by the Free Software Foundation; either version 2 of the license, -% or (at your option) any later version. -% -% UVMAT is distributed in the hope that it will be useful, -% but WITHOUT ANY WARRANTY; without even the implied warranty of -% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -% GNU General Public License (see LICENSE.txt) for more details. -%======================================================================= - % This small script looks in the direcory and checks if the images are there. % Index: trunk/src/toolbox_calib/check_extracted_images.m =================================================================== --- trunk/src/toolbox_calib/check_extracted_images.m (revision 924) +++ trunk/src/toolbox_calib/check_extracted_images.m (revision 926) @@ -1,20 +1,2 @@ -%======================================================================= -% Copyright 2008-2016, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France -% http://www.legi.grenoble-inp.fr -% Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr -% -% This file is part of the toolbox UVMAT. -% -% UVMAT is free software; you can redistribute it and/or modify -% it under the terms of the GNU General Public License as published -% by the Free Software Foundation; either version 2 of the license, -% or (at your option) any later version. -% -% UVMAT is distributed in the hope that it will be useful, -% but WITHOUT ANY WARRANTY; without even the implied warranty of -% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -% GNU General Public License (see LICENSE.txt) for more details. -%======================================================================= - check_active_images; Index: trunk/src/toolbox_calib/click_calib.m =================================================================== --- trunk/src/toolbox_calib/click_calib.m (revision 924) +++ trunk/src/toolbox_calib/click_calib.m (revision 926) @@ -1,20 +1,2 @@ -%======================================================================= -% Copyright 2008-2016, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France -% http://www.legi.grenoble-inp.fr -% Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr -% -% This file is part of the toolbox UVMAT. -% -% UVMAT is free software; you can redistribute it and/or modify -% it under the terms of the GNU General Public License as published -% by the Free Software Foundation; either version 2 of the license, -% or (at your option) any later version. -% -% UVMAT is distributed in the hope that it will be useful, -% but WITHOUT ANY WARRANTY; without even the implied warranty of -% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -% GNU General Public License (see LICENSE.txt) for more details. -%======================================================================= - %if exist('images_read'); % active_images = active_images & images_read; Index: trunk/src/toolbox_calib/comp_distortion_oulu.m =================================================================== --- trunk/src/toolbox_calib/comp_distortion_oulu.m (revision 924) +++ trunk/src/toolbox_calib/comp_distortion_oulu.m (revision 926) @@ -1,20 +1,2 @@ -%======================================================================= -% Copyright 2008-2016, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France -% http://www.legi.grenoble-inp.fr -% Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr -% -% This file is part of the toolbox UVMAT. -% -% UVMAT is free software; you can redistribute it and/or modify -% it under the terms of the GNU General Public License as published -% by the Free Software Foundation; either version 2 of the license, -% or (at your option) any later version. -% -% UVMAT is distributed in the hope that it will be useful, -% but WITHOUT ANY WARRANTY; without even the implied warranty of -% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -% GNU General Public License (see LICENSE.txt) for more details. -%======================================================================= - function [x] = comp_distortion_oulu(xd,k); Index: trunk/src/toolbox_calib/comp_error_calib.m =================================================================== --- trunk/src/toolbox_calib/comp_error_calib.m (revision 924) +++ trunk/src/toolbox_calib/comp_error_calib.m (revision 926) @@ -1,20 +1,2 @@ -%======================================================================= -% Copyright 2008-2016, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France -% http://www.legi.grenoble-inp.fr -% Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr -% -% This file is part of the toolbox UVMAT. -% -% UVMAT is free software; you can redistribute it and/or modify -% it under the terms of the GNU General Public License as published -% by the Free Software Foundation; either version 2 of the license, -% or (at your option) any later version. -% -% UVMAT is distributed in the hope that it will be useful, -% but WITHOUT ANY WARRANTY; without even the implied warranty of -% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -% GNU General Public License (see LICENSE.txt) for more details. -%======================================================================= - %%%%%%%%%%%%%%%%%%%% RECOMPUTES THE REPROJECTION ERROR %%%%%%%%%%%%%%%%%%%%%%%% Index: trunk/src/toolbox_calib/comp_ext_calib.m =================================================================== --- trunk/src/toolbox_calib/comp_ext_calib.m (revision 924) +++ trunk/src/toolbox_calib/comp_ext_calib.m (revision 926) @@ -1,20 +1,2 @@ -%======================================================================= -% Copyright 2008-2016, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France -% http://www.legi.grenoble-inp.fr -% Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr -% -% This file is part of the toolbox UVMAT. -% -% UVMAT is free software; you can redistribute it and/or modify -% it under the terms of the GNU General Public License as published -% by the Free Software Foundation; either version 2 of the license, -% or (at your option) any later version. -% -% UVMAT is distributed in the hope that it will be useful, -% but WITHOUT ANY WARRANTY; without even the implied warranty of -% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -% GNU General Public License (see LICENSE.txt) for more details. -%======================================================================= - %%% Computes the extrinsic parameters for all the active calibration images Index: trunk/src/toolbox_calib/compute_extrinsic.m =================================================================== --- trunk/src/toolbox_calib/compute_extrinsic.m (revision 924) +++ trunk/src/toolbox_calib/compute_extrinsic.m (revision 926) @@ -1,20 +1,2 @@ -%======================================================================= -% Copyright 2008-2016, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France -% http://www.legi.grenoble-inp.fr -% Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr -% -% This file is part of the toolbox UVMAT. -% -% UVMAT is free software; you can redistribute it and/or modify -% it under the terms of the GNU General Public License as published -% by the Free Software Foundation; either version 2 of the license, -% or (at your option) any later version. -% -% UVMAT is distributed in the hope that it will be useful, -% but WITHOUT ANY WARRANTY; without even the implied warranty of -% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -% GNU General Public License (see LICENSE.txt) for more details. -%======================================================================= - function [omckk,Tckk,Rckk,H,x,ex,JJ] = compute_extrinsic(x_kk,X_kk,fc,cc,kc,alpha_c,MaxIter,thresh_cond), Index: trunk/src/toolbox_calib/compute_extrinsic_init.m =================================================================== --- trunk/src/toolbox_calib/compute_extrinsic_init.m (revision 924) +++ trunk/src/toolbox_calib/compute_extrinsic_init.m (revision 926) @@ -1,20 +1,2 @@ -%======================================================================= -% Copyright 2008-2016, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France -% http://www.legi.grenoble-inp.fr -% Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr -% -% This file is part of the toolbox UVMAT. -% -% UVMAT is free software; you can redistribute it and/or modify -% it under the terms of the GNU General Public License as published -% by the Free Software Foundation; either version 2 of the license, -% or (at your option) any later version. -% -% UVMAT is distributed in the hope that it will be useful, -% but WITHOUT ANY WARRANTY; without even the implied warranty of -% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -% GNU General Public License (see LICENSE.txt) for more details. -%======================================================================= - function [omckk,Tckk,Rckk] = compute_extrinsic_init(x_kk,X_kk,fc,cc,kc,alpha_c), Index: trunk/src/toolbox_calib/compute_extrinsic_refine.m =================================================================== --- trunk/src/toolbox_calib/compute_extrinsic_refine.m (revision 924) +++ trunk/src/toolbox_calib/compute_extrinsic_refine.m (revision 926) @@ -1,20 +1,2 @@ -%======================================================================= -% Copyright 2008-2016, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France -% http://www.legi.grenoble-inp.fr -% Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr -% -% This file is part of the toolbox UVMAT. -% -% UVMAT is free software; you can redistribute it and/or modify -% it under the terms of the GNU General Public License as published -% by the Free Software Foundation; either version 2 of the license, -% or (at your option) any later version. -% -% UVMAT is distributed in the hope that it will be useful, -% but WITHOUT ANY WARRANTY; without even the implied warranty of -% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -% GNU General Public License (see LICENSE.txt) for more details. -%======================================================================= - function [omckk,Tckk,Rckk,JJ] = compute_extrinsic_refine(omc_init,Tc_init,x_kk,X_kk,fc,cc,kc,alpha_c,MaxIter,thresh_cond), Index: trunk/src/toolbox_calib/compute_homography.m =================================================================== --- trunk/src/toolbox_calib/compute_homography.m (revision 924) +++ trunk/src/toolbox_calib/compute_homography.m (revision 926) @@ -1,20 +1,2 @@ -%======================================================================= -% Copyright 2008-2016, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France -% http://www.legi.grenoble-inp.fr -% Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr -% -% This file is part of the toolbox UVMAT. -% -% UVMAT is free software; you can redistribute it and/or modify -% it under the terms of the GNU General Public License as published -% by the Free Software Foundation; either version 2 of the license, -% or (at your option) any later version. -% -% UVMAT is distributed in the hope that it will be useful, -% but WITHOUT ANY WARRANTY; without even the implied warranty of -% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -% GNU General Public License (see LICENSE.txt) for more details. -%======================================================================= - function [H,Hnorm,inv_Hnorm] = compute_homography(m,M); Index: trunk/src/toolbox_calib/data_calib.m =================================================================== --- trunk/src/toolbox_calib/data_calib.m (revision 924) +++ trunk/src/toolbox_calib/data_calib.m (revision 926) @@ -1,20 +1,2 @@ -%======================================================================= -% Copyright 2008-2016, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France -% http://www.legi.grenoble-inp.fr -% Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr -% -% This file is part of the toolbox UVMAT. -% -% UVMAT is free software; you can redistribute it and/or modify -% it under the terms of the GNU General Public License as published -% by the Free Software Foundation; either version 2 of the license, -% or (at your option) any later version. -% -% UVMAT is distributed in the hope that it will be useful, -% but WITHOUT ANY WARRANTY; without even the implied warranty of -% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -% GNU General Public License (see LICENSE.txt) for more details. -%======================================================================= - %%% This script alets the user enter the name of the images (base name, numbering scheme,... @@ -41,5 +23,5 @@ if s_tot < 1, fprintf(1,'No image in this directory in either ras, bmp, tif, pgm, ppm or jpg format. Change directory and try again.\n'); - break; + return; end; Index: trunk/src/toolbox_calib/extract_parameters.m =================================================================== --- trunk/src/toolbox_calib/extract_parameters.m (revision 924) +++ trunk/src/toolbox_calib/extract_parameters.m (revision 926) @@ -1,19 +1,2 @@ -%======================================================================= -% Copyright 2008-2016, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France -% http://www.legi.grenoble-inp.fr -% Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr -% -% This file is part of the toolbox UVMAT. -% -% UVMAT is free software; you can redistribute it and/or modify -% it under the terms of the GNU General Public License as published -% by the Free Software Foundation; either version 2 of the license, -% or (at your option) any later version. -% -% UVMAT is distributed in the hope that it will be useful, -% but WITHOUT ANY WARRANTY; without even the implied warranty of -% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -% GNU General Public License (see LICENSE.txt) for more details. -%======================================================================= %%% Extraction of the final intrinsic and extrinsic paramaters: Index: trunk/src/toolbox_calib/go_calib_optim.m =================================================================== --- trunk/src/toolbox_calib/go_calib_optim.m (revision 924) +++ trunk/src/toolbox_calib/go_calib_optim.m (revision 926) @@ -1,20 +1,2 @@ -%======================================================================= -% Copyright 2008-2016, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France -% http://www.legi.grenoble-inp.fr -% Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr -% -% This file is part of the toolbox UVMAT. -% -% UVMAT is free software; you can redistribute it and/or modify -% it under the terms of the GNU General Public License as published -% by the Free Software Foundation; either version 2 of the license, -% or (at your option) any later version. -% -% UVMAT is distributed in the hope that it will be useful, -% but WITHOUT ANY WARRANTY; without even the implied warranty of -% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -% GNU General Public License (see LICENSE.txt) for more details. -%======================================================================= - %go_calib_optim % @@ -48,7 +30,4 @@ %For now, if using a 3D calibration rig, set quick_init to 1 for an easy initialization of the focal length -if ~exist('rosette_calibration','var') - rosette_calibration = 0; -end; if ~exist('n_ima'), @@ -59,44 +38,22 @@ check_active_images; - check_extracted_images; - check_active_images; - desactivated_images = []; recompute_extrinsic = (length(ind_active) < 100); % if there are too many images, do not spend time recomputing the extrinsic parameters twice.. -if (rosette_calibration) - %%% Special Setting for the Rosette: - est_dist = ones(5,1); -end; - - %%% MAIN OPTIMIZATION CALL!!!!! (look into this function for the details of implementation) go_calib_optim_iter; - if ~isempty(desactivated_images), - param_list_save = param_list; - fprintf(1,'\nNew optimization including the images that have been deactivated during the previous optimization.\n'); active_images(desactivated_images) = ones(1,length(desactivated_images)); desactivated_images = []; - go_calib_optim_iter; - if ~isempty(desactivated_images), fprintf(1,['List of images left desactivated: ' num2str(desactivated_images) '\n' ] ); end; - param_list = [param_list_save(:,1:end-1) param_list]; - end; - - -%%%%%%%%%%%%%%%%%%%% GRAPHICAL OUTPUT %%%%%%%%%%%%%%%%%%%%%%%% - -%graphout_calib; - Index: trunk/src/toolbox_calib/go_calib_optim_iter.m =================================================================== --- trunk/src/toolbox_calib/go_calib_optim_iter.m (revision 924) +++ trunk/src/toolbox_calib/go_calib_optim_iter.m (revision 926) @@ -1,20 +1,2 @@ -%======================================================================= -% Copyright 2008-2016, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France -% http://www.legi.grenoble-inp.fr -% Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr -% -% This file is part of the toolbox UVMAT. -% -% UVMAT is free software; you can redistribute it and/or modify -% it under the terms of the GNU General Public License as published -% by the Free Software Foundation; either version 2 of the license, -% or (at your option) any later version. -% -% UVMAT is distributed in the hope that it will be useful, -% but WITHOUT ANY WARRANTY; without even the implied warranty of -% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -% GNU General Public License (see LICENSE.txt) for more details. -%======================================================================= - %go_calib_optim_iter % @@ -114,4 +96,5 @@ check_active_images; + quick_init = 0; % Set to 1 for using a quick init (necessary when using 3D rigs) @@ -169,5 +152,5 @@ if isequal(est_fc,[0;1]), fprintf(1,'The second component of focal (fc(1)) is estimated, but not the first one (est_fc=[0;1])\n'); - else + else fprintf(1,'The focal vector fc is not optimized (est_fc=[0;0])\n'); end; @@ -236,9 +219,8 @@ alpha_smooth = 0.1; % set alpha_smooth = 1; for steepest gradient descent -% alpha_smooth = 0.01; % modified L. Gostiaux % Conditioning threshold for view rejection -thresh_cond = 1e5; +thresh_cond = 1e6; @@ -260,6 +242,4 @@ end; - - if ~exist('alpha_c'), fprintf(1,'Initialization of the image skew to zero.\n'); @@ -268,5 +248,5 @@ end; -if ~exist('fc')& quick_init, +if ~exist('fc') && quick_init, FOV_angle = 35; % Initial camera field of view in degrees fprintf(1,['Initialization of the focal length to a FOV of ' num2str(FOV_angle) ' degrees.\n']); @@ -340,5 +320,5 @@ -while (change > 1e-2)&(iter < MaxIter), +while (change > 1e-9) && (iter < MaxIter), fprintf(1,'%d...',iter+1); @@ -602,5 +582,5 @@ solution_error = param_error; -if ~est_aspect_ratio & isequal(est_fc,[1;1]), +if ~est_aspect_ratio && isequal(est_fc,[1;1]), solution_error(2) = solution_error(1); end; @@ -615,8 +595,8 @@ fprintf(1,'\n\nCalibration results after optimization (with uncertainties):\n\n'); -fprintf(1,'Focal Length: fc = [ %3.5f %3.5f ] ? [ %3.5f %3.5f ]\n',[fc;fc_error]); -fprintf(1,'Principal point: cc = [ %3.5f %3.5f ] ? [ %3.5f %3.5f ]\n',[cc;cc_error]); -fprintf(1,'Skew: alpha_c = [ %3.5f ] ? [ %3.5f ] => angle of pixel axes = %3.5f ? %3.5f degrees\n',[alpha_c;alpha_c_error],90 - atan(alpha_c)*180/pi,atan(alpha_c_error)*180/pi); -fprintf(1,'Distortion: kc = [ %3.5f %3.5f %3.5f %3.5f %5.5f ] ? [ %3.5f %3.5f %3.5f %3.5f %5.5f ]\n',[kc;kc_error]); +fprintf(1,'Focal Length: fc = [ %3.5f %3.5f ] +/- [ %3.5f %3.5f ]\n',[fc;fc_error]); +fprintf(1,'Principal point: cc = [ %3.5f %3.5f ] +/- [ %3.5f %3.5f ]\n',[cc;cc_error]); +fprintf(1,'Skew: alpha_c = [ %3.5f ] +/- [ %3.5f ] => angle of pixel axes = %3.5f +/- %3.5f degrees\n',[alpha_c;alpha_c_error],90 - atan(alpha_c)*180/pi,atan(alpha_c_error)*180/pi); +fprintf(1,'Distortion: kc = [ %3.5f %3.5f %3.5f %3.5f %5.5f ] +/- [ %3.5f %3.5f %3.5f %3.5f %5.5f ]\n',[kc;kc_error]); fprintf(1,'Pixel error: err = [ %3.5f %3.5f ]\n\n',err_std); fprintf(1,'Note: The numerical errors are approximately three times the standard deviations (for reference).\n\n\n') @@ -630,5 +610,5 @@ alpha_c_max = alpha_c + alpha_c_error/2; -if (alpha_c_min < 0) & (alpha_c_max > 0), +if (alpha_c_min < 0) && (alpha_c_max > 0), fprintf(1,'Recommendation: The skew coefficient alpha_c is found to be equal to zero (within its uncertainty).\n'); fprintf(1,' You may want to reject it from the optimization by setting est_alpha=0 and run Calibration\n\n'); @@ -640,5 +620,5 @@ prob_kc = (kc_min < 0) & (kc_max > 0); -if ~(prob_kc(3) & prob_kc(4)) +if ~(prob_kc(3) && prob_kc(4)) prob_kc(3:4) = [0;0]; end; Index: trunk/src/toolbox_calib/ima_read_calib.m =================================================================== --- trunk/src/toolbox_calib/ima_read_calib.m (revision 924) +++ trunk/src/toolbox_calib/ima_read_calib.m (revision 926) @@ -1,19 +1,2 @@ -%======================================================================= -% Copyright 2008-2016, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France -% http://www.legi.grenoble-inp.fr -% Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr -% -% This file is part of the toolbox UVMAT. -% -% UVMAT is free software; you can redistribute it and/or modify -% it under the terms of the GNU General Public License as published -% by the Free Software Foundation; either version 2 of the license, -% or (at your option) any later version. -% -% UVMAT is distributed in the hope that it will be useful, -% but WITHOUT ANY WARRANTY; without even the implied warranty of -% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -% GNU General Public License (see LICENSE.txt) for more details. -%======================================================================= if ~exist('calib_name')|~exist('format_image'), Index: trunk/src/toolbox_calib/init_intrinsic_param.m =================================================================== --- trunk/src/toolbox_calib/init_intrinsic_param.m (revision 924) +++ trunk/src/toolbox_calib/init_intrinsic_param.m (revision 926) @@ -1,20 +1,2 @@ -%======================================================================= -% Copyright 2008-2016, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France -% http://www.legi.grenoble-inp.fr -% Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr -% -% This file is part of the toolbox UVMAT. -% -% UVMAT is free software; you can redistribute it and/or modify -% it under the terms of the GNU General Public License as published -% by the Free Software Foundation; either version 2 of the license, -% or (at your option) any later version. -% -% UVMAT is distributed in the hope that it will be useful, -% but WITHOUT ANY WARRANTY; without even the implied warranty of -% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -% GNU General Public License (see LICENSE.txt) for more details. -%======================================================================= - %init_intrinsic_param % Index: trunk/src/toolbox_calib/is3D.m =================================================================== --- trunk/src/toolbox_calib/is3D.m (revision 924) +++ trunk/src/toolbox_calib/is3D.m (revision 926) @@ -1,20 +1,2 @@ -%======================================================================= -% Copyright 2008-2016, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France -% http://www.legi.grenoble-inp.fr -% Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr -% -% This file is part of the toolbox UVMAT. -% -% UVMAT is free software; you can redistribute it and/or modify -% it under the terms of the GNU General Public License as published -% by the Free Software Foundation; either version 2 of the license, -% or (at your option) any later version. -% -% UVMAT is distributed in the hope that it will be useful, -% but WITHOUT ANY WARRANTY; without even the implied warranty of -% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -% GNU General Public License (see LICENSE.txt) for more details. -%======================================================================= - function test = is3D(X), Index: trunk/src/toolbox_calib/mosaic.m =================================================================== --- trunk/src/toolbox_calib/mosaic.m (revision 924) +++ trunk/src/toolbox_calib/mosaic.m (revision 926) @@ -1,19 +1,2 @@ -%======================================================================= -% Copyright 2008-2016, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France -% http://www.legi.grenoble-inp.fr -% Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr -% -% This file is part of the toolbox UVMAT. -% -% UVMAT is free software; you can redistribute it and/or modify -% it under the terms of the GNU General Public License as published -% by the Free Software Foundation; either version 2 of the license, -% or (at your option) any later version. -% -% UVMAT is distributed in the hope that it will be useful, -% but WITHOUT ANY WARRANTY; without even the implied warranty of -% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -% GNU General Public License (see LICENSE.txt) for more details. -%======================================================================= if ~exist('I_1'), Index: trunk/src/toolbox_calib/normalize_pixel.m =================================================================== --- trunk/src/toolbox_calib/normalize_pixel.m (revision 924) +++ trunk/src/toolbox_calib/normalize_pixel.m (revision 926) @@ -1,20 +1,2 @@ -%======================================================================= -% Copyright 2008-2016, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France -% http://www.legi.grenoble-inp.fr -% Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr -% -% This file is part of the toolbox UVMAT. -% -% UVMAT is free software; you can redistribute it and/or modify -% it under the terms of the GNU General Public License as published -% by the Free Software Foundation; either version 2 of the license, -% or (at your option) any later version. -% -% UVMAT is distributed in the hope that it will be useful, -% but WITHOUT ANY WARRANTY; without even the implied warranty of -% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -% GNU General Public License (see LICENSE.txt) for more details. -%======================================================================= - function [xn] = normalize_pixel(x_kk,fc,cc,kc,alpha_c) Index: trunk/src/toolbox_calib/project_points2.m =================================================================== --- trunk/src/toolbox_calib/project_points2.m (revision 924) +++ trunk/src/toolbox_calib/project_points2.m (revision 926) @@ -1,20 +1,2 @@ -%======================================================================= -% Copyright 2008-2016, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France -% http://www.legi.grenoble-inp.fr -% Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr -% -% This file is part of the toolbox UVMAT. -% -% UVMAT is free software; you can redistribute it and/or modify -% it under the terms of the GNU General Public License as published -% by the Free Software Foundation; either version 2 of the license, -% or (at your option) any later version. -% -% UVMAT is distributed in the hope that it will be useful, -% but WITHOUT ANY WARRANTY; without even the implied warranty of -% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -% GNU General Public License (see LICENSE.txt) for more details. -%======================================================================= - function [xp,dxpdom,dxpdT,dxpdf,dxpdc,dxpdk,dxpdalpha] = project_points2(X,om,T,f,c,k,alpha) @@ -240,7 +222,7 @@ % Pixel coordinates: if length(f)>1, - xp = xd3 .* (f * ones(1,n)) + c*ones(1,n); + xp = xd3 .* (f(:) * ones(1,n)) + c(:)*ones(1,n); if nargout > 1, - coeff = reshape(f*ones(1,n),2*n,1); + coeff = reshape(f(:)*ones(1,n),2*n,1); dxpdom = (coeff*ones(1,3)) .* dxd3dom; dxpdT = (coeff*ones(1,3)) .* dxd3dT; Index: trunk/src/toolbox_calib/rigid_motion.m =================================================================== --- trunk/src/toolbox_calib/rigid_motion.m (revision 924) +++ trunk/src/toolbox_calib/rigid_motion.m (revision 926) @@ -1,20 +1,2 @@ -%======================================================================= -% Copyright 2008-2016, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France -% http://www.legi.grenoble-inp.fr -% Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr -% -% This file is part of the toolbox UVMAT. -% -% UVMAT is free software; you can redistribute it and/or modify -% it under the terms of the GNU General Public License as published -% by the Free Software Foundation; either version 2 of the license, -% or (at your option) any later version. -% -% UVMAT is distributed in the hope that it will be useful, -% but WITHOUT ANY WARRANTY; without even the implied warranty of -% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -% GNU General Public License (see LICENSE.txt) for more details. -%======================================================================= - function [Y,dYdom,dYdT] = rigid_motion(X,om,T); Index: trunk/src/toolbox_calib/rodrigues.m =================================================================== --- trunk/src/toolbox_calib/rodrigues.m (revision 924) +++ trunk/src/toolbox_calib/rodrigues.m (revision 926) @@ -1,20 +1,2 @@ -%======================================================================= -% Copyright 2008-2016, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France -% http://www.legi.grenoble-inp.fr -% Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr -% -% This file is part of the toolbox UVMAT. -% -% UVMAT is free software; you can redistribute it and/or modify -% it under the terms of the GNU General Public License as published -% by the Free Software Foundation; either version 2 of the license, -% or (at your option) any later version. -% -% UVMAT is distributed in the hope that it will be useful, -% but WITHOUT ANY WARRANTY; without even the implied warranty of -% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -% GNU General Public License (see LICENSE.txt) for more details. -%======================================================================= - function [out,dout]=rodrigues(in) @@ -206,6 +188,6 @@ wabs = sqrt(M(3,3)); - mvec = [M(1,2), M(2,3), M(1,3)]; - syn = ((mvec > 1e-4) - (mvec < -1e-4)); % robust sign() function + mvec = ([M(1,2), M(2,3), M(1,3)] + [M(2,1), M(3,2), M(3,1)])/2; + syn = ((mvec > eps) - (mvec < -eps)); % robust sign() function hash = syn * [9; 3; 1]; idx = find(hash == hashvec); @@ -231,16 +213,13 @@ %% test of the Jacobians: -%%%% TEST OF dRdom: +%% TEST OF dRdom: om = randn(3,1); dom = randn(3,1)/1000000; - [R1,dR1] = rodrigues(om); R2 = rodrigues(om+dom); - R2a = R1 + reshape(dR1 * dom,3,3); - gain = norm(R2 - R1)/norm(R2 - R2a) -%%% TEST OF dOmdR: +%% TEST OF dOmdR: om = randn(3,1); R = rodrigues(om); @@ -250,12 +229,9 @@ [omc,domdR] = rodrigues(R); [om2] = rodrigues(R+dR); - om_app = omc + domdR*dR(:); - gain = norm(om2 - omc)/norm(om2 - om_app) -%%% OTHER BUG: (FIXED NOW!!!) - +%% OTHER BUG: (FIXED NOW!!!) omu = randn(3,1); omu = omu/norm(omu) @@ -265,6 +241,5 @@ [om om2] -%%% NORMAL OPERATION - +%% NORMAL OPERATION om = randn(3,1); [R,dR]= rodrigues(om); @@ -272,14 +247,27 @@ [om om2] -return - -% Test: norm(om) = pi - +%% Test: norm(om) = pi u = randn(3,1); u = u / sqrt(sum(u.^2)); om = pi*u; R = rodrigues(om); - R2 = rodrigues(rodrigues(R)); - norm(R - R2) + +%% Another test case where norm(om)=pi from Chen Feng (June 27th, 2014) +R = [-0.950146567583153 -6.41765854280073e-05 0.311803617668748; ... + -6.41765854277654e-05 -0.999999917385145 -0.000401386434914383; ... + 0.311803617668748 -0.000401386434914345 0.950146484968298]; +om = rodrigues(R) +norm(om) - pi + +%% Another test case where norm(om)=pi from 䜙成义 (July 1st, 2014) +R = [-0.999920129411407 -6.68593208347372e-05 -0.0126384464118876; ... + 9.53007036072085e-05 -0.999997464662094 -0.00224979713751896; ... + -0.0126382639492467 -0.00225082189773293 0.999917600647740]; +om = rodrigues(R) +norm(om) - pi + + + +