Ignore:
Timestamp:
Feb 17, 2017, 12:17:59 PM (7 years ago)
Author:
g7moreau
Message:
  • Remove tab and end of line space
Location:
trunk/src/toolbox_calib
Files:
2 edited

Legend:

Unmodified
Added
Removed
  • trunk/src/toolbox_calib/init_intrinsic_param.m

    r926 r999  
    99%OUTPUT: fc: Camera focal length
    1010%        cc: Principal point coordinates
    11 %             kc: Distortion coefficients
     11%        kc: Distortion coefficients
    1212%        alpha_c: skew coefficient
    1313%        KK: The camera matrix (containing fc, cc and alpha_c)
     
    8989
    9090for kk=1:n_ima,
    91    
     91
    9292    if active_images(kk),
    93        
     93
    9494        eval(['Hkk = H_' num2str(kk) ';']);
    95        
    96         Hkk = Sub_cc * Hkk;   
    97        
     95
     96        Hkk = Sub_cc * Hkk;
     97
    9898        % Extract vanishing points (direct and diagonals):
    99        
     99
    100100        V_hori_pix = Hkk(:,1);
    101101        V_vert_pix = Hkk(:,2);
    102102        V_diag1_pix = (Hkk(:,1)+Hkk(:,2))/2;
    103103        V_diag2_pix = (Hkk(:,1)-Hkk(:,2))/2;
    104        
     104
    105105        V_hori_pix = V_hori_pix/norm(V_hori_pix);
    106106        V_vert_pix = V_vert_pix/norm(V_vert_pix);
    107107        V_diag1_pix = V_diag1_pix/norm(V_diag1_pix);
    108108        V_diag2_pix = V_diag2_pix/norm(V_diag2_pix);
    109        
     109
    110110        a1 = V_hori_pix(1);
    111111        b1 = V_hori_pix(2);
    112112        c1 = V_hori_pix(3);
    113        
     113
    114114        a2 = V_vert_pix(1);
    115115        b2 = V_vert_pix(2);
    116116        c2 = V_vert_pix(3);
    117        
     117
    118118        a3 = V_diag1_pix(1);
    119119        b3 = V_diag1_pix(2);
    120120        c3 = V_diag1_pix(3);
    121        
     121
    122122        a4 = V_diag2_pix(1);
    123123        b4 = V_diag2_pix(2);
    124124        c4 = V_diag2_pix(3);
    125        
     125
    126126        A_kk = [a1*a2  b1*b2;
    127127            a3*a4  b3*b4];
    128        
     128
    129129        b_kk = -[c1*c2;c3*c4];
    130        
    131        
     130
     131
    132132        A = [A;A_kk];
    133133        b = [b;b_kk];
    134        
     134
    135135    end;
    136    
     136
    137137end;
    138138
     
    148148end;
    149149
    150    
     150
    151151
    152152if two_focals_init
     
    185185fprintf(1,'Principal point:       cc = [ %3.5f   %3.5f ]\n',cc);
    186186fprintf(1,'Skew:             alpha_c = [ %3.5f ]   => angle of pixel = %3.5f degrees\n',alpha_c,90 - atan(alpha_c)*180/pi);
    187 fprintf(1,'Distortion:            kc = [ %3.5f   %3.5f   %3.5f   %3.5f   %5.5f ]\n',kc);   
     187fprintf(1,'Distortion:            kc = [ %3.5f   %3.5f   %3.5f   %3.5f   %5.5f ]\n',kc);
  • trunk/src/toolbox_calib/normalize_pixel.m

    r926 r999  
    4141
    4242if norm(kc) ~= 0,
    43         % Third: Compensate for lens distortion:
    44         xn = comp_distortion_oulu(x_distort,kc);
     43    % Third: Compensate for lens distortion:
     44    xn = comp_distortion_oulu(x_distort,kc);
    4545else
    4646   xn = x_distort;
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