[37] | 1 | % Color code for each image:
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| 2 |
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| 3 | if ~exist('n_ima')|~exist('fc'),
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| 4 | fprintf(1,'No calibration data available.\n');
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| 5 | return;
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| 6 | end;
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| 7 |
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| 8 | check_active_images;
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| 9 |
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| 10 | if n_ima ~=0,
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| 11 | if ~exist(['ex_' num2str(ind_active(1)) ]),
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| 12 | fprintf(1,'Need to calibrate before analysing reprojection error. Maybe need to load Calib_Results.mat file.\n');
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| 13 | return;
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| 14 | end;
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| 15 | end;
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| 16 |
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| 17 |
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| 18 | %if ~exist('no_grid'),
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| 19 | no_grid = 0;
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| 20 | %end;
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| 21 |
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| 22 | colors = 'brgkcm';
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| 23 |
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| 24 |
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| 25 | figure(5);
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| 26 |
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| 27 | for kk = 1:n_ima,
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| 28 | if exist(['y_' num2str(kk)]),
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| 29 | if active_images(kk) & eval(['~isnan(y_' num2str(kk) '(1,1))']),
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| 30 |
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| 31 | if ~no_grid,
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| 32 | eval(['XX_kk = X_' num2str(kk) ';']);
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| 33 | N_kk = size(XX_kk,2);
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| 34 |
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| 35 | if ~exist(['n_sq_x_' num2str(kk)]),
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| 36 | no_grid = 1;
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| 37 | end;
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| 38 |
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| 39 | if ~no_grid,
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| 40 | eval(['n_sq_x = n_sq_x_' num2str(kk) ';']);
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| 41 | eval(['n_sq_y = n_sq_y_' num2str(kk) ';']);
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| 42 | if (N_kk ~= ((n_sq_x+1)*(n_sq_y+1))),
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| 43 | no_grid = 1;
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| 44 | end;
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| 45 | end;
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| 46 | end;
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| 47 |
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| 48 | eval(['plot(ex_' num2str(kk) '(1,:),ex_' num2str(kk) '(2,:),''' colors(rem(kk-1,6)+1) '+'');']);
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| 49 |
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| 50 | hold on;
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| 51 | end;
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| 52 | end;
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| 53 | end;
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| 54 |
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| 55 | hold off;
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| 56 | axis('equal');
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| 57 | if 1, %~no_grid,
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| 58 | title('Reprojection error (in pixel) - To exit: right button');
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| 59 | else
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| 60 | title('Reprojection error (in pixel)');
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| 61 | end;
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| 62 | xlabel('x');
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| 63 | ylabel('y');
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| 64 |
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| 65 | set(5,'color',[1 1 1]);
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| 66 | set(5,'Name','error','NumberTitle','off');
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| 67 |
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| 68 | if n_ima == 0,
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| 69 |
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| 70 | text(.5,.5,'No image data available','fontsize',24,'horizontalalignment' ,'center');
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| 71 |
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| 72 | else
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| 73 |
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| 74 | err_std = std(ex')';
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| 75 |
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| 76 | fprintf(1,'Pixel error: err = [ %3.5f %3.5f] (all active images)\n\n',err_std);
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| 77 |
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| 78 |
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| 79 | b = 1;
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| 80 |
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| 81 | while b==1,
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| 82 |
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| 83 | [xp,yp,b] = ginput3(1);
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| 84 |
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| 85 | if b==1,
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| 86 | ddd = (ex(1,:)-xp).^2 + (ex(2,:)-yp).^2;
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| 87 |
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| 88 | [mind,indmin] = min(ddd);
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| 89 |
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| 90 |
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| 91 | done = 0;
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| 92 | kk_ima = 1;
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| 93 | while (~done)&(kk_ima<=n_ima),
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| 94 | %fprintf(1,'%d...',kk_ima);
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| 95 | eval(['ex_kk = ex_' num2str(kk_ima) ';']);
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| 96 | sol_kk = find((ex_kk(1,:) == ex(1,indmin))&(ex_kk(2,:) == ex(2,indmin)));
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| 97 | if isempty(sol_kk),
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| 98 | kk_ima = kk_ima + 1;
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| 99 | else
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| 100 | done = 1;
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| 101 | end;
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| 102 | end;
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| 103 |
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| 104 | eval(['x_kk = x_' num2str(kk_ima) ';']);
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| 105 | xpt = x_kk(:,sol_kk);
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| 106 |
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| 107 | if ~no_grid,
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| 108 |
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| 109 | eval(['n_sq_x = n_sq_x_' num2str(kk_ima) ';']);
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| 110 | eval(['n_sq_y = n_sq_y_' num2str(kk_ima) ';']);
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| 111 |
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| 112 | Nx = n_sq_x+1;
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| 113 | Ny = n_sq_y+1;
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| 114 |
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| 115 | y1 = floor((sol_kk-1)./Nx);
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| 116 | x1 = sol_kk - 1 - Nx*y1; %rem(sol_kk-1,Nx);
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| 117 |
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| 118 | y1 = (n_sq_y+1) - y1;
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| 119 | x1 = x1 + 1;
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| 120 |
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| 121 |
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| 122 | fprintf(1,'\n');
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| 123 | fprintf(1,'Selected image: %d\n',kk_ima);
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| 124 | fprintf(1,'Selected point index: %d\n',sol_kk);
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| 125 | fprintf(1,'Pattern coordinates (in units of (dX,dY)): (X,Y)=(%d,%d)\n',[x1-1 y1-1]);
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| 126 | fprintf(1,'Image coordinates (in pixel): (%3.2f,%3.2f)\n',[xpt']);
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| 127 | fprintf(1,'Pixel error = (%3.5f,%3.5f)\n',[ex(1,indmin) ex(2,indmin)]);
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| 128 |
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| 129 |
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| 130 | else
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| 131 |
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| 132 | fprintf(1,'\n');
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| 133 | fprintf(1,'Selected image: %d\n',kk_ima);
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| 134 | fprintf(1,'Selected point index: %d\n',sol_kk);
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| 135 | fprintf(1,'Image coordinates (in pixel): (%3.2f,%3.2f)\n',[xpt']);
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| 136 | fprintf(1,'Pixel error = (%3.5f,%3.5f)\n',[ex(1,indmin) ex(2,indmin)]);
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| 137 |
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| 138 |
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| 139 | end;
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| 140 |
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| 141 |
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| 142 | if exist(['wintx_' num2str(kk_ima)]),
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| 143 |
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| 144 | eval(['wintx = wintx_' num2str(kk_ima) ';']);
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| 145 | eval(['winty = winty_' num2str(kk_ima) ';']);
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| 146 |
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| 147 | fprintf(1,'Window size: (wintx,winty) = (%d,%d)\n',[wintx winty]);
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| 148 | end;
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| 149 |
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| 150 |
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| 151 | end;
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| 152 |
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| 153 | end;
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| 154 |
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| 155 | disp('done');
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| 156 |
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| 157 | end;
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