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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