[37] | 1 | % main function to launch the estimation |
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| 2 | % of the non-linear parameters by using the CalTech |
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| 3 | % calibration toolbox and the output from the Svoboda's |
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| 4 | % Multicamera self-calibration |
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| 5 | % |
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| 6 | % How to create the input data: |
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| 7 | % 1) Run the MultiCamSelfCam |
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| 8 | % 2) Run the MultiCamValidation |
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| 9 | % |
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| 10 | % $Id: goradf.m,v 2.2 2003/07/30 10:32:22 svoboda Exp $ |
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| 11 | |
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| 12 | function selfcalib = goradf(config,par2estimate,INL_TOL) |
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| 13 | |
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| 14 | % assignment of the parameters to estimate |
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| 15 | initFOV = par2estimate(1); |
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| 16 | center_optim = par2estimate(2); |
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| 17 | est_dist = par2estimate(3:6)'; |
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| 18 | |
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| 19 | % if problem with desactivated images -> some problems with the estimation in general |
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| 20 | desactivated_images = []; |
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| 21 | |
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| 22 | idxcams = config.cal.cams2use; |
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| 23 | selfcalib.goradproblem = 0; |
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| 24 | |
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| 25 | count = 0; |
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| 26 | |
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| 27 | for i = idxcams, |
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| 28 | count = count+1; |
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| 29 | [X_1,x_1] = preparedata(sprintf(config.files.points4cal,i)); |
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| 30 | % handle image resolutions correctly |
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| 31 | nx = config.cal.Res(count,1); |
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| 32 | ny = config.cal.Res(count,2); |
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| 33 | go_calib_optim_iter |
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| 34 | if any(isnan(param)) | any(err_std > 2*INL_TOL) |
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| 35 | % when the iteration fails insert null distortion |
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| 36 | % it is better than nonsense |
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| 37 | KK = [700 0 320; 0 700 240; 0 0 1]; % void calibration matrix |
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| 38 | kc(1:4) = [0,0,0,0]; |
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| 39 | selfcalib.goradproblem=1; |
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| 40 | else |
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| 41 | visualize_distortions |
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| 42 | figure(2), |
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| 43 | eval(['print -depsc ', config.paths.data, sprintf('NonLinModel.cam%d.eps',i)]) |
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| 44 | end |
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| 45 | % |
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| 46 | disp(sprintf('***** camera %d **********************************',i)) |
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| 47 | % |
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| 48 | outputfile = sprintf(config.files.rad,i); |
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| 49 | fprintf(1,'\nExport of intrinsic calibration data to blue-c configuration file\n'); |
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| 50 | % outputfile = input('File basename: ', 's'); |
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| 51 | configfile = outputfile; |
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| 52 | disp(['Writing ' configfile]); |
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| 53 | |
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| 54 | fid = fopen(configfile, 'w'); |
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| 55 | |
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| 56 | fprintf(fid, 'K11 = %.16f\n', KK(1,1)); |
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| 57 | fprintf(fid, 'K12 = %.16f\n', KK(1,2)); |
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| 58 | fprintf(fid, 'K13 = %.16f\n', KK(1,3)); |
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| 59 | fprintf(fid, 'K21 = %.16f\n', KK(2,1)); |
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| 60 | fprintf(fid, 'K22 = %.16f\n', KK(2,2)); |
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| 61 | fprintf(fid, 'K23 = %.16f\n', KK(2,3)); |
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| 62 | fprintf(fid, 'K31 = %.16f\n', KK(3,1)); |
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| 63 | fprintf(fid, 'K32 = %.16f\n', KK(3,2)); |
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| 64 | fprintf(fid, 'K33 = %.16f\n\n', KK(3,3)); |
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| 65 | |
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| 66 | fprintf(fid, 'kc1 = %.16f\n', kc(1)); |
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| 67 | fprintf(fid, 'kc2 = %.16f\n', kc(2)); |
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| 68 | fprintf(fid, 'kc3 = %.16f\n', kc(3)); |
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| 69 | fprintf(fid, 'kc4 = %.16f\n', kc(4)); |
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| 70 | |
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| 71 | status = fclose(fid); |
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| 72 | |
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| 73 | % disp('Press any key to continue'), pause |
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| 74 | |
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| 75 | %%% |
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| 76 | % clear already estimated parameters |
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| 77 | clear fc kc alpha_c cc nx ny |
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| 78 | |
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| 79 | end |
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| 80 | |
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| 81 | return |
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| 82 | |
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