[37] | 1 | % The main script. Performes the self calibration |
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| 2 | % The point coordinates are expected to be known |
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| 3 | % see the directory FindingPoints |
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| 4 | % |
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| 5 | % $Author: svoboda $ |
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| 6 | % $Revision: 2.7 $ |
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| 7 | % $Id: gocal.m,v 2.7 2005/05/24 09:15:11 svoboda Exp $ |
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| 8 | % $State: Exp $ |
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| 9 | |
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| 10 | clear all |
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| 11 | |
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| 12 | % add necessary paths |
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| 13 | addpath ../CommonCfgAndIO |
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| 14 | addpath ../RadialDistortions |
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| 15 | addpath ./CoreFunctions |
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| 16 | addpath ./OutputFunctions |
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| 17 | addpath ./BlueCLocal |
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| 18 | addpath ./LocalAlignments |
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| 19 | addpath ../RansacM; % ./Ransac for mex functions (it is significantly faster for noisy data) |
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| 20 | % get the configuration |
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| 21 | config = configdata(expname); |
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| 22 | disp('Multi-Camera Self-Calibration, Tomas Svoboda et al., 07/2003') |
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| 23 | disp('************************************************************') |
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| 24 | disp(sprintf('Experiment name: %s',expname)) |
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| 25 | |
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| 26 | %%% |
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| 27 | % how many cameras to be filled |
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| 28 | % if 0 then only points visible in all cameras will be used for selfcal |
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| 29 | % the higher, the more points -> better against Gaussian noise |
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| 30 | % however the higher probability of wrong filling |
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| 31 | % Then the iterative search for outliers takes accordingly longer |
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| 32 | % However, typically no more than 5-7 iterations are needed |
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| 33 | % this number should correspond to the total number of the cameras |
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| 34 | NUM_CAMS_FILL = config.cal.NUM_CAMS_FILL; |
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| 35 | %%% |
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| 36 | % tolerance for inliers. The higher uncorrected radial distortion |
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| 37 | % the higher value. For BlueC cameras set to 2 for the ViRoom |
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| 38 | % plastic cams, set to 4 (see FINDINL) |
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| 39 | INL_TOL = config.cal.INL_TOL; |
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| 40 | %%% |
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| 41 | % Use Bundle Adjustment to refine the final (after removing outliers) results |
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| 42 | % It is often not needed at all |
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| 43 | DO_BA = config.cal.DO_BA; |
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| 44 | |
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| 45 | UNDO_RADIAL = config.cal.UNDO_RADIAL; % undo radial distortion, parameters are expected to be available |
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| 46 | SAVE_STEPHI = 1; % save calibration parameters in Stephi's Carve/BlueC compatible form |
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| 47 | SAVE_PGUHA = 1; % save calib pars in Prithwijit's compatible form |
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| 48 | USED_MULTIPROC = 0; % was the multipropcessing used? |
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| 49 | % if yes then multiple IdMat.dat and points.dat have to be loaded |
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| 50 | % setting to 1 it forces to read the multiprocessor data against the |
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| 51 | % monoprocessor see the IM2POINTS, IM2PMULTIPROC.PL |
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| 52 | |
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| 53 | %%% |
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| 54 | % Data structures |
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| 55 | % lin.* corrected values which obey linear model |
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| 56 | % in.* inliers, detected by a chain application of Ransac |
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| 57 | |
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| 58 | if findstr(expname,'oscar') |
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| 59 | % add a projector idx to the cameras |
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| 60 | % they are handled the same |
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| 61 | config.files.cams2use = [config.files.idxcams,config.files.idxproj]; |
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| 62 | end |
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| 63 | |
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| 64 | selfcal.par2estimate = config.cal.nonlinpar; |
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| 65 | selfcal.iterate = 1; |
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| 66 | selfcal.count = 0; |
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| 67 | |
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| 68 | |
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| 69 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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| 70 | % Main global cycle begins |
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| 71 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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| 72 | while selfcal.iterate & selfcal.count < config.cal.GLOBAL_ITER_MAX, |
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| 73 | % read the input data |
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| 74 | loaded = loaddata(config); |
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| 75 | linear = loaded; % initalize the linear structure |
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| 76 | |
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| 77 | CAMS = size(config.cal.cams2use,2); |
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| 78 | FRAMES = size(loaded.IdMat,2); |
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| 79 | |
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| 80 | if CAMS < 3 | FRAMES < 20 |
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| 81 | error('gocal: Not enough cameras or images -> Problem in loading data?') |
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| 82 | end |
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| 83 | |
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| 84 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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| 85 | %%% correct the required amount of cameras to be filled |
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| 86 | if CAMS-NUM_CAMS_FILL < 3 |
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| 87 | NUM_CAMS_FILL = CAMS-3; |
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| 88 | end |
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| 89 | |
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| 90 | config.cal.Res= loaded.Res; |
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| 91 | config.cal.pp = reshape([loaded.Res./2,zeros(size(loaded.Res(:,1)))]',CAMS*3,1); |
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| 92 | config.cal.pp = [loaded.Res./2,zeros(size(loaded.Res(:,1)))]; |
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| 93 | |
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| 94 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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| 95 | % See the README how to compute data |
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| 96 | % for undoing of the radial distortion |
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| 97 | if UNDO_RADIAL |
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| 98 | for i=1:CAMS, |
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| 99 | [K,kc] = readradfile(sprintf(config.files.rad,config.cal.cams2use(i))); |
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| 100 | xn = undoradial(loaded.Ws(i*3-2:i*3,:),K,[kc,0]); |
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| 101 | linear.Ws(i*3-2:i*3,:) = xn; |
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| 102 | end |
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| 103 | linear.Ws = linear.Ws - repmat(reshape(config.cal.pp',CAMS*3,1), 1, FRAMES); |
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| 104 | elseif config.cal.UNDO_HEIKK, |
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| 105 | for i=1:CAMS, |
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| 106 | heikkpar = load(sprintf(config.files.heikkrad,config.cal.cams2use(i)),'-ASCII'); |
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| 107 | xn = undoheikk(heikkpar(1:4),heikkpar(5:end),loaded.Ws(i*3-2:i*3-1,:)'); |
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| 108 | linear.Ws(i*3-2:i*3-1,:) = xn'; |
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| 109 | end |
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| 110 | linear.Ws = linear.Ws - repmat(reshape(config.cal.pp',CAMS*3,1), 1, FRAMES); |
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| 111 | else |
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| 112 | linear.Ws = loaded.Ws - repmat(reshape(config.cal.pp',CAMS*3,1), 1, FRAMES); |
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| 113 | end |
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| 114 | |
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| 115 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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| 116 | % Detection of outliers |
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| 117 | % RANSAC is pairwise applied |
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| 118 | disp(' ') |
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| 119 | disp(sprintf('********** After %d iteration *******************************************',selfcal.count)) |
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| 120 | % disp('****************************************************************************') |
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| 121 | disp(sprintf('RANSAC validation step running with tolerance threshold: %2.2f ...',INL_TOL)); |
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| 122 | |
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| 123 | inliers.IdMat = findinl(linear.Ws,linear.IdMat,INL_TOL); |
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| 124 | |
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| 125 | addpath ./MartinecPajdla; |
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| 126 | setpaths; % set paths for M&P algorithms |
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| 127 | |
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| 128 | % remove zero-columns or just 1 point columns |
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| 129 | % create packed represenatation |
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| 130 | % it is still a bit tricky, the number of the minimum number of cameras |
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| 131 | % are specified here, may be some automatic method would be useful |
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| 132 | packed.idx = find(sum(inliers.IdMat)>=size(inliers.IdMat,1)-NUM_CAMS_FILL); |
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| 133 | packed.IdMat = inliers.IdMat(:,packed.idx); |
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| 134 | packed.Ws = linear.Ws(:,packed.idx); |
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| 135 | |
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| 136 | if size(packed.Ws,2)<20 |
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| 137 | error(sprintf('Only %d points survived RANSAC validation and packing: probably not enough points for reliable selfcalibration',size(packed.Ws,2))); |
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| 138 | end |
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| 139 | |
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| 140 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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| 141 | %%% fill cam(i) structures |
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| 142 | for i=1:CAMS, |
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| 143 | cam(i).camId = config.cal.cams2use(i); |
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| 144 | cam(i).idlin = find(linear.IdMat(i,:)); % loaded structure |
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| 145 | cam(i).idin = find(inliers.IdMat(i,:)); % survived initial pairwise validation |
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| 146 | cam(i).xdist = loaded.Ws(3*i-2:3*i,cam(i).idlin); % original distorted coordinates |
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| 147 | cam(i).xgt = linear.Ws(3*i-2:3*i,cam(i).idlin); |
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| 148 | cam(i).xgtin = linear.Ws(3*i-2:3*i,cam(i).idin); |
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| 149 | % convert the ground truth coordinates by using the known principal point |
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| 150 | cam(i).xgt = cam(i).xgt + repmat(config.cal.pp(i,:)', 1, size(cam(i).xgt,2)); |
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| 151 | cam(i).xgtin = cam(i).xgtin + repmat(config.cal.pp(i,:)', 1, size(cam(i).xgtin,2)); |
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| 152 | end |
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| 153 | |
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| 154 | |
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| 155 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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| 156 | %%% options for the Martinec-Pajdla filling procedure |
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| 157 | options.verbose = 0; |
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| 158 | options.no_BA = 1; |
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| 159 | options.iter = 5; |
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| 160 | options.detection_accuracy = 2; |
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| 161 | options.consistent_number = 9; |
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| 162 | options.consistent_number_min = 6; |
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| 163 | options.samples = 1000; %1000; %10000; |
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| 164 | options.sequence = 0; |
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| 165 | options.create_nullspace.trial_coef = 10; %20; |
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| 166 | |
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| 167 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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| 168 | %%% start of the *compute and remove outliers cycle* |
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| 169 | outliers = 1; |
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| 170 | inliers.idx = packed.idx; |
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| 171 | inliers.reprerr = [9e9]; |
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| 172 | while outliers |
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| 173 | disp(sprintf('%d points/frames have survived validations so far',size(inliers.idx,2))) |
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| 174 | disp('Filling of missing points is running ...') |
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| 175 | [P,X, u1,u2, info] = fill_mm_bundle(linear.Ws(:,inliers.idx),config.cal.pp(:,1:2)',options); |
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| 176 | % |
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| 177 | Rmat = P*X; |
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| 178 | Lambda = Rmat(3:3:end,:); |
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| 179 | % |
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| 180 | [Pe,Xe,Ce,Re] = euclidize(Rmat,Lambda,P,X,config); |
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| 181 | disp('************************************************************') |
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| 182 | % |
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| 183 | % compute reprojection errors |
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| 184 | cam = reprerror(cam,Pe,Xe,FRAMES,inliers); |
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| 185 | % |
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| 186 | % detect outliers in cameras |
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| 187 | [outliers,inliers] = findoutl(cam,inliers,INL_TOL,NUM_CAMS_FILL); |
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| 188 | % |
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| 189 | disp(sprintf('Number of detected outliers: %3d',outliers)) |
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| 190 | disp('About cameras (Id, 2D reprojection error, #inliers):') |
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| 191 | dispcamstats(cam,inliers); |
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| 192 | % [[cam(:).camId]',[cam(:).std2Derr]',[cam(:).mean2Derr]', sum(inliers.IdMat')'] |
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| 193 | disp('***************************************************************') |
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| 194 | % |
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| 195 | % do BA after removing very bad outliers or if the process starts to diverge |
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| 196 | % and only if required config.cal.START_BA |
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| 197 | inliers.reprerr = [inliers.reprerr, mean([cam(:).mean2Derr])]; |
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| 198 | if inliers.reprerr(end)<5*INL_TOL | inliers.reprerr(end-1)<inliers.reprerr(end), |
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| 199 | try, options.no_BA = ~config.cal.START_BA; catch, options.no_BA = 1; end % 1 0 |
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| 200 | end |
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| 201 | end |
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| 202 | %%% end of the cycle |
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| 203 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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| 204 | |
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| 205 | |
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| 206 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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| 207 | %%% Do the final refinement through the BA if required and if not |
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| 208 | %%% performed during the iteration steps |
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| 209 | if (DO_BA & ~config.cal.START_BA) | (DO_BA & config.cal.START_BA & size(inliers.reprerr,2)<3) |
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| 210 | disp('**************************************************************') |
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| 211 | disp('Refinement by using Bundle Adjustment') |
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| 212 | options.no_BA = 0; |
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| 213 | [P,X, u1,u2, info] = fill_mm_bundle(linear.Ws(:,inliers.idx),config.cal.pp(:,1:2)',options); |
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| 214 | Rmat = P*X; |
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| 215 | Lambda = Rmat(3:3:end,:); |
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| 216 | [in.Pe,in.Xe,in.Ce,in.Re] = euclidize(Rmat,Lambda,P,X,config); |
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| 217 | cam = reprerror(cam,in.Pe,in.Xe,FRAMES,inliers); |
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| 218 | % [outliers,inliers] = findoutl(cam,inliers,INL_TOL,NUM_CAMS_FILL); |
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| 219 | else |
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| 220 | in.Pe = Pe; in.Xe = Xe; in.Ce = Ce; in.Re = Re; |
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| 221 | end |
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| 222 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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| 223 | |
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| 224 | |
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| 225 | if 1 |
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| 226 | % plot reconstructed cameras and points |
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| 227 | drawscene(Xe,Ce,Re,3,'cloud','reconstructed points/camera setup'); |
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| 228 | drawscene(in.Xe,in.Ce,in.Re,4,'cloud','reconstructed points/camera setup only inliers are used',config.cal.cams2use); |
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| 229 | |
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| 230 | % plot measured and reprojected 2D points |
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| 231 | for i=1:CAMS |
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| 232 | in.xe = in.Pe(((3*i)-2):(3*i),:)*in.Xe; |
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| 233 | cam(i).inxe = in.xe./repmat(in.xe(3,:),3,1); |
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| 234 | figure(i+10) |
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| 235 | clf |
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| 236 | plot(cam(i).xdist(1,:),cam(i).xdist(2,:),'go'); |
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| 237 | hold on, grid on |
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| 238 | plot(cam(i).xgt(1,:),cam(i).xgt(2,:),'ro'); |
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| 239 | plot(cam(i).xgtin(1,:),cam(i).xgtin(2,:),'bo'); |
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| 240 | % plot(cam(i).xe(1,:),cam(i).xe(2,:),'r+') |
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| 241 | plot(cam(i).inxe(1,:),cam(i).inxe(2,:),'k+','MarkerSize',7) |
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| 242 | %plot(xe(1,:),xe(2,:),'r+','linewidth',3,'MarkerSize',10) |
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| 243 | title(sprintf('measured, o, vs reprojected, +, 2D points (camera: %d)',config.cal.cams2use(i))); |
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| 244 | for j=1:size(cam(i).visandrec,2); % plot the reprojection errors |
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| 245 | line([cam(i).xgt(1,cam(i).visandrec(j)),cam(i).inxe(1,cam(i).recandvis(j))],[cam(i).xgt(2,cam(i).visandrec(j)),cam(i).inxe(2,cam(i).recandvis(j))],'Color','g'); |
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| 246 | end |
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| 247 | % draw the image boarder |
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| 248 | line([0 0 0 2*config.cal.pp(i,1) 2*config.cal.pp(i,1) 2*config.cal.pp(i,1) 2*config.cal.pp(i,1) 0],[0 2*config.cal.pp(i,2) 2*config.cal.pp(i,2) 2*config.cal.pp(i,2) 2*config.cal.pp(i,2) 0 0 0],'Color','k','LineWidth',2,'LineStyle','--') |
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| 249 | axis('equal') |
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| 250 | drawnow |
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| 251 | eval(['print -depsc ', config.paths.data, sprintf('%s%d.reprojection.eps',config.files.basename,cam(i).camId)]) |
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| 252 | end |
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| 253 | end |
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| 254 | |
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| 255 | %%% |
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| 256 | % SAVE camera matrices |
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| 257 | P = in.Pe; |
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| 258 | save(config.files.Pmats,'P','-ASCII'); |
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| 259 | |
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| 260 | % save normal data |
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| 261 | if SAVE_STEPHI | SAVE_PGUHA |
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| 262 | [in.Cst,in.Rot] = savecalpar(in.Pe,config); |
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| 263 | end |
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| 264 | |
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| 265 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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| 266 | % local routines for the BlueC installations |
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| 267 | % The main functionality of these functions that |
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| 268 | % they align the coordinate frame from the selfcalibration |
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| 269 | % with the pre-defined world frame |
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| 270 | % it is assumed the necessary informations are avialable |
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| 271 | if findstr('BlueCRZ',expname) |
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| 272 | [align] = bluecrz(in,config); |
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| 273 | end |
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| 274 | if findstr('Hoengg',expname) |
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| 275 | [align] = bluechoengg(in,config); |
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| 276 | end |
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| 277 | if findstr('Erlangen',expname) |
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| 278 | [align] = erlangen(in,config); |
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| 279 | % [align] = planarmove(in,config); |
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| 280 | end |
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| 281 | if findstr('G9',expname) |
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| 282 | [align] = g9(in,config); |
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| 283 | end |
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| 284 | % planar alignement if knowledge available |
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| 285 | % [align,cam] = planarmove(in,cam,config); |
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| 286 | % try, [align,cam] = planarcams(in,cam,config,config.cal.planarcams); end |
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| 287 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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| 288 | % Evaluate reprojection error |
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| 289 | %%% |
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| 290 | cam = evalreprerror(cam,config); |
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| 291 | |
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| 292 | %%%% |
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| 293 | % Save the 2D-3D correpondences for further processing |
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| 294 | for i=1:CAMS, |
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| 295 | xe = cam(i).xdist(1:3,cam(i).visandrec); % save the original distorted coordinates |
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| 296 | % save the reconstructed points (aligned if available) |
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| 297 | try, Xe = align.X(1:4,cam(i).recandvis); catch, Xe = in.Xe(1:4,cam(i).recandvis); end; |
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| 298 | % Xe = in.Xe(1:4,cam(i).recandvis); |
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| 299 | corresp = [Xe',xe']; |
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| 300 | save(sprintf(config.files.points4cal,config.cal.cams2use(i)),'corresp','-ASCII'); |
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| 301 | end |
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| 302 | |
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| 303 | %%% |
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| 304 | % TO-DO: |
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| 305 | % - find a suitable end condition for the global iteration. |
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| 306 | % This threshold may very depend on local conditions |
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| 307 | % |
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| 308 | % - how to check meaningful number of iterations |
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| 309 | % typically only few iterations are needed |
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| 310 | % |
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| 311 | % - The precision of the non-linear estimation should be somehow taken into account |
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| 312 | |
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| 313 | selfcal.count = selfcal.count+1; |
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| 314 | |
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| 315 | if max([cam.mean2Derr])>config.cal.GLOBAL_ITER_THR & config.cal.DO_GLOBAL_ITER & selfcal.count < config.cal.GLOBAL_ITER_MAX |
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| 316 | % if the maximal reprojection error is still bigger |
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| 317 | % than acceptable estimate radial distortion and |
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| 318 | % iterate further |
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| 319 | cd ../CalTechCal |
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| 320 | selfcalib = goradf(config,selfcal.par2estimate,INL_TOL); |
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| 321 | cd ../MultiCamSelfCal |
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| 322 | selfcal.iterate = 1; |
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| 323 | UNDO_RADIAL = 1; |
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| 324 | if ~selfcalib.goradproblem; |
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| 325 | % if all non-linear parameters estimated reliable |
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| 326 | % we can reduce the tolerance threshold |
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| 327 | INL_TOL = max([(2/3)*INL_TOL,config.cal.GLOBAL_ITER_THR]); |
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| 328 | % add the second radial distortion parameter |
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| 329 | if config.cal.NL_UPDATE(4), selfcal.par2estimate(4) = 1; end |
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| 330 | % estimate also the principal point |
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| 331 | if selfcal.count > 1 & config.cal.NL_UPDATE(2), selfcal.par2estimate(2) = 1; end |
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| 332 | % estimate also the tangential distortion |
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| 333 | if selfcal.count > 3 & all(config.cal.NL_UPDATE(5:6)), selfcal.par2estimate(5:6) = 1; end |
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| 334 | else |
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| 335 | INL_TOL = min([3/2*INL_TOL,config.cal.INL_TOL]); |
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| 336 | end |
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| 337 | else |
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| 338 | % ends the iteration |
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| 339 | % the last computed parameters will be taken as valid |
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| 340 | selfcal.iterate = 0; |
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| 341 | end |
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| 342 | end |
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| 343 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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| 344 | % End of the main global cycle |
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| 345 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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| 346 | |
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| 347 | |
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| 348 | |
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