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analyse_error.m
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analyse_error.m
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% Color code for each image:
if ~exist('n_ima')|~exist('fc'),
fprintf(1,'No calibration data available.\n');
return;
end;
check_active_images;
if n_ima ~=0,
if ~exist(['ex_' num2str(ind_active(1)) ]),
fprintf(1,'Need to calibrate before analysing reprojection error. Maybe need to load Calib_Results.mat file.\n');
return;
end;
end;
%if ~exist('no_grid'),
no_grid = 0;
%end;
colors = 'brgkcm';
figure(5);
for kk = 1:n_ima,
if exist(['y_' num2str(kk)]),
if active_images(kk) & eval(['~isnan(y_' num2str(kk) '(1,1))']),
if ~no_grid,
eval(['XX_kk = X_' num2str(kk) ';']);
N_kk = size(XX_kk,2);
if ~exist(['n_sq_x_' num2str(kk)]),
no_grid = 1;
end;
if ~no_grid,
eval(['n_sq_x = n_sq_x_' num2str(kk) ';']);
eval(['n_sq_y = n_sq_y_' num2str(kk) ';']);
if (N_kk ~= ((n_sq_x+1)*(n_sq_y+1))),
no_grid = 1;
end;
end;
end;
eval(['plot(ex_' num2str(kk) '(1,:),ex_' num2str(kk) '(2,:),''' colors(rem(kk-1,6)+1) '+'');']);
hold on;
end;
end;
end;
hold off;
axis('equal');
if 1, %~no_grid,
title('Reprojection error (in pixel) - To exit: right button');
else
title('Reprojection error (in pixel)');
end;
xlabel('x');
ylabel('y');
set(5,'color',[1 1 1]);
set(5,'Name','error','NumberTitle','off');
if n_ima == 0,
text(.5,.5,'No image data available','fontsize',24,'horizontalalignment' ,'center');
else
err_std = std(ex')';
fprintf(1,'Pixel error: err = [ %3.5f %3.5f] (all active images)\n\n',err_std);
b = 1;
while b==1,
[xp,yp,b] = ginput4(1);
if b==1,
ddd = (ex(1,:)-xp).^2 + (ex(2,:)-yp).^2;
[mind,indmin] = min(ddd);
done = 0;
kk_ima = 1;
while (~done)&(kk_ima<=n_ima),
%fprintf(1,'%d...',kk_ima);
eval(['ex_kk = ex_' num2str(kk_ima) ';']);
sol_kk = find((ex_kk(1,:) == ex(1,indmin))&(ex_kk(2,:) == ex(2,indmin)));
if isempty(sol_kk),
kk_ima = kk_ima + 1;
else
done = 1;
end;
end;
eval(['x_kk = x_' num2str(kk_ima) ';']);
xpt = x_kk(:,sol_kk);
if ~no_grid,
eval(['n_sq_x = n_sq_x_' num2str(kk_ima) ';']);
eval(['n_sq_y = n_sq_y_' num2str(kk_ima) ';']);
Nx = n_sq_x+1;
Ny = n_sq_y+1;
y1 = floor((sol_kk-1)./Nx);
x1 = sol_kk - 1 - Nx*y1; %rem(sol_kk-1,Nx);
y1 = (n_sq_y+1) - y1;
x1 = x1 + 1;
fprintf(1,'\n');
fprintf(1,'Selected image: %d\n',kk_ima);
fprintf(1,'Selected point index: %d\n',sol_kk);
fprintf(1,'Pattern coordinates (in units of (dX,dY)): (X,Y)=(%d,%d)\n',[x1-1 y1-1]);
fprintf(1,'Image coordinates (in pixel): (%3.2f,%3.2f)\n',[xpt']);
fprintf(1,'Pixel error = (%3.5f,%3.5f)\n',[ex(1,indmin) ex(2,indmin)]);
else
fprintf(1,'\n');
fprintf(1,'Selected image: %d\n',kk_ima);
fprintf(1,'Selected point index: %d\n',sol_kk);
fprintf(1,'Image coordinates (in pixel): (%3.2f,%3.2f)\n',[xpt']);
fprintf(1,'Pixel error = (%3.5f,%3.5f)\n',[ex(1,indmin) ex(2,indmin)]);
end;
if exist(['wintx_' num2str(kk_ima)]),
eval(['wintx = wintx_' num2str(kk_ima) ';']);
eval(['winty = winty_' num2str(kk_ima) ';']);
fprintf(1,'Window size: (wintx,winty) = (%d,%d)\n',[wintx winty]);
end;
end;
end;
disp('done');
end;