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ext_calib2.m
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ext_calib2.m
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%%%%%%%%%%%%%%%%%%%% SHOW EXTRINSIC RESULTS %%%%%%%%%%%%%%%%%%%%%%%%
if ~exist('show_camera'),
show_camera = 1;
end;
if ~exist('n_ima')|~exist('fc'),
fprintf(1,'No calibration data available.\n');
return;
end;
check_active_images;
if ~exist(['omc_' num2str(ind_active(1))]),
fprintf(1,'No calibration data available.\n');
return;
end;
%if ~exist('no_grid'),
no_grid = 0;
%end;
if ~exist(['n_sq_x_' num2str(ind_active(1))]),
no_grid = 1;
end;
if ~exist('alpha_c'),
alpha_c = 0;
end;
if 0,
err_std = std(ex');
fprintf(1,'\n\nCalibration results without principal point estimation:\n\n');
fprintf(1,'Focal Length: fc = [ %3.5f %3.5f]\n',fc);
fprintf(1,'Principal point: cc = [ %3.5f %3.5f]\n',cc);
fprintf(1,'Distortion: kc = [ %3.5f %3.5f %3.5f %3.5f]\n',kc);
fprintf(1,'Pixel error: err = [ %3.5f %3.5f]\n\n',err_std);
end;
% Color code for each image:
colors = 'brgkcm';
%%% Show the extrinsic parameters
if ~exist('dX'),
eval(['dX = norm(Tc_' num2str(ind_active(1)) ')/10;']);
dY = dX;
end;
IP = 2*dX*[1 -alpha_c 0;0 1 0;0 0 1]*[1/fc(1) 0 0;0 1/fc(2) 0;0 0 1]*[1 0 -cc(1);0 1 -cc(2);0 0 1]*[0 nx-1 nx-1 0 0 ; 0 0 ny-1 ny-1 0;1 1 1 1 1];
BASE = 2*(.9)*dX*([0 1 0 0 0 0;0 0 0 1 0 0;0 0 0 0 0 1]);
IP = reshape([IP;BASE(:,1)*ones(1,5);IP],3,15);
POS = [[6*dX;0;0] [0;6*dX;0] [-dX;0;5*dX] [-dX;-dX;-dX] [0;0;-dX]];
if ishandle(4),
figure(4);
[a,b] = view;
else
figure(4);
a = 50;
b = 20;
end;
figure(4);
clf;
hold on;
for kk = 1:n_ima,
if active_images(kk);
if exist(['X_' num2str(kk)]) & exist(['omc_' num2str(kk)]),
eval(['XX_kk = X_' num2str(kk) ';']);
if ~isnan(XX_kk(1,1))
eval(['omc_kk = omc_' num2str(kk) ';']);
eval(['Tc_kk = Tc_' num2str(kk) ';']);
N_kk = size(XX_kk,2);
if ~exist(['n_sq_x_' num2str(kk)]),
no_grid = 1;
else
eval(['n_sq_x = n_sq_x_' num2str(kk) ';']);
if isnan(n_sq_x(1)),
no_grid = 1;
end;
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;
if ~isnan(omc_kk(1,1)),
R_kk = rodrigues(omc_kk);
BASEk = R_kk'*(BASE - Tc_kk * ones(1,6));
IPk = R_kk'*(IP - Tc_kk * ones(1,15));
POSk = R_kk'*(POS - Tc_kk * ones(1,5));
YY_kk = XX_kk;
if ~no_grid,
YYx = zeros(n_sq_x+1,n_sq_y+1);
YYy = zeros(n_sq_x+1,n_sq_y+1);
YYz = zeros(n_sq_x+1,n_sq_y+1);
YYx(:) = YY_kk(1,:);
YYy(:) = YY_kk(2,:);
YYz(:) = YY_kk(3,:);
figure(4);
if show_camera,
p1 = struct('vertices',IPk','faces',[1 4 2;2 4 7;2 7 10;2 10 1]);
h1 = patch(p1);
set(h1,'facecolor',[52 217 160]/255,'EdgeColor', 'r');
p2 = struct('vertices',IPk','faces',[1 10 7;7 4 1]);
h2 = patch(p2);
%set(h2,'facecolor',[236 171 76]/255,'EdgeColor', 'none');
set(h2,'facecolor',[247 239 7]/255,'EdgeColor', 'none');
plot3(BASEk(1,:),BASEk(2,:),BASEk(3,:),'b-','linewidth',1');
plot3(IPk(1,:),IPk(2,:),IPk(3,:),'r-','linewidth',1);
text(POSk(1,5),POSk(2,5),POSk(3,5),num2str(kk),'fontsize',10,'color','k','FontWeight','bold');
end;
hhh= mesh(YYx,YYy,YYz);
set(hhh,'edgecolor',colors(rem(kk-1,6)+1),'linewidth',1); %,'facecolor','none');
else
figure(4);
if show_camera,
p1 = struct('vertices',IPk','faces',[1 4 2;2 4 7;2 7 10;2 10 1]);
h1 = patch(p1);
set(h1,'facecolor',[52 217 160]/255,'EdgeColor', 'r');
p2 = struct('vertices',IPk','faces',[1 10 7;7 4 1]);
h2 = patch(p2);
%set(h2,'facecolor',[236 171 76]/255,'EdgeColor', 'none');
set(h2,'facecolor',[247 239 7]/255,'EdgeColor', 'none');
plot3(BASEk(1,:),BASEk(2,:),BASEk(3,:),'b-','linewidth',1');
plot3(IPk(1,:),IPk(2,:),IPk(3,:),'r-','linewidth',1);
hww = text(POSk(1,5),POSk(2,5),POSk(3,5),num2str(kk),'fontsize',10,'color','k','FontWeight','bold');
end;
plot3(YY_kk(1,:),YY_kk(2,:),YY_kk(3,:),['.' colors(rem(kk-1,6)+1)]);
end;
end;
end;
end;
end;
end;
figure(4);rotate3d on;
axis('equal');
title('Extrinsic parameters (world-centered)');
%view(60,30);
xlabel('X_{world}')
ylabel('Y_{world}')
zlabel('Z_{world}')
view(a,b);
axis vis3d;
axis tight;
grid on;
plot3(3*dX*[1 0 0 0 0],3*dX*[0 0 1 0 0],3*dX*[0 0 0 0 1],'r-','linewidth',3);
hold off;
set(4,'color',[1 1 1]);
set(4,'Name','3D','NumberTitle','off');
%hh = axis;
%hh(5) = 0;
%axis(hh);
%fprintf(1,'To generate the complete movie associated to the optimization loop, try: check_convergence;\n');
if exist('h_switch2')==1,
if ishandle(h_switch2),
delete(h_switch2);
end;
end;
if n_ima ~= 0,
if show_camera,
h_switch2 = uicontrol('Parent',4,'Units','normalized', 'Callback','show_camera=0;ext_calib2;', 'Position',[1-.30 0.04 .30 .04],'String','Remove camera reference frames','fontsize',8,'fontname','clean','Tag','Pushbutton1');
else
h_switch2 = uicontrol('Parent',4,'Units','normalized', 'Callback','show_camera=1;ext_calib2;', 'Position',[1-.30 0.04 .30 .04],'String','Add camera reference frames','fontsize',8,'fontname','clean','Tag','Pushbutton1');
end;
end;
if exist('h_switch')==1,
if ishandle(h_switch),
delete(h_switch);
end;
end;
h_switch = uicontrol('Parent',4,'Units','normalized', 'Callback','ext_calib', 'Position',[1-.30 0 .30 .04],'String','Switch to camera-centered view','fontsize',8,'fontname','clean','Tag','Pushbutton1');
figure(4);
rotate3d on;