initial sd-vbs

initial sd-vbs

add sd-vbs

sd-vbs

74 files changed, 8209 insertions, 0 deletions

diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/Distor2Calib.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/Distor2Calib.m
new file mode 100755
index 0000000..a82f583
--- /dev/null
+++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/Distor2Calib.m
@@ -0,0 +1,391 @@
+function [fc_2,Rc_2,Tc_2,H_2,distance,V_vert,V_hori,x_all_c,V_hori_pix,V_vert_pix,V_diag1_pix,V_diag2_pix]=Distor2Calib(k_dist,grid_pts_centered,n_sq_x,n_sq_y,Np,W,L,Xgrid_2,f_ini,N_iter,two_focal);
+
+% Computes the calibration parameters knowing the
+% distortion factor k_dist
+
+% grid_pts_centered are the grid point coordinates after substraction of
+% the optical center.
+
+% can give an optional guess for the focal length f_ini (can set to [])
+% can provide the number of iterations for the Iterative Vanishing Point Algorithm
+
+% if the focal length is known perfectly, then, there is no need to iterate,
+% and therefore, one can fix: N_iter = 0;
+
+% California Institute of Technology
+% (c) Jean-Yves Bouguet - October 7th, 1997
+
+
+
+%keyboard;
+
+if exist('two_focal'),
+   if isempty(two_focal),
+      two_focal=0;
+   end;
+else
+   two_focal = 0;
+end;
+
+
+if exist('N_iter'),
+   if ~isempty(N_iter),
+      disp('Use number of iterations provided');
+   else
+      N_iter = 10;
+   end;
+else
+   N_iter = 10;
+end;
+
+if exist('f_ini'),
+   if ~isempty(f_ini),
+      disp('Use focal provided');
+      if length(f_ini)<2, f_ini=[f_ini;f_ini]; end;
+      fc_2 = f_ini;
+      x_all_c = [grid_pts_centered(1,:)/fc_2(1);grid_pts_centered(2,:)/fc_2(2)];
+      x_all_c = comp_distortion(x_all_c,k_dist); % we can this time!!!
+   else
+     fc_2 = [1;1];
+     x_all_c = grid_pts_centered;
+   end;
+else
+   fc_2 = [1;1];
+   x_all_c = grid_pts_centered;
+end;
+