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authorJoshua Bakita <jbakita@cs.unc.edu>2020-10-30 10:34:30 -0400
committerJoshua Bakita <jbakita@cs.unc.edu>2020-10-30 10:34:30 -0400
commit47da00d019b27772cb6009a07ad3fc52aaf2b15f (patch)
tree44571f1a007e212ab1bde3b7f6b2ddc797899cc7 /smt_analysis
parent8da09ab18819d80c5eda206fde04454e4fccbf1a (diff)
Case study runner script fixes
- Quote lookup ID in ID2PID - Fix SD-VBS benchmark names - Use bash rather than sh as the shell so that `echo -e` works - Remove dispatch limit that was for debugging
Diffstat (limited to 'smt_analysis')
0 files changed, 0 insertions, 0 deletions
generated by cgit v1.2.2 (git 2.25.0) at 2026-10-13 20:55:48 -0400
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%%%%%%%%%%%%%%%%%%%% SHOW EXTRINSIC RESULTS %%%%%%%%%%%%%%%%%%%%%%%%

check_active_images;

if ~exist(['omc_' num2str(ind_active(1))]),
   fprintf(1,'Need to calibrate before showing extrinsic results. Maybe need to load Calib_Results.mat file.\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 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 = 5*dX*([0 nx-1 nx-1 0 0 ; 0 0 ny-1 ny-1 0;1 1 1 1 1] - [cc;0]*ones(1,5)) ./ ([fc;1]*ones(1,5));
BASE = 5*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);

figure(4);
[a,b] = view;

figure(4);
plot3(BASE(1,:),BASE(3,:),-BASE(2,:),'b-','linewidth',2');
hold on;
plot3(IP(1,:),IP(3,:),-IP(2,:),'r-','linewidth',2);
text(6*dX,0,0,'X_c');
text(-dX,5*dX,0,'Z_c');
text(0,0,-6*dX,'Y_c');
text(-dX,-dX,dX,'O_c');


for kk = 1:n_ima,
   
   if active_images(kk);
      
   	eval(['XX_kk = X_' num2str(kk) ';']);
   	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;
         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);
            
            YY_kk = R_kk * XX_kk + Tc_kk * ones(1,length(XX_kk));
            
            uu = [-dX;-dY;0]/2;
            uu = R_kk * uu + Tc_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,:);
               
               %keyboard;
               
               figure(4);
               hhh= mesh(YYx,YYz,-YYy);
               set(hhh,'edgecolor',colors(rem(kk-1,6)+1),'linewidth',1); %,'facecolor','none');
               %plot3(YY_kk(1,:),YY_kk(3,:),-YY_kk(2,:),['o' colors(rem(kk-1,6)+1)]);
               text(uu(1),uu(3),-uu(2),num2str(kk),'fontsize',14,'color',colors(rem(kk-1,6)+1));
            else
               
               figure(4);
               plot3(YY_kk(1,:),YY_kk(3,:),-YY_kk(2,:),['.' colors(rem(kk-1,6)+1)]);
               text(uu(1),uu(3),-uu(2),num2str(kk),'fontsize',14,'color',colors(rem(kk-1,6)+1));
               
            end;
            
         end;
      
   end;
   
end;

figure(4);rotate3d on;
axis('equal');
title('Extrinsic parameters');
%view(60,30);
view(a,b);
hold off;

set(4,'Name','3D','NumberTitle','off');