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|
%init_calib_param
%
%Initialization of the intrinsic and extrinsic parameters.
%Runs as a script.
%
%This function is obsolete with init_intrinsic_param called from go_calib_optim
%
%INPUT: x_1,x_2,x_3,...: Feature locations on the images
% X_1,X_2,X_3,...: Corresponding grid coordinates
%
%OUTPUT: fc: Camera focal length
% cc: Principal point coordinates
% kc: Distortion coefficients
% KK: The camera matrix (containing fc and cc)
% omc_1,omc_2,omc_3,...: 3D rotation vectors attached to the grid positions in space
% Tc_1,Tc_2,Tc_3,...: 3D translation vectors attached to the grid positions in space
% Rc_1,Rc_2,Rc_3,...: 3D rotation matrices corresponding to the omc vectors
%
%Method: Compute the planar homographies H_1, H_2, H_3, ... and computes
% the focal length fc from orthogonal vanishing points constraint.
% The principal point cc is assumed at the center of the image.
% Assumes no image distortion (kc = [0;0;0;0])
% Once the intrinsic parameters are estimated, the extrinsic parameters
% are computed for each image.
%
%Note: The row vector active_images consists of zeros and ones. To deactivate an image, set the
% corresponding entry in the active_images vector to zero.
%
%
%Important functions called within that program:
%
%compute_homography.m: Computes the planar homography between points on the grid in 3D, and the image plane.
%
%compute_extrinsic.m: Computes the location of a grid assuming known intrinsic parameters.
% This function is called at the initialization step.
check_active_images;
if ~exist(['x_' num2str(ind_active(1)) ]),
click_calib;
|
