TOOLBOX_calib.tar « tars « toolbox_basic « toolbox « common « SD-VBS - mc2-scripts-and-benchmarks.git - Benchmarks and execution scripts for testing spatial isolation and SMT interference in MC^2

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ofs	hex dump	ascii
0000	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	TOOLBOX_calib/..................
0020	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0040	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0060	00 00 00 00 20 20 20 37 35 30 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......750.....471.....454......
0080	20 20 20 20 20 20 30 20 20 37 30 32 33 35 33 31 32 32 32 20 20 20 36 33 32 30 00 20 00 00 00 00	......0..7023531222...6320......
00a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
00c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
00e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0100	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0120	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0140	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0160	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0180	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
01a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
01c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
01e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0200	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 61 64 64 5f 73 75 70 70 72 65 73 73 2e 6d 00 00 00 00	TOOLBOX_calib/add_suppress.m....
0220	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0240	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0260	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
0280	20 20 20 33 37 32 33 20 20 37 30 32 34 30 33 37 33 30 31 20 20 31 31 32 37 31 00 20 00 00 00 00	...3723..7024037301..11271......
02a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
02c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
02e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0300	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0320	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0340	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0360	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0380	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
03a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
03c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
03e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0400	20 20 20 63 68 65 63 6b 5f 61 63 74 69 76 65 5f 69 6d 61 67 65 73 3b 0a 0a 0a 66 70 72 69 6e 74	...check_active_images;...fprint
0420	66 28 31 2c 27 5c 6e 54 68 69 73 20 66 75 6e 63 74 69 6f 6e 20 69 73 20 75 73 65 66 75 6c 20 74	f(1,'\nThis.function.is.useful.t
0440	6f 20 73 65 6c 65 63 74 20 61 20 73 75 62 73 65 74 20 6f 66 20 69 6d 61 67 65 73 20 74 6f 20 63	o.select.a.subset.of.images.to.c
0460	61 6c 69 62 72 61 74 65 5c 6e 27 29 3b 0a 0a 20 20 20 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 54	alibrate\n');.....fprintf(1,'\nT
0480	68 65 72 65 20 61 72 65 20 63 75 72 72 65 6e 74 6c 79 20 25 64 20 61 63 74 69 76 65 20 69 6d 61	here.are.currently.%d.active.ima
04a0	67 65 73 20 73 65 6c 65 63 74 65 64 20 66 6f 72 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 28 6f 75	ges.selected.for.calibration.(ou
04c0	74 20 6f 66 20 25 64 29 3a 5c 6e 27 2c 6c 65 6e 67 74 68 28 69 6e 64 5f 61 63 74 69 76 65 29 2c	t.of.%d):\n',length(ind_active),
04e0	6e 5f 69 6d 61 29 3b 0a 20 20 20 0a 20 20 20 69 66 20 7e 69 73 65 6d 70 74 79 28 69 6e 64 5f 61	n_ima);........if.~isempty(ind_a
0500	63 74 69 76 65 29 2c 0a 20 20 20 0a 20 20 20 09 66 6f 72 20 69 69 20 3d 20 31 3a 6c 65 6e 67 74	ctive),.........for.ii.=.1:lengt
0520	68 28 69 6e 64 5f 61 63 74 69 76 65 29 2d 32 2c 0a 20 20 20 20 20 20 09 0a 20 20 20 20 20 20 20	h(ind_active)-2,................
0540	20 20 66 70 72 69 6e 74 66 28 31 2c 27 25 64 2c 20 27 2c 69 6e 64 5f 61 63 74 69 76 65 28 69 69	..fprintf(1,'%d,.',ind_active(ii
0560	29 29 3b 0a 20 20 20 20 20 20 20 20 20 0a 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 0a	));.................end;........
0580	20 20 20 20 20 20 66 70 72 69 6e 74 66 28 31 2c 27 25 64 20 61 6e 64 20 25 64 2e 27 2c 69 6e 64	......fprintf(1,'%d.and.%d.',ind
05a0	5f 61 63 74 69 76 65 28 65 6e 64 2d 31 29 2c 69 6e 64 5f 61 63 74 69 76 65 28 65 6e 64 29 29 3b	_active(end-1),ind_active(end));
05c0	0a 0a 20 20 20 65 6e 64 3b 0a 20 20 20 0a 20 20 20 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 27 29	.....end;........fprintf(1,'\n')
05e0	3b 0a 20 20 20 0a 20 20 20 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 44 6f 20 79 6f 75 20 77 61	;.........fprintf(1,'\nDo.you.wa
0600	6e 74 20 74 6f 20 73 75 70 70 72 65 73 73 20 6f 72 20 61 64 64 20 69 6d 61 67 65 73 20 66 72 6f	nt.to.suppress.or.add.images.fro
0620	6d 20 74 68 61 74 20 6c 69 73 74 3f 5c 6e 27 29 3b 0a 0a 63 68 6f 69 63 65 20 3d 20 32 3b 0a 0a	m.that.list?\n');..choice.=.2;..
0640	77 68 69 6c 65 20 28 63 68 6f 69 63 65 7e 3d 30 29 26 28 63 68 6f 69 63 65 7e 3d 31 29 2c 0a 20	while.(choice~=0)&(choice~=1),..
0660	20 20 63 68 6f 69 63 65 20 3d 20 69 6e 70 75 74 28 27 46 6f 72 20 73 75 70 70 72 65 73 73 69 6e	..choice.=.input('For.suppressin
0680	67 20 69 6d 61 67 65 73 20 65 6e 74 65 72 20 30 2c 20 66 6f 72 20 61 64 64 69 6e 67 20 69 6d 61	g.images.enter.0,.for.adding.ima
06a0	67 65 73 20 65 6e 74 65 72 20 31 20 28 5b 5d 3d 6e 6f 20 63 68 61 6e 67 65 29 3a 20 27 29 3b 0a	ges.enter.1.([]=no.change):.');.
06c0	20 20 20 69 66 20 69 73 65 6d 70 74 79 28 63 68 6f 69 63 65 29 2c 0a 20 20 20 20 20 20 66 70 72	...if.isempty(choice),.......fpr
06e0	69 6e 74 66 28 31 2c 27 4e 6f 20 63 68 61 6e 67 65 20 61 70 70 6c 69 65 64 20 74 6f 20 74 68 65	intf(1,'No.change.applied.to.the
0700	20 6c 69 73 74 20 6f 66 20 61 63 74 69 76 65 20 69 6d 61 67 65 73 2e 5c 6e 27 29 3b 0a 20 20 20	.list.of.active.images.\n');....
0720	20 20 20 72 65 74 75 72 6e 3b 0a 20 20 20 65 6e 64 3b 0a 20 20 20 69 66 20 28 63 68 6f 69 63 65	...return;....end;....if.(choice
0740	7e 3d 30 29 26 28 63 68 6f 69 63 65 7e 3d 31 29 2c 0a 20 20 20 20 20 20 64 69 73 70 28 27 42 61	~=0)&(choice~=1),.......disp('Ba
0760	64 20 65 6e 74 72 79 2e 20 54 72 79 20 61 67 61 69 6e 2e 27 29 3b 0a 20 20 20 65 6e 64 3b 0a 65	d.entry..Try.again.');....end;.e
0780	6e 64 3b 0a 0a 0a 69 66 20 63 68 6f 69 63 65 2c 0a 20 20 20 0a 09 69 6d 61 5f 6e 75 6d 62 65 72	nd;...if.choice,......ima_number
07a0	73 20 3d 20 69 6e 70 75 74 28 27 4e 75 6d 62 65 72 28 73 29 20 6f 66 20 69 6d 61 67 65 28 73 29	s.=.input('Number(s).of.image(s)
07c0	20 74 6f 20 61 64 64 20 28 5b 5d 20 3d 20 61 6c 6c 20 69 6d 61 67 65 73 29 20 3d 20 27 29 3b 0a	.to.add.([].=.all.images).=.');.
07e0	0a 69 66 20 69 73 65 6d 70 74 79 28 69 6d 61 5f 6e 75 6d 62 65 72 73 29 2c 0a 09 20 20 20 66 70	.if.isempty(ima_numbers),.....fp
0800	72 69 6e 74 66 28 31 2c 27 41 6c 6c 20 25 64 20 69 6d 61 67 65 73 20 61 72 65 20 6e 6f 77 20 61	rintf(1,'All.%d.images.are.now.a
0820	63 74 69 76 65 5c 6e 27 2c 6e 5f 69 6d 61 29 3b 0a 20 20 20 09 69 6d 61 5f 70 72 6f 63 20 3d 20	ctive\n',n_ima);.....ima_proc.=.
0840	31 3a 6e 5f 69 6d 61 3b 0a 09 65 6c 73 65 0a 20 20 20 09 69 6d 61 5f 70 72 6f 63 20 3d 20 69 6d	1:n_ima;..else.....ima_proc.=.im
0860	61 5f 6e 75 6d 62 65 72 73 3b 0a 09 65 6e 64 3b 0a 20 20 20 0a 65 6c 73 65 0a 20 20 20 0a 20 20	a_numbers;..end;.....else.......
0880	20 0a 09 69 6d 61 5f 6e 75 6d 62 65 72 73 20 3d 20 69 6e 70 75 74 28 27 4e 75 6d 62 65 72 28 73	...ima_numbers.=.input('Number(s
08a0	29 20 6f 66 20 69 6d 61 67 65 28 73 29 20 74 6f 20 73 75 70 70 72 65 73 73 20 28 5b 5d 20 3d 20	).of.image(s).to.suppress.([].=.
08c0	6e 6f 20 69 6d 61 67 65 29 20 3d 20 27 29 3b 0a 0a 09 69 66 20 69 73 65 6d 70 74 79 28 69 6d 61	no.image).=.');...if.isempty(ima
08e0	5f 6e 75 6d 62 65 72 73 29 2c 0a 20 20 20 20 20 20 66 70 72 69 6e 74 66 28 31 2c 27 4e 6f 20 69	_numbers),.......fprintf(1,'No.i
0900	6d 61 67 65 20 68 61 73 20 62 65 65 6e 20 73 75 70 70 72 65 73 73 65 64 2e 20 4e 6f 20 6d 6f 64	mage.has.been.suppressed..No.mod
0920	69 63 61 74 69 6f 6e 20 6f 66 20 74 68 65 20 6c 69 73 74 20 6f 66 20 61 63 74 69 76 65 20 69 6d	ication.of.the.list.of.active.im
0940	61 67 65 73 2e 5c 6e 27 2c 6e 5f 69 6d 61 29 3b 0a 20 20 20 09 69 6d 61 5f 70 72 6f 63 20 3d 20	ages.\n',n_ima);.....ima_proc.=.
0960	5b 5d 3b 0a 09 65 6c 73 65 0a 20 20 20 09 69 6d 61 5f 70 72 6f 63 20 3d 20 69 6d 61 5f 6e 75 6d	[];..else.....ima_proc.=.ima_num
0980	62 65 72 73 3b 0a 09 65 6e 64 3b 0a 20 20 20 0a 65 6e 64 3b 0a 0a 69 66 20 7e 69 73 65 6d 70 74	bers;..end;.....end;..if.~isempt
09a0	79 28 69 6d 61 5f 70 72 6f 63 29 2c 0a 20 20 20 0a 20 20 20 61 63 74 69 76 65 5f 69 6d 61 67 65	y(ima_proc),........active_image
09c0	73 28 69 6d 61 5f 70 72 6f 63 29 20 3d 20 63 68 6f 69 63 65 20 2a 20 6f 6e 65 73 28 31 2c 6c 65	s(ima_proc).=.choice.*.ones(1,le
09e0	6e 67 74 68 28 69 6d 61 5f 70 72 6f 63 29 29 3b 0a 20 20 20 0a 65 6e 64 3b 0a 0a 0a 20 20 20 63	ngth(ima_proc));.....end;......c
0a00	68 65 63 6b 5f 61 63 74 69 76 65 5f 69 6d 61 67 65 73 3b 0a 20 20 20 0a 0a 20 20 20 66 70 72 69	heck_active_images;.........fpri
0a20	6e 74 66 28 31 2c 27 5c 6e 54 68 65 72 65 20 69 73 20 6e 6f 77 20 61 20 74 6f 74 61 6c 20 6f 66	ntf(1,'\nThere.is.now.a.total.of
0a40	20 25 64 20 61 63 74 69 76 65 20 69 6d 61 67 65 73 20 66 6f 72 20 63 61 6c 69 62 72 61 74 69 6f	.%d.active.images.for.calibratio
0a60	6e 3a 5c 6e 27 2c 6c 65 6e 67 74 68 28 69 6e 64 5f 61 63 74 69 76 65 29 29 3b 0a 20 20 20 0a 20	n:\n',length(ind_active));......
0a80	20 20 69 66 20 7e 69 73 65 6d 70 74 79 28 69 6e 64 5f 61 63 74 69 76 65 29 2c 0a 20 20 20 0a 20	..if.~isempty(ind_active),......
0aa0	20 20 09 66 6f 72 20 69 69 20 3d 20 31 3a 6c 65 6e 67 74 68 28 69 6e 64 5f 61 63 74 69 76 65 29	...for.ii.=.1:length(ind_active)
0ac0	2d 32 2c 0a 20 20 20 20 20 20 09 0a 20 20 20 20 20 20 20 20 20 66 70 72 69 6e 74 66 28 31 2c 27	-2,..................fprintf(1,'
0ae0	25 64 2c 20 27 2c 69 6e 64 5f 61 63 74 69 76 65 28 69 69 29 29 3b 0a 20 20 20 20 20 20 20 20 20	%d,.',ind_active(ii));..........
0b00	0a 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 66 70 72 69 6e 74 66	.......end;..............fprintf
0b20	28 31 2c 27 25 64 20 61 6e 64 20 25 64 2e 27 2c 69 6e 64 5f 61 63 74 69 76 65 28 65 6e 64 2d 31	(1,'%d.and.%d.',ind_active(end-1
0b40	29 2c 69 6e 64 5f 61 63 74 69 76 65 28 65 6e 64 29 29 3b 0a 0a 20 20 20 65 6e 64 3b 0a 20 20 20	),ind_active(end));.....end;....
0b60	0a 20 20 20 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 5c 6e 59 6f 75 20 6d 61 79 20 6e 6f 77 20 72	....fprintf(1,'\n\nYou.may.now.r
0b80	75 6e 20 27 27 43 61 6c 69 62 72 61 74 69 6f 6e 27 27 20 74 6f 20 72 65 63 61 6c 69 62 72 61 74	un.''Calibration''.to.recalibrat
0ba0	65 20 62 61 73 65 64 20 6f 6e 20 74 68 69 73 20 6e 65 77 20 73 65 74 20 6f 66 20 69 6d 61 67 65	e.based.on.this.new.set.of.image
0bc0	73 2e 5c 6e 27 29 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 00 00 00 00 00 00 00 00 00 00 00 00 00	s.\n');.........................
0be0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0c00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 61 6e 61 6c 79 73 65 5f 65 72 72 6f 72 2e 6d 00 00 00	TOOLBOX_calib/analyse_error.m...
0c20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0c40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0c60	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
0c80	20 20 20 33 37 32 34 20 20 37 30 32 34 30 33 37 33 30 32 20 20 31 31 34 34 34 00 20 00 00 00 00	...3724..7024037302..11444......
0ca0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0cc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0ce0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0d00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0d20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0d40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0d60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0d80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0da0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0dc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0de0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
0e00	25 20 43 6f 6c 6f 72 20 63 6f 64 65 20 66 6f 72 20 65 61 63 68 20 69 6d 61 67 65 3a 0a 0a 63 68	%.Color.code.for.each.image:..ch
0e20	65 63 6b 5f 61 63 74 69 76 65 5f 69 6d 61 67 65 73 3b 0a 0a 69 66 20 7e 65 78 69 73 74 28 5b 27	eck_active_images;..if.~exist(['
0e40	65 78 5f 27 20 6e 75 6d 32 73 74 72 28 69 6e 64 5f 61 63 74 69 76 65 28 31 29 29 20 5d 29 2c 0a	ex_'.num2str(ind_active(1)).]),.
0e60	20 20 20 66 70 72 69 6e 74 66 28 31 2c 27 4e 65 65 64 20 74 6f 20 63 61 6c 69 62 72 61 74 65 20	...fprintf(1,'Need.to.calibrate.
0e80	62 65 66 6f 72 65 20 61 6e 61 6c 79 73 69 6e 67 20 72 65 70 72 6f 6a 65 63 74 69 6f 6e 20 65 72	before.analysing.reprojection.er
0ea0	72 6f 72 2e 20 4d 61 79 62 65 20 6e 65 65 64 20 74 6f 20 6c 6f 61 64 20 43 61 6c 69 62 5f 52 65	ror..Maybe.need.to.load.Calib_Re
0ec0	73 75 6c 74 73 2e 6d 61 74 20 66 69 6c 65 2e 5c 6e 27 29 3b 0a 20 20 20 72 65 74 75 72 6e 3b 0a	sults.mat.file.\n');....return;.
0ee0	65 6e 64 3b 0a 0a 0a 69 66 20 7e 65 78 69 73 74 28 27 6e 6f 5f 67 72 69 64 27 29 2c 0a 20 20 20	end;...if.~exist('no_grid'),....
0f00	6e 6f 5f 67 72 69 64 20 3d 20 30 3b 0a 65 6e 64 3b 0a 0a 63 6f 6c 6f 72 73 20 3d 20 27 62 72 67	no_grid.=.0;.end;..colors.=.'brg
0f20	6b 63 6d 27 3b 0a 0a 20 20 20 0a 66 69 67 75 72 65 28 35 29 3b 0a 20 20 20 0a 66 6f 72 20 6b 6b	kcm';......figure(5);.....for.kk
0f40	20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a 09 69 66 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 6b 6b	.=.1:n_ima,..if.active_images(kk
0f60	29 20 26 20 65 76 61 6c 28 5b 27 7e 69 73 6e 61 6e 28 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b	).&.eval(['~isnan(y_'.num2str(kk
0f80	29 20 27 28 31 2c 31 29 29 27 5d 29 2c 0a 09 20 20 20 65 76 61 6c 28 5b 27 70 6c 6f 74 28 65 78	).'(1,1))']),.....eval(['plot(ex
0fa0	5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 28 31 2c 3a 29 2c 65 78 5f 27 20 6e 75 6d 32 73	_'.num2str(kk).'(1,:),ex_'.num2s
0fc0	74 72 28 6b 6b 29 20 27 28 32 2c 3a 29 2c 27 27 27 20 63 6f 6c 6f 72 73 28 72 65 6d 28 6b 6b 2d	tr(kk).'(2,:),'''.colors(rem(kk-
0fe0	31 2c 36 29 2b 31 29 20 27 2b 27 27 29 3b 27 5d 29 3b 0a 20 20 20 20 20 20 68 6f 6c 64 20 6f 6e	1,6)+1).'+'');']);.......hold.on
1000	3b 0a 20 20 20 65 6e 64 3b 0a 65 6e 64 3b 0a 68 6f 6c 64 20 6f 66 66 3b 0a 61 78 69 73 28 27 65	;....end;.end;.hold.off;.axis('e
1020	71 75 61 6c 27 29 3b 0a 69 66 20 31 2c 20 25 7e 6e 6f 5f 67 72 69 64 2c 0a 20 20 20 74 69 74 6c	qual');.if.1,.%~no_grid,....titl
1040	65 28 27 52 65 70 72 6f 6a 65 63 74 69 6f 6e 20 65 72 72 6f 72 20 28 69 6e 20 70 69 78 65 6c 29	e('Reprojection.error.(in.pixel)
1060	20 2d 20 54 6f 20 65 78 69 74 3a 20 72 69 67 68 74 20 62 75 74 74 6f 6e 27 29 3b 0a 65 6c 73 65	.-.To.exit:.right.button');.else
1080	0a 20 20 20 74 69 74 6c 65 28 27 52 65 70 72 6f 6a 65 63 74 69 6f 6e 20 65 72 72 6f 72 20 28 69	....title('Reprojection.error.(i
10a0	6e 20 70 69 78 65 6c 29 27 29 3b 20 20 20 0a 65 6e 64 3b 0a 78 6c 61 62 65 6c 28 27 78 27 29 3b	n.pixel)');....end;.xlabel('x');
10c0	0a 79 6c 61 62 65 6c 28 27 79 27 29 3b 0a 0a 73 65 74 28 35 2c 27 4e 61 6d 65 27 2c 27 65 72 72	.ylabel('y');..set(5,'Name','err
10e0	6f 72 27 2c 27 4e 75 6d 62 65 72 54 69 74 6c 65 27 2c 27 6f 66 66 27 29 3b 0a 0a 0a 0a 25 65 72	or','NumberTitle','off');....%er
1100	72 5f 73 74 64 20 3d 20 73 74 64 28 65 78 27 29 27 3b 0a 0a 25 66 70 72 69 6e 74 66 28 31 2c 27	r_std.=.std(ex')';..%fprintf(1,'
1120	50 69 78 65 6c 20 65 72 72 6f 72 3a 20 20 20 20 20 20 65 72 72 20 3d 20 5b 20 25 33 2e 35 66 20	Pixel.error:......err.=.[.%3.5f.
1140	20 20 25 33 2e 35 66 5d 5c 6e 5c 6e 27 2c 65 72 72 5f 73 74 64 29 3b 20 0a 0a 62 20 3d 20 31 3b	..%3.5f]\n\n',err_std);...b.=.1;
1160	0a 0a 77 68 69 6c 65 20 62 3d 3d 31 2c 0a 20 20 20 0a 5b 78 70 2c 79 70 2c 62 5d 20 3d 20 67 69	..while.b==1,.....[xp,yp,b].=.gi
1180	6e 70 75 74 33 28 31 29 3b 0a 0a 69 66 20 62 3d 3d 31 2c 0a 64 64 64 20 3d 20 28 65 78 28 31 2c	nput3(1);..if.b==1,.ddd.=.(ex(1,
11a0	3a 29 2d 78 70 29 2e 5e 32 20 2b 20 28 65 78 28 32 2c 3a 29 2d 79 70 29 2e 5e 32 3b 0a 0a 5b 6d	:)-xp).^2.+.(ex(2,:)-yp).^2;..[m
11c0	69 6e 64 2c 69 6e 64 6d 69 6e 5d 20 3d 20 6d 69 6e 28 64 64 64 29 3b 0a 0a 0a 64 6f 6e 65 20 3d	ind,indmin].=.min(ddd);...done.=
11e0	20 30 3b 0a 6b 6b 5f 69 6d 61 20 3d 20 31 3b 0a 77 68 69 6c 65 20 28 7e 64 6f 6e 65 29 26 28 6b	.0;.kk_ima.=.1;.while.(~done)&(k
1200	6b 5f 69 6d 61 3c 3d 6e 5f 69 6d 61 29 2c 0a 20 20 20 25 66 70 72 69 6e 74 66 28 31 2c 27 25 64	k_ima<=n_ima),....%fprintf(1,'%d
1220	2e 2e 2e 27 2c 6b 6b 5f 69 6d 61 29 3b 0a 20 20 20 65 76 61 6c 28 5b 27 65 78 5f 6b 6b 20 3d 20	...',kk_ima);....eval(['ex_kk.=.
1240	65 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 5f 69 6d 61 29 20 27 3b 27 5d 29 3b 0a 20 20 20 73	ex_'.num2str(kk_ima).';']);....s
1260	6f 6c 5f 6b 6b 20 3d 20 66 69 6e 64 28 28 65 78 5f 6b 6b 28 31 2c 3a 29 20 3d 3d 20 65 78 28 31	ol_kk.=.find((ex_kk(1,:).==.ex(1
1280	2c 69 6e 64 6d 69 6e 29 29 26 28 65 78 5f 6b 6b 28 32 2c 3a 29 20 3d 3d 20 65 78 28 32 2c 69 6e	,indmin))&(ex_kk(2,:).==.ex(2,in
12a0	64 6d 69 6e 29 29 29 3b 0a 20 20 20 69 66 20 69 73 65 6d 70 74 79 28 73 6f 6c 5f 6b 6b 29 2c 0a	dmin)));....if.isempty(sol_kk),.
12c0	20 20 20 09 6b 6b 5f 69 6d 61 20 3d 20 6b 6b 5f 69 6d 61 20 2b 20 31 3b 0a 20 20 20 65 6c 73 65	....kk_ima.=.kk_ima.+.1;....else
12e0	0a 20 20 20 20 20 20 64 6f 6e 65 20 3d 20 31 3b 0a 20 20 20 65 6e 64 3b 0a 65 6e 64 3b 0a 0a 69	.......done.=.1;....end;.end;..i
1300	66 20 7e 6e 6f 5f 67 72 69 64 2c 0a 0a 65 76 61 6c 28 5b 27 6e 5f 73 71 5f 78 20 3d 20 6e 5f 73	f.~no_grid,..eval(['n_sq_x.=.n_s
1320	71 5f 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 5f 69 6d 61 29 20 27 3b 27 5d 29 3b 0a 65 76 61	q_x_'.num2str(kk_ima).';']);.eva
1340	6c 28 5b 27 6e 5f 73 71 5f 79 20 3d 20 6e 5f 73 71 5f 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b	l(['n_sq_y.=.n_sq_y_'.num2str(kk
1360	5f 69 6d 61 29 20 27 3b 27 5d 29 3b 0a 0a 4e 78 20 3d 20 6e 5f 73 71 5f 78 2b 31 3b 0a 4e 79 20	_ima).';']);..Nx.=.n_sq_x+1;.Ny.
1380	3d 20 6e 5f 73 71 5f 79 2b 31 3b 0a 0a 79 31 20 3d 20 66 6c 6f 6f 72 28 28 73 6f 6c 5f 6b 6b 2d	=.n_sq_y+1;..y1.=.floor((sol_kk-
13a0	31 29 2e 2f 4e 78 29 3b 0a 78 31 20 3d 20 73 6f 6c 5f 6b 6b 20 2d 20 31 20 2d 20 4e 78 2a 79 31	1)./Nx);.x1.=.sol_kk.-.1.-.Nx*y1
13c0	3b 20 25 72 65 6d 28 73 6f 6c 5f 6b 6b 2d 31 2c 4e 78 29 3b 0a 0a 79 31 20 3d 20 28 6e 5f 73 71	;.%rem(sol_kk-1,Nx);..y1.=.(n_sq
13e0	5f 79 2b 31 29 20 2d 20 79 31 3b 0a 78 31 20 3d 20 78 31 20 2b 20 31 3b 0a 0a 66 70 72 69 6e 74	_y+1).-.y1;.x1.=.x1.+.1;..fprint
1400	66 28 31 2c 27 5c 6e 53 65 6c 65 63 74 65 64 20 69 6d 61 67 65 3a 20 25 64 5c 6e 53 65 6c 65 63	f(1,'\nSelected.image:.%d\nSelec
1420	74 65 64 20 70 6f 69 6e 74 3a 20 28 63 6f 6c 2c 72 6f 77 29 3d 28 25 64 2c 25 64 29 5c 6e 4e 63	ted.point:.(col,row)=(%d,%d)\nNc
1440	6f 6c 3d 25 64 2c 20 4e 72 6f 77 3d 25 64 5c 6e 27 2c 5b 6b 6b 5f 69 6d 61 20 78 31 20 79 31 20	ol=%d,.Nrow=%d\n',[kk_ima.x1.y1.
1460	4e 78 20 4e 79 5d 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 50 69 78 65 6c 20 65 72 72 6f 72 20	Nx.Ny]);.fprintf(1,'Pixel.error.
1480	3d 20 28 25 33 2e 35 66 2c 25 33 2e 35 66 29 5c 6e 27 2c 5b 65 78 28 31 2c 69 6e 64 6d 69 6e 29	=.(%3.5f,%3.5f)\n',[ex(1,indmin)
14a0	20 65 78 28 32 2c 69 6e 64 6d 69 6e 29 5d 29 3b 0a 0a 65 6c 73 65 0a 20 20 20 0a 20 20 20 65 76	.ex(2,indmin)]);..else........ev
14c0	61 6c 28 5b 27 78 5f 6b 6b 20 3d 20 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 5f 69 6d 61 29 20	al(['x_kk.=.x_'.num2str(kk_ima).
14e0	27 3b 27 5d 29 3b 0a 20 20 20 0a 20 20 20 78 70 74 20 3d 20 78 5f 6b 6b 28 3a 2c 73 6f 6c 5f 6b	';']);........xpt.=.x_kk(:,sol_k
1500	6b 29 3b 0a 20 20 20 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 53 65 6c 65 63 74 65 64 20 69 6d	k);.....fprintf(1,'\nSelected.im
1520	61 67 65 3a 20 25 64 5c 6e 49 6d 61 67 65 20 63 6f 6f 72 64 69 6e 61 74 65 73 20 28 69 6e 20 70	age:.%d\nImage.coordinates.(in.p
1540	69 78 65 6c 29 3a 20 28 25 33 2e 32 66 2c 25 33 2e 32 66 29 5c 6e 27 2c 5b 6b 6b 5f 69 6d 61 20	ixel):.(%3.2f,%3.2f)\n',[kk_ima.
1560	78 70 74 27 5d 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 50 69 78 65 6c 20 65 72 72 6f 72 20 3d	xpt']);.fprintf(1,'Pixel.error.=
1580	20 28 25 33 2e 35 66 2c 25 33 2e 35 66 29 5c 6e 27 2c 5b 65 78 28 31 2c 69 6e 64 6d 69 6e 29 20	.(%3.5f,%3.5f)\n',[ex(1,indmin).
15a0	65 78 28 32 2c 69 6e 64 6d 69 6e 29 5d 29 3b 0a 0a 0a 65 6e 64 3b 0a 0a 0a 65 6e 64 3b 0a 0a 65	ex(2,indmin)]);...end;...end;..e
15c0	6e 64 3b 0a 0a 64 69 73 70 28 27 64 6f 6e 65 27 29 3b 0a 0a 00 20 00 11 6d 65 61 6e 5f 73 74 64	nd;..disp('done');......mean_std
15e0	5f 72 6f 62 75 73 74 2e 6d 00 36 b1 00 00 07 38 00 02 36 b3 00 24 00 14 72 75 6e 5f 65 72 72 6f	_robust.m.6....8..6..$..run_erro
1600	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 61 6c 69 62 2e 6d 00 00 00 00 00 00 00 00 00 00 00	TOOLBOX_calib/calib.m...........
1620	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1640	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1660	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
1680	20 20 20 34 34 30 31 20 20 37 30 32 34 30 33 37 33 30 32 20 20 20 37 36 34 32 00 20 00 00 00 00	...4401..7024037302...7642......
16a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
16c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
16e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1700	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1720	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1740	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1760	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1780	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
17a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
17c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
17e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1800	69 66 20 7e 65 78 69 73 74 28 27 69 6e 73 74 72 75 63 74 69 6f 6e 73 27 29 2c 20 69 6e 73 74 72	if.~exist('instructions'),.instr
1820	75 63 74 69 6f 6e 73 20 3d 20 31 3b 20 65 6e 64 3b 0a 0a 69 66 20 69 6e 73 74 72 75 63 74 69 6f	uctions.=.1;.end;..if.instructio
1840	6e 73 2c 0a 20 20 20 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66	ns,.....fprintf(1,'\n');.fprintf
1860	28 31 2c 27 2a 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d	(1,'*---------------------------
1880	2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d	--------------------------------
18a0	2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d	--------------------------------
18c0	2d 2d 2d 2d 2d 2d 2d 2d 2d 2a 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 7c 20 20 20 20	---------*\n');.fprintf(1,'\|....
18e0	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 4d 61 69 6e 20 43 61 6c 69 62 72	.....................Main.Calibr
1900	61 74 69 6f 6e 20 74 6f 6f 6c 62 6f 78 20 28 32 44 20 61 6e 64 20 33 44 20 72 69 67 73 29 20 20	ation.toolbox.(2D.and.3D.rigs)..
1920	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	................................
1940	7c 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 7c 20 20 20 20 20 20 20 20 20 20 20 20 20	\|\n');.fprintf(1,'\|.............
1960	20 20 20 20 20 20 20 20 20 20 20 28 63 29 20 4a 65 61 6e 2d 59 76 65 73 20 42 6f 75 67 75 65 74	...........(c).Jean-Yves.Bouguet
1980	20 2d 20 53 65 70 74 65 6d 62 65 72 20 39 74 68 2c 20 31 39 39 39 20 20 20 20 20 20 20 20 20 20	.-.September.9th,.1999..........
19a0	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 7c 5c 6e 27 29 3b 0a 66 70	.......................\|\n');.fp
19c0	72 69 6e 74 66 28 31 2c 27 2a 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d	rintf(1,'*----------------------
19e0	2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d	--------------------------------
1a00	2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d	--------------------------------
1a20	2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2a 5c 6e 5c 6e 5c 6e 27 29 3b 0a 0a 66 70 72 69 6e 74	--------------*\n\n\n');..fprint
1a40	66 28 31 2c 27 43 4c 49 43 4b 20 4f 4e 3a 5c 6e 5c 6e 27 29 3b 0a 0a 66 70 72 69 6e 74 66 28 31	f(1,'CLICK.ON:\n\n');..fprintf(1
1a60	2c 27 32 44 3a 20 20 20 54 6f 20 70 65 72 66 6f 72 6d 20 63 61 6d 65 72 61 20 63 61 6c 69 62 72	,'2D:...To.perform.camera.calibr
1a80	61 74 69 6f 6e 20 66 72 6f 6d 20 6d 75 6c 74 69 70 6c 65 20 76 69 65 77 73 20 6f 66 20 61 20 32	ation.from.multiple.views.of.a.2
1aa0	44 20 70 6c 61 6e 61 72 20 67 72 69 64 2e 20 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27	D.planar.grid..\n');.fprintf(1,'
1ac0	20 20 20 20 20 20 53 65 74 20 64 65 66 61 75 6c 74 20 73 69 7a 65 20 6f 66 20 67 72 69 64 20 28	......Set.default.size.of.grid.(
1ae0	69 6e 20 64 58 5f 64 65 66 61 75 6c 74 20 61 6e 64 20 64 59 5f 64 65 66 61 75 6c 74 29 20 69 6e	in.dX_default.and.dY_default).in
1b00	20 63 6c 69 63 6b 5f 63 61 6c 69 62 2e 6d 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27	.click_calib.m.\n');.fprintf(1,'
1b20	33 44 3a 20 20 20 54 6f 20 70 65 72 66 6f 72 6d 20 63 61 6d 65 72 61 20 63 61 6c 69 62 72 61 74	3D:...To.perform.camera.calibrat
1b40	69 6f 6e 20 66 72 6f 6d 20 6d 75 6c 74 69 70 6c 65 20 76 69 65 77 73 20 6f 66 20 61 20 33 44 20	ion.from.multiple.views.of.a.3D.
1b60	67 72 69 64 20 63 6f 72 6e 65 72 2e 20 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20	grid.corner..\n');.fprintf(1,'..
1b80	20 20 20 20 53 65 74 20 64 65 66 61 75 6c 74 20 73 69 7a 65 20 6f 66 20 67 72 69 64 73 20 28 69	....Set.default.size.of.grids.(i
1ba0	6e 20 64 58 5f 64 65 66 61 75 6c 74 20 61 6e 64 20 64 59 5f 64 65 66 61 75 6c 74 29 20 69 6e 20	n.dX_default.and.dY_default).in.
1bc0	63 6c 69 63 6b 5f 63 61 6c 69 62 33 44 2e 6d 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c	click_calib3D.m.\n');.fprintf(1,
1be0	27 45 78 69 74 3a 20 54 6f 20 63 6c 6f 73 65 20 74 68 65 20 63 61 6c 69 62 72 61 74 69 6f 6e 20	'Exit:.To.close.the.calibration.
1c00	74 6f 6f 6c 2e 20 5c 6e 27 29 3b 0a 0a 65 6e 64 3b 0a 0a 69 6e 73 74 72 75 63 74 69 6f 6e 73 20	tool..\n');..end;..instructions.
1c20	3d 20 30 3b 0a 0a 66 69 67 5f 6e 75 6d 62 65 72 20 3d 20 31 3b 0a 0a 6e 5f 72 6f 77 20 3d 20 31	=.0;..fig_number.=.1;..n_row.=.1
1c40	3b 0a 6e 5f 63 6f 6c 20 3d 20 33 3b 0a 0a 73 74 72 69 6e 67 5f 6c 69 73 74 20 3d 20 63 65 6c 6c	;.n_col.=.3;..string_list.=.cell
1c60	28 6e 5f 72 6f 77 2c 6e 5f 63 6f 6c 29 3b 0a 63 61 6c 6c 62 61 63 6b 5f 6c 69 73 74 20 3d 20 63	(n_row,n_col);.callback_list.=.c
1c80	65 6c 6c 28 6e 5f 72 6f 77 2c 6e 5f 63 6f 6c 29 3b 0a 0a 78 5f 73 69 7a 65 20 3d 20 34 30 3b 0a	ell(n_row,n_col);..x_size.=.40;.
1ca0	79 5f 73 69 7a 65 20 3d 20 32 30 3b 0a 0a 74 69 74 6c 65 5f 66 69 67 75 72 65 20 3d 20 27 43 61	y_size.=.20;..title_figure.=.'Ca
1cc0	6c 69 62 72 61 74 69 6f 6e 20 74 6f 6f 6c 27 3b 0a 0a 73 74 72 69 6e 67 5f 6c 69 73 74 7b 31 2c	libration.tool';..string_list{1,
1ce0	31 7d 20 3d 20 27 32 44 20 72 69 67 27 3b 0a 73 74 72 69 6e 67 5f 6c 69 73 74 7b 31 2c 32 7d 20	1}.=.'2D.rig';.string_list{1,2}.
1d00	3d 20 27 33 44 20 72 69 67 27 3b 0a 73 74 72 69 6e 67 5f 6c 69 73 74 7b 31 2c 33 7d 20 3d 20 27	=.'3D.rig';.string_list{1,3}.=.'
1d20	45 78 69 74 27 3b 0a 0a 63 61 6c 6c 62 61 63 6b 5f 6c 69 73 74 7b 31 2c 31 7d 20 3d 20 27 63 61	Exit';..callback_list{1,1}.=.'ca
1d40	6c 69 62 5f 67 75 69 3b 27 3b 0a 63 61 6c 6c 62 61 63 6b 5f 6c 69 73 74 7b 31 2c 32 7d 20 3d 20	lib_gui;';.callback_list{1,2}.=.
1d60	27 63 61 6c 69 62 33 44 5f 67 75 69 3b 27 3b 0a 63 61 6c 6c 62 61 63 6b 5f 6c 69 73 74 7b 31 2c	'calib3D_gui;';.callback_list{1,
1d80	33 7d 20 3d 20 5b 27 64 69 73 70 28 27 27 42 79 65 2e 20 54 6f 20 72 75 6e 20 61 67 61 69 6e 2c	3}.=.['disp(''Bye..To.run.again,
1da0	20 74 79 70 65 20 63 61 6c 69 62 2e 27 27 29 3b 20 63 6c 6f 73 65 28 27 20 6e 75 6d 32 73 74 72	.type.calib.'');.close('.num2str
1dc0	28 66 69 67 5f 6e 75 6d 62 65 72 29 20 27 29 3b 27 5d 3b 0a 0a 0a 66 69 67 75 72 65 28 66 69 67	(fig_number).');'];...figure(fig
1de0	5f 6e 75 6d 62 65 72 29 3b 20 63 6c 66 3b 0a 70 6f 73 20 3d 20 67 65 74 28 66 69 67 5f 6e 75 6d	_number);.clf;.pos.=.get(fig_num
1e00	62 65 72 2c 27 50 6f 73 69 74 69 6f 6e 27 29 3b 0a 0a 66 69 67 5f 73 69 7a 65 5f 78 20 3d 20 78	ber,'Position');..fig_size_x.=.x
1e20	5f 73 69 7a 65 2a 6e 5f 63 6f 6c 2b 28 6e 5f 63 6f 6c 2b 31 29 2a 32 3b 0a 66 69 67 5f 73 69 7a	_sizen_col+(n_col+1)2;.fig_siz
1e40	65 5f 79 20 3d 20 79 5f 73 69 7a 65 2a 6e 5f 72 6f 77 2b 28 6e 5f 72 6f 77 2b 31 29 2a 32 3b 0a	e_y.=.y_sizen_row+(n_row+1)2;.
1e60	0a 73 65 74 28 66 69 67 5f 6e 75 6d 62 65 72 2c 27 55 6e 69 74 73 27 2c 27 70 6f 69 6e 74 73 27	.set(fig_number,'Units','points'
1e80	2c 20 2e 2e 2e 0a 09 27 42 61 63 6b 69 6e 67 53 74 6f 72 65 27 2c 27 6f 66 66 27 2c 20 2e 2e 2e	,......'BackingStore','off',....
1ea0	0a 09 27 43 6f 6c 6f 72 27 2c 5b 30 2e 38 20 30 2e 38 20 30 2e 38 5d 2c 20 2e 2e 2e 0a 09 27 4d	..'Color',[0.8.0.8.0.8],......'M
1ec0	65 6e 75 42 61 72 27 2c 27 6e 6f 6e 65 27 2c 20 2e 2e 2e 0a 09 27 52 65 73 69 7a 65 27 2c 27 6f	enuBar','none',......'Resize','o
1ee0	66 66 27 2c 20 2e 2e 2e 0a 09 27 4e 61 6d 65 27 2c 74 69 74 6c 65 5f 66 69 67 75 72 65 2c 20 2e	ff',......'Name',title_figure,..
1f00	2e 2e 0a 27 50 6f 73 69 74 69 6f 6e 27 2c 5b 70 6f 73 28 31 29 20 70 6f 73 28 32 29 20 66 69 67	...'Position',[pos(1).pos(2).fig
1f20	5f 73 69 7a 65 5f 78 20 66 69 67 5f 73 69 7a 65 5f 79 5d 2c 20 2e 2e 2e 0a 27 4e 75 6d 62 65 72	_size_x.fig_size_y],.....'Number
1f40	54 69 74 6c 65 27 2c 27 6f 66 66 27 29 3b 0a 0a 0a 66 6f 72 20 69 3d 6e 5f 72 6f 77 3a 2d 31 3a	Title','off');...for.i=n_row:-1:
1f60	31 2c 0a 20 20 20 66 6f 72 20 6a 20 3d 20 6e 5f 63 6f 6c 3a 2d 31 3a 31 2c 0a 20 20 20 20 20 20	1,....for.j.=.n_col:-1:1,.......
1f80	69 66 20 28 7e 69 73 65 6d 70 74 79 28 63 61 6c 6c 62 61 63 6b 5f 6c 69 73 74 7b 69 2c 6a 7d 29	if.(~isempty(callback_list{i,j})
1fa0	29 26 28 7e 69 73 65 6d 70 74 79 28 73 74 72 69 6e 67 5f 6c 69 73 74 7b 69 2c 6a 7d 29 29 2c 0a	)&(~isempty(string_list{i,j})),.
1fc0	20 20 20 20 20 20 09 75 69 63 6f 6e 74 72 6f 6c 28 27 50 61 72 65 6e 74 27 2c 66 69 67 5f 6e 75	.......uicontrol('Parent',fig_nu
1fe0	6d 62 65 72 2c 20 2e 2e 2e 0a 20 20 20 20 20 20 20 20 20 09 27 55 6e 69 74 73 27 2c 27 70 6f 69	mber,...............'Units','poi
2000	6e 74 73 27 2c 20 2e 2e 2e 0a 09 09 09 09 27 43 61 6c 6c 62 61 63 6b 27 2c 63 61 6c 6c 62 61 63	nts',.........'Callback',callbac
2020	6b 5f 6c 69 73 74 7b 69 2c 6a 7d 2c 20 2e 2e 2e 0a 09 09 09 09 27 4c 69 73 74 62 6f 78 54 6f 70	k_list{i,j},.........'ListboxTop
2040	27 2c 30 2c 20 2e 2e 2e 0a 09 09 09 09 27 50 6f 73 69 74 69 6f 6e 27 2c 5b 28 32 2b 28 6a 2d 31	',0,.........'Position',[(2+(j-1
2060	29 2a 28 78 5f 73 69 7a 65 2b 32 29 29 20 20 20 28 66 69 67 5f 73 69 7a 65 5f 79 20 2d 20 69 2a	)(x_size+2))...(fig_size_y.-.i
2080	28 32 2b 79 5f 73 69 7a 65 29 29 20 20 78 5f 73 69 7a 65 20 20 20 79 5f 73 69 7a 65 5d 2c 20 2e	(2+y_size))..x_size...y_size],..
20a0	2e 2e 0a 09 09 09 09 27 53 74 72 69 6e 67 27 2c 73 74 72 69 6e 67 5f 6c 69 73 74 7b 69 2c 6a 7d	.......'String',string_list{i,j}
20c0	2c 20 2e 2e 2e 0a 20 20 20 20 20 20 20 20 20 20 20 20 27 54 61 67 27 2c 27 50 75 73 68 62 75 74	,.................'Tag','Pushbut
20e0	74 6f 6e 31 27 29 3b 0a 20 20 20 20 20 20 65 6e 64 3b 20 20 0a 09 65 6e 64 3b 0a 65 6e 64 3b 0a	ton1');.......end;....end;.end;.
2100	0a 74 69 6f 6e 20 74 6f 6f 6c 62 6f 78 20 28 32 44 20 61 6e 64 20 33 44 20 72 69 67 73 29 20 20	.tion.toolbox.(2D.and.3D.rigs)..
2120	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	................................
2140	7c 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 7c 20 20 20 20 20 20 20 20 20 20 20 20 20	\|\n');.fprintf(1,'\|.............
2160	20 20 20 20 20 20 20 20 20 20 20 28 63 29 20 4a 65 61 6e 2d 59 76 65 73 20 42 6f 75 67 75 65 74	...........(c).Jean-Yves.Bouguet
2180	20 2d 20 53 65 70 74 65 6d 62 65 72 20 39 74 68 2c 20 31 39 39 39 20 20 20 20 20 20 20 20 20 20	.-.September.9th,.1999..........
21a0	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 7c 5c 6e 27 29 3b 0a 66 70	.......................\|\n');.fp
21c0	72 69 6e 74 66 28 31 2c 27 2a 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d	rintf(1,'*----------------------
21e0	2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d	--------------------------------
2200	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 61 6c 69 62 33 44 5f 67 75 69 2e 6d 00 00 00 00 00	TOOLBOX_calib/calib3D_gui.m.....
2220	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2240	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2260	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
2280	20 20 31 33 37 30 35 20 20 37 30 32 34 30 33 37 33 30 33 20 20 31 30 37 32 35 00 20 00 00 00 00	..13705..7024037303..10725......
22a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2300	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2320	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2340	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2360	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2380	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
23a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
23c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
23e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2400	69 66 20 7e 65 78 69 73 74 28 27 69 6e 73 74 72 75 63 74 69 6f 6e 73 33 44 27 29 2c 20 69 6e 73	if.~exist('instructions3D'),.ins
2420	74 72 75 63 74 69 6f 6e 73 33 44 20 3d 20 31 3b 20 65 6e 64 3b 0a 0a 69 66 20 69 6e 73 74 72 75	tructions3D.=.1;.end;..if.instru
2440	63 74 69 6f 6e 73 33 44 2c 0a 20 20 20 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 27 29 3b 0a 66	ctions3D,.....fprintf(1,'\n');.f
2460	70 72 69 6e 74 66 28 31 2c 27 2a 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d	printf(1,'*---------------------
2480	2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d	--------------------------------
24a0	2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d	--------------------------------
24c0	2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2a 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c	---------------*\n');.fprintf(1,
24e0	27 7c 20 20 20 20 20 20 20 20 20 20 20 43 61 6e 65 72 61 20 63 61 6c 69 62 72 61 74 69 6f 6e 20	'\|...........Canera.calibration.
2500	66 72 6f 6d 20 6d 75 6c 74 69 70 6c 65 20 69 6d 61 67 65 73 20 6f 66 20 74 68 65 20 49 6e 74 65	from.multiple.images.of.the.Inte
2520	6c 20 33 44 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 72 69 67 20 20 20 20 20 20 20 20 20 20 20 20	l.3D.calibration.rig............
2540	20 20 20 20 20 20 7c 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 7c 20 20 20 20 20 20 20	......\|\n');.fprintf(1,'\|.......
2560	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 28 63 29 20 4a 65 61 6e 2d 59 76 65 73 20	..................(c).Jean-Yves.
2580	42 6f 75 67 75 65 74 20 2d 20 53 65 70 74 65 6d 62 65 72 20 32 6e 64 2c 20 31 39 39 39 20 20 20	Bouguet.-.September.2nd,.1999...
25a0	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 7c 5c 6e	.............................\|\n
25c0	27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 2a 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d	');.fprintf(1,'*----------------
25e0	2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d	--------------------------------
2600	2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d	--------------------------------
2620	2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2a 5c 6e 5c 6e 5c 6e 27 29 3b 0a 0a	--------------------*\n\n\n');..
2640	66 70 72 69 6e 74 66 28 31 2c 27 4c 49 53 54 20 4f 46 20 43 41 4c 49 42 52 41 54 49 4f 4e 20 43	fprintf(1,'LIST.OF.CALIBRATION.C
2660	4f 4d 4d 41 4e 44 53 20 28 74 6f 20 62 65 20 65 78 65 63 75 74 65 64 20 66 72 6f 6d 20 31 20 74	OMMANDS.(to.be.executed.from.1.t
2680	6f 20 35 29 3a 5c 6e 5c 6e 27 29 3b 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 31 2d 20 49 6d 61 67	o.5):\n\n');..fprintf(1,'1-.Imag
26a0	65 20 6e 61 6d 65 73 3a 20 20 20 20 20 20 20 20 20 20 4c 65 74 73 20 74 68 65 20 75 73 65 72 20	e.names:..........Lets.the.user.
26c0	65 6e 74 65 72 20 74 68 65 20 66 69 6c 65 20 6e 61 6d 65 73 20 6f 66 20 74 68 65 20 63 61 6c 69	enter.the.file.names.of.the.cali
26e0	62 72 61 74 69 6f 6e 20 69 6d 61 67 65 73 20 28 6d 61 78 20 3d 20 33 30 20 69 6d 61 67 65 73 29	bration.images.(max.=.30.images)
2700	2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20	.\n');.fprintf(1,'..............
2720	20 20 20 20 20 20 20 20 20 20 20 49 74 20 69 6e 63 6c 75 64 65 73 20 62 61 73 65 6e 61 6d 65 2c	...........It.includes.basename,
2740	20 69 6d 61 67 65 20 74 79 70 65 20 28 27 27 74 69 66 27 27 2c 20 27 27 62 6d 70 27 27 20 6f 72	.image.type.(''tif'',.''bmp''.or
2760	20 27 27 72 61 73 27 27 29 2c 20 6e 75 6d 62 65 72 69 6e 67 20 73 63 68 65 6d 65 2e 5c 6e 27 29	.''ras''),.numbering.scheme.\n')
2780	3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	;.fprintf(1,'...................
27a0	20 20 20 20 20 20 41 75 74 6f 6d 61 74 69 63 61 6c 6c 79 20 6c 61 75 6e 63 68 73 20 74 68 65 20	......Automatically.launchs.the.
27c0	6e 65 78 74 20 73 74 65 70 20 28 52 65 61 64 20 69 6d 61 67 65 73 29 2e 5c 6e 27 29 3b 0a 66 70	next.step.(Read.images).\n');.fp
27e0	72 69 6e 74 66 28 31 2c 27 32 2d 20 52 65 61 64 20 69 6d 61 67 65 73 3a 20 20 20 20 20 20 20 20	rintf(1,'2-.Read.images:........
2800	20 20 52 65 61 64 73 20 69 6e 20 74 68 65 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 69 6d 61 67 65	..Reads.in.the.calibration.image
2820	73 20 66 72 6f 6d 20 66 69 6c 65 73 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20	s.from.files.\n');.fprintf(1,'..
2840	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 44 6f 65 73 20 6e 6f 74 20	.......................Does.not.
2860	61 75 74 6f 6d 61 74 69 63 61 6c 6c 79 20 6c 61 75 6e 63 68 20 74 68 65 20 6e 65 78 74 20 73 74	automatically.launch.the.next.st
2880	65 70 20 28 45 78 74 72 61 63 74 20 67 72 69 64 20 63 6f 72 6e 65 72 73 29 2e 5c 6e 27 29 3b 0a	ep.(Extract.grid.corners).\n');.
28a0	66 70 72 69 6e 74 66 28 31 2c 27 33 2d 20 45 78 74 72 61 63 74 20 67 72 69 64 20 63 6f 72 6e 65	fprintf(1,'3-.Extract.grid.corne
28c0	72 73 3a 20 45 78 74 72 61 63 74 73 20 74 68 65 20 67 72 69 64 20 63 6f 72 6e 65 72 73 20 66 72	rs:.Extracts.the.grid.corners.fr
28e0	6f 6d 20 74 68 65 20 69 6d 61 67 65 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20	om.the.image.\n');.fprintf(1,'..
2900	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 42 61 73 65 64 20 73 69 78	.......................Based.six
2920	20 6d 61 75 61 6c 20 63 6c 69 63 6b 73 20 70 65 72 20 69 6d 61 67 65 2e 5c 6e 27 29 3b 0a 66 70	.maual.clicks.per.image.\n');.fp
2940	72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	rintf(1,'.......................
2960	20 20 54 68 65 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 64 61 74 61 20 69 73 20 73 61 76 65 64 20	..The.calibration.data.is.saved.
2980	75 6e 64 65 72 20 27 27 63 61 6c 69 62 5f 64 61 74 61 2e 6d 61 74 27 27 2e 5c 6e 27 29 3b 0a 66	under.''calib_data.mat''.\n');.f
29a0	70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	printf(1,'......................
29c0	20 20 20 41 75 74 6f 6d 61 74 69 63 61 6c 6c 79 20 6c 61 75 6e 63 68 73 20 74 68 65 20 6e 65 78	...Automatically.launchs.the.nex
29e0	74 20 73 74 65 70 20 28 52 75 6e 20 63 61 6c 69 62 72 61 74 69 6f 6e 29 2e 5c 6e 27 29 3b 0a 66	t.step.(Run.calibration).\n');.f
2a00	70 72 69 6e 74 66 28 31 2c 27 34 2d 20 52 75 6e 20 63 61 6c 69 62 72 61 74 69 6f 6e 3a 20 20 20	printf(1,'4-.Run.calibration:...
2a20	20 20 20 4d 61 69 6e 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 70 72 6f 63 65 64 75 72 65 2e 5c 6e	...Main.calibration.procedure.\n
2a40	27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	');.fprintf(1,'.................
2a60	20 20 20 20 20 20 20 20 4f 70 74 69 6d 69 7a 61 74 69 6f 6e 20 6f 66 20 69 6e 74 72 69 6e 73 69	........Optimization.of.intrinsi
2a80	63 20 61 6e 64 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73 20 74 6f 20 6d 69	c.and.extrinsic.parameters.to.mi
2aa0	6e 69 6d 69 7a 65 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20	nimize\n');.fprintf(1,'.........
2ac0	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 74 68 65 20 72 65 70 72 6f 6a 65 63 74 69 6f 6e	................the.reprojection
2ae0	20 65 72 72 6f 72 20 28 69 6e 20 74 68 65 20 6c 65 61 73 74 20 73 71 75 61 72 65 73 20 73 65 6e	.error.(in.the.least.squares.sen
2b00	73 65 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20	se.\n');.fprintf(1,'............
2b20	20 20 20 20 20 20 20 20 20 20 20 20 20 45 73 74 69 6d 61 74 65 64 20 70 61 72 61 6d 65 74 65 72	.............Estimated.parameter
2b40	73 3a 20 32 20 66 6f 63 61 6c 20 6c 65 6e 67 74 68 73 2c 20 70 72 69 6e 63 69 70 61 6c 20 70 6f	s:.2.focal.lengths,.principal.po
2b60	69 6e 74 2c 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20	int,\n');.fprintf(1,'...........
2b80	20 20 20 20 20 20 20 20 20 20 20 20 20 20 72 61 64 69 61 6c 20 28 32 20 63 6f 65 66 66 2e 20 2d	..............radial.(2.coeff..-
2ba0	3e 20 34 20 64 65 67 72 65 65 20 6d 6f 64 65 6c 29 20 61 6e 64 20 74 61 6e 67 65 6e 74 69 61 6c	>.4.degree.model).and.tangential
2bc0	20 28 32 20 63 6f 65 66 66 2e 29 20 64 69 73 74 6f 72 74 69 6f 6e 2c 5c 6e 27 29 3b 0a 66 70 72	.(2.coeff.).distortion,\n');.fpr
2be0	69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	intf(1,'........................
2c00	20 61 6e 64 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73 20 28 36 20 70 61 72	.and.extrinsic.parameters.(6.par
2c20	61 6d 65 74 65 72 73 20 70 65 72 20 69 6d 61 67 65 29 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66	ameters.per.image).\n');.fprintf
2c40	28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 54 68 65	(1,'.........................The
2c60	20 66 69 6e 61 6c 20 73 6f 6c 75 74 69 6f 6e 20 69 73 20 73 61 76 65 64 20 75 6e 64 65 72 20 27	.final.solution.is.saved.under.'
2c80	27 43 61 6c 69 62 5f 52 65 73 75 6c 74 73 2e 6d 61 74 27 27 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e	'Calib_Results.mat''.\n');.fprin
2ca0	74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 46	tf(1,'.........................F
2cc0	6f 72 20 61 20 64 65 73 63 72 69 70 74 69 6f 6e 20 6f 66 20 74 68 65 20 69 6e 74 72 69 6e 73 69	or.a.description.of.the.intrinsi
2ce0	63 20 63 61 6d 65 72 61 20 6d 6f 64 65 6c 2c 20 72 65 66 65 72 20 74 6f 20 74 68 65 20 72 65 66	c.camera.model,.refer.to.the.ref
2d00	65 72 65 6e 63 65 3a 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20	erence:\n');.fprintf(1,'........
2d20	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 22 41 20 46 6f 75 72 2d 73 74 65 70 20 43 61	................."A.Four-step.Ca
2d40	6d 65 72 61 20 43 61 6c 69 62 72 61 74 69 6f 6e 20 50 72 6f 63 65 64 75 72 65 20 77 69 74 68 20	mera.Calibration.Procedure.with.
2d60	69 6d 70 6c 69 63 69 74 20 49 6d 61 67 65 20 43 6f 72 72 65 63 74 69 6f 6e 22 5c 6e 27 29 3b 0a	implicit.Image.Correction"\n');.
2d80	66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	fprintf(1,'.....................
2da0	20 20 20 20 4a 61 6e 6e 65 20 48 65 69 6b 6b 69 6c 61 20 61 6e 64 20 4f 6c 6c 69 20 53 69 6c 76	....Janne.Heikkila.and.Olli.Silv
2dc0	65 6e 2c 20 49 6e 66 6f 74 65 63 68 20 4f 75 6c 75 20 61 6e 64 20 44 65 70 61 72 74 6d 65 6e 74	en,.Infotech.Oulu.and.Department
2de0	20 6f 66 20 45 45 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20	.of.EE\n');.fprintf(1,'.........
2e00	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 55 6e 69 76 65 72 73 69 74 79 20 6f 66 20 4f 75	................University.of.Ou
2e20	6c 75 2c 20 41 70 70 65 61 72 65 64 20 69 6e 20 43 56 50 52 27 27 39 37 2c 20 50 75 65 72 74 6f	lu,.Appeared.in.CVPR''97,.Puerto
2e40	20 52 69 63 6f 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20	.Rico.\n');.fprintf(1,'.........
2e60	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 56 69 73 69 74 20 68 74 74 70 3a 2f 2f 77 77 77	................Visit.http://www
2e80	2e 65 65 2e 6f 75 6c 75 2e 66 69 2f 7e 6a 74 68 2f 63 61 6c 69 62 72 2f 43 61 6c 69 62 72 61 74	.ee.oulu.fi/~jth/calibr/Calibrat
2ea0	69 6f 6e 2e 68 74 6d 6c 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20	ion.html\n');.fprintf(1,'.......
2ec0	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 41 75 74 6f 6d 61 74 69 63 61 6c 6c 79 20	..................Automatically.
2ee0	6c 61 75 6e 63 68 73 20 74 68 65 20 6e 65 78 74 20 73 74 65 70 20 28 47 72 61 70 68 69 63 20 6f	launchs.the.next.step.(Graphic.o
2f00	75 74 29 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 35 2d 20 47 72 61 70 68 69 63 20	ut).\n');.fprintf(1,'5-.Graphic.
2f20	6f 75 74 3a 20 20 20 20 20 20 20 20 20 20 47 65 6e 65 72 61 74 65 73 20 74 68 65 20 67 72 61 70	out:..........Generates.the.grap
2f40	68 69 63 61 6c 20 6f 75 74 70 75 74 20 61 73 73 6f 63 69 61 74 65 64 20 74 6f 20 74 68 65 20 63	hical.output.associated.to.the.c
2f60	75 72 72 65 6e 74 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 73 6f 6c 75 74 69 6f 6e 2e 5c 6e 27 29	urrent.calibration.solution.\n')
2f80	3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	;.fprintf(1,'...................
2fa0	20 20 20 20 20 20 49 74 20 73 68 6f 77 73 20 74 68 65 20 33 44 20 6c 6f 63 61 74 69 6f 6e 73 20	......It.shows.the.3D.locations.
2fc0	6f 66 20 74 68 65 20 67 72 69 64 73 2c 20 61 6e 64 20 72 65 70 72 6f 6a 65 63 74 73 20 74 68 65	of.the.grids,.and.reprojects.the
2fe0	20 33 44 20 70 61 74 74 65 72 6e 73 20 6f 6e 20 74 68 65 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66	.3D.patterns.on.the\n');.fprintf
3000	28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 6f 72 69	(1,'.........................ori
3020	67 69 6e 61 6c 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 69 6d 61 67 65 73 2e 5c 6e 27 29 3b 0a 66	ginal.calibration.images.\n');.f
3040	70 72 69 6e 74 66 28 31 2c 27 36 2d 20 73 6f 6c 2e 20 77 69 74 68 20 63 65 6e 74 65 72 3a 20 20	printf(1,'6-.sol..with.center:..
3060	20 20 20 4c 65 74 73 20 74 68 65 20 75 73 65 72 20 73 65 6c 65 63 74 20 74 68 65 20 63 61 6c 69	...Lets.the.user.select.the.cali
3080	62 72 61 74 69 6f 6e 20 73 6f 6c 75 74 69 6f 6e 20 77 69 74 68 20 63 6f 6d 70 75 74 65 64 20 70	bration.solution.with.computed.p
30a0	72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27	rincipal.point.\n');.fprintf(1,'
30c0	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 54 68 69 73 20 69 73	.........................This.is
30e0	20 74 68 65 20 64 65 66 61 75 6c 74 20 63 61 73 65 20 28 73 6f 6c 75 74 69 6f 6e 20 72 65 74 61	.the.default.case.(solution.reta
3100	69 6e 65 64 20 61 66 74 65 72 20 52 75 6e 20 63 61 6c 69 62 72 61 74 69 6f 6e 29 2e 5c 6e 27 29	ined.after.Run.calibration).\n')
3120	3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	;.fprintf(1,'...................
3140	20 20 20 20 20 20 41 75 74 6f 6d 61 74 69 63 61 6c 6c 79 20 28 72 65 29 67 65 6e 65 72 61 74 65	......Automatically.(re)generate
3160	73 20 74 68 65 20 67 72 61 70 68 69 63 61 6c 20 6f 75 74 70 75 74 20 61 73 73 6f 63 69 61 74 65	s.the.graphical.output.associate
3180	64 20 74 6f 20 74 68 61 74 20 73 6f 6c 75 74 69 6f 6e 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66	d.to.that.solution.\n');.fprintf
31a0	28 31 2c 27 37 2d 20 73 6f 6c 2e 20 77 69 74 68 6f 75 74 20 63 65 6e 74 65 72 3a 20 20 4c 65 74	(1,'7-.sol..without.center:..Let
31c0	73 20 74 68 65 20 75 73 65 72 73 20 73 65 6c 65 63 74 20 74 68 65 20 63 61 6c 69 62 72 61 74 69	s.the.users.select.the.calibrati
31e0	6f 6e 20 73 6f 6c 75 74 69 6f 6e 20 77 69 74 68 6f 75 74 20 63 6f 6d 70 75 74 65 64 20 70 72 69	on.solution.without.computed.pri
3200	6e 63 69 70 61 6c 20 70 6f 69 6e 74 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20	ncipal.point.\n');.fprintf(1,'..
3220	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 49 6e 20 74 68 61 74 20 63	.......................In.that.c
3240	61 73 65 2c 20 74 68 65 20 70 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 20 69 73 20 61 73 73 75	ase,.the.principal.point.is.assu
3260	6d 65 64 20 61 74 20 74 68 65 20 63 65 6e 74 65 72 20 6f 66 20 74 68 65 20 69 6d 61 67 65 2e 5c	med.at.the.center.of.the.image.\
3280	6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	n');.fprintf(1,'................
32a0	20 20 20 20 20 20 20 20 20 41 75 74 6f 6d 61 74 69 63 61 6c 6c 79 20 67 65 6e 65 72 61 74 65 73	.........Automatically.generates
32c0	20 74 68 65 20 67 72 61 70 68 69 63 61 6c 20 6f 75 74 70 75 74 20 61 73 73 6f 63 69 61 74 65 64	.the.graphical.output.associated
32e0	20 74 6f 20 74 68 61 74 20 73 6f 6c 75 74 69 6f 6e 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28	.to.that.solution.\n');.fprintf(
3300	31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 54 68 69 73	1,'.........................This
3320	20 6f 70 74 69 6f 6e 20 69 73 20 73 6f 6d 65 74 69 6d 65 73 20 75 73 65 66 75 6c 20 77 68 65 6e	.option.is.sometimes.useful.when
3340	20 74 68 65 20 70 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 20 69 73 20 64 69 66 66 69 63 75 6c	.the.principal.point.is.difficul
3360	74 20 74 6f 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20	t.to\n');.fprintf(1,'...........
3380	20 20 20 20 20 20 20 20 20 20 20 20 20 20 65 73 74 69 6d 61 74 65 20 28 69 6e 20 70 61 72 74 69	..............estimate.(in.parti
33a0	63 75 6c 61 72 20 77 68 65 6e 20 74 68 65 20 63 61 6d 65 72 61 20 66 69 65 6c 64 20 6f 66 20 76	cular.when.the.camera.field.of.v
33c0	69 65 77 20 69 73 20 73 6d 61 6c 6c 29 2e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 38	iew.is.small).\n');.fprintf(1,'8
33e0	2d 20 42 61 63 6b 20 74 6f 20 6d 61 69 6e 3a 20 20 20 20 20 20 20 20 20 47 6f 65 73 20 62 61 63	-.Back.to.main:.........Goes.bac
3400	6b 20 74 6f 20 74 68 65 20 6d 61 69 6e 20 63 61 6c 62 72 61 74 69 6f 6e 20 74 6f 6f 6c 62 6f 78	k.to.the.main.calbration.toolbox
3420	20 77 69 6e 64 6f 77 2e 5c 6e 5c 6e 5c 6e 27 29 3b 0a 0a 65 6e 64 3b 0a 0a 69 6e 73 74 72 75 63	.window.\n\n\n');..end;..instruc
3440	74 69 6f 6e 73 33 44 20 3d 20 30 3b 0a 0a 67 6c 6f 62 61 6c 20 58 5f 31 20 78 5f 31 20 58 5f 32	tions3D.=.0;..global.X_1.x_1.X_2
3460	20 78 5f 32 20 58 5f 33 20 78 5f 33 20 58 5f 34 20 78 5f 34 20 58 5f 35 20 78 5f 35 20 58 5f 36	.x_2.X_3.x_3.X_4.x_4.X_5.x_5.X_6
3480	20 78 5f 36 20 58 5f 37 20 78 5f 37 20 58 5f 38 20 78 5f 38 20 58 5f 39 20 78 5f 39 20 58 5f 31	.x_6.X_7.x_7.X_8.x_8.X_9.x_9.X_1
34a0	30 20 78 5f 31 30 20 58 5f 31 31 20 78 5f 31 31 20 58 5f 31 32 20 78 5f 31 32 20 58 5f 31 33 20	0.x_10.X_11.x_11.X_12.x_12.X_13.
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4480	2e 2e 0a 09 27 4e 61 6d 65 27 2c 74 69 74 6c 65 5f 66 69 67 75 72 65 2c 20 2e 2e 2e 0a 27 50 6f	....'Name',title_figure,.....'Po
44a0	73 69 74 69 6f 6e 27 2c 5b 70 6f 73 28 31 29 20 70 6f 73 28 32 29 20 66 69 67 5f 73 69 7a 65 5f	sition',[pos(1).pos(2).fig_size_
44c0	78 20 66 69 67 5f 73 69 7a 65 5f 79 5d 2c 20 2e 2e 2e 0a 27 4e 75 6d 62 65 72 54 69 74 6c 65 27	x.fig_size_y],.....'NumberTitle'
44e0	2c 27 6f 66 66 27 29 3b 20 25 2c 27 57 69 6e 64 6f 77 42 75 74 74 6f 6e 4d 6f 74 69 6f 6e 46 63	,'off');.%,'WindowButtonMotionFc
4500	6e 27 2c 5b 27 66 69 67 75 72 65 28 27 20 6e 75 6d 32 73 74 72 28 66 69 67 5f 6e 75 6d 62 65 72	n',['figure('.num2str(fig_number
4520	29 20 27 29 3b 27 5d 29 3b 0a 0a 0a 66 6f 72 20 69 3d 6e 5f 72 6f 77 3a 2d 31 3a 31 2c 0a 20 20	).');']);...for.i=n_row:-1:1,...
4540	20 66 6f 72 20 6a 20 3d 20 6e 5f 63 6f 6c 3a 2d 31 3a 31 2c 0a 20 20 20 20 20 20 69 66 20 28 7e	.for.j.=.n_col:-1:1,.......if.(~
4560	69 73 65 6d 70 74 79 28 63 61 6c 6c 62 61 63 6b 5f 6c 69 73 74 7b 69 2c 6a 7d 29 29 26 28 7e 69	isempty(callback_list{i,j}))&(~i
4580	73 65 6d 70 74 79 28 73 74 72 69 6e 67 5f 6c 69 73 74 7b 69 2c 6a 7d 29 29 2c 0a 20 20 20 20 20	sempty(string_list{i,j})),......
45a0	20 09 75 69 63 6f 6e 74 72 6f 6c 28 27 50 61 72 65 6e 74 27 2c 66 69 67 5f 6e 75 6d 62 65 72 2c	..uicontrol('Parent',fig_number,
45c0	20 2e 2e 2e 0a 20 20 20 20 20 20 20 20 20 09 27 55 6e 69 74 73 27 2c 27 70 6f 69 6e 74 73 27 2c	...............'Units','points',
45e0	20 2e 2e 2e 0a 09 09 09 09 27 43 61 6c 6c 62 61 63 6b 27 2c 63 61 6c 6c 62 61 63 6b 5f 6c 69 73	.........'Callback',callback_lis
4600	74 7b 69 2c 6a 7d 2c 20 2e 2e 2e 0a 09 09 09 09 27 4c 69 73 74 62 6f 78 54 6f 70 27 2c 30 2c 20	t{i,j},.........'ListboxTop',0,.
4620	2e 2e 2e 0a 09 09 09 09 27 50 6f 73 69 74 69 6f 6e 27 2c 5b 28 32 2b 28 6a 2d 31 29 2a 28 78 5f	........'Position',[(2+(j-1)*(x_
4640	73 69 7a 65 2b 32 29 29 20 20 20 28 66 69 67 5f 73 69 7a 65 5f 79 20 2d 20 69 2a 28 32 2b 79 5f	size+2))...(fig_size_y.-.i*(2+y_
4660	73 69 7a 65 29 29 20 20 78 5f 73 69 7a 65 20 20 20 79 5f 73 69 7a 65 5d 2c 20 2e 2e 2e 0a 09 09	size))..x_size...y_size],.......
4680	09 09 27 53 74 72 69 6e 67 27 2c 73 74 72 69 6e 67 5f 6c 69 73 74 7b 69 2c 6a 7d 2c 20 2e 2e 2e	..'String',string_list{i,j},....
46a0	0a 20 20 20 20 20 20 20 20 20 20 20 20 27 54 61 67 27 2c 27 50 75 73 68 62 75 74 74 6f 6e 31 27	.............'Tag','Pushbutton1'
46c0	29 3b 0a 20 20 20 09 65 6e 64 3b 0a 09 65 6e 64 3b 0a 65 6e 64 3b 0a 0a 0a 63 6c 65 61 72 20 63	);.....end;..end;.end;...clear.c
46e0	61 6c 6c 62 61 63 6b 5f 6c 69 73 74 20 73 74 72 69 6e 67 5f 6c 69 73 74 20 66 69 67 5f 6e 75 6d	allback_list.string_list.fig_num
4700	62 65 72 20 66 69 67 5f 73 69 7a 65 5f 78 20 66 69 67 5f 73 69 7a 65 5f 79 20 69 20 6a 20 6e 5f	ber.fig_size_x.fig_size_y.i.j.n_
4720	63 6f 6c 20 6e 5f 72 6f 77 20 70 6f 73 20 73 74 72 69 6e 67 5f 6c 69 73 74 20 74 69 74 6c 65 5f	col.n_row.pos.string_list.title_
4740	66 69 67 75 72 65 20 78 5f 73 69 7a 65 20 79 5f 73 69 7a 65 0a 70 6d 2e 6d 00 6d 2e 00 00 06 fc	figure.x_size.y_size.pm.m.m.....
4760	00 02 36 b1 00 24 00 16 69 6e 69 74 5f 69 6e 74 72 69 6e 73 69 63 5f 70 61 72 61 6d 2e 6d 00 b1	..6..$..init_intrinsic_param.m..
4780	00 00 07 18 00 02 36 b2 00 20 00 11 6d 65 61 6e 5f 73 74 64 5f 72 6f 62 75 73 74 2e 6d 00 07 18	......6.....mean_std_robust.m...
47a0	00 00 07 38 00 02 36 b3 00 24 00 14 72 75 6e 5f 65 72 72 6f 72 5f 61 6e 61 6c 79 73 69 73 2e 6d	...8..6..$..run_error_analysis.m
47c0	00 02 36 b3 00 00 07 54 00 02 36 b4 00 20 00 13 63 68 65 63 6b 5f 63 6f 6e 76 65 72 67 65 6e 63	..6....T..6.....check_convergenc
47e0	65 2e 6d 00 00 00 07 70 00 02 36 b5 00 20 00 11 63 68 65 63 6b 5f 70 6c 61 6e 61 72 69 74 79 2e	e.m....p..6.....check_planarity.
4800	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 68 65 63 6b 5f 61 63 74 69 76 65 5f 69 6d 61 67 65	TOOLBOX_calib/check_active_image
4820	73 2e 6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	s.m.............................
4840	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4860	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
4880	20 20 20 20 34 34 33 20 20 37 30 32 34 30 33 37 33 30 34 20 20 31 32 35 31 31 00 20 00 00 00 00	....443..7024037304..12511......
48a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
48c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
48e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4900	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4920	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4940	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4960	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4980	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
49a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
49c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
49e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4a00	0a 69 66 20 7e 65 78 69 73 74 28 27 61 63 74 69 76 65 5f 69 6d 61 67 65 73 27 29 2c 0a 09 61 63	.if.~exist('active_images'),..ac
4a20	74 69 76 65 5f 69 6d 61 67 65 73 20 3d 20 6f 6e 65 73 28 31 2c 6e 5f 69 6d 61 29 3b 0a 65 6e 64	tive_images.=.ones(1,n_ima);.end
4a40	3b 0a 6e 5f 61 63 74 20 3d 20 6c 65 6e 67 74 68 28 61 63 74 69 76 65 5f 69 6d 61 67 65 73 29 3b	;.n_act.=.length(active_images);
4a60	0a 69 66 20 6e 5f 61 63 74 20 3c 20 6e 5f 69 6d 61 2c 0a 20 20 20 61 63 74 69 76 65 5f 69 6d 61	.if.n_act.<.n_ima,....active_ima
4a80	67 65 73 20 3d 20 5b 61 63 74 69 76 65 5f 69 6d 61 67 65 73 20 6f 6e 65 73 28 31 2c 6e 5f 69 6d	ges.=.[active_images.ones(1,n_im
4aa0	61 2d 6e 5f 61 63 74 29 5d 3b 0a 65 6c 73 65 0a 20 20 20 69 66 20 6e 5f 61 63 74 20 3e 20 6e 5f	a-n_act)];.else....if.n_act.>.n_
4ac0	69 6d 61 2c 0a 20 20 20 20 20 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 20 3d 20 61 63 74 69 76	ima,.......active_images.=.activ
4ae0	65 5f 69 6d 61 67 65 73 28 31 3a 6e 5f 69 6d 61 29 3b 0a 20 20 20 65 6e 64 3b 0a 65 6e 64 3b 0a	e_images(1:n_ima);....end;.end;.
4b00	0a 69 6e 64 5f 61 63 74 69 76 65 20 3d 20 66 69 6e 64 28 61 63 74 69 76 65 5f 69 6d 61 67 65 73	.ind_active.=.find(active_images
4b20	29 3b 0a be 00 00 01 a0 00 02 35 bf 00 20 00 12 63 6f 6d 70 5f 64 69 73 74 6f 72 74 69 6f 6e 32	);........5.....comp_distortion2
4b40	2e 6d 00 bf 00 00 01 c0 00 02 35 c0 00 24 00 16 63 6f 6d 70 5f 64 69 73 74 6f 72 74 69 6f 6e 5f	.m........5..$..comp_distortion_
4b60	6f 75 6c 75 2e 6d 00 16 00 00 01 dc 00 02 35 c1 00 20 00 12 63 6f 6d 70 5f 65 72 72 6f 72 5f 63	oulu.m........5.....comp_error_c
4b80	61 6c 69 62 2e 6d 00 c1 00 00 02 00 00 02 35 c2 00 1c 00 0e 63 6f 72 6e 65 72 66 69 6e 64 65 72	alib.m........5.....cornerfinder
4ba0	2e 6d 00 00 00 00 02 18 00 02 35 c3 00 1c 00 0f 63 6f 75 6e 74 5f 73 71 75 61 72 65 73 2e 6d 00	.m........5.....count_squares.m.
4bc0	00 00 02 30 00 02 35 c4 00 1c 00 0c 64 61 74 61 5f 63 61 6c 69 62 2e 6d 00 00 02 30 00 00 02 48	...0..5.....data_calib.m...0...H
4be0	00 02 35 c5 00 1c 00 0e 44 69 73 74 6f 72 32 43 61 6c 69 62 2e 6d 00 48 00 00 02 60 00 02 35 c6	..5.....Distor2Calib.m.H...`..5.
4c00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 6c 69 63 6b 5f 63 61 6c 69 62 2e 6d 00 00 00 00 00	TOOLBOX_calib/click_calib.m.....
4c20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4c40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4c60	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
4c80	20 20 20 34 34 31 34 20 20 37 30 32 34 30 33 37 33 30 36 20 20 31 31 30 31 37 00 20 00 00 00 00	...4414..7024037306..11017......
4ca0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4cc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4ce0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4d00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4d20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4d40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4d60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4d80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4da0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4dc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4de0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
4e00	0a 69 66 20 7e 65 78 69 73 74 28 27 49 5f 31 27 29 2c 0a 20 20 20 69 6d 61 5f 72 65 61 64 5f 63	.if.~exist('I_1'),....ima_read_c
4e20	61 6c 69 62 3b 0a 20 20 20 69 66 20 6e 6f 5f 69 6d 61 67 65 5f 66 69 6c 65 2c 0a 20 20 20 20 20	alib;....if.no_image_file,......
4e40	20 64 69 73 70 28 27 43 61 6e 6e 6f 74 20 65 78 74 72 61 63 74 20 63 6f 72 6e 65 72 73 20 77 69	.disp('Cannot.extract.corners.wi
4e60	74 68 6f 75 74 20 69 6d 61 67 65 73 27 29 3b 0a 20 20 20 20 20 20 72 65 74 75 72 6e 3b 0a 20 20	thout.images');.......return;...
4e80	20 65 6e 64 3b 0a 65 6e 64 3b 0a 0a 63 68 65 63 6b 5f 61 63 74 69 76 65 5f 69 6d 61 67 65 73 3b	.end;.end;..check_active_images;
4ea0	0a 0a 25 77 69 6e 74 78 20 3d 20 31 30 3b 20 25 20 6e 65 69 67 62 6f 72 68 6f 6f 64 20 6f 66 20	..%wintx.=.10;.%.neigborhood.of.
4ec0	69 6e 74 65 67 72 61 74 69 6f 6e 20 66 6f 72 0a 25 77 69 6e 74 79 20 3d 20 31 30 3b 20 25 20 74	integration.for.%winty.=.10;.%.t
4ee0	68 65 20 63 6f 72 6e 65 72 20 66 69 6e 64 65 72 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 45	he.corner.finder..fprintf(1,'\nE
4f00	78 74 72 61 63 74 69 6f 6e 20 6f 66 20 74 68 65 20 67 72 69 64 20 63 6f 72 6e 65 72 73 20 6f 6e	xtraction.of.the.grid.corners.on
4f20	20 74 68 65 20 69 6d 61 67 65 73 5c 6e 27 29 3b 0a 0a 64 69 73 70 28 27 57 69 6e 64 6f 77 20 73	.the.images\n');..disp('Window.s
4f40	69 7a 65 20 66 6f 72 20 63 6f 72 6e 65 72 20 66 69 6e 64 65 72 20 28 77 69 6e 74 78 20 61 6e 64	ize.for.corner.finder.(wintx.and
4f60	20 77 69 6e 74 79 29 3a 27 29 3b 0a 77 69 6e 74 78 20 3d 20 69 6e 70 75 74 28 27 77 69 6e 74 78	.winty):');.wintx.=.input('wintx
4f80	20 28 5b 5d 20 3d 20 35 29 20 3d 20 27 29 3b 0a 69 66 20 69 73 65 6d 70 74 79 28 77 69 6e 74 78	.([].=.5).=.');.if.isempty(wintx
4fa0	29 2c 20 77 69 6e 74 78 20 3d 20 35 3b 20 65 6e 64 3b 0a 77 69 6e 74 78 20 3d 20 72 6f 75 6e 64	),.wintx.=.5;.end;.wintx.=.round
4fc0	28 77 69 6e 74 78 29 3b 0a 77 69 6e 74 79 20 3d 20 69 6e 70 75 74 28 27 77 69 6e 74 79 20 28 5b	(wintx);.winty.=.input('winty.([
4fe0	5d 20 3d 20 35 29 20 3d 20 27 29 3b 0a 69 66 20 69 73 65 6d 70 74 79 28 77 69 6e 74 79 29 2c 20	].=.5).=.');.if.isempty(winty),.
5000	77 69 6e 74 79 20 3d 20 35 3b 20 65 6e 64 3b 0a 77 69 6e 74 79 20 3d 20 72 6f 75 6e 64 28 77 69	winty.=.5;.end;.winty.=.round(wi
5020	6e 74 79 29 3b 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 57 69 6e 64 6f 77 20 73 69 7a 65 20 3d 20	nty);..fprintf(1,'Window.size.=.
5040	25 64 78 25 64 5c 6e 27 2c 32 2a 77 69 6e 74 78 2b 31 2c 32 2a 77 69 6e 74 79 2b 31 29 3b 0a 0a	%dx%d\n',2wintx+1,2winty+1);..
5060	69 66 20 7e 65 78 69 73 74 28 27 6d 61 70 27 29 2c 20 6d 61 70 20 3d 20 67 72 61 79 28 32 35 36	if.~exist('map'),.map.=.gray(256
5080	29 3b 20 65 6e 64 3b 0a 0a 0a 64 69 73 70 28 27 57 41 52 4e 49 4e 47 21 21 21 20 44 6f 20 6e 6f	);.end;...disp('WARNING!!!.Do.no
50a0	74 20 66 6f 72 67 65 74 20 74 6f 20 63 68 61 6e 67 65 20 64 58 5f 64 65 66 61 75 6c 74 20 61 6e	t.forget.to.change.dX_default.an
50c0	64 20 64 59 5f 64 65 66 61 75 6c 74 20 69 6e 20 63 6c 69 63 6b 5f 63 61 6c 69 62 2e 6d 21 21 21	d.dY_default.in.click_calib.m!!!
50e0	27 29 0a 0a 0a 25 20 44 65 66 61 75 6c 74 20 73 69 7a 65 20 6f 66 20 74 68 65 20 70 61 74 74 65	')...%.Default.size.of.the.patte
5100	72 6e 20 73 71 75 61 72 65 73 3b 0a 0a 25 20 53 65 74 75 70 20 6f 66 20 4a 59 20 28 6f 6c 64 20	rn.squares;..%.Setup.of.JY.(old.
5120	61 74 20 43 61 6c 74 65 63 68 29 0a 64 58 5f 64 65 66 61 75 6c 74 20 3d 20 32 31 2e 39 32 35 30	at.Caltech).dX_default.=.21.9250
5140	2f 31 31 3b 0a 64 59 5f 64 65 66 61 75 6c 74 20 3d 20 31 38 2e 31 32 35 30 2f 39 3b 0a 0a 25 20	/11;.dY_default.=.18.1250/9;..%.
5160	53 65 74 75 70 20 6f 66 20 4a 59 20 28 6e 65 77 20 61 74 20 49 6e 74 65 6c 29 0a 64 58 5f 64 65	Setup.of.JY.(new.at.Intel).dX_de
5180	66 61 75 6c 74 20 3d 20 31 2e 39 37 35 30 3b 0a 64 59 5f 64 65 66 61 75 6c 74 20 3d 20 31 2e 39	fault.=.1.9750;.dY_default.=.1.9
51a0	38 36 35 3b 0a 0a 0a 25 20 53 65 74 75 70 20 6f 66 20 4c 75 69 73 20 61 6e 64 20 45 6e 72 69 63	865;...%.Setup.of.Luis.and.Enric
51c0	6f 0a 64 58 5f 64 65 66 61 75 6c 74 20 3d 20 36 37 2e 37 2f 31 36 3b 0a 64 59 5f 64 65 66 61 75	o.dX_default.=.67.7/16;.dY_defau
51e0	6c 74 20 3d 20 35 30 2e 36 35 2f 31 32 3b 0a 0a 0a 25 20 53 65 74 75 70 20 6f 66 20 47 65 72 6d	lt.=.50.65/12;...%.Setup.of.Germ
5200	61 6e 0a 64 58 5f 64 65 66 61 75 6c 74 20 3d 20 31 30 2e 31 36 3b 0a 64 59 5f 64 65 66 61 75 6c	an.dX_default.=.10.16;.dY_defaul
5220	74 20 3d 20 31 30 2e 31 36 3b 0a 0a 25 20 53 65 74 75 70 20 6f 66 20 4a 59 20 28 6e 65 77 20 61	t.=.10.16;..%.Setup.of.JY.(new.a
5240	74 20 49 6e 74 65 6c 29 0a 64 58 5f 64 65 66 61 75 6c 74 20 3d 20 31 2e 39 37 35 30 2a 32 2e 35	t.Intel).dX_default.=.1.9750*2.5
5260	34 3b 0a 64 59 5f 64 65 66 61 75 6c 74 20 3d 20 31 2e 39 38 36 35 2a 32 2e 35 34 3b 0a 0a 25 20	4;.dY_default.=.1.9865*2.54;..%.
5280	53 65 74 75 70 20 6f 66 20 4a 59 20 2d 20 33 44 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 72 69 67	Setup.of.JY.-.3D.calibration.rig
52a0	20 61 74 20 49 6e 74 65 6c 20 28 6e 65 77 20 61 74 20 49 6e 74 65 6c 29 0a 64 58 5f 64 65 66 61	.at.Intel.(new.at.Intel).dX_defa
52c0	75 6c 74 20 3d 20 33 3b 0a 64 59 5f 64 65 66 61 75 6c 74 20 3d 20 33 3b 0a 0a 25 20 55 73 65 66	ult.=.3;.dY_default.=.3;..%.Usef
52e0	75 6c 20 6f 70 74 69 6f 6e 20 74 6f 20 61 64 64 20 69 6d 61 67 65 73 3a 0a 6b 6b 5f 66 69 72 73	ul.option.to.add.images:.kk_firs
5300	74 20 3d 20 69 6e 70 75 74 28 27 53 74 61 72 74 20 69 6d 61 67 65 20 6e 75 6d 62 65 72 20 28 5b	t.=.input('Start.image.number.([
5320	5d 3d 31 3d 66 69 72 73 74 29 3a 20 27 29 3b 0a 0a 69 66 20 69 73 65 6d 70 74 79 28 6b 6b 5f 66	]=1=first):.');..if.isempty(kk_f
5340	69 72 73 74 29 2c 20 6b 6b 5f 66 69 72 73 74 20 3d 20 31 3b 20 65 6e 64 3b 0a 0a 66 6f 72 20 6b	irst),.kk_first.=.1;.end;..for.k
5360	6b 20 3d 20 6b 6b 5f 66 69 72 73 74 3a 6e 5f 69 6d 61 2c 0a 20 20 20 69 66 20 61 63 74 69 76 65	k.=.kk_first:n_ima,....if.active
5380	5f 69 6d 61 67 65 73 28 6b 6b 29 2c 0a 20 20 20 20 20 20 63 6c 69 63 6b 5f 69 6d 61 5f 63 61 6c	_images(kk),.......click_ima_cal
53a0	69 62 3b 0a 20 20 20 65 6c 73 65 0a 09 20 20 20 65 76 61 6c 28 5b 27 64 58 5f 27 20 6e 75 6d 32	ib;....else.....eval(['dX_'.num2
53c0	73 74 72 28 6b 6b 29 20 27 20 3d 20 4e 61 4e 3b 27 5d 29 3b 0a 20 20 20 09 65 76 61 6c 28 5b 27	str(kk).'.=.NaN;']);.....eval(['
53e0	64 59 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 4e 61 4e 3b 27 5d 29 3b 20 20 0a	dY_'.num2str(kk).'.=.NaN;']);...
5400	20 20 20 0a 20 20 20 09 65 76 61 6c 28 5b 27 77 69 6e 74 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b	........eval(['wintx_'.num2str(k
5420	6b 29 20 27 20 3d 20 4e 61 4e 3b 27 5d 29 3b 0a 20 20 20 09 65 76 61 6c 28 5b 27 77 69 6e 74 79	k).'.=.NaN;']);.....eval(['winty
5440	5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 4e 61 4e 3b 27 5d 29 3b 0a 0a 20 20 20	_'.num2str(kk).'.=.NaN;']);.....
5460	09 65 76 61 6c 28 5b 27 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 4e 61 4e 2a	.eval(['x_'.num2str(kk).'.=.NaN*
5480	6f 6e 65 73 28 32 2c 31 29 3b 27 5d 29 3b 0a 20 20 20 09 65 76 61 6c 28 5b 27 58 5f 27 20 6e 75	ones(2,1);']);.....eval(['X_'.nu
54a0	6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 4e 61 4e 2a 6f 6e 65 73 28 33 2c 31 29 3b 27 5d 29 3b	m2str(kk).'.=.NaN*ones(3,1);']);
54c0	0a 20 20 20 0a 20 20 20 09 65 76 61 6c 28 5b 27 6e 5f 73 71 5f 78 5f 27 20 6e 75 6d 32 73 74 72	.........eval(['n_sq_x_'.num2str
54e0	28 6b 6b 29 20 27 20 3d 20 4e 61 4e 3b 27 5d 29 3b 0a 20 20 20 09 65 76 61 6c 28 5b 27 6e 5f 73	(kk).'.=.NaN;']);.....eval(['n_s
5500	71 5f 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 4e 61 4e 3b 27 5d 29 3b 0a 20	q_y_'.num2str(kk).'.=.NaN;']);..
5520	20 20 65 6e 64 3b 0a 65 6e 64 3b 0a 0a 0a 0a 73 74 72 69 6e 67 5f 73 61 76 65 20 3d 20 27 73 61	..end;.end;....string_save.=.'sa
5540	76 65 20 63 61 6c 69 62 5f 64 61 74 61 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 20 69 6e 64 5f	ve.calib_data.active_images.ind_
5560	61 63 74 69 76 65 20 77 69 6e 74 78 20 77 69 6e 74 79 20 6e 5f 69 6d 61 20 74 79 70 65 5f 6e 75	active.wintx.winty.n_ima.type_nu
5580	6d 62 65 72 69 6e 67 20 4e 5f 73 6c 6f 74 73 20 66 69 72 73 74 5f 6e 75 6d 20 69 6d 61 67 65 5f	mbering.N_slots.first_num.image_
55a0	6e 75 6d 62 65 72 73 20 66 6f 72 6d 61 74 5f 69 6d 61 67 65 20 63 61 6c 69 62 5f 6e 61 6d 65 20	numbers.format_image.calib_name.
55c0	48 63 61 6c 20 57 63 61 6c 20 6e 78 20 6e 79 20 6d 61 70 20 64 58 5f 64 65 66 61 75 6c 74 20 64	Hcal.Wcal.nx.ny.map.dX_default.d
55e0	59 5f 64 65 66 61 75 6c 74 20 64 58 20 64 59 27 3b 0a 0a 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f	Y_default.dX.dY';..for.kk.=.1:n_
5600	69 6d 61 2c 0a 20 20 20 73 74 72 69 6e 67 5f 73 61 76 65 20 3d 20 5b 73 74 72 69 6e 67 5f 73 61	ima,....string_save.=.[string_sa
5620	76 65 20 27 20 58 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 78 5f 27 20 6e 75 6d 32 73	ve.'.X_'.num2str(kk).'.x_'.num2s
5640	74 72 28 6b 6b 29 20 27 20 6e 5f 73 71 5f 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20	tr(kk).'.n_sq_x_'.num2str(kk).'.
5660	6e 5f 73 71 5f 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 77 69 6e 74 78 5f 27 20 6e	n_sq_y_'.num2str(kk).'.wintx_'.n
5680	75 6d 32 73 74 72 28 6b 6b 29 20 27 20 77 69 6e 74 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29	um2str(kk).'.winty_'.num2str(kk)
56a0	20 27 20 64 58 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 64 59 5f 27 20 6e 75 6d 32 73	.'.dX_'.num2str(kk).'.dY_'.num2s
56c0	74 72 28 6b 6b 29 5d 3b 0a 65 6e 64 3b 0a 0a 65 76 61 6c 28 73 74 72 69 6e 67 5f 73 61 76 65 29	tr(kk)];.end;..eval(string_save)
56e0	3b 0a 0a 64 69 73 70 28 27 64 6f 6e 65 27 29 3b 0a 0a 72 65 74 75 72 6e 3b 0a 0a 67 6f 5f 63 61	;..disp('done');..return;..go_ca
5700	6c 69 62 5f 6f 70 74 69 6d 3b 0a 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20	lib_optim;...fprintf(1,'........
5720	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 22 41 20 46 6f 75 72 2d 73 74 65 70 20 43 61	................."A.Four-step.Ca
5740	6d 65 72 61 20 43 61 6c 69 62 72 61 74 69 6f 6e 20 50 72 6f 63 65 64 75 72 65 20 77 69 74 68 20	mera.Calibration.Procedure.with.
5760	69 6d 70 6c 69 63 69 74 20 49 6d 61 67 65 20 43 6f 72 72 65 63 74 69 6f 6e 22 5c 6e 27 29 3b 0a	implicit.Image.Correction"\n');.
5780	66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	fprintf(1,'.....................
57a0	20 20 20 20 4a 61 6e 6e 65 20 48 65 69 6b 6b 69 6c 61 20 61 6e 64 20 4f 6c 6c 69 20 53 69 6c 76	....Janne.Heikkila.and.Olli.Silv
57c0	65 6e 2c 20 49 6e 66 6f 74 65 63 68 20 4f 75 6c 75 20 61 6e 64 20 44 65 70 61 72 74 6d 65 6e 74	en,.Infotech.Oulu.and.Department
57e0	20 6f 66 20 45 45 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20	.of.EE\n');.fprintf(1,'.........
5800	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 6c 69 63 6b 5f 63 61 6c 69 62 33 44 2e 6d 00 00 00	TOOLBOX_calib/click_calib3D.m...
5820	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
5840	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
5860	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
5880	20 20 20 33 35 30 35 20 20 37 30 32 34 30 33 37 33 30 36 20 20 31 31 32 30 36 00 20 00 00 00 00	...3505..7024037306..11206......
58a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
58c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
58e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
5900	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
5920	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
5940	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
5960	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
5980	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
59a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
59c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
59e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
5a00	0a 69 66 20 7e 65 78 69 73 74 28 27 49 5f 31 27 29 2c 0a 20 20 20 69 6d 61 5f 72 65 61 64 5f 63	.if.~exist('I_1'),....ima_read_c
5a20	61 6c 69 62 3b 0a 20 20 20 69 66 20 6e 6f 5f 69 6d 61 67 65 5f 66 69 6c 65 2c 0a 20 20 20 20 20	alib;....if.no_image_file,......
5a40	20 64 69 73 70 28 27 43 61 6e 6e 6f 74 20 65 78 74 72 61 63 74 20 63 6f 72 6e 65 72 73 20 77 69	.disp('Cannot.extract.corners.wi
5a60	74 68 6f 75 74 20 69 6d 61 67 65 73 27 29 3b 0a 20 20 20 20 20 20 72 65 74 75 72 6e 3b 0a 20 20	thout.images');.......return;...
5a80	20 65 6e 64 3b 0a 65 6e 64 3b 0a 0a 25 77 69 6e 74 78 20 3d 20 31 30 3b 20 25 20 6e 65 69 67 62	.end;.end;..%wintx.=.10;.%.neigb
5aa0	6f 72 68 6f 6f 64 20 6f 66 20 69 6e 74 65 67 72 61 74 69 6f 6e 20 66 6f 72 0a 25 77 69 6e 74 79	orhood.of.integration.for.%winty
5ac0	20 3d 20 31 30 3b 20 25 20 74 68 65 20 63 6f 72 6e 65 72 20 66 69 6e 64 65 72 0a 0a 66 70 72 69	.=.10;.%.the.corner.finder..fpri
5ae0	6e 74 66 28 31 2c 27 5c 6e 45 78 74 72 61 63 74 69 6f 6e 20 6f 66 20 74 68 65 20 67 72 69 64 20	ntf(1,'\nExtraction.of.the.grid.
5b00	63 6f 72 6e 65 72 73 20 6f 6e 20 74 68 65 20 69 6d 61 67 65 73 5c 6e 27 29 3b 0a 0a 64 69 73 70	corners.on.the.images\n');..disp
5b20	28 27 57 69 6e 64 6f 77 20 73 69 7a 65 20 66 6f 72 20 63 6f 72 6e 65 72 20 66 69 6e 64 65 72 20	('Window.size.for.corner.finder.
5b40	28 77 69 6e 74 78 20 61 6e 64 20 77 69 6e 74 79 29 3a 27 29 3b 0a 77 69 6e 74 78 20 3d 20 69 6e	(wintx.and.winty):');.wintx.=.in
5b60	70 75 74 28 27 77 69 6e 74 78 20 28 5b 5d 20 3d 20 35 29 20 3d 20 27 29 3b 0a 69 66 20 69 73 65	put('wintx.([].=.5).=.');.if.ise
5b80	6d 70 74 79 28 77 69 6e 74 78 29 2c 20 77 69 6e 74 78 20 3d 20 35 3b 20 65 6e 64 3b 0a 77 69 6e	mpty(wintx),.wintx.=.5;.end;.win
5ba0	74 78 20 3d 20 72 6f 75 6e 64 28 77 69 6e 74 78 29 3b 0a 77 69 6e 74 79 20 3d 20 69 6e 70 75 74	tx.=.round(wintx);.winty.=.input
5bc0	28 27 77 69 6e 74 79 20 28 5b 5d 20 3d 20 35 29 20 3d 20 27 29 3b 0a 69 66 20 69 73 65 6d 70 74	('winty.([].=.5).=.');.if.isempt
5be0	79 28 77 69 6e 74 79 29 2c 20 77 69 6e 74 79 20 3d 20 35 3b 20 65 6e 64 3b 0a 77 69 6e 74 79 20	y(winty),.winty.=.5;.end;.winty.
5c00	3d 20 72 6f 75 6e 64 28 77 69 6e 74 79 29 3b 0a 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 57 69 6e	=.round(winty);...fprintf(1,'Win
5c20	64 6f 77 20 73 69 7a 65 20 3d 20 25 64 78 25 64 5c 6e 27 2c 32 2a 77 69 6e 74 78 2b 31 2c 32 2a	dow.size.=.%dx%d\n',2wintx+1,2
5c40	77 69 6e 74 79 2b 31 29 3b 0a 0a 0a 64 69 73 70 28 27 57 41 52 4e 4e 47 21 21 21 20 44 6f 20 6e	winty+1);...disp('WARNNG!!!.Do.n
5c60	6f 74 20 66 6f 72 67 65 74 20 74 6f 20 63 68 61 6e 67 65 20 64 58 5f 64 65 66 61 75 6c 74 20 61	ot.forget.to.change.dX_default.a
5c80	6e 64 20 64 59 5f 64 65 66 61 75 6c 74 20 69 6e 20 63 6c 69 63 6b 5f 63 61 6c 69 62 2e 6d 21 21	nd.dY_default.in.click_calib.m!!
5ca0	21 27 29 0a 0a 0a 25 20 44 65 66 61 75 6c 74 20 73 69 7a 65 20 6f 66 20 74 68 65 20 70 61 74 74	!')...%.Default.size.of.the.patt
5cc0	65 72 6e 20 73 71 75 61 72 65 73 3b 0a 0a 25 20 53 65 74 75 70 20 6f 66 20 4a 59 20 28 6f 6c 64	ern.squares;..%.Setup.of.JY.(old
5ce0	20 61 74 20 43 61 6c 74 65 63 68 29 0a 64 58 5f 64 65 66 61 75 6c 74 20 3d 20 32 31 2e 39 32 35	.at.Caltech).dX_default.=.21.925
5d00	30 2f 31 31 3b 0a 64 59 5f 64 65 66 61 75 6c 74 20 3d 20 31 38 2e 31 32 35 30 2f 39 3b 0a 0a 25	0/11;.dY_default.=.18.1250/9;..%
5d20	20 53 65 74 75 70 20 6f 66 20 4a 59 20 28 6e 65 77 20 61 74 20 49 6e 74 65 6c 29 0a 64 58 5f 64	.Setup.of.JY.(new.at.Intel).dX_d
5d40	65 66 61 75 6c 74 20 3d 20 31 2e 39 37 35 30 3b 0a 64 59 5f 64 65 66 61 75 6c 74 20 3d 20 31 2e	efault.=.1.9750;.dY_default.=.1.
5d60	39 38 36 35 3b 0a 0a 0a 25 20 53 65 74 75 70 20 6f 66 20 4c 75 69 73 20 61 6e 64 20 45 6e 72 69	9865;...%.Setup.of.Luis.and.Enri
5d80	63 6f 0a 64 58 5f 64 65 66 61 75 6c 74 20 3d 20 36 37 2e 37 2f 31 36 3b 0a 64 59 5f 64 65 66 61	co.dX_default.=.67.7/16;.dY_defa
5da0	75 6c 74 20 3d 20 35 30 2e 36 35 2f 31 32 3b 0a 0a 0a 25 20 53 65 74 75 70 20 6f 66 20 47 65 72	ult.=.50.65/12;...%.Setup.of.Ger
5dc0	6d 61 6e 0a 64 58 5f 64 65 66 61 75 6c 74 20 3d 20 31 30 2e 31 36 3b 0a 64 59 5f 64 65 66 61 75	man.dX_default.=.10.16;.dY_defau
5de0	6c 74 20 3d 20 31 30 2e 31 36 3b 0a 0a 25 20 53 65 74 75 70 20 6f 66 20 4a 59 20 28 6e 65 77 20	lt.=.10.16;..%.Setup.of.JY.(new.
5e00	61 74 20 49 6e 74 65 6c 29 0a 64 58 5f 64 65 66 61 75 6c 74 20 3d 20 31 2e 39 37 35 30 2a 32 2e	at.Intel).dX_default.=.1.9750*2.
5e20	35 34 3b 0a 64 59 5f 64 65 66 61 75 6c 74 20 3d 20 31 2e 39 38 36 35 2a 32 2e 35 34 3b 0a 0a 0a	54;.dY_default.=.1.9865*2.54;...
5e40	25 20 53 65 74 75 70 20 6f 66 20 4a 59 20 2d 20 33 44 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 72	%.Setup.of.JY.-.3D.calibration.r
5e60	69 67 20 61 74 20 49 6e 74 65 6c 20 28 6e 65 77 20 61 74 20 49 6e 74 65 6c 29 0a 64 58 5f 64 65	ig.at.Intel.(new.at.Intel).dX_de
5e80	66 61 75 6c 74 20 3d 20 33 3b 0a 64 59 5f 64 65 66 61 75 6c 74 20 3d 20 33 3b 0a 0a 25 20 55 73	fault.=.3;.dY_default.=.3;..%.Us
5ea0	65 66 75 6c 20 6f 70 74 69 6f 6e 20 74 6f 20 61 64 64 20 69 6d 61 67 65 73 3a 0a 6b 6b 5f 66 69	eful.option.to.add.images:.kk_fi
5ec0	72 73 74 20 3d 20 69 6e 70 75 74 28 27 53 74 61 72 74 20 69 6d 61 67 65 20 6e 75 6d 62 65 72 20	rst.=.input('Start.image.number.
5ee0	28 5b 5d 3d 31 3d 66 69 72 73 74 29 3a 20 27 29 3b 0a 0a 69 66 20 69 73 65 6d 70 74 79 28 6b 6b	([]=1=first):.');..if.isempty(kk
5f00	5f 66 69 72 73 74 29 2c 20 6b 6b 5f 66 69 72 73 74 20 3d 20 31 3b 20 65 6e 64 3b 0a 0a 66 6f 72	_first),.kk_first.=.1;.end;..for
5f20	20 6b 6b 20 3d 20 6b 6b 5f 66 69 72 73 74 3a 6e 5f 69 6d 61 2c 0a 20 20 20 63 6c 69 63 6b 5f 69	.kk.=.kk_first:n_ima,....click_i
5f40	6d 61 5f 63 61 6c 69 62 33 44 3b 20 25 53 69 6d 70 6c 65 20 76 65 72 73 69 6f 6e 0a 20 20 20 25	ma_calib3D;.%Simple.version....%
5f60	69 6e 69 74 5f 63 61 6c 69 62 3b 20 25 61 64 76 61 6e 63 65 64 20 76 65 73 69 6f 6e 20 28 6d 6f	init_calib;.%advanced.vesion.(mo
5f80	72 65 20 6d 65 73 73 79 29 0a 65 6e 64 3b 0a 0a 0a 0a 73 74 72 69 6e 67 5f 73 61 76 65 20 3d 20	re.messy).end;....string_save.=.
5fa0	27 73 61 76 65 20 63 61 6c 69 62 5f 64 61 74 61 20 77 69 6e 74 78 20 77 69 6e 74 79 20 6e 5f 69	'save.calib_data.wintx.winty.n_i
5fc0	6d 61 20 74 79 70 65 5f 6e 75 6d 62 65 72 69 6e 67 20 4e 5f 73 6c 6f 74 73 20 66 69 72 73 74 5f	ma.type_numbering.N_slots.first_
5fe0	6e 75 6d 20 69 6d 61 67 65 5f 6e 75 6d 62 65 72 73 20 66 6f 72 6d 61 74 5f 69 6d 61 67 65 20 63	num.image_numbers.format_image.c
6000	61 6c 69 62 5f 6e 61 6d 65 20 48 63 61 6c 20 57 63 61 6c 20 6e 78 20 6e 79 20 6d 61 70 20 64 58	alib_name.Hcal.Wcal.nx.ny.map.dX
6020	5f 64 65 66 61 75 6c 74 20 64 59 5f 64 65 66 61 75 6c 74 20 64 58 20 64 59 27 3b 0a 0a 66 6f 72	_default.dY_default.dX.dY';..for
6040	20 6b 6b 20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a 20 20 20 73 74 72 69 6e 67 5f 73 61 76 65 20 3d 20	.kk.=.1:n_ima,....string_save.=.
6060	5b 73 74 72 69 6e 67 5f 73 61 76 65 20 27 20 58 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27	[string_save.'.X_'.num2str(kk).'
6080	20 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 48 6c 5f 27 20 6e 75 6d 32 73 74 72 28	.x_'.num2str(kk).'.Hl_'.num2str(
60a0	6b 6b 29 20 27 20 6e 6c 5f 73 71 5f 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 6e 6c	kk).'.nl_sq_x_'.num2str(kk).'.nl
60c0	5f 73 71 5f 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 48 72 5f 27 20 6e 75 6d 32 73	_sq_y_'.num2str(kk).'.Hr_'.num2s
60e0	74 72 28 6b 6b 29 20 27 20 6e 72 5f 73 71 5f 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27	tr(kk).'.nr_sq_x_'.num2str(kk).'
6100	20 6e 72 5f 73 71 5f 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 5d 3b 0a 65 6e 64 3b 0a 0a 65	.nr_sq_y_'.num2str(kk)];.end;..e
6120	76 61 6c 28 73 74 72 69 6e 67 5f 73 61 76 65 29 3b 0a 0a 67 6f 5f 63 61 6c 69 62 5f 6f 70 74 69	val(string_save);..go_calib_opti
6140	6d 33 44 3b 0a 78 20 61 6e 64 20 77 69 6e 74 79 29 3a 27 29 3b 0a 77 69 6e 74 78 20 3d 20 69 6e	m3D;.x.and.winty):');.wintx.=.in
6160	70 75 74 28 27 77 69 6e 74 78 20 28 5b 5d 20 3d 20 35 29 20 3d 20 27 29 3b 0a 69 66 20 69 73 65	put('wintx.([].=.5).=.');.if.ise
6180	6d 70 74 79 28 77 69 6e 74 78 29 2c 20 77 69 6e 74 78 20 3d 20 35 3b 20 65 6e 64 3b 0a 77 69 6e	mpty(wintx),.wintx.=.5;.end;.win
61a0	74 78 20 3d 20 72 6f 75 6e 64 28 77 69 6e 74 78 29 3b 0a 77 69 6e 74 79 20 3d 20 69 6e 70 75 74	tx.=.round(wintx);.winty.=.input
61c0	28 27 77 69 6e 74 79 20 28 5b 5d 20 3d 20 35 29 20 3d 20 27 29 3b 0a 69 66 20 69 73 65 6d 70 74	('winty.([].=.5).=.');.if.isempt
61e0	79 28 77 69 6e 74 79 29 2c 20 77 69 6e 74 79 20 3d 20 35 3b 20 65 6e 64 3b 0a 77 69 6e 74 79 20	y(winty),.winty.=.5;.end;.winty.
6200	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 6c 69 63 6b 5f 69 6d 61 5f 63 61 6c 69 62 2e 6d 00	TOOLBOX_calib/click_ima_calib.m.
6220	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
6240	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
6260	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
6280	20 20 31 34 34 31 32 20 20 37 30 32 34 30 33 37 33 30 37 20 20 31 31 36 36 35 00 20 00 00 00 00	..14412..7024037307..11665......
62a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
62c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
62e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
6300	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
6320	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
6340	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
6360	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
6380	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
63a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
63c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
63e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
6400	09 25 20 43 6c 65 61 6e 65 64 2d 75 70 20 76 65 72 73 69 6f 6e 20 6f 66 20 69 6e 69 74 5f 63 61	.%.Cleaned-up.version.of.init_ca
6420	6c 69 62 2e 6d 0a 20 20 20 0a 20 20 20 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 50 72 6f 63 65 73	lib.m........fprintf(1,'\nProces
6440	73 69 6e 67 20 69 6d 61 67 65 20 25 64 2e 2e 2e 5c 6e 27 2c 6b 6b 29 3b 0a 20 20 20 0a 09 65 76	sing.image.%d...\n',kk);......ev
6460	61 6c 28 5b 27 49 20 3d 20 49 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a	al(['I.=.I_'.num2str(kk).';']);.
6480	09 0a 09 66 69 67 75 72 65 28 32 29 3b 0a 09 69 6d 61 67 65 28 49 29 3b 0a 20 20 20 63 6f 6c 6f	...figure(2);..image(I);....colo
64a0	72 6d 61 70 28 6d 61 70 29 3b 0a 20 20 20 0a 20 20 20 74 69 74 6c 65 28 5b 27 43 6c 69 63 6b 20	rmap(map);........title(['Click.
64c0	6f 6e 20 74 68 65 20 66 6f 75 72 20 65 78 74 72 65 6d 65 20 63 6f 72 6e 65 72 73 20 6f 66 20 74	on.the.four.extreme.corners.of.t
64e0	68 65 20 72 65 63 74 61 6e 67 75 6c 61 72 20 70 61 74 74 65 72 6e 2e 2e 2e 20 49 6d 61 67 65 20	he.rectangular.pattern....Image.
6500	27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 5d 29 3b 0a 20 20 20 0a 20 20 20 64 69 73 70 28 27 43 6c	'.num2str(kk)]);........disp('Cl
6520	69 63 6b 20 6f 6e 20 74 68 65 20 66 6f 75 72 20 65 78 74 72 65 6d 65 20 63 6f 72 6e 65 72 73 20	ick.on.the.four.extreme.corners.
6540	6f 66 20 74 68 65 20 72 65 63 74 61 6e 67 75 6c 61 72 20 63 6f 6d 70 6c 65 74 65 20 70 61 74 74	of.the.rectangular.complete.patt
6560	65 72 6e 2e 2e 2e 27 29 3b 0a 20 20 20 0a 20 20 20 5b 78 2c 79 5d 20 3d 20 67 69 6e 70 75 74 33	ern...');........[x,y].=.ginput3
6580	28 34 29 3b 0a 20 20 20 0a 20 20 20 5b 58 63 2c 67 6f 6f 64 2c 62 61 64 2c 74 79 70 65 5d 20 3d	(4);........[Xc,good,bad,type].=
65a0	20 63 6f 72 6e 65 72 66 69 6e 64 65 72 28 5b 78 27 3b 79 27 5d 2c 49 2c 77 69 6e 74 79 2c 77 69	.cornerfinder([x';y'],I,winty,wi
65c0	6e 74 78 29 3b 20 25 20 74 68 65 20 66 6f 75 72 20 63 6f 72 6e 65 72 73 0a 20 20 20 0a 20 20 20	ntx);.%.the.four.corners........
65e0	78 20 3d 20 58 63 28 31 2c 3a 29 27 3b 0a 20 20 20 79 20 3d 20 58 63 28 32 2c 3a 29 27 3b 0a 20	x.=.Xc(1,:)';....y.=.Xc(2,:)';..
6600	20 20 0a 20 20 20 5b 79 2c 69 6e 64 79 5d 20 3d 20 73 6f 72 74 28 79 29 3b 0a 20 20 20 78 20 3d	......[y,indy].=.sort(y);....x.=
6620	20 78 28 69 6e 64 79 29 3b 0a 20 20 20 0a 20 20 20 69 66 20 28 78 28 32 29 20 3e 20 78 28 31 29	.x(indy);........if.(x(2).>.x(1)
6640	29 2c 0a 20 20 20 20 20 20 78 34 20 3d 20 78 28 31 29 3b 79 34 20 3d 20 79 28 31 29 3b 20 78 33	),.......x4.=.x(1);y4.=.y(1);.x3
6660	20 3d 20 78 28 32 29 3b 20 79 33 20 3d 20 79 28 32 29 3b 0a 20 20 20 65 6c 73 65 0a 20 20 20 20	.=.x(2);.y3.=.y(2);....else.....
6680	20 20 78 34 20 3d 20 78 28 32 29 3b 79 34 20 3d 20 79 28 32 29 3b 20 78 33 20 3d 20 78 28 31 29	..x4.=.x(2);y4.=.y(2);.x3.=.x(1)
66a0	3b 20 79 33 20 3d 20 79 28 31 29 3b 0a 20 20 20 65 6e 64 3b 0a 20 20 20 69 66 20 28 78 28 33 29	;.y3.=.y(1);....end;....if.(x(3)
66c0	20 3e 20 78 28 34 29 29 2c 0a 20 20 20 20 20 20 78 32 20 3d 20 78 28 33 29 3b 79 32 20 3d 20 79	.>.x(4)),.......x2.=.x(3);y2.=.y
66e0	28 33 29 3b 20 78 31 20 3d 20 78 28 34 29 3b 20 79 31 20 3d 20 79 28 34 29 3b 0a 20 20 20 65 6c	(3);.x1.=.x(4);.y1.=.y(4);....el
6700	73 65 0a 20 20 20 20 20 20 78 32 20 3d 20 78 28 34 29 3b 79 32 20 3d 20 79 28 34 29 3b 20 78 31	se.......x2.=.x(4);y2.=.y(4);.x1
6720	20 3d 20 78 28 33 29 3b 20 79 31 20 3d 20 79 28 33 29 3b 0a 20 20 20 65 6e 64 3b 0a 20 20 20 0a	.=.x(3);.y1.=.y(3);....end;.....
6740	20 20 20 78 20 3d 20 5b 78 31 3b 78 32 3b 78 33 3b 78 34 5d 3b 0a 20 20 20 79 20 3d 20 5b 79 31	...x.=.[x1;x2;x3;x4];....y.=.[y1
6760	3b 79 32 3b 79 33 3b 79 34 5d 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 66 69 67 75 72 65 28 32 29	;y2;y3;y4];............figure(2)
6780	3b 20 68 6f 6c 64 20 6f 6e 3b 0a 20 20 20 70 6c 6f 74 28 5b 78 3b 78 28 31 29 5d 2c 5b 79 3b 79	;.hold.on;....plot([x;x(1)],[y;y
67a0	28 31 29 5d 2c 27 67 2d 27 29 3b 0a 20 20 20 70 6c 6f 74 28 78 2c 79 2c 27 6f 67 27 29 3b 0a 20	(1)],'g-');....plot(x,y,'og');..
67c0	20 20 68 78 3d 74 65 78 74 28 28 78 28 34 29 2b 78 28 33 29 29 2f 32 2c 28 79 28 34 29 2b 79 28	..hx=text((x(4)+x(3))/2,(y(4)+y(
67e0	33 29 29 2f 32 20 2d 20 32 30 2c 27 58 27 29 3b 0a 20 20 20 73 65 74 28 68 78 2c 27 63 6f 6c 6f	3))/2.-.20,'X');....set(hx,'colo
6800	72 27 2c 27 67 27 2c 27 46 6f 6e 74 73 69 7a 65 27 2c 31 34 29 3b 0a 20 20 20 68 79 3d 74 65 78	r','g','Fontsize',14);....hy=tex
6820	74 28 28 78 28 34 29 2b 78 28 31 29 29 2f 32 2d 32 30 2c 28 79 28 34 29 2b 79 28 31 29 29 2f 32	t((x(4)+x(1))/2-20,(y(4)+y(1))/2
6840	2c 27 59 27 29 3b 0a 20 20 20 73 65 74 28 68 79 2c 27 63 6f 6c 6f 72 27 2c 27 67 27 2c 27 46 6f	,'Y');....set(hy,'color','g','Fo
6860	6e 74 73 69 7a 65 27 2c 31 34 29 3b 0a 20 20 20 68 6f 6c 64 20 6f 66 66 3b 0a 20 20 20 0a 20 20	ntsize',14);....hold.off;.......
6880	20 0a 20 20 20 25 20 54 72 79 20 74 6f 20 61 75 74 6f 6d 61 74 69 63 61 6c 6c 79 20 63 6f 75 6e	.....%.Try.to.automatically.coun
68a0	74 20 74 68 65 20 6e 75 6d 62 65 72 20 6f 66 20 73 71 75 61 72 65 73 20 69 6e 20 74 68 65 20 67	t.the.number.of.squares.in.the.g
68c0	72 69 64 0a 20 20 20 0a 20 20 20 6e 5f 73 71 5f 78 31 20 3d 20 63 6f 75 6e 74 5f 73 71 75 61 72	rid........n_sq_x1.=.count_squar
68e0	65 73 28 49 2c 78 31 2c 79 31 2c 78 32 2c 79 32 2c 77 69 6e 74 78 29 3b 0a 20 20 20 6e 5f 73 71	es(I,x1,y1,x2,y2,wintx);....n_sq
6900	5f 78 32 20 3d 20 63 6f 75 6e 74 5f 73 71 75 61 72 65 73 28 49 2c 78 33 2c 79 33 2c 78 34 2c 79	_x2.=.count_squares(I,x3,y3,x4,y
6920	34 2c 77 69 6e 74 78 29 3b 0a 20 20 20 6e 5f 73 71 5f 79 31 20 3d 20 63 6f 75 6e 74 5f 73 71 75	4,wintx);....n_sq_y1.=.count_squ
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6960	73 71 5f 79 32 20 3d 20 63 6f 75 6e 74 5f 73 71 75 61 72 65 73 28 49 2c 78 34 2c 79 34 2c 78 31	sq_y2.=.count_squares(I,x4,y4,x1
6980	2c 79 31 2c 77 69 6e 74 78 29 3b 0a 20 20 20 0a 20 20 0a 20 20 20 0a 20 20 20 25 20 49 66 20 63	,y1,wintx);...............%.If.c
69a0	6f 75 6c 64 20 6e 6f 74 20 63 6f 75 6e 74 20 74 68 65 20 6e 75 6d 62 65 72 20 6f 66 20 73 71 75	ould.not.count.the.number.of.squ
69c0	61 72 65 73 2c 20 65 6e 74 65 72 20 6d 61 6e 75 61 6c 6c 79 0a 20 20 20 0a 20 20 20 69 66 20 28	ares,.enter.manually........if.(
69e0	6e 5f 73 71 5f 78 31 7e 3d 6e 5f 73 71 5f 78 32 29 7c 28 6e 5f 73 71 5f 79 31 7e 3d 6e 5f 73 71	n_sq_x1~=n_sq_x2)\|(n_sq_y1~=n_sq
6a00	5f 79 32 29 2c 0a 20 20 20 20 20 20 0a 0a 09 20 64 69 73 70 28 27 43 6f 75 6c 64 20 6e 6f 74 20	_y2),...........disp('Could.not.
6a20	63 6f 75 6e 74 20 74 68 65 20 6e 75 6d 62 65 72 20 6f 66 20 73 71 75 61 72 65 73 20 69 6e 20 74	count.the.number.of.squares.in.t
6a40	68 65 20 67 72 69 64 2e 20 45 6e 74 65 72 20 6d 61 6e 75 61 6c 6c 79 2e 27 29 3b 0a 09 20 6e 5f	he.grid..Enter.manually.');...n_
6a60	73 71 5f 78 20 3d 20 69 6e 70 75 74 28 27 4e 75 6d 62 65 72 20 6f 66 20 73 71 75 61 72 65 73 20	sq_x.=.input('Number.of.squares.
6a80	61 6c 6f 6e 67 20 74 68 65 20 58 20 64 69 72 65 63 74 69 6f 6e 20 28 5b 5d 3d 31 30 29 20 3d 20	along.the.X.direction.([]=10).=.
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6ae0	27 4e 75 6d 62 65 72 20 6f 66 20 73 71 75 61 72 65 73 20 61 6c 6f 6e 67 20 74 68 65 20 59 20 64	'Number.of.squares.along.the.Y.d
6b00	69 72 65 63 74 69 6f 6e 20 28 5b 5d 3d 31 30 29 20 3d 20 27 29 3b 20 25 36 0a 09 20 69 66 20 69	irection.([]=10).=.');.%6...if.i
6b20	73 65 6d 70 74 79 28 6e 5f 73 71 5f 79 29 2c 20 6e 5f 73 71 5f 79 20 3d 20 31 30 3b 20 65 6e 64	sempty(n_sq_y),.n_sq_y.=.10;.end
6b40	3b 20 0a 20 20 20 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 0a 20	;.........else..................
6b60	20 20 20 20 20 6e 5f 73 71 5f 78 20 3d 20 6e 5f 73 71 5f 78 31 3b 0a 20 20 20 20 20 20 6e 5f 73	.....n_sq_x.=.n_sq_x1;.......n_s
6b80	71 5f 79 20 3d 20 6e 5f 73 71 5f 79 31 3b 0a 20 20 20 20 20 20 0a 20 20 20 65 6e 64 3b 0a 20 20	q_y.=.n_sq_y1;...........end;...
6ba0	20 0a 20 20 20 0a 20 20 20 25 20 45 6e 74 65 72 20 74 68 65 20 73 69 7a 65 20 6f 66 20 65 61 63	.........%.Enter.the.size.of.eac
6bc0	68 20 73 71 75 61 72 65 0a 20 20 20 0a 20 20 20 64 58 20 3d 20 69 6e 70 75 74 28 5b 27 53 69 7a	h.square........dX.=.input(['Siz
6be0	65 20 64 58 20 6f 66 20 65 61 63 68 20 73 71 75 61 72 65 20 61 6c 6f 6e 67 20 74 68 65 20 58 20	e.dX.of.each.square.along.the.X.
6c00	64 69 72 65 63 74 69 6f 6e 20 28 5b 5d 3d 27 20 6e 75 6d 32 73 74 72 28 64 58 5f 64 65 66 61 75	direction.([]='.num2str(dX_defau
6c20	6c 74 29 20 27 63 6d 29 20 3d 20 27 5d 29 3b 0a 20 20 09 64 59 20 3d 20 69 6e 70 75 74 28 5b 27	lt).'cm).=.']);....dY.=.input(['
6c40	53 69 7a 65 20 64 59 20 6f 66 20 65 61 63 68 20 73 71 75 61 72 65 20 61 6c 6f 6e 67 20 74 68 65	Size.dY.of.each.square.along.the
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6c80	66 61 75 6c 74 29 20 27 63 6d 29 20 3d 20 27 5d 29 3b 0a 09 69 66 20 69 73 65 6d 70 74 79 28 64	fault).'cm).=.']);..if.isempty(d
6ca0	58 29 2c 20 64 58 20 3d 20 64 58 5f 64 65 66 61 75 6c 74 3b 20 65 6c 73 65 20 64 58 5f 64 65 66	X),.dX.=.dX_default;.else.dX_def
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6ce0	20 64 59 20 3d 20 64 59 5f 64 65 66 61 75 6c 74 3b 20 65 6c 73 65 20 64 59 5f 64 65 66 61 75 6c	.dY.=.dY_default;.else.dY_defaul
6d00	74 20 3d 20 64 59 3b 20 65 6e 64 3b 0a 20 20 20 0a 20 20 20 25 20 43 6f 6d 70 75 74 65 20 74 68	t.=.dY;.end;........%.Compute.th
6d20	65 20 69 6e 73 69 64 65 20 70 6f 69 6e 74 73 20 74 68 72 6f 75 67 68 20 63 6f 6d 70 75 74 61 74	e.inside.points.through.computat
6d40	69 6f 6e 20 6f 66 20 74 68 65 20 70 6c 61 6e 61 72 20 68 6f 6d 6f 67 72 61 70 68 79 20 28 63 6f	ion.of.the.planar.homography.(co
6d60	6c 6c 69 6e 65 61 74 69 6f 6e 29 0a 20 20 20 0a 09 61 30 30 20 3d 20 5b 78 28 31 29 3b 79 28 31	llineation)......a00.=.[x(1);y(1
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6da0	20 3d 20 5b 78 28 33 29 3b 79 28 33 29 3b 31 5d 3b 0a 09 61 30 31 20 3d 20 5b 78 28 34 29 3b 79	.=.[x(3);y(3);1];..a01.=.[x(4);y
6dc0	28 34 29 3b 31 5d 3b 0a 0a 0a 09 25 20 43 6f 6d 70 75 74 65 20 74 68 65 20 70 6c 61 6e 61 72 20	(4);1];....%.Compute.the.planar.
6de0	63 6f 6c 6c 69 6e 65 61 74 69 6f 6e 3a 20 28 72 65 74 75 72 6e 20 74 68 65 20 6e 6f 72 6d 61 6c	collineation:.(return.the.normal
6e00	69 7a 61 74 69 6f 6e 20 6d 61 74 72 69 78 20 61 73 20 77 65 6c 6c 29 0a 20 20 20 0a 20 20 20 5b	ization.matrix.as.well)........[
6e20	48 6f 6d 6f 2c 48 6e 6f 72 6d 2c 69 6e 76 5f 48 6e 6f 72 6d 5d 20 3d 20 63 6f 6d 70 75 74 65 5f	Homo,Hnorm,inv_Hnorm].=.compute_
6e40	68 6f 6d 6f 67 72 61 70 68 79 20 28 5b 61 30 30 20 61 31 30 20 61 31 31 20 61 30 31 5d 2c 5b 30	homography.([a00.a10.a11.a01],[0
6e60	20 31 20 31 20 30 3b 30 20 30 20 31 20 31 3b 31 20 31 20 31 20 31 5d 29 3b 0a 0a 0a 09 25 20 42	.1.1.0;0.0.1.1;1.1.1.1]);....%.B
6e80	75 69 6c 64 20 74 68 65 20 67 72 69 64 20 75 73 69 6e 67 20 74 68 65 20 70 6c 61 6e 61 72 20 63	uild.the.grid.using.the.planar.c
6ea0	6f 6c 6c 69 6e 65 61 74 69 6f 6e 3a 0a 0a 09 78 5f 6c 20 3d 20 28 28 30 3a 6e 5f 73 71 5f 78 29	ollineation:...x_l.=.((0:n_sq_x)
6ec0	27 2a 6f 6e 65 73 28 31 2c 6e 5f 73 71 5f 79 2b 31 29 29 2f 6e 5f 73 71 5f 78 3b 0a 20 20 20 79	'*ones(1,n_sq_y+1))/n_sq_x;....y
6ee0	5f 6c 20 3d 20 28 6f 6e 65 73 28 6e 5f 73 71 5f 78 2b 31 2c 31 29 2a 28 30 3a 6e 5f 73 71 5f 79	_l.=.(ones(n_sq_x+1,1)*(0:n_sq_y
6f00	29 29 2f 6e 5f 73 71 5f 79 3b 0a 20 20 20 70 74 73 20 3d 20 5b 78 5f 6c 28 3a 29 20 79 5f 6c 28	))/n_sq_y;....pts.=.[x_l(:).y_l(
6f20	3a 29 20 6f 6e 65 73 28 28 6e 5f 73 71 5f 78 2b 31 29 2a 28 6e 5f 73 71 5f 79 2b 31 29 2c 31 29	:).ones((n_sq_x+1)*(n_sq_y+1),1)
6f40	5d 27 3b 0a 20 20 20 0a 20 20 20 58 58 20 3d 20 48 6f 6d 6f 2a 70 74 73 3b 0a 09 58 58 20 3d 20	]';........XX.=.Homo*pts;..XX.=.
6f60	58 58 28 31 3a 32 2c 3a 29 20 2e 2f 20 28 6f 6e 65 73 28 32 2c 31 29 2a 58 58 28 33 2c 3a 29 29	XX(1:2,:)../.(ones(2,1)*XX(3,:))
6f80	3b 0a 0a 20 20 20 0a 20 20 20 25 20 43 6f 6d 70 6c 65 74 65 20 73 69 7a 65 20 6f 66 20 74 68 65	;.........%.Complete.size.of.the
6fa0	20 72 65 63 74 61 6e 67 6c 65 0a 20 20 20 0a 20 20 20 57 20 3d 20 6e 5f 73 71 5f 78 2a 64 58 3b	.rectangle........W.=.n_sq_x*dX;
6fc0	0a 20 20 20 4c 20 3d 20 6e 5f 73 71 5f 79 2a 64 59 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 0a 20	....L.=.n_sq_y*dY;..............
6fe0	20 20 0a 20 20 20 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 20 41	......%%%%%%%%%%%%%%%%%%%%%%%%.A
7000	44 44 49 54 49 4f 4e 41 4c 20 53 54 55 46 46 20 49 4e 20 54 48 45 20 43 41 53 45 20 4f 46 20 48	DDITIONAL.STUFF.IN.THE.CASE.OF.H
7020	49 47 48 4c 59 20 44 49 53 54 4f 52 54 45 44 20 49 4d 41 47 45 53 20 25 25 25 25 25 25 25 25 25	IGHLY.DISTORTED.IMAGES.%%%%%%%%%
7040	25 25 25 25 0a 20 20 20 66 69 67 75 72 65 28 32 29 3b 0a 20 20 20 68 6f 6c 64 20 6f 6e 3b 0a 20	%%%%....figure(2);....hold.on;..
7060	20 20 70 6c 6f 74 28 58 58 28 31 2c 3a 29 2c 58 58 28 32 2c 3a 29 2c 27 72 2b 27 29 3b 0a 20 20	..plot(XX(1,:),XX(2,:),'r+');...
7080	20 74 69 74 6c 65 28 27 54 68 65 20 72 65 64 20 63 72 6f 73 73 65 73 20 73 68 6f 75 6c 64 20 62	.title('The.red.crosses.should.b
70a0	65 20 63 6c 6f 73 65 20 74 6f 20 74 68 65 20 69 6d 61 67 65 20 63 6f 72 6e 65 72 73 27 29 3b 0a	e.close.to.the.image.corners');.
70c0	20 20 20 68 6f 6c 64 20 6f 66 66 3b 0a 20 20 20 0a 20 20 20 64 69 73 70 28 27 49 66 20 74 68 65	...hold.off;........disp('If.the
70e0	20 67 75 65 73 73 65 64 20 67 72 69 64 20 63 6f 72 6e 65 72 73 20 28 72 65 64 20 63 72 6f 73 73	.guessed.grid.corners.(red.cross
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7120	6f 20 74 68 65 20 61 63 74 75 61 6c 20 63 6f 72 6e 65 72 73 2c 27 29 3b 0a 20 20 20 64 69 73 70	o.the.actual.corners,');....disp
7140	28 27 69 74 20 69 73 20 6e 65 63 65 73 73 61 72 79 20 74 6f 20 65 6e 74 65 72 20 61 6e 20 69 6e	('it.is.necessary.to.enter.an.in
7160	69 74 69 61 6c 20 67 75 65 73 73 20 66 6f 72 20 74 68 65 20 72 61 64 69 61 6c 20 64 69 73 74 6f	itial.guess.for.the.radial.disto
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71a0	69 78 65 6c 20 64 65 74 65 63 74 69 6f 6e 29 27 29 3b 0a 20 20 20 71 75 65 73 74 5f 64 69 73 74	ixel.detection)');....quest_dist
71c0	6f 72 74 20 3d 20 69 6e 70 75 74 28 27 4e 65 65 64 20 6f 66 20 61 6e 20 69 6e 69 74 69 61 6c 20	ort.=.input('Need.of.an.initial.
71e0	67 75 65 73 73 20 66 6f 72 20 64 69 73 74 6f 72 74 69 6f 6e 3f 20 28 5b 5d 3d 6e 6f 2c 20 6f 74	guess.for.distortion?.([]=no,.ot
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7220	20 3d 20 7e 69 73 65 6d 70 74 79 28 71 75 65 73 74 5f 64 69 73 74 6f 72 74 29 3b 0a 20 20 20 0a	.=.~isempty(quest_distort);.....
7240	20 20 20 69 66 20 71 75 65 73 74 5f 64 69 73 74 6f 72 74 2c 0a 20 20 20 20 20 20 25 20 45 73 74	...if.quest_distort,.......%.Est
7260	69 6d 61 74 69 6f 6e 20 6f 66 20 66 6f 63 61 6c 20 6c 65 6e 67 74 68 3a 0a 20 20 20 20 20 20 63	imation.of.focal.length:.......c
7280	5f 67 20 3d 20 5b 73 69 7a 65 28 49 2c 32 29 3b 73 69 7a 65 28 49 2c 31 29 5d 2f 32 20 2b 20 2e	_g.=.[size(I,2);size(I,1)]/2.+..
72a0	35 3b 0a 09 09 66 5f 67 20 3d 20 44 69 73 74 6f 72 32 43 61 6c 69 62 28 30 2c 5b 5b 78 28 31 29	5;...f_g.=.Distor2Calib(0,[[x(1)
72c0	20 78 28 32 29 20 78 28 34 29 20 78 28 33 29 5d 20 2d 20 63 5f 67 28 31 29 3b 5b 79 28 31 29 20	.x(2).x(4).x(3)].-.c_g(1);[y(1).
72e0	79 28 32 29 20 79 28 34 29 20 79 28 33 29 5d 20 2d 20 63 5f 67 28 32 29 5d 2c 31 2c 31 2c 34 2c	y(2).y(4).y(3)].-.c_g(2)],1,1,4,
7300	57 2c 4c 2c 5b 2d 57 2f 32 20 57 2f 32 20 57 2f 32 20 2d 57 2f 32 3b 4c 2f 32 20 4c 2f 32 20 2d	W,L,[-W/2.W/2.W/2.-W/2;L/2.L/2.-
7320	4c 2f 32 20 2d 4c 2f 32 3b 20 30 20 30 20 30 20 30 5d 2c 31 30 30 2c 31 2c 31 29 3b 0a 20 20 20	L/2.-L/2;.0.0.0.0],100,1,1);....
7340	20 20 20 66 5f 67 20 3d 20 6d 65 61 6e 28 66 5f 67 29 3b 0a 20 20 20 20 20 20 73 63 72 69 70 74	...f_g.=.mean(f_g);.......script
7360	5f 66 69 74 5f 64 69 73 74 6f 72 74 69 6f 6e 3b 0a 20 20 20 65 6e 64 3b 0a 20 20 20 25 25 25 25	_fit_distortion;....end;....%%%%
7380	25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 20 45 4e 44 20 41 44 44 49 54 49 4f 4e 41 4c	%%%%%%%%%%%%%%%%%.END.ADDITIONAL
73a0	20 53 54 55 46 46 20 49 4e 20 54 48 45 20 43 41 53 45 20 4f 46 20 48 49 47 48 4c 59 20 44 49 53	.STUFF.IN.THE.CASE.OF.HIGHLY.DIS
73c0	54 4f 52 54 45 44 20 49 4d 41 47 45 53 20 25 25 25 25 25 25 25 25 25 25 25 25 25 0a 20 20 20 0a	TORTED.IMAGES.%%%%%%%%%%%%%.....
73e0	20 20 20 0a 20 20 20 0a 20 20 20 0a 20 20 20 0a 20 20 20 4e 70 20 3d 20 28 6e 5f 73 71 5f 78 2b	...................Np.=.(n_sq_x+
7400	31 29 2a 28 6e 5f 73 71 5f 79 2b 31 29 3b 0a 0a 20 20 20 64 69 73 70 28 27 43 6f 72 6e 65 72 20	1)*(n_sq_y+1);.....disp('Corner.
7420	65 78 74 72 61 63 74 69 6f 6e 2e 2e 2e 27 29 3b 0a 20 20 20 0a 20 20 20 67 72 69 64 5f 70 74 73	extraction...');........grid_pts
7440	20 3d 20 63 6f 72 6e 65 72 66 69 6e 64 65 72 28 58 58 2c 49 2c 77 69 6e 74 79 2c 77 69 6e 74 78	.=.cornerfinder(XX,I,winty,wintx
7460	29 3b 20 25 25 25 20 46 69 6e 64 73 20 74 68 65 20 65 78 61 63 74 20 63 6f 72 6e 65 72 73 20 61	);.%%%.Finds.the.exact.corners.a
7480	74 20 65 76 65 72 79 20 70 6f 69 6e 74 73 21 0a 20 20 20 0a 0a 20 20 20 0a 20 20 20 25 73 61 76	t.every.points!.............%sav
74a0	65 20 61 6c 6c 5f 63 6f 72 6e 65 72 73 20 78 20 79 20 67 72 69 64 5f 70 74 73 0a 20 20 20 0a 20	e.all_corners.x.y.grid_pts......
74c0	20 20 67 72 69 64 5f 70 74 73 20 3d 20 67 72 69 64 5f 70 74 73 20 2d 20 31 3b 20 25 20 73 75 62	..grid_pts.=.grid_pts.-.1;.%.sub
74e0	74 72 61 63 74 20 31 20 74 6f 20 62 72 69 6e 67 20 74 68 65 20 6f 72 69 67 69 6e 20 74 6f 20 28	tract.1.to.bring.the.origin.to.(
7500	30 2c 30 29 20 69 6e 73 74 65 61 64 20 6f 66 20 28 31 2c 31 29 20 69 6e 20 6d 61 74 6c 61 62 20	0,0).instead.of.(1,1).in.matlab.
7520	28 6e 6f 74 20 6e 65 63 65 73 73 61 72 79 20 69 6e 20 43 29 0a 20 20 20 0a 20 20 20 0a 20 20 20	(not.necessary.in.C)............
7540	25 20 47 6c 6f 62 61 6c 20 48 6f 6d 6f 67 72 61 70 68 79 20 66 72 6f 6d 20 70 6c 61 6e 65 20 74	%.Global.Homography.from.plane.t
7560	6f 20 70 69 78 65 6c 20 63 6f 6f 72 64 69 6e 61 74 65 73 3a 0a 20 20 20 0a 20 0a 20 20 20 0a 20	o.pixel.coordinates:............
7580	20 20 0a 20 20 20 69 6e 64 5f 63 6f 72 6e 65 72 73 20 3d 20 5b 31 20 6e 5f 73 71 5f 78 2b 31 20	......ind_corners.=.[1.n_sq_x+1.
75a0	28 6e 5f 73 71 5f 78 2b 31 29 2a 6e 5f 73 71 5f 79 2b 31 20 28 6e 5f 73 71 5f 78 2b 31 29 2a 28	(n_sq_x+1)n_sq_y+1.(n_sq_x+1)(
75c0	6e 5f 73 71 5f 79 2b 31 29 5d 3b 20 25 20 69 6e 64 65 78 20 6f 66 20 74 68 65 20 34 20 63 6f 72	n_sq_y+1)];.%.index.of.the.4.cor
75e0	6e 65 72 73 0a 20 20 20 69 6e 64 5f 6f 72 69 67 20 3d 20 28 6e 5f 73 71 5f 78 2b 31 29 2a 6e 5f	ners....ind_orig.=.(n_sq_x+1)*n_
7600	73 71 5f 79 20 2b 20 31 3b 0a 20 20 20 78 6f 72 69 67 20 3d 20 67 72 69 64 5f 70 74 73 28 31 2c	sq_y.+.1;....xorig.=.grid_pts(1,
7620	69 6e 64 5f 6f 72 69 67 29 3b 0a 20 20 20 79 6f 72 69 67 20 3d 20 67 72 69 64 5f 70 74 73 28 32	ind_orig);....yorig.=.grid_pts(2
7640	2c 69 6e 64 5f 6f 72 69 67 29 3b 0a 20 20 20 64 78 70 6f 73 20 3d 20 6d 65 61 6e 28 5b 67 72 69	,ind_orig);....dxpos.=.mean([gri
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76a0	69 64 5f 70 74 73 28 3a 2c 69 6e 64 5f 6f 72 69 67 29 20 67 72 69 64 5f 70 74 73 28 3a 2c 69 6e	id_pts(:,ind_orig).grid_pts(:,in
76c0	64 5f 6f 72 69 67 2d 6e 5f 73 71 5f 78 2d 31 29 5d 27 29 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20	d_orig-n_sq_x-1)]');............
76e0	78 5f 62 6f 78 5f 6b 6b 20 3d 20 5b 67 72 69 64 5f 70 74 73 28 31 2c 3a 29 2d 28 77 69 6e 74 78	x_box_kk.=.[grid_pts(1,:)-(wintx
7700	2b 2e 35 29 3b 67 72 69 64 5f 70 74 73 28 31 2c 3a 29 2b 28 77 69 6e 74 78 2b 2e 35 29 3b 67 72	+.5);grid_pts(1,:)+(wintx+.5);gr
7720	69 64 5f 70 74 73 28 31 2c 3a 29 2b 28 77 69 6e 74 78 2b 2e 35 29 3b 67 72 69 64 5f 70 74 73 28	id_pts(1,:)+(wintx+.5);grid_pts(
7740	31 2c 3a 29 2d 28 77 69 6e 74 78 2b 2e 35 29 3b 67 72 69 64 5f 70 74 73 28 31 2c 3a 29 2d 28 77	1,:)-(wintx+.5);grid_pts(1,:)-(w
7760	69 6e 74 78 2b 2e 35 29 5d 3b 0a 20 20 20 79 5f 62 6f 78 5f 6b 6b 20 3d 20 5b 67 72 69 64 5f 70	intx+.5)];....y_box_kk.=.[grid_p
7780	74 73 28 32 2c 3a 29 2d 28 77 69 6e 74 79 2b 2e 35 29 3b 67 72 69 64 5f 70 74 73 28 32 2c 3a 29	ts(2,:)-(winty+.5);grid_pts(2,:)
77a0	2d 28 77 69 6e 74 79 2b 2e 35 29 3b 67 72 69 64 5f 70 74 73 28 32 2c 3a 29 2b 28 77 69 6e 74 79	-(winty+.5);grid_pts(2,:)+(winty
77c0	2b 2e 35 29 3b 67 72 69 64 5f 70 74 73 28 32 2c 3a 29 2b 28 77 69 6e 74 79 2b 2e 35 29 3b 67 72	+.5);grid_pts(2,:)+(winty+.5);gr
77e0	69 64 5f 70 74 73 28 32 2c 3a 29 2d 28 77 69 6e 74 79 2b 2e 35 29 5d 3b 0a 0a 20 20 20 0a 20 20	id_pts(2,:)-(winty+.5)];........
7800	20 66 69 67 75 72 65 28 33 29 3b 0a 20 20 20 69 6d 61 67 65 28 49 29 3b 20 63 6f 6c 6f 72 6d 61	.figure(3);....image(I);.colorma
7820	70 28 6d 61 70 29 3b 20 68 6f 6c 64 20 6f 6e 3b 0a 20 20 20 70 6c 6f 74 28 67 72 69 64 5f 70 74	p(map);.hold.on;....plot(grid_pt
7840	73 28 31 2c 3a 29 2b 31 2c 67 72 69 64 5f 70 74 73 28 32 2c 3a 29 2b 31 2c 27 72 2b 27 29 3b 0a	s(1,:)+1,grid_pts(2,:)+1,'r+');.
7860	20 20 20 70 6c 6f 74 28 78 5f 62 6f 78 5f 6b 6b 2b 31 2c 79 5f 62 6f 78 5f 6b 6b 2b 31 2c 27 2d	...plot(x_box_kk+1,y_box_kk+1,'-
7880	62 27 29 3b 0a 20 20 20 70 6c 6f 74 28 67 72 69 64 5f 70 74 73 28 31 2c 69 6e 64 5f 63 6f 72 6e	b');....plot(grid_pts(1,ind_corn
78a0	65 72 73 29 2b 31 2c 67 72 69 64 5f 70 74 73 28 32 2c 69 6e 64 5f 63 6f 72 6e 65 72 73 29 2b 31	ers)+1,grid_pts(2,ind_corners)+1
78c0	2c 27 6d 6f 27 29 3b 0a 20 20 20 70 6c 6f 74 28 78 6f 72 69 67 2b 31 2c 79 6f 72 69 67 2b 31 2c	,'mo');....plot(xorig+1,yorig+1,
78e0	27 2a 6d 27 29 3b 0a 20 20 20 68 20 3d 20 74 65 78 74 28 78 6f 72 69 67 2d 31 35 2c 79 6f 72 69	'*m');....h.=.text(xorig-15,yori
7900	67 2d 31 35 2c 27 4f 27 29 3b 0a 20 20 20 73 65 74 28 68 2c 27 43 6f 6c 6f 72 27 2c 27 6d 27 2c	g-15,'O');....set(h,'Color','m',
7920	27 46 6f 6e 74 53 69 7a 65 27 2c 31 34 29 3b 0a 20 20 20 68 32 20 3d 20 74 65 78 74 28 64 78 70	'FontSize',14);....h2.=.text(dxp
7940	6f 73 28 31 29 2d 31 30 2c 64 78 70 6f 73 28 32 29 2d 31 30 2c 27 64 58 27 29 3b 0a 20 20 20 73	os(1)-10,dxpos(2)-10,'dX');....s
7960	65 74 28 68 32 2c 27 43 6f 6c 6f 72 27 2c 27 67 27 2c 27 46 6f 6e 74 53 69 7a 65 27 2c 31 34 29	et(h2,'Color','g','FontSize',14)
7980	3b 0a 20 20 20 68 33 20 3d 20 74 65 78 74 28 64 79 70 6f 73 28 31 29 2d 32 35 2c 64 79 70 6f 73	;....h3.=.text(dypos(1)-25,dypos
79a0	28 32 29 2d 33 2c 27 64 59 27 29 3b 0a 20 20 20 73 65 74 28 68 33 2c 27 43 6f 6c 6f 72 27 2c 27	(2)-3,'dY');....set(h3,'Color','
79c0	67 27 2c 27 46 6f 6e 74 53 69 7a 65 27 2c 31 34 29 3b 0a 20 20 20 78 6c 61 62 65 6c 28 27 58 63	g','FontSize',14);....xlabel('Xc
79e0	20 28 69 6e 20 63 61 6d 65 72 61 20 66 72 61 6d 65 29 27 29 3b 0a 20 20 20 79 6c 61 62 65 6c 28	.(in.camera.frame)');....ylabel(
7a00	27 59 63 20 28 69 6e 20 63 61 6d 65 72 61 20 66 72 61 6d 65 29 27 29 3b 0a 20 20 20 74 69 74 6c	'Yc.(in.camera.frame)');....titl
7a20	65 28 27 45 78 74 72 61 63 74 65 64 20 63 6f 72 6e 65 72 73 27 29 3b 0a 20 20 20 7a 6f 6f 6d 20	e('Extracted.corners');....zoom.
7a40	6f 6e 3b 0a 20 20 20 64 72 61 77 6e 6f 77 3b 0a 20 20 20 68 6f 6c 64 20 6f 66 66 3b 0a 20 20 20	on;....drawnow;....hold.off;....
7a60	0a 20 20 20 0a 20 20 20 58 69 20 3d 20 72 65 73 68 61 70 65 28 28 5b 30 3a 6e 5f 73 71 5f 78 5d	........Xi.=.reshape(([0:n_sq_x]
7a80	2a 64 58 29 27 2a 6f 6e 65 73 28 31 2c 6e 5f 73 71 5f 79 2b 31 29 2c 4e 70 2c 31 29 27 3b 0a 20	dX)'ones(1,n_sq_y+1),Np,1)';..
7aa0	20 20 59 69 20 3d 20 72 65 73 68 61 70 65 28 6f 6e 65 73 28 6e 5f 73 71 5f 78 2b 31 2c 31 29 2a	..Yi.=.reshape(ones(n_sq_x+1,1)*
7ac0	5b 6e 5f 73 71 5f 79 3a 2d 31 3a 30 5d 2a 64 59 2c 4e 70 2c 31 29 27 3b 0a 20 20 20 5a 69 20 3d	[n_sq_y:-1:0]*dY,Np,1)';....Zi.=
7ae0	20 7a 65 72 6f 73 28 31 2c 4e 70 29 3b 0a 20 20 20 0a 20 20 20 58 67 72 69 64 20 3d 20 5b 58 69	.zeros(1,Np);........Xgrid.=.[Xi
7b00	3b 59 69 3b 5a 69 5d 3b 0a 20 20 20 0a 20 20 20 0a 09 25 20 41 6c 6c 20 74 68 65 20 70 6f 69 6e	;Yi;Zi];..........%.All.the.poin
7b20	74 20 63 6f 6f 72 64 69 6e 61 74 65 73 20 28 6f 6e 20 74 68 65 20 69 6d 61 67 65 2c 20 61 6e 64	t.coordinates.(on.the.image,.and
7b40	20 69 6e 20 33 44 29 20 2d 20 66 6f 72 20 67 6c 6f 62 61 6c 20 6f 70 74 69 6d 69 7a 61 74 69 6f	.in.3D).-.for.global.optimizatio
7b60	6e 3a 0a 0a 20 20 20 78 20 3d 20 67 72 69 64 5f 70 74 73 3b 0a 20 20 20 58 20 3d 20 58 67 72 69	n:.....x.=.grid_pts;....X.=.Xgri
7b80	64 3b 0a 0a 0a 09 25 20 53 61 76 65 73 20 61 6c 6c 20 74 68 65 20 64 61 74 61 20 69 6e 74 6f 20	d;....%.Saves.all.the.data.into.
7ba0	76 61 72 69 61 62 6c 65 73 3a 0a 0a 20 20 20 65 76 61 6c 28 5b 27 64 58 5f 27 20 6e 75 6d 32 73	variables:.....eval(['dX_'.num2s
7bc0	74 72 28 6b 6b 29 20 27 20 3d 20 64 58 3b 27 5d 29 3b 0a 20 20 20 65 76 61 6c 28 5b 27 64 59 5f	tr(kk).'.=.dX;']);....eval(['dY_
7be0	27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 64 59 3b 27 5d 29 3b 20 20 0a 20 20 20 0a	'.num2str(kk).'.=.dY;']);.......
7c00	20 20 20 65 76 61 6c 28 5b 27 77 69 6e 74 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20	...eval(['wintx_'.num2str(kk).'.
7c20	3d 20 77 69 6e 74 78 3b 27 5d 29 3b 0a 20 20 20 65 76 61 6c 28 5b 27 77 69 6e 74 79 5f 27 20 6e	=.wintx;']);....eval(['winty_'.n
7c40	75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 77 69 6e 74 79 3b 27 5d 29 3b 0a 0a 20 20 20 65 76	um2str(kk).'.=.winty;']);.....ev
7c60	61 6c 28 5b 27 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 78 3b 27 5d 29 3b 0a	al(['x_'.num2str(kk).'.=.x;']);.
7c80	20 20 20 65 76 61 6c 28 5b 27 58 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 58 3b	...eval(['X_'.num2str(kk).'.=.X;
7ca0	27 5d 29 3b 0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 6e 5f 73 71 5f 78 5f 27 20 6e 75 6d 32	']);........eval(['n_sq_x_'.num2
7cc0	73 74 72 28 6b 6b 29 20 27 20 3d 20 6e 5f 73 71 5f 78 3b 27 5d 29 3b 0a 20 20 20 65 76 61 6c 28	str(kk).'.=.n_sq_x;']);....eval(
7ce0	5b 27 6e 5f 73 71 5f 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 6e 5f 73 71 5f	['n_sq_y_'.num2str(kk).'.=.n_sq_
7d00	79 3b 27 5d 29 3b 0a 20 20 20 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	y;']);..........................
7d20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7d40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7d60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7d80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7da0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7dc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7de0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7e00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 6c 69 63 6b 5f 69 6d 61 5f 63 61 6c 69 62 33 44 2e	TOOLBOX_calib/click_ima_calib3D.
7e20	6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	m...............................
7e40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7e60	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
7e80	20 20 33 32 35 30 35 20 20 37 30 32 34 30 33 37 33 30 37 20 20 31 32 30 35 37 00 20 00 00 00 00	..32505..7024037307..12057......
7ea0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7ec0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7ee0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7f00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7f20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7f40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7f60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7f80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7fa0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7fc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
7fe0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
8000	09 25 20 43 6c 65 61 6e 65 64 2d 75 70 20 76 65 72 73 69 6f 6e 20 6f 66 20 69 6e 69 74 5f 63 61	.%.Cleaned-up.version.of.init_ca
8020	6c 69 62 2e 6d 0a 0a 09 65 76 61 6c 28 5b 27 49 20 3d 20 49 5f 27 20 6e 75 6d 32 73 74 72 28 6b	lib.m...eval(['I.=.I_'.num2str(k
8040	6b 29 20 27 3b 27 5d 29 3b 0a 09 0a 09 66 69 67 75 72 65 28 32 29 3b 0a 09 69 6d 61 67 65 28 49	k).';']);....figure(2);..image(I
8060	29 3b 0a 20 20 20 63 6f 6c 6f 72 6d 61 70 28 6d 61 70 29 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20	);....colormap(map);............
8080	0a 20 20 20 0a 20 20 20 0a 20 20 20 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25	............%%%%%%%%%%%%%%%%%%%%
80a0	25 25 25 25 25 20 4c 45 46 54 20 50 41 54 54 45 52 4e 20 41 43 51 55 49 53 49 54 49 4f 4e 20 25	%%%%%.LEFT.PATTERN.ACQUISITION.%
80c0	25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 0a 20 20 20	%%%%%%%%%%%%%%%%%%%%%%%%%%%%....
80e0	0a 20 20 0a 20 20 20 0a 20 20 20 74 69 74 6c 65 28 5b 27 43 6c 69 63 6b 20 6f 6e 20 74 68 65 20	...........title(['Click.on.the.
8100	66 6f 75 72 20 65 78 74 72 65 6d 65 20 63 6f 72 6e 65 72 73 20 6f 66 20 74 68 65 20 6c 65 66 74	four.extreme.corners.of.the.left
8120	20 72 65 63 74 61 6e 67 75 6c 61 72 20 70 61 74 74 65 72 6e 2e 2e 2e 20 49 6d 61 67 65 20 27 20	.rectangular.pattern....Image.'.
8140	6e 75 6d 32 73 74 72 28 6b 6b 29 5d 29 3b 0a 20 20 20 0a 20 20 20 64 69 73 70 28 27 43 6c 69 63	num2str(kk)]);........disp('Clic
8160	6b 20 6f 6e 20 74 68 65 20 66 6f 75 72 20 65 78 74 72 65 6d 65 20 63 6f 72 6e 65 72 73 20 6f 66	k.on.the.four.extreme.corners.of
8180	20 74 68 65 20 6c 65 66 74 20 72 65 63 74 61 6e 67 75 6c 61 72 20 70 61 74 74 65 72 6e 2e 2e 2e	.the.left.rectangular.pattern...
81a0	27 29 3b 0a 20 20 20 0a 20 20 20 5b 78 2c 79 5d 20 3d 20 67 69 6e 70 75 74 33 28 34 29 3b 0a 20	');........[x,y].=.ginput3(4);..
81c0	20 20 0a 20 20 20 5b 58 63 2c 67 6f 6f 64 2c 62 61 64 2c 74 79 70 65 5d 20 3d 20 63 6f 72 6e 65	......[Xc,good,bad,type].=.corne
81e0	72 66 69 6e 64 65 72 28 5b 78 27 3b 79 27 5d 2c 49 2c 77 69 6e 74 79 2c 77 69 6e 74 78 29 3b 20	rfinder([x';y'],I,winty,wintx);.
8200	25 20 74 68 65 20 66 6f 75 72 20 63 6f 72 6e 65 72 73 0a 20 20 20 0a 20 20 20 78 20 3d 20 58 63	%.the.four.corners........x.=.Xc
8220	28 31 2c 3a 29 27 3b 0a 20 20 20 79 20 3d 20 58 63 28 32 2c 3a 29 27 3b 0a 20 20 20 0a 20 20 20	(1,:)';....y.=.Xc(2,:)';........
8240	5b 79 2c 69 6e 64 79 5d 20 3d 20 73 6f 72 74 28 79 29 3b 0a 20 20 20 78 20 3d 20 78 28 69 6e 64	[y,indy].=.sort(y);....x.=.x(ind
8260	79 29 3b 0a 20 20 20 0a 20 20 20 69 66 20 28 78 28 32 29 20 3e 20 78 28 31 29 29 2c 0a 20 20 20	y);........if.(x(2).>.x(1)),....
8280	20 20 20 78 34 20 3d 20 78 28 31 29 3b 79 34 20 3d 20 79 28 31 29 3b 20 78 33 20 3d 20 78 28 32	...x4.=.x(1);y4.=.y(1);.x3.=.x(2
82a0	29 3b 20 79 33 20 3d 20 79 28 32 29 3b 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 78 34 20 3d	);.y3.=.y(2);....else.......x4.=
82c0	20 78 28 32 29 3b 79 34 20 3d 20 79 28 32 29 3b 20 78 33 20 3d 20 78 28 31 29 3b 20 79 33 20 3d	.x(2);y4.=.y(2);.x3.=.x(1);.y3.=
82e0	20 79 28 31 29 3b 0a 20 20 20 65 6e 64 3b 0a 20 20 20 69 66 20 28 78 28 33 29 20 3e 20 78 28 34	.y(1);....end;....if.(x(3).>.x(4
8300	29 29 2c 0a 20 20 20 20 20 20 78 32 20 3d 20 78 28 33 29 3b 79 32 20 3d 20 79 28 33 29 3b 20 78	)),.......x2.=.x(3);y2.=.y(3);.x
8320	31 20 3d 20 78 28 34 29 3b 20 79 31 20 3d 20 79 28 34 29 3b 0a 20 20 20 65 6c 73 65 0a 20 20 20	1.=.x(4);.y1.=.y(4);....else....
8340	20 20 20 78 32 20 3d 20 78 28 34 29 3b 79 32 20 3d 20 79 28 34 29 3b 20 78 31 20 3d 20 78 28 33	...x2.=.x(4);y2.=.y(4);.x1.=.x(3
8360	29 3b 20 79 31 20 3d 20 79 28 33 29 3b 0a 20 20 20 65 6e 64 3b 0a 20 20 20 0a 20 20 20 78 20 3d	);.y1.=.y(3);....end;........x.=
8380	20 5b 78 31 3b 78 32 3b 78 33 3b 78 34 5d 3b 0a 20 20 20 79 20 3d 20 5b 79 31 3b 79 32 3b 79 33	.[x1;x2;x3;x4];....y.=.[y1;y2;y3
83a0	3b 79 34 5d 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 66 69 67 75 72 65 28 32 29 3b 20 68 6f 6c 64	;y4];............figure(2);.hold
83c0	20 6f 6e 3b 0a 20 20 20 70 6c 6f 74 28 5b 78 3b 78 28 31 29 5d 2c 5b 79 3b 79 28 31 29 5d 2c 27	.on;....plot([x;x(1)],[y;y(1)],'
83e0	67 2d 27 29 3b 0a 20 20 20 70 6c 6f 74 28 78 2c 79 2c 27 6f 67 27 29 3b 0a 20 20 20 68 78 3d 74	g-');....plot(x,y,'og');....hx=t
8400	65 78 74 28 28 78 28 34 29 2b 78 28 33 29 29 2f 32 2c 28 79 28 34 29 2b 79 28 33 29 29 2f 32 20	ext((x(4)+x(3))/2,(y(4)+y(3))/2.
8420	2d 20 32 30 2c 27 58 27 29 3b 0a 20 20 20 73 65 74 28 68 78 2c 27 63 6f 6c 6f 72 27 2c 27 67 27	-.20,'X');....set(hx,'color','g'
8440	2c 27 46 6f 6e 74 73 69 7a 65 27 2c 31 34 29 3b 0a 20 20 20 68 79 3d 74 65 78 74 28 28 78 28 34	,'Fontsize',14);....hy=text((x(4
8460	29 2b 78 28 31 29 29 2f 32 2d 32 30 2c 28 79 28 34 29 2b 79 28 31 29 29 2f 32 2c 27 59 27 29 3b	)+x(1))/2-20,(y(4)+y(1))/2,'Y');
8480	0a 20 20 20 73 65 74 28 68 79 2c 27 63 6f 6c 6f 72 27 2c 27 67 27 2c 27 46 6f 6e 74 73 69 7a 65	....set(hy,'color','g','Fontsize
84a0	27 2c 31 34 29 3b 0a 20 20 20 68 6f 6c 64 20 6f 66 66 3b 0a 20 20 20 0a 20 20 20 64 72 61 77 6e	',14);....hold.off;........drawn
84c0	6f 77 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 25 20 54 72 79 20 74 6f 20 61 75 74 6f 6d 61 74 69	ow;............%.Try.to.automati
84e0	63 61 6c 6c 79 20 63 6f 75 6e 74 20 74 68 65 20 6e 75 6d 62 65 72 20 6f 66 20 73 71 75 61 72 65	cally.count.the.number.of.square
8500	73 20 69 6e 20 74 68 65 20 67 72 69 64 0a 20 20 20 0a 20 20 20 6e 5f 73 71 5f 78 31 20 3d 20 63	s.in.the.grid........n_sq_x1.=.c
8520	6f 75 6e 74 5f 73 71 75 61 72 65 73 28 49 2c 78 31 2c 79 31 2c 78 32 2c 79 32 2c 77 69 6e 74 78	ount_squares(I,x1,y1,x2,y2,wintx
8540	29 3b 0a 20 20 20 6e 5f 73 71 5f 78 32 20 3d 20 63 6f 75 6e 74 5f 73 71 75 61 72 65 73 28 49 2c	);....n_sq_x2.=.count_squares(I,
8560	78 33 2c 79 33 2c 78 34 2c 79 34 2c 77 69 6e 74 78 29 3b 0a 20 20 20 6e 5f 73 71 5f 79 31 20 3d	x3,y3,x4,y4,wintx);....n_sq_y1.=
8580	20 63 6f 75 6e 74 5f 73 71 75 61 72 65 73 28 49 2c 78 32 2c 79 32 2c 78 33 2c 79 33 2c 77 69 6e	.count_squares(I,x2,y2,x3,y3,win
85a0	74 78 29 3b 0a 20 20 20 6e 5f 73 71 5f 79 32 20 3d 20 63 6f 75 6e 74 5f 73 71 75 61 72 65 73 28	tx);....n_sq_y2.=.count_squares(
85c0	49 2c 78 34 2c 79 34 2c 78 31 2c 79 31 2c 77 69 6e 74 78 29 3b 0a 20 20 20 0a 20 20 0a 20 20 20	I,x4,y4,x1,y1,wintx);...........
85e0	0a 20 20 20 25 20 49 66 20 63 6f 75 6c 64 20 6e 6f 74 20 63 6f 75 6e 74 20 74 68 65 20 6e 75 6d	....%.If.could.not.count.the.num
8600	62 65 72 20 6f 66 20 73 71 75 61 72 65 73 2c 20 65 6e 74 65 72 20 6d 61 6e 75 61 6c 6c 79 0a 20	ber.of.squares,.enter.manually..
8620	20 20 0a 20 20 20 69 66 20 28 6e 5f 73 71 5f 78 31 7e 3d 6e 5f 73 71 5f 78 32 29 7c 28 6e 5f 73	......if.(n_sq_x1~=n_sq_x2)\|(n_s
8640	71 5f 79 31 7e 3d 6e 5f 73 71 5f 79 32 29 2c 0a 20 20 20 20 20 20 0a 0a 09 20 64 69 73 70 28 27	q_y1~=n_sq_y2),...........disp('
8660	43 6f 75 6c 64 20 6e 6f 74 20 63 6f 75 6e 74 20 74 68 65 20 6e 75 6d 62 65 72 20 6f 66 20 73 71	Could.not.count.the.number.of.sq
8680	75 61 72 65 73 20 69 6e 20 74 68 65 20 67 72 69 64 2e 20 45 6e 74 65 72 20 6d 61 6e 75 61 6c 6c	uares.in.the.grid..Enter.manuall
86a0	79 2e 27 29 3b 0a 09 20 6e 5f 73 71 5f 78 20 3d 20 69 6e 70 75 74 28 27 4e 75 6d 62 65 72 20 6f	y.');...n_sq_x.=.input('Number.o
86c0	66 20 73 71 75 61 72 65 73 20 61 6c 6f 6e 67 20 74 68 65 20 58 20 64 69 72 65 63 74 69 6f 6e 20	f.squares.along.the.X.direction.
86e0	28 5b 5d 3d 31 30 29 20 3d 20 27 29 3b 20 25 36 0a 09 20 69 66 20 69 73 65 6d 70 74 79 28 6e 5f	([]=10).=.');.%6...if.isempty(n_
8700	73 71 5f 78 29 2c 20 6e 5f 73 71 5f 78 20 3d 20 31 30 3b 20 65 6e 64 3b 0a 09 20 6e 5f 73 71 5f	sq_x),.n_sq_x.=.10;.end;...n_sq_
8720	79 20 3d 20 69 6e 70 75 74 28 27 4e 75 6d 62 65 72 20 6f 66 20 73 71 75 61 72 65 73 20 61 6c 6f	y.=.input('Number.of.squares.alo
8740	6e 67 20 74 68 65 20 59 20 64 69 72 65 63 74 69 6f 6e 20 28 5b 5d 3d 31 30 29 20 3d 20 27 29 3b	ng.the.Y.direction.([]=10).=.');
8760	20 25 36 0a 09 20 69 66 20 69 73 65 6d 70 74 79 28 6e 5f 73 71 5f 79 29 2c 20 6e 5f 73 71 5f 79	.%6...if.isempty(n_sq_y),.n_sq_y
8780	20 3d 20 31 30 3b 20 65 6e 64 3b 20 0a 20 20 20 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 20	.=.10;.end;.........else........
87a0	20 20 20 20 20 20 20 20 0a 20 20 20 20 20 20 6e 5f 73 71 5f 78 20 3d 20 6e 5f 73 71 5f 78 31 3b	...............n_sq_x.=.n_sq_x1;
87c0	0a 20 20 20 20 20 20 6e 5f 73 71 5f 79 20 3d 20 6e 5f 73 71 5f 79 31 3b 0a 20 20 20 20 20 20 0a	.......n_sq_y.=.n_sq_y1;........
87e0	20 20 20 65 6e 64 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 69 66 20 31 2c 0a 20 20 20 09 25 20 45	...end;............if.1,.....%.E
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89a0	20 65 6e 64 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 25 20 43 6f 6d 70 75 74 65 20 74 68 65 20 69	.end;............%.Compute.the.i
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8a80	6c 6c 69 6e 65 61 74 69 6f 6e 3a 20 28 72 65 74 75 72 6e 20 74 68 65 20 6e 6f 72 6d 61 6c 69 7a	llineation:.(return.the.normaliz
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8e20	66 6f 72 20 73 75 62 70 69 78 65 6c 20 64 65 74 65 63 74 69 6f 6e 29 27 29 3b 0a 20 20 20 71 75	for.subpixel.detection)');....qu
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8ee0	20 20 20 25 20 45 73 74 69 6d 61 74 69 6f 6e 20 6f 66 20 66 6f 63 61 6c 20 6c 65 6e 67 74 68 3a	...%.Estimation.of.focal.length:
8f00	0a 20 20 20 20 20 20 63 5f 67 20 3d 20 5b 73 69 7a 65 28 49 2c 32 29 3b 73 69 7a 65 28 49 2c 31	.......c_g.=.[size(I,2);size(I,1
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8f40	30 2c 5b 5b 78 28 31 29 20 78 28 32 29 20 78 28 34 29 20 78 28 33 29 5d 20 2d 20 63 5f 67 28 31	0,[[x(1).x(2).x(4).x(3)].-.c_g(1
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8fe0	20 20 73 63 72 69 70 74 5f 66 69 74 5f 64 69 73 74 6f 72 74 69 6f 6e 3b 0a 20 20 20 65 6e 64 3b	..script_fit_distortion;....end;
9000	0a 20 20 20 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 20 45 4e 44 20 41 44	....%%%%%%%%%%%%%%%%%%%%%.END.AD
9020	44 49 54 49 4f 4e 41 4c 20 53 54 55 46 46 20 49 4e 20 54 48 45 20 43 41 53 45 20 4f 46 20 48 49	DITIONAL.STUFF.IN.THE.CASE.OF.HI
9040	47 48 4c 59 20 44 49 53 54 4f 52 54 45 44 20 49 4d 41 47 45 53 20 25 25 25 25 25 25 25 25 25 25	GHLY.DISTORTED.IMAGES.%%%%%%%%%%
9060	25 25 25 0a 20 20 20 65 6e 64 3b 20 20 20 0a 20 20 20 0a 20 20 20 0a 20 20 20 4e 70 20 3d 20 28	%%%....end;...............Np.=.(
9080	6e 5f 73 71 5f 78 2b 31 29 2a 28 6e 5f 73 71 5f 79 2b 31 29 3b 0a 0a 20 20 20 64 69 73 70 28 27	n_sq_x+1)*(n_sq_y+1);.....disp('
90a0	43 6f 72 6e 65 72 20 65 78 74 72 61 63 74 69 6f 6e 2e 2e 2e 27 29 3b 0a 20 20 20 0a 20 20 20 67	Corner.extraction...');........g
90c0	72 69 64 5f 70 74 73 20 3d 20 63 6f 72 6e 65 72 66 69 6e 64 65 72 28 58 58 2c 49 2c 77 69 6e 74	rid_pts.=.cornerfinder(XX,I,wint
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9100	72 6e 65 72 73 20 61 74 20 65 76 65 72 79 20 70 6f 69 6e 74 73 21 0a 20 20 20 0a 20 20 20 25 73	rners.at.every.points!........%s
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9140	0a 20 20 20 67 72 69 64 5f 70 74 73 20 3d 20 67 72 69 64 5f 70 74 73 20 2d 20 31 3b 20 25 20 73	....grid_pts.=.grid_pts.-.1;.%.s
9160	75 62 74 72 61 63 74 20 31 20 74 6f 20 62 72 69 6e 67 20 74 68 65 20 6f 72 69 67 69 6e 20 74 6f	ubtract.1.to.bring.the.origin.to
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91a0	62 20 28 6e 6f 74 20 6e 65 63 65 73 73 61 72 79 20 69 6e 20 43 29 0a 20 20 20 0a 20 20 20 0a 20	b.(not.necessary.in.C)..........
91c0	20 20 25 20 47 6c 6f 62 61 6c 20 48 6f 6d 6f 67 72 61 70 68 79 20 66 72 6f 6d 20 70 6c 61 6e 65	..%.Global.Homography.from.plane
91e0	20 74 6f 20 70 69 78 65 6c 20 63 6f 6f 72 64 69 6e 61 74 65 73 3a 0a 20 20 20 0a 20 20 20 48 5f	.to.pixel.coordinates:........H_
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9260	4e 49 4e 47 21 21 21 20 74 68 65 20 66 69 72 73 74 20 6d 61 74 72 69 78 20 28 6f 6e 20 74 68 65	NING!!!.the.first.matrix.(on.the
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92e0	25 20 49 66 20 69 74 20 69 73 20 6e 6f 74 20 64 6f 6e 65 2c 20 74 68 65 6e 20 74 68 69 73 20 6d	%.If.it.is.not.done,.then.this.m
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93a0	6f 66 20 74 68 65 20 34 20 63 6f 72 6e 65 72 73 0a 20 20 20 69 6e 64 5f 6f 72 69 67 20 3d 20 28	of.the.4.corners....ind_orig.=.(
93c0	6e 5f 73 71 5f 78 2b 31 29 2a 6e 5f 73 71 5f 79 20 2b 20 31 3b 0a 20 20 20 78 6f 72 69 67 20 3d	n_sq_x+1)*n_sq_y.+.1;....xorig.=
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9600	70 6c 6f 74 28 67 72 69 64 5f 70 74 73 28 31 2c 3a 29 2b 31 2c 67 72 69 64 5f 70 74 73 28 32 2c	plot(grid_pts(1,:)+1,grid_pts(2,
9620	3a 29 2b 31 2c 27 72 2b 27 29 3b 0a 20 20 20 70 6c 6f 74 28 78 5f 62 6f 78 5f 6b 6b 2b 31 2c 79	:)+1,'r+');....plot(x_box_kk+1,y
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9660	73 28 31 2c 69 6e 64 5f 63 6f 72 6e 65 72 73 29 2b 31 2c 67 72 69 64 5f 70 74 73 28 32 2c 69 6e	s(1,ind_corners)+1,grid_pts(2,in
9680	64 5f 63 6f 72 6e 65 72 73 29 2b 31 2c 27 6d 6f 27 29 3b 0a 20 20 20 70 6c 6f 74 28 78 6f 72 69	d_corners)+1,'mo');....plot(xori
96a0	67 2b 31 2c 79 6f 72 69 67 2b 31 2c 27 2a 6d 27 29 3b 0a 20 20 20 68 20 3d 20 74 65 78 74 28 78	g+1,yorig+1,'*m');....h.=.text(x
96c0	6f 72 69 67 2d 31 35 2c 79 6f 72 69 67 2d 31 35 2c 27 4f 27 29 3b 0a 20 20 20 73 65 74 28 68 2c	orig-15,yorig-15,'O');....set(h,
96e0	27 43 6f 6c 6f 72 27 2c 27 6d 27 2c 27 46 6f 6e 74 53 69 7a 65 27 2c 31 34 29 3b 0a 20 20 20 68	'Color','m','FontSize',14);....h
9700	32 20 3d 20 74 65 78 74 28 64 78 70 6f 73 28 31 29 2d 31 30 2c 64 78 70 6f 73 28 32 29 2d 31 30	2.=.text(dxpos(1)-10,dxpos(2)-10
9720	2c 27 64 58 27 29 3b 0a 20 20 20 73 65 74 28 68 32 2c 27 43 6f 6c 6f 72 27 2c 27 67 27 2c 27 46	,'dX');....set(h2,'Color','g','F
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9760	28 31 29 2d 32 35 2c 64 79 70 6f 73 28 32 29 2d 33 2c 27 64 59 27 29 3b 0a 20 20 20 73 65 74 28	(1)-25,dypos(2)-3,'dY');....set(
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a780	70 69 78 65 6c 20 64 65 74 65 63 74 69 6f 6e 29 27 29 3b 0a 20 20 20 71 75 65 73 74 5f 64 69 73	pixel.detection)');....quest_dis
a7a0	74 6f 72 74 20 3d 20 69 6e 70 75 74 28 27 4e 65 65 64 20 6f 66 20 61 6e 20 69 6e 69 74 69 61 6c	tort.=.input('Need.of.an.initial
a7c0	20 67 75 65 73 73 20 66 6f 72 20 64 69 73 74 6f 72 74 69 6f 6e 3f 20 28 5b 5d 3d 6e 6f 2c 20 6f	.guess.for.distortion?.([]=no,.o
a7e0	74 68 65 72 3d 79 65 73 29 20 27 29 3b 0a 20 20 0a 20 20 20 71 75 65 73 74 5f 64 69 73 74 6f 72	ther=yes).');.......quest_distor
a800	74 20 3d 20 7e 69 73 65 6d 70 74 79 28 71 75 65 73 74 5f 64 69 73 74 6f 72 74 29 3b 0a 20 20 20	t.=.~isempty(quest_distort);....
a820	0a 20 20 20 69 66 20 71 75 65 73 74 5f 64 69 73 74 6f 72 74 2c 0a 20 20 20 20 20 20 25 20 45 73	....if.quest_distort,.......%.Es
a840	74 69 6d 61 74 69 6f 6e 20 6f 66 20 66 6f 63 61 6c 20 6c 65 6e 67 74 68 3a 0a 20 20 20 20 20 20	timation.of.focal.length:.......
a860	63 5f 67 20 3d 20 5b 73 69 7a 65 28 49 2c 32 29 3b 73 69 7a 65 28 49 2c 31 29 5d 2f 32 20 2b 20	c_g.=.[size(I,2);size(I,1)]/2.+.
a880	2e 35 3b 0a 09 09 66 5f 67 20 3d 20 44 69 73 74 6f 72 32 43 61 6c 69 62 28 30 2c 5b 5b 78 28 31	.5;...f_g.=.Distor2Calib(0,[[x(1
a8a0	29 20 78 28 32 29 20 78 28 34 29 20 78 28 33 29 5d 20 2d 20 63 5f 67 28 31 29 3b 5b 79 28 31 29	).x(2).x(4).x(3)].-.c_g(1);[y(1)
a8c0	20 79 28 32 29 20 79 28 34 29 20 79 28 33 29 5d 20 2d 20 63 5f 67 28 32 29 5d 2c 31 2c 31 2c 34	.y(2).y(4).y(3)].-.c_g(2)],1,1,4
a8e0	2c 57 2c 4c 2c 5b 2d 57 2f 32 20 57 2f 32 20 57 2f 32 20 2d 57 2f 32 3b 4c 2f 32 20 4c 2f 32 20	,W,L,[-W/2.W/2.W/2.-W/2;L/2.L/2.
a900	2d 4c 2f 32 20 2d 4c 2f 32 3b 20 30 20 30 20 30 20 30 5d 2c 31 30 30 2c 31 2c 31 29 3b 0a 20 20	-L/2.-L/2;.0.0.0.0],100,1,1);...
a920	20 20 20 20 66 5f 67 20 3d 20 6d 65 61 6e 28 66 5f 67 29 3b 0a 20 20 20 20 20 20 73 63 72 69 70	....f_g.=.mean(f_g);.......scrip
a940	74 5f 66 69 74 5f 64 69 73 74 6f 72 74 69 6f 6e 3b 0a 20 20 20 65 6e 64 3b 0a 20 20 20 25 25 25	t_fit_distortion;....end;....%%%
a960	25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 20 45 4e 44 20 41 44 44 49 54 49 4f 4e 41	%%%%%%%%%%%%%%%%%%.END.ADDITIONA
a980	4c 20 53 54 55 46 46 20 49 4e 20 54 48 45 20 43 41 53 45 20 4f 46 20 48 49 47 48 4c 59 20 44 49	L.STUFF.IN.THE.CASE.OF.HIGHLY.DI
a9a0	53 54 4f 52 54 45 44 20 49 4d 41 47 45 53 20 25 25 25 25 25 25 25 25 25 25 25 25 25 0a 20 20 20	STORTED.IMAGES.%%%%%%%%%%%%%....
a9c0	65 6e 64 3b 20 20 20 0a 20 20 20 0a 20 20 20 0a 20 20 20 4e 70 20 3d 20 28 6e 5f 73 71 5f 78 2b	end;...............Np.=.(n_sq_x+
a9e0	31 29 2a 28 6e 5f 73 71 5f 79 2b 31 29 3b 0a 0a 20 20 20 64 69 73 70 28 27 43 6f 72 6e 65 72 20	1)*(n_sq_y+1);.....disp('Corner.
aa00	65 78 74 72 61 63 74 69 6f 6e 2e 2e 2e 27 29 3b 0a 20 20 20 0a 20 20 20 67 72 69 64 5f 70 74 73	extraction...');........grid_pts
aa20	20 3d 20 63 6f 72 6e 65 72 66 69 6e 64 65 72 28 58 58 2c 49 2c 77 69 6e 74 79 2c 77 69 6e 74 78	.=.cornerfinder(XX,I,winty,wintx
aa40	29 3b 20 25 25 25 20 46 69 6e 64 73 20 74 68 65 20 65 78 61 63 74 20 63 6f 72 6e 65 72 73 20 61	);.%%%.Finds.the.exact.corners.a
aa60	74 20 65 76 65 72 79 20 70 6f 69 6e 74 73 21 0a 20 20 20 0a 20 20 20 25 73 61 76 65 20 61 6c 6c	t.every.points!........%save.all
aa80	5f 63 6f 72 6e 65 72 73 20 78 20 79 20 67 72 69 64 5f 70 74 73 0a 20 20 20 0a 20 20 20 67 72 69	_corners.x.y.grid_pts........gri
aaa0	64 5f 70 74 73 20 3d 20 67 72 69 64 5f 70 74 73 20 2d 20 31 3b 20 25 20 73 75 62 74 72 61 63 74	d_pts.=.grid_pts.-.1;.%.subtract
aac0	20 31 20 74 6f 20 62 72 69 6e 67 20 74 68 65 20 6f 72 69 67 69 6e 20 74 6f 20 28 30 2c 30 29 20	.1.to.bring.the.origin.to.(0,0).
aae0	69 6e 73 74 65 61 64 20 6f 66 20 28 31 2c 31 29 20 69 6e 20 6d 61 74 6c 61 62 20 28 6e 6f 74 20	instead.of.(1,1).in.matlab.(not.
ab00	6e 65 63 65 73 73 61 72 79 20 69 6e 20 43 29 0a 20 20 20 0a 20 20 20 0a 20 20 20 25 20 47 6c 6f	necessary.in.C)............%.Glo
ab20	62 61 6c 20 48 6f 6d 6f 67 72 61 70 68 79 20 66 72 6f 6d 20 70 6c 61 6e 65 20 74 6f 20 70 69 78	bal.Homography.from.plane.to.pix
ab40	65 6c 20 63 6f 6f 72 64 69 6e 61 74 65 73 3a 0a 20 20 20 0a 20 20 20 48 5f 74 6f 74 61 6c 20 3d	el.coordinates:........H_total.=
ab60	20 5b 31 20 30 20 2d 31 20 3b 20 30 20 31 20 2d 31 20 3b 20 30 20 30 20 31 5d 2a 48 6f 6d 6f 2a	.[1.0.-1.;.0.1.-1.;.0.0.1]Homo
ab80	5b 31 20 30 20 30 3b 30 20 2d 31 20 31 3b 30 20 30 20 31 5d 2a 5b 31 2f 57 20 30 20 30 20 3b 20	[1.0.0;0.-1.1;0.0.1]*[1/W.0.0.;.
aba0	30 20 31 2f 4c 20 30 3b 20 30 20 30 20 31 5d 3b 0a 20 20 20 25 20 57 41 52 4e 49 4e 47 21 21 21	0.1/L.0;.0.0.1];....%.WARNING!!!
abc0	20 74 68 65 20 66 69 72 73 74 20 6d 61 74 72 69 78 20 28 6f 6e 20 74 68 65 20 6c 65 66 74 20 73	.the.first.matrix.(on.the.left.s
abe0	69 64 65 29 20 74 61 6b 65 73 20 63 61 72 65 20 6f 66 20 74 68 65 20 74 72 61 6e 73 66 6f 72 6d	ide).takes.care.of.the.transform
ac00	61 74 69 6f 6e 20 6f 66 20 74 68 65 20 70 69 78 65 6c 20 63 6f 6f 72 65 64 69 6e 61 74 65 73 20	ation.of.the.pixel.cooredinates.
ac20	62 79 20 2d 31 20 28 70 72 65 76 69 6f 75 73 20 6c 69 6e 65 29 0a 20 20 20 25 20 49 66 20 69 74	by.-1.(previous.line)....%.If.it
ac40	20 69 73 20 6e 6f 74 20 64 6f 6e 65 2c 20 74 68 65 6e 20 74 68 69 73 20 6d 61 74 72 69 78 20 73	.is.not.done,.then.this.matrix.s
ac60	68 6f 75 6c 64 20 6e 6f 74 20 61 70 70 65 61 72 20 28 69 6e 20 43 29 0a 20 20 20 48 5f 74 6f 74	hould.not.appear.(in.C)....H_tot
ac80	61 6c 20 3d 20 48 5f 74 6f 74 61 6c 20 2f 20 48 5f 74 6f 74 61 6c 28 33 2c 33 29 3b 20 20 20 0a	al.=.H_total./.H_total(3,3);....
aca0	20 20 20 0a 20 20 20 0a 20 20 20 69 6e 64 5f 63 6f 72 6e 65 72 73 20 3d 20 5b 31 20 6e 5f 73 71	...........ind_corners.=.[1.n_sq
acc0	5f 78 2b 31 20 28 6e 5f 73 71 5f 78 2b 31 29 2a 6e 5f 73 71 5f 79 2b 31 20 28 6e 5f 73 71 5f 78	_x+1.(n_sq_x+1)*n_sq_y+1.(n_sq_x
ace0	2b 31 29 2a 28 6e 5f 73 71 5f 79 2b 31 29 5d 3b 20 25 20 69 6e 64 65 78 20 6f 66 20 74 68 65 20	+1)*(n_sq_y+1)];.%.index.of.the.
ad00	34 20 63 6f 72 6e 65 72 73 0a 20 20 20 69 6e 64 5f 6f 72 69 67 20 3d 20 28 6e 5f 73 71 5f 78 2b	4.corners....ind_orig.=.(n_sq_x+
ad20	31 29 2a 6e 5f 73 71 5f 79 20 2b 20 31 3b 0a 20 20 20 78 6f 72 69 67 20 3d 20 67 72 69 64 5f 70	1)*n_sq_y.+.1;....xorig.=.grid_p
ad40	74 73 28 31 2c 69 6e 64 5f 6f 72 69 67 29 3b 0a 20 20 20 79 6f 72 69 67 20 3d 20 67 72 69 64 5f	ts(1,ind_orig);....yorig.=.grid_
ad60	70 74 73 28 32 2c 69 6e 64 5f 6f 72 69 67 29 3b 0a 20 20 20 64 78 70 6f 73 20 3d 20 6d 65 61 6e	pts(2,ind_orig);....dxpos.=.mean
ad80	28 5b 67 72 69 64 5f 70 74 73 28 3a 2c 69 6e 64 5f 6f 72 69 67 29 20 67 72 69 64 5f 70 74 73 28	([grid_pts(:,ind_orig).grid_pts(
ada0	3a 2c 69 6e 64 5f 6f 72 69 67 2b 31 29 5d 27 29 3b 0a 20 20 20 64 79 70 6f 73 20 3d 20 6d 65 61	:,ind_orig+1)]');....dypos.=.mea
adc0	6e 28 5b 67 72 69 64 5f 70 74 73 28 3a 2c 69 6e 64 5f 6f 72 69 67 29 20 67 72 69 64 5f 70 74 73	n([grid_pts(:,ind_orig).grid_pts
ade0	28 3a 2c 69 6e 64 5f 6f 72 69 67 2d 6e 5f 73 71 5f 78 2d 31 29 5d 27 29 3b 0a 20 20 20 0a 20 20	(:,ind_orig-n_sq_x-1)]');.......
ae00	20 0a 20 20 20 78 5f 62 6f 78 5f 6b 6b 20 3d 20 5b 67 72 69 64 5f 70 74 73 28 31 2c 3a 29 2d 28	.....x_box_kk.=.[grid_pts(1,:)-(
ae20	77 69 6e 74 78 2b 2e 35 29 3b 67 72 69 64 5f 70 74 73 28 31 2c 3a 29 2b 28 77 69 6e 74 78 2b 2e	wintx+.5);grid_pts(1,:)+(wintx+.
ae40	35 29 3b 67 72 69 64 5f 70 74 73 28 31 2c 3a 29 2b 28 77 69 6e 74 78 2b 2e 35 29 3b 67 72 69 64	5);grid_pts(1,:)+(wintx+.5);grid
ae60	5f 70 74 73 28 31 2c 3a 29 2d 28 77 69 6e 74 78 2b 2e 35 29 3b 67 72 69 64 5f 70 74 73 28 31 2c	_pts(1,:)-(wintx+.5);grid_pts(1,
ae80	3a 29 2d 28 77 69 6e 74 78 2b 2e 35 29 5d 3b 0a 20 20 20 79 5f 62 6f 78 5f 6b 6b 20 3d 20 5b 67	:)-(wintx+.5)];....y_box_kk.=.[g
aea0	72 69 64 5f 70 74 73 28 32 2c 3a 29 2d 28 77 69 6e 74 79 2b 2e 35 29 3b 67 72 69 64 5f 70 74 73	rid_pts(2,:)-(winty+.5);grid_pts
aec0	28 32 2c 3a 29 2d 28 77 69 6e 74 79 2b 2e 35 29 3b 67 72 69 64 5f 70 74 73 28 32 2c 3a 29 2b 28	(2,:)-(winty+.5);grid_pts(2,:)+(
aee0	77 69 6e 74 79 2b 2e 35 29 3b 67 72 69 64 5f 70 74 73 28 32 2c 3a 29 2b 28 77 69 6e 74 79 2b 2e	winty+.5);grid_pts(2,:)+(winty+.
af00	35 29 3b 67 72 69 64 5f 70 74 73 28 32 2c 3a 29 2d 28 77 69 6e 74 79 2b 2e 35 29 5d 3b 0a 0a 20	5);grid_pts(2,:)-(winty+.5)];...
af20	20 20 0a 20 20 20 66 69 67 75 72 65 28 33 29 3b 0a 20 20 20 68 6f 6c 64 20 6f 6e 3b 0a 20 20 20	......figure(3);....hold.on;....
af40	70 6c 6f 74 28 67 72 69 64 5f 70 74 73 28 31 2c 3a 29 2b 31 2c 67 72 69 64 5f 70 74 73 28 32 2c	plot(grid_pts(1,:)+1,grid_pts(2,
af60	3a 29 2b 31 2c 27 72 2b 27 29 3b 0a 20 20 20 70 6c 6f 74 28 78 5f 62 6f 78 5f 6b 6b 2b 31 2c 79	:)+1,'r+');....plot(x_box_kk+1,y
af80	5f 62 6f 78 5f 6b 6b 2b 31 2c 27 2d 62 27 29 3b 0a 20 20 20 70 6c 6f 74 28 67 72 69 64 5f 70 74	_box_kk+1,'-b');....plot(grid_pt
afa0	73 28 31 2c 69 6e 64 5f 63 6f 72 6e 65 72 73 29 2b 31 2c 67 72 69 64 5f 70 74 73 28 32 2c 69 6e	s(1,ind_corners)+1,grid_pts(2,in
afc0	64 5f 63 6f 72 6e 65 72 73 29 2b 31 2c 27 6d 6f 27 29 3b 0a 20 20 20 70 6c 6f 74 28 78 6f 72 69	d_corners)+1,'mo');....plot(xori
afe0	67 2b 31 2c 79 6f 72 69 67 2b 31 2c 27 2a 6d 27 29 3b 0a 20 20 20 68 20 3d 20 74 65 78 74 28 78	g+1,yorig+1,'*m');....h.=.text(x
b000	6f 72 69 67 2d 31 35 2c 79 6f 72 69 67 2d 31 35 2c 27 4f 27 29 3b 0a 20 20 20 73 65 74 28 68 2c	orig-15,yorig-15,'O');....set(h,
b020	27 43 6f 6c 6f 72 27 2c 27 6d 27 2c 27 46 6f 6e 74 53 69 7a 65 27 2c 31 34 29 3b 0a 20 20 20 68	'Color','m','FontSize',14);....h
b040	32 20 3d 20 74 65 78 74 28 64 78 70 6f 73 28 31 29 2d 31 30 2c 64 78 70 6f 73 28 32 29 2d 31 30	2.=.text(dxpos(1)-10,dxpos(2)-10
b060	2c 27 64 58 27 29 3b 0a 20 20 20 73 65 74 28 68 32 2c 27 43 6f 6c 6f 72 27 2c 27 67 27 2c 27 46	,'dX');....set(h2,'Color','g','F
b080	6f 6e 74 53 69 7a 65 27 2c 31 34 29 3b 0a 20 20 20 68 33 20 3d 20 74 65 78 74 28 64 79 70 6f 73	ontSize',14);....h3.=.text(dypos
b0a0	28 31 29 2d 32 35 2c 64 79 70 6f 73 28 32 29 2d 33 2c 27 64 59 27 29 3b 0a 20 20 20 73 65 74 28	(1)-25,dypos(2)-3,'dY');....set(
b0c0	68 33 2c 27 43 6f 6c 6f 72 27 2c 27 67 27 2c 27 46 6f 6e 74 53 69 7a 65 27 2c 31 34 29 3b 0a 20	h3,'Color','g','FontSize',14);..
b0e0	20 20 78 6c 61 62 65 6c 28 27 58 63 20 28 69 6e 20 63 61 6d 65 72 61 20 66 72 61 6d 65 29 27 29	..xlabel('Xc.(in.camera.frame)')
b100	3b 0a 20 20 20 79 6c 61 62 65 6c 28 27 59 63 20 28 69 6e 20 63 61 6d 65 72 61 20 66 72 61 6d 65	;....ylabel('Yc.(in.camera.frame
b120	29 27 29 3b 0a 20 20 20 74 69 74 6c 65 28 27 45 78 74 72 61 63 74 65 64 20 63 6f 72 6e 65 72 73	)');....title('Extracted.corners
b140	27 29 3b 0a 20 20 20 7a 6f 6f 6d 20 6f 6e 3b 0a 20 20 20 64 72 61 77 6e 6f 77 3b 0a 20 20 20 68	');....zoom.on;....drawnow;....h
b160	6f 6c 64 20 6f 66 66 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 58 69 20 3d 20 72 65 73 68 61 70 65	old.off;............Xi.=.reshape
b180	28 28 5b 30 3a 6e 5f 73 71 5f 78 5d 2a 64 58 29 27 2a 6f 6e 65 73 28 31 2c 6e 5f 73 71 5f 79 2b	(([0:n_sq_x]dX)'ones(1,n_sq_y+
b1a0	31 29 2c 4e 70 2c 31 29 27 3b 0a 20 20 20 59 69 20 3d 20 72 65 73 68 61 70 65 28 6f 6e 65 73 28	1),Np,1)';....Yi.=.reshape(ones(
b1c0	6e 5f 73 71 5f 78 2b 31 2c 31 29 2a 5b 6e 5f 73 71 5f 79 3a 2d 31 3a 30 5d 2a 64 59 2c 4e 70 2c	n_sq_x+1,1)[n_sq_y:-1:0]dY,Np,
b1e0	31 29 27 3b 0a 20 20 20 5a 69 20 3d 20 7a 65 72 6f 73 28 31 2c 4e 70 29 3b 0a 20 20 20 0a 20 20	1)';....Zi.=.zeros(1,Np);.......
b200	20 58 67 72 69 64 20 3d 20 5b 58 69 3b 59 69 3b 5a 69 5d 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20	.Xgrid.=.[Xi;Yi;Zi];............
b220	25 20 41 6c 6c 20 74 68 65 20 70 6f 69 6e 74 20 63 6f 6f 72 64 69 6e 61 74 65 73 20 28 6f 6e 20	%.All.the.point.coordinates.(on.
b240	74 68 65 20 69 6d 61 67 65 2c 20 61 6e 64 20 69 6e 20 33 44 29 20 2d 20 66 6f 72 20 67 6c 6f 62	the.image,.and.in.3D).-.for.glob
b260	61 6c 20 6f 70 74 69 6d 69 7a 61 74 69 6f 6e 3a 0a 0a 20 20 20 78 20 3d 20 67 72 69 64 5f 70 74	al.optimization:.....x.=.grid_pt
b280	73 3b 0a 20 20 20 58 20 3d 20 58 67 72 69 64 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 25 20 54 68	s;....X.=.Xgrid;............%.Th
b2a0	65 20 72 69 67 68 74 20 70 61 6e 6e 65 6c 20 69 6e 66 6f 3a 0a 20 20 20 0a 20 20 20 78 72 20 3d	e.right.pannel.info:........xr.=
b2c0	20 78 3b 0a 20 20 20 58 72 20 3d 20 58 3b 0a 20 20 20 6e 72 5f 73 71 5f 78 20 3d 20 6e 5f 73 71	.x;....Xr.=.X;....nr_sq_x.=.n_sq
b2e0	5f 78 3b 0a 20 20 20 6e 72 5f 73 71 5f 79 20 3d 20 6e 5f 73 71 5f 79 3b 0a 20 20 20 48 72 20 3d	_x;....nr_sq_y.=.n_sq_y;....Hr.=
b300	20 48 5f 74 6f 74 61 6c 3b 0a 0a 0a 0a 25 25 25 25 25 25 25 25 20 52 45 47 52 4f 55 50 20 54 48	.H_total;....%%%%%%%%.REGROUP.TH
b320	45 20 4c 45 46 54 20 41 4e 44 20 52 49 48 54 20 50 41 54 54 45 52 4e 53 20 25 25 25 25 25 25 25	E.LEFT.AND.RIHT.PATTERNS.%%%%%%%
b340	25 25 25 25 25 25 0a 0a 0a 58 72 32 20 3d 20 5b 30 20 30 20 31 3b 30 20 31 20 30 3b 2d 31 20 30	%%%%%%...Xr2.=.[0.0.1;0.1.0;-1.0
b360	20 30 5d 2a 58 72 20 2b 20 5b 64 58 2a 6e 6c 5f 73 71 5f 78 3b 30 3b 30 5d 2a 6f 6e 65 73 28 31	.0]Xr.+.[dXnl_sq_x;0;0]*ones(1
b380	2c 6c 65 6e 67 74 68 28 58 72 29 29 3b 0a 0a 0a 78 20 3d 20 5b 78 6c 20 78 72 5d 3b 0a 0a 58 20	,length(Xr));...x.=.[xl.xr];..X.
b3a0	3d 20 5b 58 6c 20 58 72 32 5d 3b 0a 0a 0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 78 5f 27 20	=.[Xl.Xr2];..........eval(['x_'.
b3c0	6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 78 3b 27 5d 29 3b 0a 20 20 20 65 76 61 6c 28 5b	num2str(kk).'.=.x;']);....eval([
b3e0	27 58 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 58 3b 27 5d 29 3b 0a 20 20 20 0a	'X_'.num2str(kk).'.=.X;']);.....
b400	20 20 20 65 76 61 6c 28 5b 27 6e 6c 5f 73 71 5f 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20	...eval(['nl_sq_x_'.num2str(kk).
b420	27 20 3d 20 6e 6c 5f 73 71 5f 78 3b 27 5d 29 3b 0a 20 20 20 65 76 61 6c 28 5b 27 6e 6c 5f 73 71	'.=.nl_sq_x;']);....eval(['nl_sq
b440	5f 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 6e 6c 5f 73 71 5f 79 3b 27 5d 29	_y_'.num2str(kk).'.=.nl_sq_y;'])
b460	3b 0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 6e 72 5f 73 71 5f 78 5f 27 20 6e 75 6d 32 73 74	;........eval(['nr_sq_x_'.num2st
b480	72 28 6b 6b 29 20 27 20 3d 20 6e 72 5f 73 71 5f 78 3b 27 5d 29 3b 0a 20 20 20 65 76 61 6c 28 5b	r(kk).'.=.nr_sq_x;']);....eval([
b4a0	27 6e 72 5f 73 71 5f 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 6e 72 5f 73 71	'nr_sq_y_'.num2str(kk).'.=.nr_sq
b4c0	5f 79 3b 27 5d 29 3b 0a 20 20 20 0a 20 20 20 25 20 53 61 76 65 20 74 68 65 20 67 6c 6f 62 61 6c	_y;']);........%.Save.the.global
b4e0	20 70 6c 61 6e 61 72 20 68 6f 6d 6f 67 72 61 70 68 79 3a 0a 20 20 20 0a 20 20 20 65 76 61 6c 28	.planar.homography:........eval(
b500	5b 27 48 6c 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 48 6c 3b 27 5d 29 3b 0a 20	['Hl_'.num2str(kk).'.=.Hl;']);..
b520	20 20 65 76 61 6c 28 5b 27 48 72 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 48 72	..eval(['Hr_'.num2str(kk).'.=.Hr
b540	3b 27 5d 29 3b 5b 67 72 69 64 5f 70 74 73 28 32 2c 3a 29 2d 28 77 69 6e 74 79 2b 2e 35 29 3b 67	;']);[grid_pts(2,:)-(winty+.5);g
b560	72 69 64 5f 70 74 73 28 32 2c 3a 29 2d 28 77 69 6e 74 79 2b 2e 35 29 3b 67 72 69 64 5f 70 74 73	rid_pts(2,:)-(winty+.5);grid_pts
b580	28 32 2c 3a 29 2b 28 77 69 6e 74 79 2b 2e 35 29 3b 67 72 69 64 5f 70 74 73 28 32 2c 3a 29 2b 28	(2,:)+(winty+.5);grid_pts(2,:)+(
b5a0	77 69 6e 74 79 2b 2e 35 29 3b 67 72 69 64 5f 70 74 73 28 32 2c 3a 29 2d 28 77 69 6e 74 79 2b 2e	winty+.5);grid_pts(2,:)-(winty+.
b5c0	35 29 5d 3b 0a 0a 20 20 20 0a 20 20 20 66 69 67 75 72 65 28 33 29 3b 0a 20 20 20 69 6d 61 67 65	5)];.........figure(3);....image
b5e0	28 49 29 3b 20 63 6f 6c 6f 72 6d 61 70 28 6d 61 70 29 3b 20 68 6f 6c 64 20 6f 6e 3b 0a 20 20 20	(I);.colormap(map);.hold.on;....
b600	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 6f 6d 70 75 74 65 5f 63 6f 6c 6c 69 6e 65 61 74 69	TOOLBOX_calib/compute_collineati
b620	6f 6e 2e 6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	on.m............................
b640	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b660	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
b680	20 20 20 32 32 37 36 20 20 37 30 32 34 30 33 37 33 31 30 20 20 31 33 30 31 33 00 20 00 00 00 00	...2276..7024037310..13013......
b6a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b6c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b6e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b700	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b720	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b740	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b760	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b780	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b7a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b7c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b7e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
b800	66 75 6e 63 74 69 6f 6e 20 5b 48 2c 48 6e 6f 72 6d 2c 69 6e 76 5f 48 6e 6f 72 6d 5d 20 3d 20 63	function.[H,Hnorm,inv_Hnorm].=.c
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b940	30 30 28 32 29 3b 61 31 30 28 32 29 3b 61 31 31 28 32 29 3b 61 30 31 28 32 29 5d 3b 0a 0a 6d 78	00(2);a10(2);a11(2);a01(2)];..mx
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b9a0	78 20 3d 20 6d 65 61 6e 28 61 62 73 28 61 78 29 29 3b 0a 73 63 79 79 20 3d 20 6d 65 61 6e 28 61	x.=.mean(abs(ax));.scyy.=.mean(a
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b9e0	78 2f 73 63 78 78 3b 30 20 31 2f 73 63 79 79 20 2d 6d 79 79 2f 73 63 79 79 3b 30 20 30 20 31 5d	x/scxx;0.1/scyy.-myy/scyy;0.0.1]
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ba40	30 30 3b 0a 61 31 30 6e 20 3d 20 48 6e 6f 72 6d 2a 61 31 30 3b 0a 61 31 31 6e 20 3d 20 48 6e 6f	00;.a10n.=.Hnorm*a10;.a11n.=.Hno
ba60	72 6d 2a 61 31 31 3b 0a 61 30 31 6e 20 3d 20 48 6e 6f 72 6d 2a 61 30 31 3b 0a 0a 0a 25 20 43 6f	rma11;.a01n.=.Hnorma01;...%.Co
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bac0	2c 63 72 6f 73 73 28 61 30 31 6e 2c 61 31 31 6e 29 29 3b 0a 56 32 6e 20 3d 20 63 72 6f 73 73 28	,cross(a01n,a11n));.V2n.=.cross(
bae0	63 72 6f 73 73 28 61 30 30 6e 2c 61 30 31 6e 29 2c 63 72 6f 73 73 28 61 31 30 6e 2c 61 31 31 6e	cross(a00n,a01n),cross(a10n,a11n
bb00	29 29 3b 0a 0a 56 31 20 3d 20 69 6e 76 5f 48 6e 6f 72 6d 2a 56 31 6e 3b 0a 56 32 20 3d 20 69 6e	));..V1.=.inv_Hnorm*V1n;.V2.=.in
bb20	76 5f 48 6e 6f 72 6d 2a 56 32 6e 3b 0a 0a 0a 25 20 4e 6f 72 6d 61 6c 69 7a 61 69 6f 6e 20 6f 66	v_Hnorm*V2n;...%.Normalizaion.of
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bb80	3b 0a 0a 0a 25 20 43 6c 6f 73 65 64 2d 66 6f 72 6d 20 73 6f 6c 75 74 69 6f 6e 20 6f 66 20 74 68	;...%.Closed-form.solution.of.th
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bbc0	28 32 29 2a 61 30 30 6e 28 31 29 20 2d 20 61 31 30 6e 28 31 29 2a 61 30 30 6e 28 32 29 29 2f 28	(2)a00n(1).-.a10n(1)a00n(2))/(
bbe0	56 31 6e 28 32 29 2a 61 31 30 6e 28 31 29 2d 56 31 6e 28 31 29 2a 61 31 30 6e 28 32 29 29 3b 0a	V1n(2)a10n(1)-V1n(1)a10n(2));.
bc00	0a 61 6c 70 68 61 5f 79 20 3d 20 28 61 30 31 6e 28 32 29 2a 61 30 30 6e 28 31 29 20 2d 20 61 30	.alpha_y.=.(a01n(2)*a00n(1).-.a0
bc20	31 6e 28 31 29 2a 61 30 30 6e 28 32 29 29 2f 28 56 32 6e 28 32 29 2a 61 30 31 6e 28 31 29 2d 56	1n(1)a00n(2))/(V2n(2)a01n(1)-V
bc40	32 6e 28 31 29 2a 61 30 31 6e 28 32 29 29 3b 0a 0a 0a 25 20 52 65 6d 61 69 6e 69 6e 67 20 48 6f	2n(1)*a01n(2));...%.Remaining.Ho
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bce0	6e 74 65 72 2e 6d 00 5c 00 00 05 80 00 02 36 a2 00 28 00 18 73 65 6c 65 63 74 5f 73 6f 6c 5f 6e	nter.m.\......6..(..select_sol_n
bd00	6f 5f 63 65 6e 74 65 72 33 44 2e 6d 00 02 36 a2 00 00 05 a4 00 02 36 a3 00 28 00 18 73 65 6c 65	o_center3D.m..6.......6..(..sele
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bd40	00 28 00 1a 73 65 6c 65 63 74 5f 73 6f 6c 5f 77 69 74 68 5f 63 65 6e 74 65 72 33 44 2e 6d 00 a4	.(..select_sol_with_center3D.m..
bd60	00 00 05 dc 00 02 36 a5 00 18 00 09 73 74 61 72 74 75 70 2e 6d 00 6e 74 00 00 05 f0 00 02 36 a6	......6.....startup.m.nt......6.
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bda0	2e 6d 00 09 00 00 06 1c 00 02 36 a7 00 20 00 11 75 6e 64 69 73 74 6f 72 74 5f 69 6d 61 67 65 2e	.m........6.....undistort_image.
bdc0	6d 00 00 09 00 00 06 34 00 02 36 a8 00 1c 00 0d 55 6e 57 61 72 70 50 6c 61 6e 65 2e 6d 00 65 2e	m......4..6.....UnWarpPlane.m.e.
bde0	00 00 06 48 00 02 36 a9 00 18 00 0a 77 72 69 74 65 72 61 73 2e 6d 00 6c 00 00 06 64 00 02 36 aa	...H..6.....writeras.m.l...d..6.
be00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 2e	TOOLBOX_calib/compute_extrinsic.
be20	6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	m...............................
be40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
be60	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
be80	20 20 20 35 34 34 36 20 20 37 30 32 34 30 33 37 33 31 31 20 20 31 32 33 34 36 00 20 00 00 00 00	...5446..7024037311..12346......
bea0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
bec0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
bee0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
bf00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
bf20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
bf40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
bf60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
bf80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
bfa0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
bfc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
bfe0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
c000	66 75 6e 63 74 69 6f 6e 20 5b 6f 6d 63 6b 6b 2c 54 63 6b 6b 2c 52 63 6b 6b 2c 48 2c 78 2c 65 78	function.[omckk,Tckk,Rckk,H,x,ex
c020	2c 4a 4a 5d 20 3d 20 63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 28 78 5f 6b 6b 2c 58 5f	,JJ].=.compute_extrinsic(x_kk,X_
c040	6b 6b 2c 66 63 2c 63 63 2c 6b 63 2c 4d 61 78 49 74 65 72 2c 74 68 72 65 73 68 5f 63 6f 6e 64 29	kk,fc,cc,kc,MaxIter,thresh_cond)
c060	2c 0a 0a 25 63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 0a 25 0a 25 5b 6f 6d 63 6b 6b 2c	,..%compute_extrinsic.%.%[omckk,
c080	54 63 6b 6b 2c 52 63 6b 6b 2c 48 2c 78 2c 65 78 5d 20 3d 20 63 6f 6d 70 75 74 65 5f 65 78 74 72	Tckk,Rckk,H,x,ex].=.compute_extr
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c0c0	0a 25 0a 25 43 6f 6d 70 75 74 65 73 20 74 68 65 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d	.%.%Computes.the.extrinsic.param
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c180	6e 2d 70 6c 61 6e 61 72 20 73 74 72 75 63 74 75 72 65 73 2e 0a 25 0a 25 49 4e 50 55 54 3a 20 78	n-planar.structures..%.%INPUT:.x
c1a0	5f 6b 6b 3a 20 46 65 61 74 75 72 65 20 6c 6f 63 61 74 69 6f 6e 73 20 6f 6e 20 74 68 65 20 69 6d	_kk:.Feature.locations.on.the.im
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c1e0	20 67 72 69 64 20 63 6f 6f 72 64 69 6e 61 74 65 73 0a 25 20 20 20 20 20 20 20 66 63 3a 20 43 61	.grid.coordinates.%.......fc:.Ca
c200	6d 65 72 61 20 66 6f 63 61 6c 20 6c 65 6e 67 74 68 0a 25 20 20 20 20 20 20 20 63 63 3a 20 50 72	mera.focal.length.%.......cc:.Pr
c220	69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 20 63 6f 6f 72 64 69 6e 61 74 65 73 0a 25 20 20 20 20 20	incipal.point.coordinates.%.....
c240	20 20 6b 63 3a 20 44 69 73 74 6f 72 74 69 6f 6e 20 63 6f 65 66 66 69 63 69 65 6e 74 73 0a 25 20	..kc:.Distortion.coefficients.%.
c260	20 20 20 20 20 20 72 65 66 69 6e 65 3a 20 73 65 74 20 74 6f 20 31 20 66 6f 72 20 72 65 66 69 6e	......refine:.set.to.1.for.refin
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c2a0	72 61 74 69 76 65 6c 79 0a 25 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 5b 4f 50 54 49 4f 4e	ratively.%...............[OPTION
c2c0	41 4c 3a 20 44 65 66 61 75 6c 74 20 76 61 6c 75 65 3a 20 31 5d 0a 25 0a 25 4f 55 54 50 55 54 3a	AL:.Default.value:.1].%.%OUTPUT:
c2e0	20 6f 6d 63 6b 6b 3a 20 33 44 20 72 6f 74 61 74 69 6f 6e 20 76 65 63 74 6f 72 20 61 74 74 61 63	.omckk:.3D.rotation.vector.attac
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c320	63 65 0a 25 20 20 20 20 20 20 20 20 54 63 6b 6b 3a 20 33 44 20 74 72 61 6e 73 6c 61 74 69 6f 6e	ce.%........Tckk:.3D.translation
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c360	69 74 69 6f 6e 73 20 69 6e 20 73 70 61 63 65 0a 25 20 20 20 20 20 20 20 20 52 63 6b 6b 3a 20 33	itions.in.space.%........Rckk:.3
c380	44 20 72 6f 74 61 74 69 6f 6e 20 6d 61 74 72 69 63 65 73 20 63 6f 72 72 65 73 70 6f 6e 64 69 6e	D.rotation.matrices.correspondin
c3a0	67 20 74 6f 20 74 68 65 20 6f 6d 63 20 76 65 63 74 6f 72 73 0a 25 20 20 20 20 20 20 20 20 48 3a	g.to.the.omc.vectors.%........H:
c3c0	20 48 6f 6d 6f 67 72 61 70 68 79 20 62 65 74 77 65 65 6e 20 70 6f 69 6e 74 73 20 6f 6e 20 74 68	.Homography.between.points.on.th
c3e0	65 20 67 72 69 64 20 61 6e 64 20 70 6f 69 6e 74 73 20 6f 6e 20 74 68 65 20 69 6d 61 67 65 20 70	e.grid.and.points.on.the.image.p
c400	6c 61 6e 65 20 28 69 6e 20 70 69 78 65 6c 29 0a 25 20 20 20 20 20 20 20 20 20 20 20 54 68 69 73	lane.(in.pixel).%...........This
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c440	74 68 61 74 20 69 73 20 75 73 65 64 20 69 6e 20 70 6c 61 6e 61 72 2e 0a 25 20 20 20 20 20 20 20	that.is.used.in.planar..%.......
c460	20 78 3a 20 52 65 70 72 6f 6a 65 63 74 69 6f 6e 73 20 6f 66 20 74 68 65 20 70 6f 69 6e 74 73 20	.x:.Reprojections.of.the.points.
c480	6f 6e 20 74 68 65 20 69 6d 61 67 65 20 70 6c 61 6e 65 0a 25 20 20 20 20 20 20 20 20 65 78 3a 20	on.the.image.plane.%........ex:.
c4a0	52 65 70 72 6f 6a 65 63 74 69 6f 6e 20 65 72 72 6f 72 3a 20 65 78 20 3d 20 78 5f 6b 6b 20 2d 20	Reprojection.error:.ex.=.x_kk.-.
c4c0	78 3b 0a 25 0a 25 4d 65 74 68 6f 64 3a 20 43 6f 6d 70 75 74 65 73 20 74 68 65 20 6e 6f 72 6d 61	x;.%.%Method:.Computes.the.norma
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c5e0	72 6f 6a 65 63 74 5f 70 6f 69 6e 74 73 2e 6d 3a 20 43 6f 6d 70 75 74 65 73 20 74 68 65 20 32 44	roject_points.m:.Computes.the.2D
c600	20 69 6d 61 67 65 20 70 72 6f 6a 65 63 74 69 6f 6e 73 20 6f 66 20 61 20 73 65 74 20 6f 66 20 33	.image.projections.of.a.set.of.3
c620	44 20 70 6f 69 6e 74 73 0a 0a 0a 0a 69 66 20 6e 61 72 67 69 6e 20 3c 20 37 2c 0a 20 20 20 74 68	D.points....if.nargin.<.7,....th
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c680	69 66 20 6e 61 72 67 69 6e 20 3c 20 35 2c 0a 20 20 20 6b 63 20 3d 20 7a 65 72 6f 73 28 34 2c 31	if.nargin.<.5,....kc.=.zeros(4,1
c6a0	29 3b 0a 20 20 20 69 66 20 6e 61 72 67 69 6e 20 3c 20 34 2c 0a 20 20 20 20 20 20 63 63 20 3d 20	);....if.nargin.<.4,.......cc.=.
c6c0	7a 65 72 6f 73 28 32 2c 31 29 3b 0a 20 20 20 20 20 20 69 66 20 6e 61 72 67 69 6e 20 3c 20 33 2c	zeros(2,1);.......if.nargin.<.3,
c6e0	0a 20 20 20 20 20 20 20 20 20 66 63 20 3d 20 6f 6e 65 73 28 32 2c 31 29 3b 0a 20 20 20 20 20 20	..........fc.=.ones(2,1);.......
c700	20 20 20 69 66 20 6e 61 72 67 69 6e 20 3c 20 32 2c 0a 20 20 20 20 20 20 20 20 20 20 20 20 65 72	...if.nargin.<.2,.............er
c720	72 6f 72 28 27 4e 65 65 64 20 32 44 20 70 72 6f 6a 65 63 74 69 6f 6e 73 20 61 6e 64 20 33 44 20	ror('Need.2D.projections.and.3D.
c740	70 6f 69 6e 74 73 20 28 69 6e 20 63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 2e 6d 29 27	points.(in.compute_extrinsic.m)'
c760	29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 72 65 74 75 72 6e 3b 0a 20 20 20 20 20 20 20 20 20	);.............return;..........
c780	65 6e 64 3b 0a 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 65 6e 64 3b 0a 65 6e 64 3b 0a 0a 0a 25	end;.......end;....end;.end;...%
c7a0	20 49 6e 69 74 69 61 6c 69 7a 61 74 69 6f 6e 3a 0a 0a 5b 6f 6d 63 6b 6b 2c 54 63 6b 6b 2c 52 63	.Initialization:..[omckk,Tckk,Rc
c7c0	6b 6b 5d 20 3d 20 63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 5f 69 6e 69 74 28 78 5f 6b	kk].=.compute_extrinsic_init(x_k
c7e0	6b 2c 58 5f 6b 6b 2c 66 63 2c 63 63 2c 6b 63 29 3b 0a 0a 25 20 52 65 66 69 6e 65 6d 65 6e 74 3a	k,X_kk,fc,cc,kc);..%.Refinement:
c800	0a 0a 5b 6f 6d 63 6b 6b 2c 54 63 6b 6b 2c 52 63 6b 6b 2c 4a 4a 5d 20 3d 20 63 6f 6d 70 75 74 65	..[omckk,Tckk,Rckk,JJ].=.compute
c820	5f 65 78 74 72 69 6e 73 69 63 5f 72 65 66 69 6e 65 28 6f 6d 63 6b 6b 2c 54 63 6b 6b 2c 78 5f 6b	_extrinsic_refine(omckk,Tckk,x_k
c840	6b 2c 58 5f 6b 6b 2c 66 63 2c 63 63 2c 6b 63 2c 4d 61 78 49 74 65 72 2c 74 68 72 65 73 68 5f 63	k,X_kk,fc,cc,kc,MaxIter,thresh_c
c860	6f 6e 64 29 3b 0a 0a 0a 25 20 63 6f 6d 70 75 74 61 74 69 6f 6e 20 6f 66 20 74 68 65 20 68 6f 6d	ond);...%.computation.of.the.hom
c880	6f 67 72 61 70 68 79 20 28 6e 6f 74 20 75 73 65 66 75 6c 20 69 6e 20 74 68 65 20 65 6e 64 29 0a	ography.(not.useful.in.the.end).
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c8c0	75 74 65 73 20 74 68 65 20 72 65 70 72 6f 6a 65 63 74 69 6f 6e 20 65 72 72 6f 72 20 69 6e 20 70	utes.the.reprojection.error.in.p
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c900	6f 6d 63 6b 6b 2c 54 63 6b 6b 2c 66 63 2c 63 63 2c 6b 63 29 3b 0a 0a 65 78 20 3d 20 78 5f 6b 6b	omckk,Tckk,fc,cc,kc);..ex.=.x_kk
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c9e0	6e 28 33 2c 31 29 3b 0a 54 20 3d 20 5b 30 3b 30 3b 31 30 30 5d 3b 0a 0a 6e 6f 69 73 65 20 3d 20	n(3,1);.T.=.[0;0;100];..noise.=.
ca00	32 2f 31 30 30 30 3b 0a 0a 58 58 20 3d 20 5b 73 78 2a 72 61 6e 64 6e 28 31 2c 4e 70 29 3b 73 79	2/1000;..XX.=.[sx*randn(1,Np);sy
ca20	2a 72 61 6e 64 6e 28 31 2c 4e 70 29 3b 73 7a 2a 72 61 6e 64 6e 28 31 2c 4e 70 29 5d 3b 0a 78 78	randn(1,Np);szrandn(1,Np)];.xx
ca40	20 3d 20 70 72 6f 6a 65 63 74 5f 70 6f 69 6e 74 73 28 58 58 2c 6f 6d 2c 54 29 3b 0a 0a 78 78 6e	.=.project_points(XX,om,T);..xxn
ca60	20 3d 20 78 78 20 2b 20 6e 6f 69 73 65 20 2a 20 72 61 6e 64 6e 28 32 2c 4e 70 29 3b 0a 0a 5b 6f	.=.xx.+.noise.*.randn(2,Np);..[o
ca80	6d 63 6b 6b 2c 54 63 6b 6b 5d 20 3d 20 63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 28 78	mckk,Tckk].=.compute_extrinsic(x
caa0	78 6e 2c 58 58 29 3b 0a 0a 5b 6f 6d 20 6f 6d 63 6b 6b 20 6f 6d 2d 6f 6d 63 6b 6b 5d 0a 5b 54 20	xn,XX);..[om.omckk.om-omckk].[T.
cac0	54 63 6b 6b 20 54 2d 54 63 6b 6b 5d 0a 0a 66 69 67 75 72 65 28 33 29 3b 0a 70 6c 6f 74 28 78 78	Tckk.T-Tckk]..figure(3);.plot(xx
cae0	28 31 2c 3a 29 2c 78 78 28 32 2c 3a 29 2c 27 72 2b 27 29 3b 0a 68 6f 6c 64 20 6f 6e 3b 0a 70 6c	(1,:),xx(2,:),'r+');.hold.on;.pl
cb00	6f 74 28 78 78 6e 28 31 2c 3a 29 2c 78 78 6e 28 32 2c 3a 29 2c 27 67 2b 27 29 3b 0a 68 6f 6c 64	ot(xxn(1,:),xxn(2,:),'g+');.hold
cb20	20 6f 66 66 3b 0a 6d 6f 67 72 61 70 68 79 20 66 72 6f 6d 20 70 6c 61 6e 65 20 74 6f 20 70 69 78	.off;.mography.from.plane.to.pix
cb40	65 6c 20 63 6f 6f 72 64 69 6e 61 74 65 73 3a 0a 20 20 20 0a 20 20 20 48 5f 74 6f 74 61 6c 20 3d	el.coordinates:........H_total.=
cb60	20 5b 31 20 30 20 2d 31 20 3b 20 30 20 31 20 2d 31 20 3b 20 30 20 30 20 31 5d 2a 48 6f 6d 6f 2a	.[1.0.-1.;.0.1.-1.;.0.0.1]Homo
cb80	5b 31 20 30 20 30 3b 30 20 2d 31 20 31 3b 30 20 30 20 31 5d 2a 5b 31 2f 57 20 30 20 30 20 3b 20	[1.0.0;0.-1.1;0.0.1]*[1/W.0.0.;.
cba0	30 20 31 2f 4c 20 30 3b 20 30 20 30 20 31 5d 3b 0a 20 20 20 25 20 57 41 52 4e 49 4e 47 21 21 21	0.1/L.0;.0.0.1];....%.WARNING!!!
cbc0	20 74 68 65 20 66 69 72 73 74 20 6d 61 74 72 69 78 20 28 6f 6e 20 74 68 65 20 6c 65 66 74 20 73	.the.first.matrix.(on.the.left.s
cbe0	69 64 65 29 20 74 61 6b 65 73 20 63 61 72 65 20 6f 66 20 74 68 65 20 74 72 61 6e 73 66 6f 72 6d	ide).takes.care.of.the.transform
cc00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 6f 6d 70 75 74 65 5f 68 6f 6d 6f 67 72 61 70 68 79	TOOLBOX_calib/compute_homography
cc20	2e 6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	.m..............................
cc40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
cc60	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
cc80	20 20 20 36 33 37 36 20 20 37 30 32 34 30 33 37 33 31 32 20 20 31 32 35 31 37 00 20 00 00 00 00	...6376..7024037312..12517......
cca0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
ccc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
cce0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
cd00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
cd20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
cd40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
cd60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
cd80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
cda0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
cdc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
cde0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
ce00	66 75 6e 63 74 69 6f 6e 20 5b 48 2c 48 6e 6f 72 6d 2c 69 6e 76 5f 48 6e 6f 72 6d 5d 20 3d 20 63	function.[H,Hnorm,inv_Hnorm].=.c
ce20	6f 6d 70 75 74 65 5f 68 6f 6d 6f 67 72 61 70 68 79 20 28 6d 2c 4d 29 3b 0a 0a 25 63 6f 6d 70 75	ompute_homography.(m,M);..%compu
ce40	74 65 5f 68 6f 6d 6f 67 72 61 70 68 79 0a 25 0a 25 5b 48 2c 48 6e 6f 72 6d 2c 69 6e 76 5f 48 6e	te_homography.%.%[H,Hnorm,inv_Hn
ce60	6f 72 6d 5d 20 3d 20 63 6f 6d 70 75 74 65 5f 68 6f 6d 6f 67 72 61 70 68 79 20 28 6d 2c 4d 29 0a	orm].=.compute_homography.(m,M).
ce80	25 0a 25 43 6f 6d 70 75 74 65 73 20 74 68 65 20 70 6c 61 6e 61 72 20 68 6f 6d 6f 67 72 61 70 68	%.%Computes.the.planar.homograph
cea0	79 20 62 65 74 77 65 65 6e 20 74 68 65 20 70 6f 69 6e 74 20 63 6f 6f 72 64 69 6e 61 74 65 73 20	y.between.the.point.coordinates.
cec0	6f 6e 20 74 68 65 20 70 6c 61 6e 65 20 28 4d 29 20 61 6e 64 20 74 68 65 20 69 6d 61 67 65 0a 25	on.the.plane.(M).and.the.image.%
cee0	70 6f 69 6e 74 20 63 6f 6f 72 64 69 6e 61 74 65 73 20 28 6d 29 2e 0a 25 0a 25 49 4e 50 55 54 3a	point.coordinates.(m)..%.%INPUT:
cf00	20 6d 3a 20 68 6f 6d 6f 67 65 6e 65 6f 75 73 20 63 6f 6f 72 64 69 6e 61 74 65 73 20 69 6e 20 74	.m:.homogeneous.coordinates.in.t
cf20	68 65 20 69 6d 61 67 65 20 70 6c 61 6e 65 20 28 33 78 4e 20 6d 61 74 72 69 78 29 0a 25 20 20 20	he.image.plane.(3xN.matrix).%...
cf40	20 20 20 20 4d 3a 20 68 6f 6d 6f 67 65 6e 65 6f 75 73 20 63 6f 6f 72 64 69 6e 61 74 65 73 20 69	....M:.homogeneous.coordinates.i
cf60	6e 20 74 68 65 20 70 6c 61 6e 65 20 69 6e 20 33 44 20 28 33 78 4e 20 6d 61 74 72 69 78 29 0a 25	n.the.plane.in.3D.(3xN.matrix).%
cf80	0a 25 4f 55 54 50 55 54 3a 20 48 3a 20 48 6f 6d 6f 67 72 61 70 68 79 20 6d 61 74 72 69 78 20 28	.%OUTPUT:.H:.Homography.matrix.(
cfa0	33 78 33 20 68 6f 6d 6f 67 65 6e 65 6f 75 73 20 6d 61 74 72 69 78 29 0a 25 20 20 20 20 20 20 20	3x3.homogeneous.matrix).%.......
cfc0	20 48 6e 6f 72 6d 3a 20 4e 6f 72 6d 6c 69 7a 61 74 69 6f 6e 20 6d 61 74 72 69 78 20 75 73 65 64	.Hnorm:.Normlization.matrix.used
cfe0	20 6f 6e 20 74 68 65 20 70 6f 69 6e 74 73 20 62 65 66 6f 72 65 20 68 6f 6d 6f 67 72 61 70 68 79	.on.the.points.before.homography
d000	20 63 6f 6d 70 75 74 61 74 69 6f 6e 0a 25 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 28 75 73	.computation.%...............(us
d020	65 66 75 6c 20 66 6f 72 20 6e 75 6d 65 72 69 63 61 6c 20 73 74 61 62 69 6c 69 74 79 20 69 73 20	eful.for.numerical.stability.is.
d040	70 6f 69 6e 74 73 20 69 6e 20 70 69 78 65 6c 20 63 6f 6f 72 64 69 6e 61 74 65 73 29 0a 25 20 20	points.in.pixel.coordinates).%..
d060	20 20 20 20 20 20 69 6e 76 5f 48 6e 6f 72 6d 3a 20 54 68 65 20 69 6e 76 65 72 73 65 20 6f 66 20	......inv_Hnorm:.The.inverse.of.
d080	48 6e 6f 72 6d 0a 25 0a 25 44 65 66 69 6e 69 74 69 6f 6e 3a 20 6d 20 7e 20 48 2a 4d 20 77 68 65	Hnorm.%.%Definition:.m.~.H*M.whe
d0a0	72 65 20 22 7e 22 20 6d 65 61 6e 73 20 65 71 75 61 6c 20 75 70 20 74 6f 20 61 20 6e 6f 6e 20 7a	re."~".means.equal.up.to.a.non.z
d0c0	65 72 6f 20 73 63 61 6c 61 72 20 66 61 63 74 6f 72 2e 0a 25 0a 25 4d 65 74 68 6f 64 3a 20 46 69	ero.scalar.factor..%.%Method:.Fi
d0e0	72 73 74 20 63 6f 6d 70 75 74 65 73 20 61 6e 20 69 6e 69 74 69 61 6c 20 67 75 65 73 73 20 66 6f	rst.computes.an.initial.guess.fo
d100	72 20 74 68 65 20 68 6f 6d 6f 67 72 61 70 68 79 20 74 68 72 6f 75 67 68 20 71 75 61 73 69 2d 6c	r.the.homography.through.quasi-l
d120	69 6e 65 61 72 20 6d 65 74 68 6f 64 2e 0a 25 20 20 20 20 20 20 20 20 54 68 65 6e 2c 20 69 66 20	inear.method..%........Then,.if.
d140	74 68 65 20 74 6f 74 61 6c 20 6e 75 6d 62 65 72 20 6f 66 20 70 6f 69 6e 74 73 20 69 73 20 6c 61	the.total.number.of.points.is.la
d160	72 67 65 72 20 74 68 61 6e 20 34 2c 20 6f 70 74 69 6d 69 7a 65 20 74 68 65 20 73 6f 6c 75 74 69	rger.than.4,.optimize.the.soluti
d180	6f 6e 20 62 79 20 6d 69 6e 69 6d 69 7a 69 6e 67 0a 25 20 20 20 20 20 20 20 20 74 68 65 20 72 65	on.by.minimizing.%........the.re
d1a0	70 72 6f 6a 65 63 74 69 6f 6e 20 65 72 72 6f 72 20 28 69 6e 20 74 68 65 20 6c 65 61 73 74 20 73	projection.error.(in.the.least.s
d1c0	71 75 61 72 65 73 20 73 65 6e 73 65 29 2e 0a 25 0a 25 0a 25 49 6d 70 6f 72 74 61 6e 74 20 66 75	quares.sense)..%.%.%Important.fu
d1e0	6e 63 74 69 6f 6e 73 20 63 61 6c 6c 65 64 20 77 69 74 68 69 6e 20 74 68 61 74 20 70 72 6f 67 72	nctions.called.within.that.progr
d200	61 6d 3a 0a 25 0a 25 63 6f 6d 70 5f 64 69 73 74 6f 72 74 69 6f 6e 5f 6f 75 6c 75 3a 20 55 6e 64	am:.%.%comp_distortion_oulu:.Und
d220	69 73 74 6f 72 74 73 20 70 69 78 65 6c 20 63 6f 6f 72 64 69 6e 61 74 65 73 2e 0a 25 0a 25 63 6f	istorts.pixel.coordinates..%.%co
d240	6d 70 75 74 65 5f 68 6f 6d 6f 67 72 61 70 68 79 2e 6d 3a 20 43 6f 6d 70 75 74 65 73 20 74 68 65	mpute_homography.m:.Computes.the
d260	20 70 6c 61 6e 61 72 20 68 6f 6d 6f 67 72 61 70 68 79 20 62 65 74 77 65 65 6e 20 70 6f 69 6e 74	.planar.homography.between.point
d280	73 20 6f 6e 20 74 68 65 20 67 72 69 64 20 69 6e 20 33 44 2c 20 61 6e 64 20 74 68 65 20 69 6d 61	s.on.the.grid.in.3D,.and.the.ima
d2a0	67 65 20 70 6c 61 6e 65 2e 0a 25 0a 25 70 72 6f 6a 65 63 74 5f 70 6f 69 6e 74 73 2e 6d 3a 20 43	ge.plane..%.%project_points.m:.C
d2c0	6f 6d 70 75 74 65 73 20 74 68 65 20 32 44 20 69 6d 61 67 65 20 70 72 6f 6a 65 63 74 69 6f 6e 73	omputes.the.2D.image.projections
d2e0	20 6f 66 20 61 20 73 65 74 20 6f 66 20 33 44 20 70 6f 69 6e 74 73 2c 20 61 6e 64 20 61 6c 73 6f	.of.a.set.of.3D.points,.and.also
d300	20 72 65 74 75 72 6e 73 20 74 65 20 4a 61 63 6f 62 69 61 6e 0a 25 20 20 20 20 20 20 20 20 20 20	.returns.te.Jacobian.%..........
d320	20 20 20 20 20 20 20 20 6d 61 74 72 69 78 20 28 64 65 72 69 76 61 74 69 76 65 20 77 69 74 68 20	........matrix.(derivative.with.
d340	72 65 73 70 65 63 74 20 74 6f 20 74 68 65 20 69 6e 74 72 69 6e 73 69 63 20 61 6e 64 20 65 78 74	respect.to.the.intrinsic.and.ext
d360	72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73 29 2e 0a 25 20 20 20 20 20 20 20 20 20 20 20	rinsic.parameters)..%...........
d380	20 20 20 20 20 20 20 54 68 69 73 20 66 75 6e 63 74 69 6f 6e 20 69 73 20 63 61 6c 6c 65 64 20 77	.......This.function.is.called.w
d3a0	69 74 68 69 6e 20 74 68 65 20 6d 69 6e 69 6d 69 7a 61 74 69 6f 6e 20 6c 6f 6f 70 2e 0a 0a 0a 0a	ithin.the.minimization.loop.....
d3c0	0a 4e 70 20 3d 20 73 69 7a 65 28 6d 2c 32 29 3b 0a 0a 69 66 20 73 69 7a 65 28 6d 2c 31 29 3c 33	.Np.=.size(m,2);..if.size(m,1)<3
d3e0	2c 0a 20 20 20 6d 20 3d 20 5b 6d 3b 6f 6e 65 73 28 31 2c 4e 70 29 5d 3b 0a 65 6e 64 3b 0a 0a 69	,....m.=.[m;ones(1,Np)];.end;..i
d400	66 20 73 69 7a 65 28 4d 2c 31 29 3c 33 2c 0a 20 20 20 4d 20 3d 20 5b 4d 3b 6f 6e 65 73 28 31 2c	f.size(M,1)<3,....M.=.[M;ones(1,
d420	4e 70 29 5d 3b 0a 65 6e 64 3b 0a 0a 0a 6d 20 3d 20 6d 20 2e 2f 20 28 6f 6e 65 73 28 33 2c 31 29	Np)];.end;...m.=.m../.(ones(3,1)
d440	2a 6d 28 33 2c 3a 29 29 3b 0a 4d 20 3d 20 4d 20 2e 2f 20 28 6f 6e 65 73 28 33 2c 31 29 2a 4d 28	m(3,:));.M.=.M../.(ones(3,1)M(
d460	33 2c 3a 29 29 3b 0a 0a 25 20 50 72 65 6e 6f 72 6d 61 6c 69 7a 61 74 69 6f 6e 20 6f 66 20 70 6f	3,:));..%.Prenormalization.of.po
d480	69 6e 74 20 63 6f 6f 72 64 69 6e 61 74 65 73 20 28 76 65 72 79 20 69 6d 70 6f 72 74 61 6e 74 29	int.coordinates.(very.important)
d4a0	3a 0a 25 20 28 41 66 66 69 6e 65 20 6e 6f 72 6d 61 6c 69 7a 61 74 69 6f 6e 29 0a 0a 61 78 20 3d	:.%.(Affine.normalization)..ax.=
d4c0	20 6d 28 31 2c 3a 29 3b 0a 61 79 20 3d 20 6d 28 32 2c 3a 29 3b 0a 0a 6d 78 78 20 3d 20 6d 65 61	.m(1,:);.ay.=.m(2,:);..mxx.=.mea
d4e0	6e 28 61 78 29 3b 0a 6d 79 79 20 3d 20 6d 65 61 6e 28 61 79 29 3b 0a 61 78 20 3d 20 61 78 20 2d	n(ax);.myy.=.mean(ay);.ax.=.ax.-
d500	20 6d 78 78 3b 0a 61 79 20 3d 20 61 79 20 2d 20 6d 79 79 3b 0a 0a 73 63 78 78 20 3d 20 6d 65 61	.mxx;.ay.=.ay.-.myy;..scxx.=.mea
d520	6e 28 61 62 73 28 61 78 29 29 3b 0a 73 63 79 79 20 3d 20 6d 65 61 6e 28 61 62 73 28 61 79 29 29	n(abs(ax));.scyy.=.mean(abs(ay))
d540	3b 0a 0a 0a 48 6e 6f 72 6d 20 3d 20 5b 31 2f 73 63 78 78 20 30 20 2d 6d 78 78 2f 73 63 78 78 3b	;...Hnorm.=.[1/scxx.0.-mxx/scxx;
d560	30 20 31 2f 73 63 79 79 20 2d 6d 79 79 2f 73 63 79 79 3b 30 20 30 20 31 5d 3b 0a 69 6e 76 5f 48	0.1/scyy.-myy/scyy;0.0.1];.inv_H
d580	6e 6f 72 6d 20 3d 20 5b 73 63 78 78 20 30 20 6d 78 78 20 3b 20 30 20 73 63 79 79 20 6d 79 79 3b	norm.=.[scxx.0.mxx.;.0.scyy.myy;
d5a0	20 30 20 30 20 31 5d 3b 0a 0a 6d 6e 20 3d 20 48 6e 6f 72 6d 2a 6d 3b 0a 0a 25 20 43 6f 6d 70 75	.0.0.1];..mn.=.Hnorm*m;..%.Compu
d5c0	74 65 20 74 68 65 20 68 6f 6d 6f 67 72 61 70 68 79 20 62 65 74 77 65 65 6e 20 6d 20 61 6e 64 20	te.the.homography.between.m.and.
d5e0	6d 6e 3a 0a 0a 25 20 42 75 69 6c 64 20 74 68 65 20 6d 61 74 72 69 78 3a 0a 0a 4c 20 3d 20 7a 65	mn:..%.Build.the.matrix:..L.=.ze
d600	72 6f 73 28 32 2a 4e 70 2c 39 29 3b 0a 0a 4c 28 31 3a 32 3a 32 2a 4e 70 2c 31 3a 33 29 20 3d 20	ros(2Np,9);..L(1:2:2Np,1:3).=.
d620	4d 27 3b 0a 4c 28 32 3a 32 3a 32 2a 4e 70 2c 34 3a 36 29 20 3d 20 4d 27 3b 0a 4c 28 31 3a 32 3a	M';.L(2:2:2*Np,4:6).=.M';.L(1:2:
d640	32 2a 4e 70 2c 37 3a 39 29 20 3d 20 2d 28 28 6f 6e 65 73 28 33 2c 31 29 2a 6d 6e 28 31 2c 3a 29	2Np,7:9).=.-((ones(3,1)mn(1,:)
d660	29 2e 2a 20 4d 29 27 3b 0a 4c 28 32 3a 32 3a 32 2a 4e 70 2c 37 3a 39 29 20 3d 20 2d 28 28 6f 6e	)..M)';.L(2:2:2Np,7:9).=.-((on
d680	65 73 28 33 2c 31 29 2a 6d 6e 28 32 2c 3a 29 29 2e 2a 20 4d 29 27 3b 0a 0a 69 66 20 4e 70 20 3e	es(3,1)mn(2,:))..M)';..if.Np.>
d6a0	20 34 2c 0a 09 4c 20 3d 20 4c 27 2a 4c 3b 0a 65 6e 64 3b 0a 0a 5b 55 2c 53 2c 56 5d 20 3d 20 73	.4,..L.=.L'*L;.end;..[U,S,V].=.s
d6c0	76 64 28 4c 29 3b 0a 0a 68 68 20 3d 20 56 28 3a 2c 39 29 3b 0a 68 68 20 3d 20 68 68 2f 68 68 28	vd(L);..hh.=.V(:,9);.hh.=.hh/hh(
d6e0	39 29 3b 0a 0a 48 72 65 6d 20 3d 20 72 65 73 68 61 70 65 28 68 68 2c 33 2c 33 29 27 3b 0a 25 48	9);..Hrem.=.reshape(hh,3,3)';.%H
d700	72 65 6d 20 3d 20 48 72 65 6d 20 2f 20 48 72 65 6d 28 33 2c 33 29 3b 0a 0a 25 20 46 69 6e 61 6c	rem.=.Hrem./.Hrem(3,3);..%.Final
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d740	3b 0a 0a 0a 25 25 25 20 48 6f 6d 6f 67 72 61 70 68 79 20 72 65 66 69 6e 65 6d 65 6e 74 20 69 66	;...%%%.Homography.refinement.if
d760	20 74 68 65 72 65 20 61 72 65 20 6d 6f 72 65 20 74 68 61 6e 20 34 20 70 6f 69 6e 74 73 3a 0a 0a	.there.are.more.than.4.points:..
d780	69 66 20 4e 70 20 3e 20 34 2c 0a 20 20 20 0a 20 20 20 25 20 46 69 6e 61 6c 20 72 65 66 69 6e 65	if.Np.>.4,........%.Final.refine
d7a0	6d 65 6e 74 3a 0a 20 20 20 0a 20 20 20 68 68 76 20 3d 20 72 65 73 68 61 70 65 28 48 27 2c 39 2c	ment:........hhv.=.reshape(H',9,
d7c0	31 29 3b 0a 20 20 20 68 68 76 20 3d 20 68 68 76 28 31 3a 38 29 3b 0a 20 20 20 0a 20 20 20 66 6f	1);....hhv.=.hhv(1:8);........fo
d7e0	72 20 69 74 65 72 3d 31 3a 31 30 2c 0a 20 20 20 0a 09 09 6d 72 65 70 20 3d 20 48 20 2a 20 4d 3b	r.iter=1:10,.......mrep.=.H.*.M;
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d820	28 4d 20 2e 2f 20 28 6f 6e 65 73 28 33 2c 31 29 2a 6d 72 65 70 28 33 2c 3a 29 29 29 3b 0a 0a 09	(M../.(ones(3,1)*mrep(3,:)));...
d840	09 4a 28 31 3a 32 3a 32 2a 4e 70 2c 31 3a 33 29 20 3d 20 2d 4d 4d 4d 27 3b 0a 09 09 4a 28 32 3a	.J(1:2:2*Np,1:3).=.-MMM';...J(2:
d860	32 3a 32 2a 4e 70 2c 34 3a 36 29 20 3d 20 2d 4d 4d 4d 27 3b 0a 09 09 0a 09 09 6d 72 65 70 20 3d	2:2*Np,4:6).=.-MMM';......mrep.=
d880	20 6d 72 65 70 20 2e 2f 20 28 6f 6e 65 73 28 33 2c 31 29 2a 6d 72 65 70 28 33 2c 3a 29 29 3b 0a	.mrep../.(ones(3,1)*mrep(3,:));.
d8a0	0a 09 09 6d 5f 65 72 72 20 3d 20 6d 28 31 3a 32 2c 3a 29 20 2d 20 6d 72 65 70 28 31 3a 32 2c 3a	...m_err.=.m(1:2,:).-.mrep(1:2,:
d8c0	29 3b 0a 09 09 6d 5f 65 72 72 20 3d 20 6d 5f 65 72 72 28 3a 29 3b 0a 0a 09 09 4d 4d 4d 32 20 3d	);...m_err.=.m_err(:);....MMM2.=
d8e0	20 28 6f 6e 65 73 28 33 2c 31 29 2a 6d 72 65 70 28 31 2c 3a 29 29 20 2e 2a 20 4d 4d 4d 3b 0a 09	.(ones(3,1)mrep(1,:))...MMM;..
d900	09 4d 4d 4d 33 20 3d 20 28 6f 6e 65 73 28 33 2c 31 29 2a 6d 72 65 70 28 32 2c 3a 29 29 20 2e 2a	.MMM3.=.(ones(3,1)mrep(2,:))..
d920	20 4d 4d 4d 3b 0a 0a 09 09 4a 28 31 3a 32 3a 32 2a 4e 70 2c 37 3a 38 29 20 3d 20 4d 4d 4d 32 28	.MMM;....J(1:2:2*Np,7:8).=.MMM2(
d940	31 3a 32 2c 3a 29 27 3b 0a 09 09 4a 28 32 3a 32 3a 32 2a 4e 70 2c 37 3a 38 29 20 3d 20 4d 4d 4d	1:2,:)';...J(2:2:2*Np,7:8).=.MMM
d960	33 28 31 3a 32 2c 3a 29 27 3b 0a 0a 09 09 4d 4d 4d 20 3d 20 28 4d 20 2e 2f 20 28 6f 6e 65 73 28	3(1:2,:)';....MMM.=.(M../.(ones(
d980	33 2c 31 29 2a 6d 72 65 70 28 33 2c 3a 29 29 29 27 3b 0a 0a 09 09 68 68 5f 69 6e 6e 6f 76 20 20	3,1)*mrep(3,:)))';....hh_innov..
d9a0	3d 20 69 6e 76 28 4a 27 2a 4a 29 2a 4a 27 2a 6d 5f 65 72 72 3b 0a 0a 09 09 68 68 76 5f 75 70 20	=.inv(J'J)J'*m_err;....hhv_up.
d9c0	3d 20 68 68 76 20 2d 20 68 68 5f 69 6e 6e 6f 76 3b 0a 0a 09 09 48 5f 75 70 20 3d 20 72 65 73 68	=.hhv.-.hh_innov;....H_up.=.resh
d9e0	61 70 65 28 5b 68 68 76 5f 75 70 3b 31 5d 2c 33 2c 33 29 27 3b 0a 0a 09 09 25 6e 6f 72 6d 28 6d	ape([hhv_up;1],3,3)';....%norm(m
da00	5f 65 72 72 29 0a 09 09 25 6e 6f 72 6d 28 68 68 5f 69 6e 6e 6f 76 29 0a 0a 09 09 68 68 76 20 3d	_err)...%norm(hh_innov)....hhv.=
da20	20 68 68 76 5f 75 70 3b 0a 20 20 20 20 20 20 48 20 3d 20 48 5f 75 70 3b 0a 20 20 20 20 20 20 0a	.hhv_up;.......H.=.H_up;........
da40	20 20 20 65 6e 64 3b 0a 20 20 20 0a 65 6e 64 3b 0a 0a 0a 0a 0a 0a 72 65 74 75 72 6e 3b 0a 0a 25	...end;.....end;......return;..%
da60	74 65 73 74 20 6f 66 20 4a 61 63 6f 62 69 61 6e 0a 0a 6d 72 65 70 20 3d 20 48 2a 4d 3b 0a 6d 72	test.of.Jacobian..mrep.=.H*M;.mr
da80	65 70 20 3d 20 6d 72 65 70 20 2e 2f 20 28 6f 6e 65 73 28 33 2c 31 29 2a 6d 72 65 70 28 33 2c 3a	ep.=.mrep../.(ones(3,1)*mrep(3,:
daa0	29 29 3b 0a 0a 6d 5f 65 72 72 20 3d 20 6d 72 65 70 28 31 3a 32 2c 3a 29 20 2d 20 6d 28 31 3a 32	));..m_err.=.mrep(1:2,:).-.m(1:2
dac0	2c 3a 29 3b 0a 66 69 67 75 72 65 28 38 29 3b 0a 70 6c 6f 74 28 6d 5f 65 72 72 28 31 2c 3a 29 2c	,:);.figure(8);.plot(m_err(1,:),
dae0	6d 5f 65 72 72 28 32 2c 3a 29 2c 27 72 2b 27 29 3b 0a 73 74 64 28 6d 5f 65 72 72 27 29 0a 65 20	m_err(2,:),'r+');.std(m_err').e.
db00	34 20 63 6f 72 6e 65 72 73 0a 20 20 20 69 6e 64 5f 6f 72 69 67 20 3d 20 28 6e 5f 73 71 5f 78 2b	4.corners....ind_orig.=.(n_sq_x+
db20	31 29 2a 6e 5f 73 71 5f 79 20 2b 20 31 3b 0a 20 20 20 78 6f 72 69 67 20 3d 20 67 72 69 64 5f 70	1)*n_sq_y.+.1;....xorig.=.grid_p
db40	74 73 28 31 2c 69 6e 64 5f 6f 72 69 67 29 3b 0a 20 20 20 79 6f 72 69 67 20 3d 20 67 72 69 64 5f	ts(1,ind_orig);....yorig.=.grid_
db60	70 74 73 28 32 2c 69 6e 64 5f 6f 72 69 67 29 3b 0a 20 20 20 64 78 70 6f 73 20 3d 20 6d 65 61 6e	pts(2,ind_orig);....dxpos.=.mean
db80	28 5b 67 72 69 64 5f 70 74 73 28 3a 2c 69 6e 64 5f 6f 72 69 67 29 20 67 72 69 64 5f 70 74 73 28	([grid_pts(:,ind_orig).grid_pts(
dba0	3a 2c 69 6e 64 5f 6f 72 69 67 2b 31 29 5d 27 29 3b 0a 20 20 20 64 79 70 6f 73 20 3d 20 6d 65 61	:,ind_orig+1)]');....dypos.=.mea
dbc0	6e 28 5b 67 72 69 64 5f 70 74 73 28 3a 2c 69 6e 64 5f 6f 72 69 67 29 20 67 72 69 64 5f 70 74 73	n([grid_pts(:,ind_orig).grid_pts
dbe0	28 3a 2c 69 6e 64 5f 6f 72 69 67 2d 6e 5f 73 71 5f 78 2d 31 29 5d 27 29 3b 0a 20 20 20 0a 20 20	(:,ind_orig-n_sq_x-1)]');.......
dc00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 6f 6d 70 5f 64 69 73 74 6f 72 74 69 6f 6e 2e 6d 00	TOOLBOX_calib/comp_distortion.m.
dc20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
dc40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
dc60	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
dc80	20 20 20 32 31 37 33 20 20 37 30 32 34 30 33 37 33 31 32 20 20 31 32 30 31 31 00 20 00 00 00 00	...2173..7024037312..12011......
dca0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
dcc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
dce0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
dd00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
dd20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
dd40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
dd60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
dd80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
dda0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
ddc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
dde0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
de00	66 75 6e 63 74 69 6f 6e 20 5b 78 5f 63 6f 6d 70 5d 20 20 3d 20 63 6f 6d 70 5f 64 69 73 74 6f 72	function.[x_comp]..=.comp_distor
de20	74 69 6f 6e 28 78 5f 64 69 73 74 2c 6b 32 29 3b 0a 0a 25 20 20 20 20 20 20 20 5b 78 5f 63 6f 6d	tion(x_dist,k2);..%.......[x_com
de40	70 5d 20 3d 20 63 6f 6d 70 5f 64 69 73 74 6f 72 74 69 6f 6e 28 78 5f 64 69 73 74 2c 6b 32 29 3b	p].=.comp_distortion(x_dist,k2);
de60	0a 25 20 20 20 20 20 20 20 0a 25 20 20 20 20 20 20 20 63 6f 6d 70 65 6e 73 61 74 65 73 20 74 68	.%........%.......compensates.th
de80	65 20 72 61 64 69 61 6c 20 64 69 73 74 6f 72 74 69 6f 6e 20 6f 66 20 74 68 65 20 63 61 6d 65 72	e.radial.distortion.of.the.camer
dea0	61 0a 25 20 20 20 20 20 20 20 6f 6e 20 74 68 65 20 69 6d 61 67 65 20 70 6c 61 6e 65 2e 0a 25 20	a.%.......on.the.image.plane..%.
dec0	20 20 20 20 20 20 0a 25 20 20 20 20 20 20 20 78 5f 64 69 73 74 20 3a 20 74 68 65 20 69 6d 61 67	.......%.......x_dist.:.the.imag
dee0	65 20 70 6f 69 6e 74 73 20 67 6f 74 20 77 69 74 68 6f 75 74 20 63 6f 6e 73 69 64 65 72 69 6e 67	e.points.got.without.considering
df00	20 74 68 65 0a 25 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 72 61 64 69 61 6c 20 64 69 73	.the.%................radial.dis
df20	74 6f 72 74 69 6f 6e 2e 0a 25 20 20 20 20 20 20 20 78 20 3a 20 54 68 65 20 69 6d 61 67 65 20 70	tortion..%.......x.:.The.image.p
df40	6c 61 6e 65 20 70 6f 69 6e 74 73 20 61 66 74 65 72 20 63 6f 72 72 65 63 74 69 6f 6e 20 66 6f 72	lane.points.after.correction.for
df60	20 74 68 65 20 64 69 73 74 6f 72 74 69 6f 6e 0a 25 20 20 20 20 20 20 20 0a 25 20 20 20 20 20 20	.the.distortion.%........%......
df80	20 78 20 61 6e 64 20 78 5f 64 69 73 74 20 61 72 65 20 32 78 4e 20 61 72 72 61 79 73 0a 25 0a 25	.x.and.x_dist.are.2xN.arrays.%.%
dfa0	20 20 20 20 20 20 20 4e 4f 54 45 20 3a 20 54 68 69 73 20 63 6f 6d 70 65 6e 73 61 74 69 6f 6e 20	.......NOTE.:.This.compensation.
dfc0	68 61 73 20 74 6f 20 62 65 20 64 6f 6e 65 20 61 66 74 65 72 20 74 68 65 20 73 75 62 73 74 72 61	has.to.be.done.after.the.substra
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e040	68 2e 0a 25 20 20 20 20 20 20 20 0a 25 20 20 20 20 20 20 20 28 64 6f 20 69 74 20 75 70 20 74 6f	h..%........%.......(do.it.up.to
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e080	5b 74 77 6f 2c 4e 5d 20 3d 20 73 69 7a 65 28 78 5f 64 69 73 74 29 3b 0a 0a 69 66 20 28 74 77 6f	[two,N].=.size(x_dist);..if.(two
e0a0	20 7e 3d 20 32 20 29 2c 20 0a 20 65 72 72 6f 72 28 27 45 52 52 4f 52 20 3a 20 54 68 65 20 64 69	.~=.2.),...error('ERROR.:.The.di
e0c0	6d 65 6e 73 69 6f 6e 20 6f 66 20 74 68 65 20 70 6f 69 6e 74 73 20 73 68 6f 75 6c 64 20 62 65 20	mension.of.the.points.should.be.
e0e0	32 78 4e 27 29 3b 0a 65 6e 64 3b 0a 0a 69 66 20 6c 65 6e 67 74 68 28 6b 32 29 20 3e 20 32 2c 0a	2xN');.end;..if.length(k2).>.2,.
e100	20 20 20 5b 78 5f 63 6f 6d 70 5d 20 20 3d 20 63 6f 6d 70 5f 64 69 73 74 6f 72 74 69 6f 6e 5f 6f	...[x_comp]..=.comp_distortion_o
e120	75 6c 75 28 78 5f 64 69 73 74 2c 6b 32 29 3b 0a 65 6c 73 65 0a 20 20 20 0a 72 61 64 69 75 73 5f	ulu(x_dist,k2);.else.....radius_
e140	32 3d 20 78 5f 64 69 73 74 28 31 2c 3a 29 2e 5e 32 20 2b 20 78 5f 64 69 73 74 28 32 2c 3a 29 2e	2=.x_dist(1,:).^2.+.x_dist(2,:).
e160	5e 32 3b 0a 72 61 64 69 61 6c 5f 64 69 73 74 6f 72 74 69 6f 6e 20 3d 20 31 20 2b 20 6f 6e 65 73	^2;.radial_distortion.=.1.+.ones
e180	28 32 2c 31 29 2a 28 6b 32 20 2a 20 72 61 64 69 75 73 5f 32 29 3b 0a 72 61 64 69 75 73 5f 32 5f	(2,1)(k2..radius_2);.radius_2_
e1a0	63 6f 6d 70 20 3d 20 28 78 5f 64 69 73 74 28 31 2c 3a 29 2e 5e 32 20 2b 20 78 5f 64 69 73 74 28	comp.=.(x_dist(1,:).^2.+.x_dist(
e1c0	32 2c 3a 29 2e 5e 32 29 20 2e 2f 20 72 61 64 69 61 6c 5f 64 69 73 74 6f 72 74 69 6f 6e 28 31 2c	2,:).^2)../.radial_distortion(1,
e1e0	3a 29 3b 0a 72 61 64 69 61 6c 5f 64 69 73 74 6f 72 74 69 6f 6e 20 3d 20 31 20 2b 20 6f 6e 65 73	:);.radial_distortion.=.1.+.ones
e200	28 32 2c 31 29 2a 28 6b 32 20 2a 20 72 61 64 69 75 73 5f 32 5f 63 6f 6d 70 29 3b 0a 78 5f 63 6f	(2,1)(k2..radius_2_comp);.x_co
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e240	3b 0a 0a 65 6e 64 3b 0a 0a 25 25 20 46 75 6e 63 74 69 6f 6e 20 63 6f 6d 70 6c 65 74 65 6c 79 20	;..end;..%%.Function.completely.
e260	63 68 65 63 6b 65 64 20 3a 20 49 74 20 77 6f 72 6b 73 20 66 69 6e 65 20 21 21 21 12 69 6e 69 74	checked.:.It.works.fine.!!!.init
e280	5f 63 61 6c 69 62 5f 70 61 72 61 6d 2e 6d 00 6d 00 00 03 c8 00 02 35 d3 00 1c 00 0f 6c 6f 61 64	_calib_param.m.m......5.....load
e2a0	69 6e 67 5f 63 61 6c 69 62 2e 6d 00 00 00 03 e4 00 02 35 d4 00 20 00 12 4d 75 6c 74 69 5f 43 61	ing_calib.m.......5.....Multi_Ca
e2c0	6c 69 62 5f 6f 75 6c 75 2e 6d 00 69 00 00 04 00 00 02 35 d5 00 20 00 12 6d 75 6c 74 69 5f 65 72	lib_oulu.m.i......5.....multi_er
e2e0	72 6f 72 5f 6f 75 6c 75 2e 6d 00 75 00 00 04 14 00 02 35 d6 00 18 00 09 70 67 6d 72 65 61 64 2e	ror_oulu.m.u......5.....pgmread.
e300	6d 00 65 72 00 00 04 2c 00 02 35 d7 00 1c 00 0f 70 72 6f 6a 65 63 74 32 5f 6f 75 6c 75 2e 6d 00	m.er...,..5.....project2_oulu.m.
e320	00 00 04 44 00 02 35 d8 00 1c 00 0f 70 72 6f 6a 65 63 74 65 64 47 72 69 64 2e 6d 00 00 00 04 60	...D..5.....projectedGrid.m....`
e340	00 02 35 d9 00 20 00 10 70 72 6f 6a 65 63 74 5f 70 6f 69 6e 74 73 2e 6d 00 47 72 69 00 00 04 74	..5.....project_points.m.Gri...t
e360	00 02 35 da 00 18 00 09 72 65 61 64 72 61 73 2e 6d 00 74 5f 00 00 04 94 00 02 35 db 00 24 00 15	..5.....readras.m.t_......5..$..
e380	72 65 63 6f 6d 70 5f 63 6f 72 6e 65 72 5f 63 61 6c 69 62 2e 6d 00 69 6e 00 00 04 a4 00 02 35 dc	recomp_corner_calib.m.in......5.
e3a0	00 14 00 06 72 65 63 74 2e 6d 00 63 00 00 04 c0 00 02 35 dd 00 20 00 12 52 65 63 74 61 6e 67 6c	....rect.m.c......5.....Rectangl
e3c0	65 32 53 71 75 61 72 65 2e 6d 00 74 00 00 04 dc 00 02 35 de 00 20 00 11 72 65 70 72 6f 6a 65 63	e2Square.m.t......5.....reprojec
e3e0	74 5f 63 61 6c 69 62 2e 6d 00 72 65 00 00 04 f0 00 02 35 df 00 18 00 0b 72 6f 64 72 69 67 75 65	t_calib.m.re......5.....rodrigue
e400	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 6f 6d 70 5f 64 69 73 74 6f 72 74 69 6f 6e 32 2e 6d	TOOLBOX_calib/comp_distortion2.m
e420	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
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e460	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
e480	20 20 20 32 37 31 34 20 20 37 30 32 34 30 33 37 33 31 33 20 20 31 32 30 37 35 00 20 00 00 00 00	...2714..7024037313..12075......
e4a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
e4c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
e4e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
e500	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
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e540	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
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e580	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
e5a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
e5c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
e5e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
e600	66 75 6e 63 74 69 6f 6e 20 5b 78 5f 63 6f 6d 70 5d 20 20 3d 20 63 6f 6d 70 5f 64 69 73 74 6f 72	function.[x_comp]..=.comp_distor
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e640	70 5d 20 3d 20 63 6f 6d 70 5f 64 69 73 74 6f 72 74 69 6f 6e 28 78 5f 64 69 73 74 2c 6b 32 29 3b	p].=.comp_distortion(x_dist,k2);
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e680	65 20 72 61 64 69 61 6c 20 64 69 73 74 6f 72 74 69 6f 6e 20 6f 66 20 74 68 65 20 63 61 6d 65 72	e.radial.distortion.of.the.camer
e6a0	61 0a 25 20 20 20 20 20 20 20 6f 6e 20 74 68 65 20 69 6d 61 67 65 20 70 6c 61 6e 65 2e 0a 25 20	a.%.......on.the.image.plane..%.
e6c0	20 20 20 20 20 20 0a 25 20 20 20 20 20 20 20 78 5f 64 69 73 74 20 3a 20 74 68 65 20 69 6d 61 67	.......%.......x_dist.:.the.imag
e6e0	65 20 70 6f 69 6e 74 73 20 67 6f 74 20 77 69 74 68 6f 75 74 20 63 6f 6e 73 69 64 65 72 69 6e 67	e.points.got.without.considering
e700	20 74 68 65 0a 25 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 72 61 64 69 61 6c 20 64 69 73	.the.%................radial.dis
e720	74 6f 72 74 69 6f 6e 2e 0a 25 20 20 20 20 20 20 20 6b 32 3a 20 52 61 64 69 61 6c 20 64 69 73 74	tortion..%.......k2:.Radial.dist
e740	6f 72 74 69 6f 6e 20 66 61 63 74 6f 72 0a 25 0a 25 20 20 20 20 20 20 20 78 20 3a 20 54 68 65 20	ortion.factor.%.%.......x.:.The.
e760	69 6d 61 67 65 20 70 6c 61 6e 65 20 70 6f 69 6e 74 73 20 61 66 74 65 72 20 63 6f 72 72 65 63 74	image.plane.points.after.correct
e780	69 6f 6e 20 66 6f 72 20 74 68 65 20 64 69 73 74 6f 72 74 69 6f 6e 0a 25 20 20 20 20 20 20 20 0a	ion.for.the.distortion.%........
e7a0	25 20 20 20 20 20 20 20 78 20 61 6e 64 20 78 5f 64 69 73 74 20 61 72 65 20 32 78 4e 20 61 72 72	%.......x.and.x_dist.are.2xN.arr
e7c0	61 79 73 0a 25 0a 25 20 20 20 20 20 20 20 4e 4f 54 45 20 3a 20 54 68 69 73 20 63 6f 6d 70 65 6e	ays.%.%.......NOTE.:.This.compen
e7e0	73 61 74 69 6f 6e 20 68 61 73 20 74 6f 20 62 65 20 64 6f 6e 65 20 61 66 74 65 72 20 74 68 65 20	sation.has.to.be.done.after.the.
e800	73 75 62 73 74 72 61 63 74 69 6f 6e 0a 25 20 20 20 20 20 20 20 20 20 20 20 20 20 20 6f 66 20 74	substraction.%..............of.t
e820	68 65 20 63 65 6e 74 65 72 20 6f 66 20 70 72 6f 6a 65 63 74 69 6f 6e 2c 20 61 6e 64 20 64 69 76	he.center.of.projection,.and.div
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e860	20 20 6c 65 6e 67 74 68 2e 0a 25 20 20 20 20 20 20 20 0a 25 20 20 53 6f 6c 76 65 20 66 6f 72 20	..length..%........%..Solve.for.
e880	63 75 62 69 63 20 72 6f 6f 74 73 20 75 73 69 6e 67 20 6d 65 74 68 6f 64 20 66 72 6f 6d 20 4e 75	cubic.roots.using.method.from.Nu
e8a0	6d 65 72 69 63 61 6c 20 52 65 63 69 70 65 73 20 69 6e 20 43 20 32 6e 64 20 45 64 2e 0a 25 20 20	merical.Recipes.in.C.2nd.Ed..%..
e8c0	70 61 67 65 73 20 31 38 34 2d 31 38 35 2e 0a 0a 0a 25 20 43 61 6c 69 66 6f 72 6e 69 61 20 49 6e	pages.184-185....%.California.In
e8e0	73 74 69 74 75 74 65 20 6f 66 20 54 65 63 68 6e 6f 6c 6f 67 79 0a 25 20 28 63 29 20 4a 65 61 6e	stitute.of.Technology.%.(c).Jean
e900	2d 59 76 65 73 20 42 6f 75 67 75 65 74 20 2d 20 41 70 72 69 6c 20 32 37 74 68 2c 20 31 39 39 38	-Yves.Bouguet.-.April.27th,.1998
e920	0a 0a 25 20 66 75 6c 6c 79 20 63 68 65 63 6b 65 64 21 20 4a 59 42 2c 20 61 70 72 69 6c 20 32 37	..%.fully.checked!.JYB,.april.27
e940	74 68 2c 20 31 39 39 38 20 2d 20 32 61 6d 0a 0a 69 66 20 6b 32 20 7e 3d 20 30 2c 0a 0a 5b 74 77	th,.1998.-.2am..if.k2.~=.0,..[tw
e960	6f 2c 4e 5d 20 3d 20 73 69 7a 65 28 78 5f 64 69 73 74 29 3b 0a 0a 69 66 20 28 74 77 6f 20 7e 3d	o,N].=.size(x_dist);..if.(two.~=
e980	20 32 20 29 2c 20 0a 20 65 72 72 6f 72 28 27 45 52 52 4f 52 20 3a 20 54 68 65 20 64 69 6d 65 6e	.2.),...error('ERROR.:.The.dimen
e9a0	73 69 6f 6e 20 6f 66 20 74 68 65 20 70 6f 69 6e 74 73 20 73 68 6f 75 6c 64 20 62 65 20 32 78 4e	sion.of.the.points.should.be.2xN
e9c0	27 29 3b 0a 65 6e 64 3b 0a 0a 0a 70 68 20 3d 20 61 74 61 6e 32 28 78 5f 64 69 73 74 28 32 2c 3a	');.end;...ph.=.atan2(x_dist(2,:
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ea00	52 20 3d 20 2d 78 5f 64 69 73 74 28 31 2c 3a 29 2e 2f 28 32 2a 6b 32 2a 63 6f 73 28 70 68 29 29	R.=.-x_dist(1,:)./(2k2cos(ph))
ea20	3b 0a 0a 52 32 20 3d 20 52 2e 5e 32 3b 0a 51 33 20 3d 20 51 5e 33 3b 0a 0a 0a 69 66 20 6b 32 20	;..R2.=.R.^2;.Q3.=.Q^3;...if.k2.
ea40	3c 20 30 2c 0a 20 20 20 0a 20 20 20 25 20 74 68 69 73 20 77 6f 72 6b 73 20 69 6e 20 61 6c 6c 20	<.0,........%.this.works.in.all.
ea60	70 72 61 63 74 69 63 61 6c 20 73 69 74 75 61 74 69 6f 6e 73 20 28 69 74 20 73 74 61 72 74 73 20	practical.situations.(it.starts.
ea80	66 61 69 6c 69 6e 67 20 66 6f 72 20 76 65 72 79 20 6c 61 72 67 65 0a 20 20 20 25 20 76 61 6c 75	failing.for.very.large....%.valu
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eac0	2f 73 71 72 74 28 51 33 29 29 3b 0a 20 20 20 72 20 3d 20 2d 32 2a 73 71 72 74 28 51 29 2a 63 6f	/sqrt(Q3));....r.=.-2sqrt(Q)co
eae0	73 28 28 74 68 2d 32 2a 70 69 29 2f 33 29 3b 0a 0a 65 6c 73 65 0a 20 20 20 0a 20 20 20 25 20 6e	s((th-2*pi)/3);..else........%.n
eb00	6f 74 65 3a 20 74 68 69 73 20 61 6c 77 61 79 73 20 77 6f 72 6b 73 2c 20 65 76 65 6e 20 66 6f 72	ote:.this.always.works,.even.for
eb20	20 72 69 64 69 63 75 6c 6f 75 73 20 76 61 6c 75 65 73 20 6f 66 20 6b 32 0a 20 20 20 0a 20 20 20	.ridiculous.values.of.k2........
eb40	41 20 3d 20 28 73 71 72 74 28 52 32 2d 51 33 29 2d 52 29 2e 5e 28 31 2f 33 29 3b 20 0a 20 20 20	A.=.(sqrt(R2-Q3)-R).^(1/3);.....
eb60	42 20 3d 20 51 2a 28 31 2e 2f 41 29 3b 0a 20 20 20 72 20 3d 20 28 41 2b 42 29 3b 0a 20 20 0a 65	B.=.Q*(1./A);....r.=.(A+B);....e
eb80	6e 64 3b 0a 0a 78 5f 63 6f 6d 70 20 3d 20 5b 72 2e 2a 63 6f 73 28 70 68 29 3b 20 72 2e 2a 73 69	nd;..x_comp.=.[r.cos(ph);.r.si
eba0	6e 28 70 68 29 5d 3b 0a 0a 65 6c 73 65 0a 20 20 20 0a 20 20 20 78 5f 63 6f 6d 70 20 3d 20 78 5f	n(ph)];..else........x_comp.=.x_
ebc0	64 69 73 74 3b 0a 0a 65 6e 64 3b 0a 6c 6f 61 64 70 70 6d 2e 6d 00 61 64 00 00 06 b4 00 02 36 ae	dist;..end;.loadppm.m.ad......6.
ebe0	00 18 00 09 73 61 76 65 69 6e 72 2e 6d 00 61 64 00 00 06 c8 00 02 36 af 00 18 00 09 73 61 76 65	....saveinr.m.ad......6.....save
ec00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 6f 6d 70 5f 64 69 73 74 6f 72 74 69 6f 6e 5f 6f 75	TOOLBOX_calib/comp_distortion_ou
ec20	6c 75 2e 6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	lu.m............................
ec40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
ec60	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
ec80	20 20 20 32 32 32 33 20 20 37 30 32 34 30 33 37 33 31 34 20 20 31 33 30 35 33 00 20 00 00 00 00	...2223..7024037314..13053......
eca0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
ecc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
ece0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
ed00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
ed20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
ed40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
ed60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
ed80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
eda0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
edc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
ede0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
ee00	66 75 6e 63 74 69 6f 6e 20 5b 78 5d 20 3d 20 63 6f 6d 70 5f 64 69 73 74 6f 72 74 69 6f 6e 5f 6f	function.[x].=.comp_distortion_o
ee20	75 6c 75 28 78 64 2c 6b 29 3b 0a 0a 25 63 6f 6d 70 5f 64 69 73 74 6f 72 74 69 6f 6e 5f 6f 75 6c	ulu(xd,k);..%comp_distortion_oul
ee40	75 2e 6d 0a 25 0a 25 5b 78 5d 20 3d 20 63 6f 6d 70 5f 64 69 73 74 6f 72 74 69 6f 6e 5f 6f 75 6c	u.m.%.%[x].=.comp_distortion_oul
ee60	75 28 78 64 2c 6b 29 0a 25 0a 25 43 6f 6d 70 65 6e 73 61 74 65 73 20 66 6f 72 20 72 61 64 69 61	u(xd,k).%.%Compensates.for.radia
ee80	6c 20 61 6e 64 20 74 61 6e 67 65 6e 74 69 61 6c 20 64 69 73 74 6f 72 74 69 6f 6e 2e 20 4d 6f 64	l.and.tangential.distortion..Mod
eea0	65 6c 20 46 72 6f 6d 20 4f 75 6c 75 20 75 6e 69 76 65 72 73 69 74 79 2e 0a 25 46 6f 72 20 6d 6f	el.From.Oulu.university..%For.mo
eec0	72 65 20 69 6e 66 6f 72 6d 61 74 69 6e 6f 20 61 62 6f 75 74 20 74 68 65 20 64 69 73 74 6f 72 74	re.informatino.about.the.distort
eee0	69 6f 6e 20 6d 6f 64 65 6c 2c 20 63 68 65 63 6b 20 74 68 65 20 66 6f 72 77 61 72 64 20 70 72 6f	ion.model,.check.the.forward.pro
ef00	6a 65 63 74 69 6f 6e 20 6d 61 70 70 69 6e 67 20 66 75 6e 63 74 69 6f 6e 3a 0a 25 70 72 6f 6a 65	jection.mapping.function:.%proje
ef20	63 74 5f 70 6f 69 6e 74 73 2e 6d 0a 25 0a 25 49 4e 50 55 54 3a 20 78 64 3a 20 64 69 73 74 6f 72	ct_points.m.%.%INPUT:.xd:.distor
ef40	74 65 64 20 28 6e 6f 72 6d 61 6c 69 7a 65 64 29 20 70 6f 69 6e 74 20 63 6f 6f 72 64 69 6e 61 74	ted.(normalized).point.coordinat
ef60	65 73 20 69 6e 20 74 68 65 20 69 6d 61 67 65 20 70 6c 61 6e 65 20 28 32 78 4e 20 6d 61 74 72 69	es.in.the.image.plane.(2xN.matri
ef80	78 29 0a 25 20 20 20 20 20 20 20 6b 3a 20 44 69 73 74 6f 72 74 69 6f 6e 20 63 6f 65 66 66 69 63	x).%.......k:.Distortion.coeffic
efa0	69 65 6e 74 73 20 28 72 61 64 69 61 6c 20 61 6e 64 20 74 61 6e 67 65 6e 74 69 61 6c 29 20 28 34	ients.(radial.and.tangential).(4
efc0	78 31 20 76 65 63 74 6f 72 29 0a 25 0a 25 4f 55 54 50 55 54 3a 20 78 3a 20 75 6e 64 69 73 74 6f	x1.vector).%.%OUTPUT:.x:.undisto
efe0	72 74 65 64 20 28 6e 6f 72 6d 61 6c 69 7a 65 64 29 20 70 6f 69 6e 74 20 63 6f 6f 72 64 69 6e 61	rted.(normalized).point.coordina
f000	74 65 73 20 69 6e 20 74 68 65 20 69 6d 61 67 65 20 70 6c 61 6e 65 20 28 32 78 4e 20 6d 61 74 72	tes.in.the.image.plane.(2xN.matr
f020	69 78 29 0a 25 0a 25 4d 65 74 68 6f 64 3a 20 49 74 65 72 61 74 69 76 65 20 6d 65 74 68 6f 64 20	ix).%.%Method:.Iterative.method.
f040	66 6f 72 20 63 6f 6d 70 65 6e 73 61 74 69 6f 6e 2e 0a 25 0a 25 4e 4f 54 45 3a 20 54 68 69 73 20	for.compensation..%.%NOTE:.This.
f060	63 6f 6d 70 65 6e 73 61 74 69 6f 6e 20 68 61 73 20 74 6f 20 62 65 20 64 6f 6e 65 20 61 66 74 65	compensation.has.to.be.done.afte
f080	72 20 74 68 65 20 73 75 62 74 72 61 63 74 69 6f 6e 0a 25 20 20 20 20 20 20 6f 66 20 74 68 65 20	r.the.subtraction.%......of.the.
f0a0	70 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 2c 20 61 6e 64 20 64 69 76 69 73 69 6f 6e 20 62 79	principal.point,.and.division.by
f0c0	20 74 68 65 20 66 6f 63 61 6c 20 6c 65 6e 67 74 68 2e 0a 0a 0a 69 66 20 6c 65 6e 67 74 68 28 6b	.the.focal.length....if.length(k
f0e0	29 20 3c 20 34 2c 0a 20 20 20 0a 20 20 20 5b 78 5d 20 3d 20 63 6f 6d 70 5f 64 69 73 74 6f 72 74	).<.4,........[x].=.comp_distort
f100	69 6f 6e 28 78 64 2c 6b 29 3b 0a 20 20 20 0a 65 6c 73 65 0a 20 20 20 0a 20 20 20 0a 20 20 20 6b	ion(xd,k);.....else............k
f120	31 20 3d 20 6b 28 31 29 3b 0a 20 20 20 6b 32 20 3d 20 6b 28 32 29 3b 0a 20 20 20 70 31 20 3d 20	1.=.k(1);....k2.=.k(2);....p1.=.
f140	6b 28 33 29 3b 0a 20 20 20 70 32 20 3d 20 6b 28 34 29 3b 0a 20 20 20 0a 20 20 20 78 20 3d 20 78	k(3);....p2.=.k(4);........x.=.x
f160	64 3b 20 09 09 09 09 25 20 69 6e 69 74 69 61 6c 20 67 75 65 73 73 0a 20 20 20 0a 20 20 20 66 6f	d;.....%.initial.guess........fo
f180	72 20 6b 6b 3d 31 3a 35 3b 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 72 5f 32 20 3d 20 73 75 6d	r.kk=1:5;..............r_2.=.sum
f1a0	28 78 2e 5e 32 29 3b 0a 20 20 20 20 20 20 6b 5f 72 61 64 69 61 6c 20 3d 20 20 31 20 2b 20 6b 31	(x.^2);.......k_radial.=..1.+.k1
f1c0	20 2a 20 72 5f 32 20 2b 20 6b 32 20 2a 20 72 5f 32 2e 5e 32 3b 0a 20 20 20 20 20 20 64 65 6c 74	..r_2.+.k2..r_2.^2;.......delt
f1e0	61 5f 78 20 3d 20 5b 32 2a 70 31 2a 78 28 31 2c 3a 29 2e 2a 78 28 32 2c 3a 29 20 2b 20 70 32 2a	a_x.=.[2p1x(1,:).x(2,:).+.p2
f200	28 72 5f 32 20 2b 20 32 2a 78 28 31 2c 3a 29 2e 5e 32 29 20 3b 0a 09 20 20 20 20 70 31 20 2a 20	(r_2.+.2x(1,:).^2).;......p1..
f220	28 72 5f 32 20 2b 20 32 2a 78 28 32 2c 3a 29 2e 5e 32 29 2b 32 2a 70 32 2a 78 28 31 2c 3a 29 2e	(r_2.+.2x(2,:).^2)+2p2*x(1,:).
f240	2a 78 28 32 2c 3a 29 5d 3b 0a 20 20 20 20 20 20 78 20 3d 20 28 78 64 20 2d 20 64 65 6c 74 61 5f	*x(2,:)];.......x.=.(xd.-.delta_
f260	78 29 2e 2f 28 6f 6e 65 73 28 32 2c 31 29 2a 6b 5f 72 61 64 69 61 6c 29 3b 0a 20 20 20 20 20 20	x)./(ones(2,1)*k_radial);.......
f280	0a 20 20 20 65 6e 64 3b 0a 20 20 20 0a 65 6e 64 3b 0a 0a c8 00 02 36 a4 00 28 00 1a 73 65 6c 65	....end;.....end;.....6..(..sele
f2a0	63 74 5f 73 6f 6c 5f 77 69 74 68 5f 63 65 6e 74 65 72 33 44 2e 6d 00 a4 00 00 05 dc 00 02 36 a5	ct_sol_with_center3D.m........6.
f2c0	00 18 00 09 73 74 61 72 74 75 70 2e 6d 00 6e 74 00 00 05 f0 00 02 36 a6 00 18 00 09 74 65 73 74	....startup.m.nt......6.....test
f2e0	5f 33 64 2e 6d 00 61 72 00 00 06 00 00 02 33 c0 00 14 00 06 69 73 33 44 2e 6d 00 09 00 00 06 1c	_3d.m.ar......3.....is3D.m......
f300	00 02 36 a7 00 20 00 11 75 6e 64 69 73 74 6f 72 74 5f 69 6d 61 67 65 2e 6d 00 00 09 00 00 06 34	..6.....undistort_image.m......4
f320	00 02 36 a8 00 1c 00 0d 55 6e 57 61 72 70 50 6c 61 6e 65 2e 6d 00 65 2e 00 00 06 48 00 02 36 a9	..6.....UnWarpPlane.m.e....H..6.
f340	00 18 00 0a 77 72 69 74 65 72 61 73 2e 6d 00 6c 00 00 06 64 00 02 36 aa 00 20 00 10 65 72 72 6f	....writeras.m.l...d..6.....erro
f360	72 5f 61 6e 61 6c 79 73 69 73 2e 6d 00 6d 00 6c 00 00 06 78 00 02 36 ab 00 18 00 09 6c 6f 61 64	r_analysis.m.m.l...x..6.....load
f380	69 6e 72 2e 6d 00 79 73 00 00 06 8c 00 02 36 ac 00 18 00 09 6c 6f 61 64 70 67 6d 2e 6d 00 61 64	inr.m.ys......6.....loadpgm.m.ad
f3a0	00 00 06 a0 00 02 36 ad 00 18 00 09 6c 6f 61 64 70 70 6d 2e 6d 00 61 64 00 00 06 b4 00 02 36 ae	......6.....loadppm.m.ad......6.
f3c0	00 18 00 09 73 61 76 65 69 6e 72 2e 6d 00 61 64 00 00 06 c8 00 02 36 af 00 18 00 09 73 61 76 65	....saveinr.m.ad......6.....save
f3e0	70 67 6d 2e 6d 00 76 65 00 00 06 dc 00 02 36 b0 00 18 00 09 73 61 76 65 70 70 6d 2e 6d 00 76 65	pgm.m.ve......6.....saveppm.m.ve
f400	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 6f 6d 70 5f 65 72 72 6f 72 5f 63 61 6c 69 62 2e 6d	TOOLBOX_calib/comp_error_calib.m
f420	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f440	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f460	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
f480	20 20 20 31 37 37 36 20 20 37 30 32 34 30 33 37 33 31 34 20 20 31 32 31 31 30 00 20 00 00 00 00	...1776..7024037314..12110......
f4a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f4c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f4e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f500	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f520	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f540	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f560	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f580	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f5a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f5c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f5e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
f600	25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 20 52 45 43 4f 4d 50 55 54 45 53 20	%%%%%%%%%%%%%%%%%%%%.RECOMPUTES.
f620	54 48 45 20 52 45 50 52 4f 4a 45 43 54 49 4f 4e 20 45 52 52 4f 52 20 25 25 25 25 25 25 25 25 25	THE.REPROJECTION.ERROR.%%%%%%%%%
f640	25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 0a 0a 63 68 65 63 6b 5f 61 63 74 69 76 65 5f 69 6d	%%%%%%%%%%%%%%%..check_active_im
f660	61 67 65 73 3b 0a 0a 25 20 52 65 70 72 6f 6a 65 63 74 20 74 68 65 20 70 61 74 74 65 72 6e 73 20	ages;..%.Reproject.the.patterns.
f680	6f 6e 20 74 68 65 20 69 6d 61 67 65 73 2c 20 61 6e 64 20 63 6f 6d 70 75 74 65 20 74 68 65 20 70	on.the.images,.and.compute.the.p
f6a0	69 78 65 6c 20 65 72 72 6f 72 73 3a 0a 0a 65 78 20 3d 20 5b 5d 3b 20 25 20 47 6c 6f 62 61 6c 20	ixel.errors:..ex.=.[];.%.Global.
f6c0	65 72 72 6f 72 20 76 65 63 74 6f 72 0a 78 20 3d 20 5b 5d 3b 20 25 20 44 65 74 65 63 74 65 64 20	error.vector.x.=.[];.%.Detected.
f6e0	63 6f 72 6e 65 72 73 20 6f 6e 20 74 68 65 20 69 6d 61 67 65 20 70 6c 61 6e 65 0a 79 20 3d 20 5b	corners.on.the.image.plane.y.=.[
f700	5d 3b 20 25 20 52 65 70 72 6f 6a 65 63 74 65 64 20 70 6f 69 6e 74 73 0a 0a 66 6f 72 20 6b 6b 20	];.%.Reprojected.points..for.kk.
f720	3d 20 31 3a 6e 5f 69 6d 61 2c 0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 6f 6d 63 6b 6b 20 3d	=.1:n_ima,........eval(['omckk.=
f740	20 6f 6d 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 65 76 61	.omc_'.num2str(kk).';']);....eva
f760	6c 28 5b 27 54 63 6b 6b 20 3d 20 54 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d	l(['Tckk.=.Tc_'.num2str(kk).';']
f780	29 3b 20 20 20 0a 20 20 20 0a 20 20 20 69 66 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 6b 6b	);...........if.active_images(kk
f7a0	29 20 26 20 28 7e 69 73 6e 61 6e 28 6f 6d 63 6b 6b 28 31 2c 31 29 29 29 2c 0a 20 20 20 20 20 20	).&.(~isnan(omckk(1,1))),.......
f7c0	0a 20 20 20 20 20 20 52 6b 6b 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63 6b 6b 29 3b 0a 20	.......Rkk.=.rodrigues(omckk);..
f7e0	20 20 20 20 20 0a 20 20 20 20 20 20 65 76 61 6c 28 5b 27 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b	............eval(['y_'.num2str(k
f800	6b 29 20 27 20 20 3d 20 70 72 6f 6a 65 63 74 32 5f 6f 75 6c 75 28 58 5f 27 20 6e 75 6d 32 73 74	k).'..=.project2_oulu(X_'.num2st
f820	72 28 6b 6b 29 20 27 2c 52 6b 6b 2c 54 63 6b 6b 2c 66 63 2c 63 63 2c 6b 63 29 3b 27 5d 29 3b 0a	r(kk).',Rkk,Tckk,fc,cc,kc);']);.
f840	20 20 20 20 20 20 0a 20 20 20 20 20 20 65 76 61 6c 28 5b 27 65 78 5f 27 20 6e 75 6d 32 73 74 72	.............eval(['ex_'.num2str
f860	28 6b 6b 29 20 27 20 3d 20 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 2d 79 5f 27 20	(kk).'.=.x_'.num2str(kk).'.-y_'.
f880	6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20	num2str(kk).';']);..............
f8a0	65 76 61 6c 28 5b 27 78 5f 6b 6b 20 3d 20 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b	eval(['x_kk.=.x_'.num2str(kk).';
f8c0	27 5d 29 3b 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 65 76 61 6c 28 5b 27 65 78 20 3d 20 5b 65	']);..............eval(['ex.=.[e
f8e0	78 20 65 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 5d 3b 27 5d 29 3b 0a 20 20 20 20 20	x.ex_'.num2str(kk).'];']);......
f900	20 65 76 61 6c 28 5b 27 78 20 3d 20 5b 78 20 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27	.eval(['x.=.[x.x_'.num2str(kk).'
f920	5d 3b 27 5d 29 3b 0a 20 20 20 20 20 20 65 76 61 6c 28 5b 27 79 20 3d 20 5b 79 20 79 5f 27 20 6e	];']);.......eval(['y.=.[y.y_'.n
f940	75 6d 32 73 74 72 28 6b 6b 29 20 27 5d 3b 27 5d 29 3b 0a 20 20 20 20 20 20 0a 20 20 20 65 6c 73	um2str(kk).'];']);...........els
f960	65 0a 20 20 20 20 20 20 0a 20 20 20 09 65 76 61 6c 28 5b 27 79 5f 27 20 6e 75 6d 32 73 74 72 28	e............eval(['y_'.num2str(
f980	6b 6b 29 20 27 20 20 3d 20 4e 61 4e 2a 6f 6e 65 73 28 32 2c 31 29 3b 27 5d 29 3b 0a 0a 09 20 20	kk).'..=.NaN*ones(2,1);']);.....
f9a0	20 65 76 61 6c 28 5b 27 65 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 4e 61 4e	.eval(['ex_'.num2str(kk).'.=.NaN
f9c0	2a 6f 6e 65 73 28 32 2c 31 29 3b 27 5d 29 3b 0a 20 20 20 20 20 20 0a 20 20 20 65 6e 64 3b 0a 20	*ones(2,1);']);...........end;..
f9e0	20 20 0a 65 6e 64 3b 0a 0a 65 72 72 5f 73 74 64 20 3d 20 73 74 64 28 65 78 27 29 27 3b 0a 36 a1	...end;..err_std.=.std(ex')';.6.
fa00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 6f 72 6e 65 72 66 69 6e 64 65 72 2e 6d 00 00 00 00	TOOLBOX_calib/cornerfinder.m....
fa20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fa40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fa60	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
fa80	20 20 31 31 33 33 31 20 20 37 30 32 34 30 33 37 33 31 36 20 20 31 31 32 37 35 00 20 00 00 00 00	..11331..7024037316..11275......
faa0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fac0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fae0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fb00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fb20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fb40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fb60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fb80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fba0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
fbc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
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10c00	3b 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 25 69 66 20 28 61 62 73 28 61	;.....................%if.(abs(a
10c20	29 3e 20 35 30 2a 61 62 73 28 63 29 29 2c 0a 25 09 20 78 63 32 20 3d 20 5b 28 63 2a 62 62 28 31	)>.50abs(c)),.%..xc2.=.[(cbb(1
10c40	29 2d 62 2a 62 62 28 32 29 29 2f 64 74 20 78 63 28 69 2c 32 29 5d 3b 0a 25 20 20 20 20 20 20 65	)-b*bb(2))/dt.xc(i,2)];.%......e
10c60	6c 73 65 69 66 20 28 61 62 73 28 63 29 3e 20 35 30 2a 61 62 73 28 61 29 29 0a 25 09 20 78 63 32	lseif.(abs(c)>.50*abs(a)).%..xc2
10c80	20 3d 20 5b 78 63 28 69 2c 31 29 20 28 61 2a 62 62 28 32 29 2d 62 2a 62 62 28 31 29 29 2f 64 74	.=.[xc(i,1).(abb(2)-bbb(1))/dt
10ca0	5d 3b 0a 25 20 20 20 20 20 20 65 6c 73 65 0a 25 09 20 78 63 32 20 3d 20 5b 63 2a 62 62 28 31 29	];.%......else.%..xc2.=.[c*bb(1)
10cc0	2d 62 2a 62 62 28 32 29 20 61 2a 62 62 28 32 29 2d 62 2a 62 62 28 31 29 5d 2f 64 74 3b 0a 25 20	-bbb(2).abb(2)-b*bb(1)]/dt;.%.
10ce0	20 20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 25 6b 65 79 62 6f 61 72 64	.....end;..............%keyboard
10d00	3b 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 76 5f 65 78 74 72 61 20 3d 20 78 63 28 69 2c 3a 29	;..............v_extra.=.xc(i,:)
10d20	20 2d 20 78 63 32 3b 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 78 63 28 69 2c 3a 29 20 3d 20 78	.-.xc2;..............xc(i,:).=.x
10d40	63 32 3b 0a 20 20 20 20 20 20 0a 25 20 20 20 20 20 20 6b 65 79 62 6f 61 72 64 3b 0a 0a 20 20 20	c2;........%......keyboard;.....
10d60	20 20 20 63 6f 6d 70 74 20 3d 20 63 6f 6d 70 74 20 2b 20 31 3b 0a 20 20 20 20 20 20 0a 20 20 20	...compt.=.compt.+.1;...........
10d80	65 6e 64 0a 65 6e 64 3b 0a 0a 0a 25 20 63 68 65 63 6b 20 66 6f 72 20 70 6f 69 6e 74 73 20 74 68	end.end;...%.check.for.points.th
10da0	61 74 20 64 69 76 65 72 67 65 3a 0a 0a 64 65 6c 74 61 5f 78 20 3d 20 78 63 28 3a 2c 31 29 20 2d	at.diverge:..delta_x.=.xc(:,1).-
10dc0	20 78 74 28 3a 2c 31 29 3b 0a 64 65 6c 74 61 5f 79 20 3d 20 78 63 28 3a 2c 32 29 20 2d 20 78 74	.xt(:,1);.delta_y.=.xc(:,2).-.xt
10de0	28 3a 2c 32 29 3b 0a 0a 25 6b 65 79 62 6f 61 72 64 3b 0a 0a 0a 62 61 64 20 3d 20 28 61 62 73 28	(:,2);..%keyboard;...bad.=.(abs(
10e00	64 65 6c 74 61 5f 78 29 20 3e 20 77 69 6e 74 78 29 20 7c 20 28 61 62 73 28 64 65 6c 74 61 5f 79	delta_x).>.wintx).\|.(abs(delta_y
10e20	29 20 3e 20 77 69 6e 74 79 29 3b 0a 67 6f 6f 64 20 3d 20 7e 62 61 64 3b 0a 69 6e 5f 62 61 64 20	).>.winty);.good.=.~bad;.in_bad.
10e40	3d 20 66 69 6e 64 28 62 61 64 29 3b 0a 0a 25 20 46 6f 72 20 74 68 65 20 64 69 76 65 72 67 65 64	=.find(bad);..%.For.the.diverged
10e60	20 70 6f 69 6e 74 73 2c 20 6b 65 65 70 20 74 68 65 20 6f 72 69 67 69 6e 61 6c 20 67 75 65 73 73	.points,.keep.the.original.guess
10e80	65 73 3a 0a 0a 78 63 28 69 6e 5f 62 61 64 2c 3a 29 20 3d 20 78 74 28 69 6e 5f 62 61 64 2c 3a 29	es:..xc(in_bad,:).=.xt(in_bad,:)
10ea0	3b 0a 0a 78 63 20 3d 20 66 6c 69 70 6c 72 28 78 63 29 3b 0a 78 63 20 3d 20 78 63 27 3b 0a 0a 62	;..xc.=.fliplr(xc);.xc.=.xc';..b
10ec0	61 64 20 3d 20 62 61 64 27 3b 0a 67 6f 6f 64 20 3d 20 67 6f 6f 64 27 3b 0a 28 32 2c 3a 29 2b 28	ad.=.bad';.good.=.good';.(2,:)+(
10ee0	77 69 6e 74 79 2b 2e 35 29 3b 67 72 69 64 5f 70 74 73 28 32 2c 3a 29 2b 28 77 69 6e 74 79 2b 2e	winty+.5);grid_pts(2,:)+(winty+.
10f00	35 29 3b 67 72 69 64 5f 70 74 73 28 32 2c 3a 29 2d 28 77 69 6e 74 79 2b 2e 35 29 5d 3b 0a 0a 20	5);grid_pts(2,:)-(winty+.5)];...
10f20	20 20 0a 20 20 20 66 69 67 75 72 65 28 33 29 3b 0a 20 20 20 68 6f 6c 64 20 6f 6e 3b 0a 20 20 20	......figure(3);....hold.on;....
10f40	70 6c 6f 74 28 67 72 69 64 5f 70 74 73 28 31 2c 3a 29 2b 31 2c 67 72 69 64 5f 70 74 73 28 32 2c	plot(grid_pts(1,:)+1,grid_pts(2,
10f60	3a 29 2b 31 2c 27 72 2b 27 29 3b 0a 20 20 20 70 6c 6f 74 28 78 5f 62 6f 78 5f 6b 6b 2b 31 2c 79	:)+1,'r+');....plot(x_box_kk+1,y
10f80	5f 62 6f 78 5f 6b 6b 2b 31 2c 27 2d 62 27 29 3b 0a 20 20 20 70 6c 6f 74 28 67 72 69 64 5f 70 74	_box_kk+1,'-b');....plot(grid_pt
10fa0	73 28 31 2c 69 6e 64 5f 63 6f 72 6e 65 72 73 29 2b 31 2c 67 72 69 64 5f 70 74 73 28 32 2c 69 6e	s(1,ind_corners)+1,grid_pts(2,in
10fc0	64 5f 63 6f 72 6e 65 72 73 29 2b 31 2c 27 6d 6f 27 29 3b 0a 20 20 20 70 6c 6f 74 28 78 6f 72 69	d_corners)+1,'mo');....plot(xori
10fe0	67 2b 31 2c 79 6f 72 69 67 2b 31 2c 27 2a 6d 27 29 3b 0a 20 20 20 68 20 3d 20 74 65 78 74 28 78	g+1,yorig+1,'*m');....h.=.text(x
11000	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 6f 75 6e 74 5f 73 71 75 61 72 65 73 2e 6d 00 00 00	TOOLBOX_calib/count_squares.m...
11020	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
11040	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
11060	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
11080	20 20 20 32 32 37 31 20 20 37 30 32 34 30 33 37 33 31 36 20 20 31 31 34 37 33 00 20 00 00 00 00	...2271..7024037316..11473......
110a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
110c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
110e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
11100	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
11120	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
11140	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
11160	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
11180	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
111a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
111c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
111e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
11200	66 75 6e 63 74 69 6f 6e 20 6e 73 20 3d 20 63 6f 75 6e 74 5f 73 71 75 61 72 65 73 28 49 2c 78 31	function.ns.=.count_squares(I,x1
11220	2c 79 31 2c 78 32 2c 79 32 2c 77 69 6e 29 3b 0a 0a 25 6b 65 79 62 6f 61 72 64 3b 0a 0a 5b 6e 79	,y1,x2,y2,win);..%keyboard;..[ny
11240	2c 6e 78 5d 20 3d 20 73 69 7a 65 28 49 29 3b 0a 0a 6c 61 6d 62 64 61 20 3d 20 5b 79 31 20 2d 20	,nx].=.size(I);..lambda.=.[y1.-.
11260	79 32 3b 78 32 20 2d 20 78 31 3b 78 31 2a 79 32 20 2d 20 78 32 2a 79 31 5d 3b 0a 0a 6c 61 6d 62	y2;x2.-.x1;x1y2.-.x2y1];..lamb
11280	64 61 20 3d 20 31 2f 73 71 72 74 28 6c 61 6d 62 64 61 28 31 29 5e 32 20 2b 20 6c 61 6d 62 64 61	da.=.1/sqrt(lambda(1)^2.+.lambda
112a0	28 32 29 5e 32 29 20 2a 20 6c 61 6d 62 64 61 3b 0a 0a 6c 31 20 3d 20 6c 61 6d 62 64 61 20 2b 20	(2)^2).*.lambda;..l1.=.lambda.+.
112c0	5b 30 3b 30 3b 77 69 6e 5d 3b 0a 6c 32 20 3d 20 6c 61 6d 62 64 61 20 2d 20 5b 30 3b 30 3b 77 69	[0;0;win];.l2.=.lambda.-.[0;0;wi
112e0	6e 5d 3b 0a 0a 0a 64 78 20 3d 20 78 32 2d 78 31 3b 0a 64 79 20 3d 20 79 32 20 2d 20 79 31 3b 0a	n];...dx.=.x2-x1;.dy.=.y2.-.y1;.
11300	0a 0a 69 66 20 61 62 73 28 64 78 29 20 3e 20 61 62 73 28 64 79 29 2c 0a 20 20 20 0a 20 20 20 69	..if.abs(dx).>.abs(dy),........i
11320	66 20 78 32 20 3e 20 78 31 2c 0a 20 20 20 20 20 20 78 73 20 3d 20 78 31 3a 78 32 3b 0a 20 20 20	f.x2.>.x1,.......xs.=.x1:x2;....
11340	65 6c 73 65 0a 20 20 20 20 20 20 78 73 20 3d 20 78 31 3a 2d 31 3a 78 32 3b 0a 20 20 20 65 6e 64	else.......xs.=.x1:-1:x2;....end
11360	3b 0a 20 20 20 0a 20 20 20 79 73 20 3d 20 2d 28 6c 61 6d 62 64 61 28 33 29 20 2b 20 6c 61 6d 62	;........ys.=.-(lambda(3).+.lamb
11380	64 61 28 31 29 2a 78 73 29 2f 6c 61 6d 62 64 61 28 32 29 3b 0a 20 20 20 0a 65 6c 73 65 0a 20 20	da(1)*xs)/lambda(2);.....else...
113a0	20 0a 20 20 20 69 66 20 79 32 20 3e 20 79 31 2c 0a 20 20 20 20 20 20 79 73 20 3d 20 79 31 3a 79	.....if.y2.>.y1,.......ys.=.y1:y
113c0	32 3b 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 79 73 20 3d 20 79 31 3a 2d 31 3a 79 32 3b 0a	2;....else.......ys.=.y1:-1:y2;.
113e0	20 20 20 65 6e 64 3b 0a 20 20 20 78 73 20 3d 20 2d 28 6c 61 6d 62 64 61 28 33 29 20 2b 20 6c 61	...end;....xs.=.-(lambda(3).+.la
11400	6d 62 64 61 28 32 29 2a 79 73 29 2f 6c 61 6d 62 64 61 28 31 29 3b 0a 20 20 20 0a 65 6e 64 3b 0a	mbda(2)*ys)/lambda(1);.....end;.
11420	0a 0a 20 20 20 0a 09 4e 70 20 3d 20 6c 65 6e 67 74 68 28 78 73 29 3b 0a 0a 09 78 73 5f 6d 61 74	.......Np.=.length(xs);...xs_mat
11440	20 3d 20 6f 6e 65 73 28 32 2a 77 69 6e 20 2b 20 31 2c 31 29 2a 78 73 3b 0a 09 79 73 5f 6d 61 74	.=.ones(2win.+.1,1)xs;..ys_mat
11460	20 3d 20 6f 6e 65 73 28 32 2a 77 69 6e 20 2b 20 31 2c 31 29 2a 79 73 3b 0a 0a 09 77 69 6e 5f 6d	.=.ones(2win.+.1,1)ys;...win_m
11480	61 74 20 3d 20 28 2d 77 69 6e 3a 77 69 6e 29 27 2a 6f 6e 65 73 28 31 2c 4e 70 29 3b 0a 0a 0a 09	at.=.(-win:win)'*ones(1,Np);....
114a0	78 73 5f 6d 61 74 32 20 3d 20 72 6f 75 6e 64 28 78 73 5f 6d 61 74 20 2d 20 77 69 6e 5f 6d 61 74	xs_mat2.=.round(xs_mat.-.win_mat
114c0	20 2a 20 6c 61 6d 62 64 61 28 31 29 29 3b 0a 09 79 73 5f 6d 61 74 32 20 3d 20 72 6f 75 6e 64 28	.*.lambda(1));..ys_mat2.=.round(
114e0	79 73 5f 6d 61 74 20 2d 20 77 69 6e 5f 6d 61 74 20 2a 20 6c 61 6d 62 64 61 28 32 29 29 3b 0a 0a	ys_mat.-.win_mat.*.lambda(2));..
11500	09 69 6e 64 5f 6d 61 74 20 3d 20 28 78 73 5f 6d 61 74 32 20 2d 20 31 29 20 2a 20 6e 79 20 2b 20	.ind_mat.=.(xs_mat2.-.1).*.ny.+.
11520	79 73 5f 6d 61 74 32 3b 0a 0a 09 69 6d 61 5f 70 61 74 63 68 20 3d 20 7a 65 72 6f 73 28 32 2a 77	ys_mat2;...ima_patch.=.zeros(2*w
11540	69 6e 20 2b 20 31 2c 4e 70 29 3b 0a 0a 09 69 6d 61 5f 70 61 74 63 68 28 3a 29 20 3d 20 49 28 69	in.+.1,Np);...ima_patch(:).=.I(i
11560	6e 64 5f 6d 61 74 28 3a 29 29 3b 0a 0a 09 25 69 6d 61 32 20 3d 20 69 6d 61 5f 70 61 74 63 68 28	nd_mat(:));...%ima2.=.ima_patch(
11580	3a 2c 77 69 6e 2b 31 3a 65 6e 64 2d 77 69 6e 29 3b 0a 0a 09 66 69 6c 74 6b 20 3d 20 5b 6f 6e 65	:,win+1:end-win);...filtk.=.[one
115a0	73 28 77 69 6e 2c 4e 70 29 3b 7a 65 72 6f 73 28 31 2c 4e 70 29 3b 2d 6f 6e 65 73 28 77 69 6e 2c	s(win,Np);zeros(1,Np);-ones(win,
115c0	4e 70 29 5d 3b 0a 0a 09 6f 75 74 5f 66 20 3d 20 73 75 6d 28 66 69 6c 74 6b 2e 2a 69 6d 61 5f 70	Np)];...out_f.=.sum(filtk.*ima_p
115e0	61 74 63 68 29 3b 0a 0a 09 6f 75 74 5f 66 5f 66 20 3d 20 63 6f 6e 76 32 28 6f 75 74 5f 66 2c 5b	atch);...out_f_f.=.conv2(out_f,[
11600	31 2f 34 20 31 2f 32 20 31 2f 34 5d 2c 27 73 61 6d 65 27 29 3b 0a 0a 09 6f 75 74 5f 66 5f 66 20	1/4.1/2.1/4],'same');...out_f_f.
11620	3d 20 6f 75 74 5f 66 5f 66 28 77 69 6e 2b 31 3a 65 6e 64 2d 77 69 6e 29 3b 0a 0a 09 6e 73 20 3d	=.out_f_f(win+1:end-win);...ns.=
11640	20 6c 65 6e 67 74 68 28 66 69 6e 64 28 28 28 6f 75 74 5f 66 5f 66 28 32 3a 65 6e 64 29 3e 3d 30	.length(find(((out_f_f(2:end)>=0
11660	29 26 28 6f 75 74 5f 66 5f 66 28 31 3a 65 6e 64 2d 31 29 3c 30 29 29 20 7c 20 28 28 6f 75 74 5f	)&(out_f_f(1:end-1)<0)).\|.((out_
11680	66 5f 66 28 32 3a 65 6e 64 29 3c 3d 30 29 26 28 6f 75 74 5f 66 5f 66 28 31 3a 65 6e 64 2d 31 29	f_f(2:end)<=0)&(out_f_f(1:end-1)
116a0	3e 30 29 29 29 29 2b 31 3b 0a 0a 20 20 20 0a 0a 0a 72 65 74 75 72 6e 3b 0a 00 06 1c 00 00 06 34	>0))))+1;........return;.......4
116c0	00 02 36 a8 00 1c 00 0d 55 6e 57 61 72 70 50 6c 61 6e 65 2e 6d 00 00 a6 00 00 06 48 00 02 36 a9	..6.....UnWarpPlane.m......H..6.
116e0	00 18 00 0a 77 72 69 74 65 72 61 73 2e 6d 00 2e 00 00 06 64 00 02 36 aa 00 20 00 10 65 72 72 6f	....writeras.m.....d..6.....erro
11700	72 5f 61 6e 61 6c 79 73 69 73 2e 6d 00 00 06 64 00 00 06 78 00 02 36 ab 00 18 00 09 6c 6f 61 64	r_analysis.m...d...x..6.....load
11720	69 6e 72 2e 6d 00 2e 6d 00 00 06 8c 00 02 36 ac 00 18 00 09 6c 6f 61 64 70 67 6d 2e 6d 00 72 2e	inr.m..m......6.....loadpgm.m.r.
11740	00 00 06 a0 00 02 36 ad 00 18 00 09 6c 6f 61 64 70 70 6d 2e 6d 00 6d 2e 00 00 06 b4 00 02 36 ae	......6.....loadppm.m.m.......6.
11760	00 18 00 09 73 61 76 65 69 6e 72 2e 6d 00 6d 2e 00 00 06 c8 00 02 36 af 00 18 00 09 73 61 76 65	....saveinr.m.m.......6.....save
11780	70 67 6d 2e 6d 00 72 2e 00 00 06 dc 00 02 36 b0 00 18 00 09 73 61 76 65 70 70 6d 2e 6d 00 6d 2e	pgm.m.r.......6.....saveppm.m.m.
117a0	00 00 06 fc 00 02 36 b1 00 24 00 16 69 6e 69 74 5f 69 6e 74 72 69 6e 73 69 63 5f 70 61 72 61 6d	......6..$..init_intrinsic_param
117c0	2e 6d 00 b1 00 00 07 18 00 02 36 b2 00 20 00 11 6d 65 61 6e 5f 73 74 64 5f 72 6f 62 75 73 74 2e	.m........6.....mean_std_robust.
117e0	6d 00 07 18 00 00 07 38 00 02 36 b3 00 24 00 14 72 75 6e 5f 65 72 72 6f 72 5f 61 6e 61 6c 79 73	m......8..6..$..run_error_analys
11800	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 64 61 74 61 5f 63 61 6c 69 62 2e 6d 00 00 00 00 00 00	TOOLBOX_calib/data_calib.m......
11820	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
11840	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
11860	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
11880	20 20 20 34 32 33 32 20 20 37 30 32 34 30 33 37 33 31 36 20 20 31 30 36 34 32 00 20 00 00 00 00	...4232..7024037316..10642......
118a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
118c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
118e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
11900	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
11920	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
11940	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
11960	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
11980	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
119a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
119c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
119e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
11a00	25 25 25 20 54 68 69 73 20 73 63 72 69 70 74 20 61 6c 65 74 73 20 74 68 65 20 75 73 65 72 20 65	%%%.This.script.alets.the.user.e
11a20	6e 74 65 72 20 74 68 65 20 6e 61 6d 65 20 6f 66 20 74 68 65 20 69 6d 61 67 65 73 20 28 62 61 73	nter.the.name.of.the.images.(bas
11a40	65 20 6e 61 6d 65 2c 20 6e 75 6d 62 65 72 69 6e 67 20 73 63 68 65 6d 65 2c 2e 2e 2e 0a 0a 64 69	e.name,.numbering.scheme,.....di
11a60	72 3b 0a 0a 25 64 69 73 70 28 27 43 61 6d 65 72 61 20 43 61 6c 69 62 72 61 74 69 6f 6e 20 75 73	r;..%disp('Camera.Calibration.us
11a80	69 6e 67 20 6d 75 6c 74 69 70 6c 65 20 69 6d 61 67 65 73 20 6f 66 20 61 20 70 6c 61 6e 61 72 20	ing.multiple.images.of.a.planar.
11aa0	63 68 65 63 6b 65 72 62 6f 61 72 64 20 70 61 74 74 65 72 6e 27 29 3b 0a 25 64 69 73 70 28 27 4d	checkerboard.pattern');.%disp('M
11ac0	6f 64 65 6c 3a 20 32 20 66 6f 63 61 6c 73 2c 20 32 20 72 61 64 69 61 6c 20 64 69 73 74 2e 20 63	odel:.2.focals,.2.radial.dist..c
11ae0	6f 65 66 66 2e 2c 20 32 20 74 61 6e 67 65 6e 74 69 61 6c 20 64 69 73 74 2e 20 63 6f 65 66 66 2e	oeff.,.2.tangential.dist..coeff.
11b00	20 61 6e 64 20 70 72 69 6e 63 69 70 6c 65 20 70 6f 69 6e 74 27 29 3b 0a 25 64 69 73 70 28 27 20	.and.principle.point');.%disp('.
11b20	20 20 20 20 20 20 3d 3e 20 38 44 4f 46 20 69 6e 74 72 69 6e 73 69 63 20 6d 6f 64 65 6c 20 28 5b	......=>.8DOF.intrinsic.model.([
11b40	48 65 69 6b 6b 69 6c 61 20 61 6e 64 20 53 69 6c 76 65 6e 2c 20 55 6e 69 76 65 72 73 69 74 79 20	Heikkila.and.Silven,.University.
11b60	6f 66 20 4f 75 6c 75 5d 29 27 29 3b 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 27 29 3b 0a 63	of.Oulu])');..fprintf(1,'\n');.c
11b80	61 6c 69 62 5f 6e 61 6d 65 20 3d 20 69 6e 70 75 74 28 27 42 61 73 65 6e 61 6d 65 20 63 61 6d 65	alib_name.=.input('Basename.came
11ba0	72 61 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 69 6d 61 67 65 73 20 28 77 69 74 68 6f 75 74 20 6e	ra.calibration.images.(without.n
11bc0	75 6d 62 65 72 20 6e 6f 72 20 73 75 66 66 69 78 29 3a 20 27 2c 27 73 27 29 3b 0a 0a 66 6f 72 6d	umber.nor.suffix):.','s');..form
11be0	61 74 5f 69 6d 61 67 65 20 3d 20 27 30 27 3b 0a 0a 77 68 69 6c 65 20 66 6f 72 6d 61 74 5f 69 6d	at_image.=.'0';..while.format_im
11c00	61 67 65 20 3d 3d 20 27 30 27 2c 0a 20 20 20 0a 20 20 20 66 6f 72 6d 61 74 5f 69 6d 61 67 65 20	age.==.'0',........format_image.
11c20	3d 20 20 69 6e 70 75 74 28 27 49 6d 61 67 65 20 66 6f 72 6d 61 74 3a 20 28 5b 5d 3d 27 27 72 27	=..input('Image.format:.([]=''r'
11c40	27 3d 27 27 72 61 73 27 27 2c 20 27 27 62 27 27 3d 27 27 62 6d 70 27 27 2c 20 27 27 74 27 27 3d	'=''ras'',.''b''=''bmp'',.''t''=
11c60	27 27 74 69 66 27 27 2c 20 27 27 70 27 27 3d 27 27 70 67 6d 27 27 2c 20 27 27 6a 27 27 3d 27 27	''tif'',.''p''=''pgm'',.''j''=''
11c80	6a 70 67 27 27 29 20 27 2c 27 73 27 29 3b 0a 0a 09 69 66 20 69 73 65 6d 70 74 79 28 66 6f 72 6d	jpg'').','s');...if.isempty(form
11ca0	61 74 5f 69 6d 61 67 65 29 2c 0a 20 20 20 09 66 6f 72 6d 61 74 5f 69 6d 61 67 65 20 3d 20 27 72	at_image),.....format_image.=.'r
11cc0	61 73 27 3b 0a 09 65 6e 64 3b 0a 0a 09 69 66 20 6c 6f 77 65 72 28 66 6f 72 6d 61 74 5f 69 6d 61	as';..end;...if.lower(format_ima
11ce0	67 65 28 31 29 29 20 3d 3d 20 27 62 27 2c 0a 20 20 20 09 66 6f 72 6d 61 74 5f 69 6d 61 67 65 20	ge(1)).==.'b',.....format_image.
11d00	3d 20 27 62 6d 70 27 3b 0a 09 65 6c 73 65 0a 20 20 20 09 69 66 20 6c 6f 77 65 72 28 66 6f 72 6d	=.'bmp';..else.....if.lower(form
11d20	61 74 5f 69 6d 61 67 65 28 31 29 29 20 3d 3d 20 27 74 27 2c 0a 20 20 20 20 20 20 09 66 6f 72 6d	at_image(1)).==.'t',........form
11d40	61 74 5f 69 6d 61 67 65 20 3d 20 27 74 69 66 27 3b 0a 20 20 20 09 65 6c 73 65 0a 20 20 20 20 20	at_image.=.'tif';.....else......
11d60	20 09 69 66 20 6c 6f 77 65 72 28 66 6f 72 6d 61 74 5f 69 6d 61 67 65 28 31 29 29 20 3d 3d 20 27	..if.lower(format_image(1)).==.'
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11da0	6d 27 3b 0a 09 20 20 20 20 20 20 65 6c 73 65 0a 20 20 20 09 20 20 20 20 20 20 69 66 20 6c 6f 77	m';........else...........if.low
11dc0	65 72 28 66 6f 72 6d 61 74 5f 69 6d 61 67 65 28 31 29 29 20 3d 3d 20 27 6a 27 2c 0a 20 20 20 20	er(format_image(1)).==.'j',.....
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11e00	20 20 20 20 20 20 20 20 09 65 6c 73 65 0a 20 20 20 20 20 20 20 20 20 20 20 20 09 69 66 20 6c 6f	.........else..............if.lo
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11e40	20 20 20 20 20 20 20 20 20 20 20 20 09 66 6f 72 6d 61 74 5f 69 6d 61 67 65 20 3d 20 27 72 61 73	.............format_image.=.'ras
11e60	27 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 20 20 20	';................else..........
11e80	20 20 20 20 09 09 64 69 73 70 28 27 49 6e 76 61 6c 69 64 20 69 6d 61 67 65 20 66 6f 72 6d 61 74	......disp('Invalid.image.format
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11ee0	6f 6e 63 65 20 61 67 61 69 6e 0a 20 20 20 20 20 20 20 20 20 09 20 20 20 65 6e 64 3b 0a 20 20 20	once.again..............end;....
11f00	20 20 20 09 20 20 20 65 6e 64 3b 0a 09 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 09 65 6e 64 3b	.......end;........end;.....end;
11f20	0a 09 65 6e 64 3b 0a 20 20 20 0a 65 6e 64 3b 0a 0a 0a 6e 5f 69 6d 61 20 3d 20 31 30 30 30 3b 0a	..end;.....end;...n_ima.=.1000;.
11f40	77 68 69 6c 65 20 6e 5f 69 6d 61 20 3e 20 33 30 2c 0a 20 20 20 6e 5f 69 6d 61 20 3d 20 69 6e 70	while.n_ima.>.30,....n_ima.=.inp
11f60	75 74 28 27 4e 75 6d 62 65 72 20 6f 66 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 69 6d 61 67 65 73	ut('Number.of.calibration.images
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11fa0	6e 64 3b 0a 0a 74 79 70 65 5f 6e 75 6d 62 65 72 69 6e 67 20 3d 20 69 6e 70 75 74 28 27 54 79 70	nd;..type_numbering.=.input('Typ
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11fe0	34 29 3a 20 27 29 3b 0a 0a 74 79 70 65 5f 6e 75 6d 62 65 72 69 6e 67 20 3d 20 7e 69 73 65 6d 70	4):.');..type_numbering.=.~isemp
12000	74 79 28 74 79 70 65 5f 6e 75 6d 62 65 72 69 6e 67 29 3b 0a 0a 69 66 20 74 79 70 65 5f 6e 75 6d	ty(type_numbering);..if.type_num
12020	62 65 72 69 6e 67 2c 0a 20 20 20 0a 20 20 20 4e 5f 73 6c 6f 74 73 20 3d 20 69 6e 70 75 74 28 27	bering,........N_slots.=.input('
12040	4e 75 6d 62 65 72 20 6f 66 20 73 70 61 63 65 73 20 66 6f 72 20 6e 75 6d 62 65 72 73 3f 20 28 65	Number.of.spaces.for.numbers?.(e
12060	78 3a 20 32 20 2d 3e 20 30 34 2c 20 33 20 2d 3e 20 30 30 34 29 2c 20 28 5b 5d 3d 33 29 20 27 29	x:.2.->.04,.3.->.004),.([]=3).')
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120a0	74 73 20 3d 20 33 3b 20 65 6e 64 3b 0a 0a 65 6c 73 65 0a 20 20 20 0a 20 20 20 4e 5f 73 6c 6f 74	ts.=.3;.end;..else........N_slot
120c0	73 20 3d 20 31 3b 20 25 20 6e 6f 74 20 75 73 65 64 20 61 6e 79 77 61 79 2c 20 62 75 74 20 75 73	s.=.1;.%.not.used.anyway,.but.us
120e0	65 66 75 6c 20 66 6f 72 20 73 61 76 69 6e 67 0a 20 20 20 0a 65 6e 64 3b 0a 0a 0a 66 69 72 73 74	eful.for.saving.....end;...first
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12160	65 6e 64 3b 0a 0a 69 6d 61 67 65 5f 6e 75 6d 62 65 72 73 20 3d 20 66 69 72 73 74 5f 6e 75 6d 3a	end;..image_numbers.=.first_num:
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121a0	75 6c 74 2c 20 61 6c 6c 20 74 68 65 20 69 6d 61 67 65 73 20 61 72 65 20 61 63 74 69 76 65 20 66	ult,.all.the.images.are.active.f
121c0	6f 72 20 63 61 6c 69 62 72 61 74 69 6f 6e 3a 0a 0a 61 63 74 69 76 65 5f 69 6d 61 67 65 73 20 3d	or.calibration:..active_images.=
121e0	20 6f 6e 65 73 28 31 2c 6e 5f 69 6d 61 29 3b 0a 0a 25 73 74 72 69 6e 67 5f 73 61 76 65 20 3d 20	.ones(1,n_ima);..%string_save.=.
12200	27 73 61 76 65 20 63 61 6c 69 62 5f 64 61 74 61 20 6e 5f 69 6d 61 20 74 79 70 65 5f 6e 75 6d 62	'save.calib_data.n_ima.type_numb
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12260	0a 25 65 76 61 6c 28 73 74 72 69 6e 67 5f 73 61 76 65 29 3b 0a 0a 25 20 52 65 61 64 69 6e 67 20	.%eval(string_save);..%.Reading.
12280	69 6d 61 67 65 73 3a 0a 0a 69 6d 61 5f 72 65 61 64 5f 63 61 6c 69 62 3b 0a 0a 79 28 66 6f 72 6d	images:..ima_read_calib;..y(form
122a0	61 74 5f 69 6d 61 67 65 29 2c 0a 20 20 20 09 66 6f 72 6d 61 74 5f 69 6d 61 67 65 20 3d 20 27 72	at_image),.....format_image.=.'r
122c0	61 73 27 3b 0a 09 65 6e 64 3b 0a 0a 09 69 66 20 6c 6f 77 65 72 28 66 6f 72 6d 61 74 5f 69 6d 61	as';..end;...if.lower(format_ima
122e0	67 65 28 31 29 29 20 3d 3d 20 27 62 27 2c 0a 20 20 20 09 66 6f 72 6d 61 74 5f 69 6d 61 67 65 20	ge(1)).==.'b',.....format_image.
12300	3d 20 27 62 6d 70 27 3b 0a 09 65 6c 73 65 0a 20 20 20 09 69 66 20 6c 6f 77 65 72 28 66 6f 72 6d	=.'bmp';..else.....if.lower(form
12320	61 74 5f 69 6d 61 67 65 28 31 29 29 20 3d 3d 20 27 74 27 2c 0a 20 20 20 20 20 20 09 66 6f 72 6d	at_image(1)).==.'t',........form
12340	61 74 5f 69 6d 61 67 65 20 3d 20 27 74 69 66 27 3b 0a 20 20 20 09 65 6c 73 65 0a 20 20 20 20 20	at_image.=.'tif';.....else......
12360	20 09 69 66 20 6c 6f 77 65 72 28 66 6f 72 6d 61 74 5f 69 6d 61 67 65 28 31 29 29 20 3d 3d 20 27	..if.lower(format_image(1)).==.'
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123a0	6d 27 3b 0a 09 20 20 20 20 20 20 65 6c 73 65 0a 20 20 20 09 20 20 20 20 20 20 69 66 20 6c 6f 77	m';........else...........if.low
123c0	65 72 28 66 6f 72 6d 61 74 5f 69 6d 61 67 65 28 31 29 29 20 3d 3d 20 27 6a 27 2c 0a 20 20 20 20	er(format_image(1)).==.'j',.....
123e0	20 20 09 20 20 20 20 20 20 66 6f 72 6d 61 74 5f 69 6d 61 67 65 20 3d 20 27 6a 70 67 27 3b 0a 20	.........format_image.=.'jpg';..
12400	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 44 69 73 74 6f 72 32 43 61 6c 69 62 2e 6d 00 00 00 00	TOOLBOX_calib/Distor2Calib.m....
12420	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
12440	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
12460	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
12480	20 20 32 30 34 32 32 20 20 37 30 32 34 30 33 37 33 31 37 20 20 31 31 31 30 30 00 20 00 00 00 00	..20422..7024037317..11100......
124a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
124c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
124e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
12500	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
12520	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
12540	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
12560	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
12580	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
125a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
125c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
125e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
12600	66 75 6e 63 74 69 6f 6e 20 5b 66 63 5f 32 2c 52 63 5f 32 2c 54 63 5f 32 2c 48 5f 32 2c 64 69 73	function.[fc_2,Rc_2,Tc_2,H_2,dis
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12660	64 69 61 67 32 5f 70 69 78 5d 3d 44 69 73 74 6f 72 32 43 61 6c 69 62 28 6b 5f 64 69 73 74 2c 67	diag2_pix]=Distor2Calib(k_dist,g
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12760	20 74 68 65 20 6f 70 74 69 63 61 6c 20 63 65 6e 74 65 72 2e 0a 0a 25 20 63 61 6e 20 67 69 76 65	.the.optical.center...%.can.give
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127a0	20 6c 65 6e 67 74 68 20 66 5f 69 6e 69 20 28 63 61 6e 20 73 65 74 20 74 6f 20 5b 5d 29 0a 25 20	.length.f_ini.(can.set.to.[]).%.
127c0	63 61 6e 20 70 72 6f 76 69 64 65 20 74 68 65 20 6e 75 6d 62 65 72 20 6f 66 20 69 74 65 72 61 74	can.provide.the.number.of.iterat
127e0	69 6f 6e 73 20 66 6f 72 20 74 68 65 20 49 74 65 72 61 74 69 76 65 20 56 61 6e 69 73 68 69 6e 67	ions.for.the.Iterative.Vanishing
12800	20 50 6f 69 6e 74 20 41 6c 67 6f 72 69 74 68 6d 0a 0a 25 20 69 66 20 74 68 65 20 66 6f 63 61 6c	.Point.Algorithm..%.if.the.focal
12820	20 6c 65 6e 67 74 68 20 69 73 20 6b 6e 6f 77 6e 20 70 65 72 66 65 63 74 6c 79 2c 20 74 68 65 6e	.length.is.known.perfectly,.then
12840	2c 20 74 68 65 72 65 20 69 73 20 6e 6f 20 6e 65 65 64 20 74 6f 20 69 74 65 72 61 74 65 2c 0a 25	,.there.is.no.need.to.iterate,.%
12860	20 61 6e 64 20 74 68 65 72 65 66 6f 72 65 2c 20 6f 6e 65 20 63 61 6e 20 66 69 78 3a 20 4e 5f 69	.and.therefore,.one.can.fix:.N_i
12880	74 65 72 20 3d 20 30 3b 0a 0a 25 20 43 61 6c 69 66 6f 72 6e 69 61 20 49 6e 73 74 69 74 75 74 65	ter.=.0;..%.California.Institute
128a0	20 6f 66 20 54 65 63 68 6e 6f 6c 6f 67 79 0a 25 20 28 63 29 20 4a 65 61 6e 2d 59 76 65 73 20 42	.of.Technology.%.(c).Jean-Yves.B
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12980	20 20 20 20 20 20 64 69 73 70 28 27 55 73 65 20 6e 75 6d 62 65 72 20 6f 66 20 69 74 65 72 61 74	......disp('Use.number.of.iterat
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12dc0	74 73 3a 0a 20 20 20 5b 55 2c 53 2c 56 5d 20 3d 20 73 76 64 28 76 65 72 74 29 3b 0a 20 20 20 56	ts:....[U,S,V].=.svd(vert);....V
12de0	5f 76 65 72 74 20 3d 20 55 28 3a 2c 33 29 3b 0a 20 20 20 5b 55 2c 53 2c 56 5d 20 3d 20 73 76 64	_vert.=.U(:,3);....[U,S,V].=.svd
12e00	28 68 6f 72 69 29 3b 0a 20 20 20 56 5f 68 6f 72 69 20 3d 20 55 28 3a 2c 33 29 3b 0a 20 20 20 0a	(hori);....V_hori.=.U(:,3);.....
12e20	20 20 20 0a 0a 20 20 20 25 20 53 71 75 61 72 65 20 77 61 72 70 69 6e 67 3a 0a 20 20 20 0a 20 20	........%.Square.warping:.......
12e40	20 0a 20 20 20 76 65 72 74 5f 66 69 72 73 74 20 3d 20 76 65 72 74 28 3a 2c 31 29 20 2d 20 64 6f	.....vert_first.=.vert(:,1).-.do
12e60	74 28 56 5f 76 65 72 74 2c 76 65 72 74 28 3a 2c 31 29 29 2f 64 6f 74 28 56 5f 76 65 72 74 2c 56	t(V_vert,vert(:,1))/dot(V_vert,V
12e80	5f 76 65 72 74 29 20 2a 20 56 5f 76 65 72 74 3b 0a 20 20 20 76 65 72 74 5f 6c 61 73 74 20 3d 20	_vert).*.V_vert;....vert_last.=.
12ea0	76 65 72 74 28 3a 2c 6e 5f 73 71 5f 78 2b 31 29 20 2d 20 64 6f 74 28 56 5f 76 65 72 74 2c 76 65	vert(:,n_sq_x+1).-.dot(V_vert,ve
12ec0	72 74 28 3a 2c 6e 5f 73 71 5f 78 2b 31 29 29 2f 64 6f 74 28 56 5f 76 65 72 74 2c 56 5f 76 65 72	rt(:,n_sq_x+1))/dot(V_vert,V_ver
12ee0	74 29 20 2a 20 56 5f 76 65 72 74 3b 0a 20 20 20 0a 20 20 20 68 6f 72 69 5f 66 69 72 73 74 20 3d	t).*.V_vert;........hori_first.=
12f00	20 68 6f 72 69 28 3a 2c 31 29 20 2d 20 64 6f 74 28 56 5f 68 6f 72 69 2c 68 6f 72 69 28 3a 2c 31	.hori(:,1).-.dot(V_hori,hori(:,1
12f20	29 29 2f 64 6f 74 28 56 5f 68 6f 72 69 2c 56 5f 68 6f 72 69 29 20 2a 20 56 5f 68 6f 72 69 3b 0a	))/dot(V_hori,V_hori).*.V_hori;.
12f40	20 20 20 68 6f 72 69 5f 6c 61 73 74 20 3d 20 68 6f 72 69 28 3a 2c 6e 5f 73 71 5f 79 2b 31 29 20	...hori_last.=.hori(:,n_sq_y+1).
12f60	2d 20 64 6f 74 28 56 5f 68 6f 72 69 2c 68 6f 72 69 28 3a 2c 6e 5f 73 71 5f 79 2b 31 29 29 2f 64	-.dot(V_hori,hori(:,n_sq_y+1))/d
12f80	6f 74 28 56 5f 68 6f 72 69 2c 56 5f 68 6f 72 69 29 20 2a 20 56 5f 68 6f 72 69 3b 0a 20 20 20 0a	ot(V_hori,V_hori).*.V_hori;.....
12fa0	20 20 20 0a 20 20 20 78 31 20 3d 20 63 72 6f 73 73 28 68 6f 72 69 5f 66 69 72 73 74 2c 76 65 72	.......x1.=.cross(hori_first,ver
12fc0	74 5f 66 69 72 73 74 29 3b 0a 20 20 20 78 32 20 3d 20 63 72 6f 73 73 28 68 6f 72 69 5f 66 69 72	t_first);....x2.=.cross(hori_fir
12fe0	73 74 2c 76 65 72 74 5f 6c 61 73 74 29 3b 0a 20 20 20 78 33 20 3d 20 63 72 6f 73 73 28 68 6f 72	st,vert_last);....x3.=.cross(hor
13000	69 5f 6c 61 73 74 2c 76 65 72 74 5f 6c 61 73 74 29 3b 0a 20 20 20 78 34 20 3d 20 63 72 6f 73 73	i_last,vert_last);....x4.=.cross
13020	28 68 6f 72 69 5f 6c 61 73 74 2c 76 65 72 74 5f 66 69 72 73 74 29 3b 0a 20 20 20 0a 20 20 20 78	(hori_last,vert_first);........x
13040	31 20 3d 20 78 31 2f 78 31 28 33 29 3b 0a 20 20 20 78 32 20 3d 20 78 32 2f 78 32 28 33 29 3b 0a	1.=.x1/x1(3);....x2.=.x2/x2(3);.
13060	20 20 20 78 33 20 3d 20 78 33 2f 78 33 28 33 29 3b 0a 20 20 20 78 34 20 3d 20 78 34 2f 78 34 28	...x3.=.x3/x3(3);....x4.=.x4/x4(
13080	33 29 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 0a 20 20 20 5b 73 71 75 61 72 65 5d 20 3d 20 52 65	3);................[square].=.Re
130a0	63 74 61 6e 67 6c 65 32 53 71 75 61 72 65 28 5b 78 31 20 78 32 20 78 33 20 78 34 5d 2c 57 2c 4c	ctangle2Square([x1.x2.x3.x4],W,L
130c0	29 3b 0a 0a 20 20 20 79 31 20 3d 20 73 71 75 61 72 65 28 3a 2c 31 29 3b 0a 20 20 20 79 32 20 3d	);.....y1.=.square(:,1);....y2.=
130e0	20 73 71 75 61 72 65 28 3a 2c 32 29 3b 0a 20 20 20 79 33 20 3d 20 73 71 75 61 72 65 28 3a 2c 33	.square(:,2);....y3.=.square(:,3
13100	29 3b 0a 20 20 20 79 34 20 3d 20 73 71 75 61 72 65 28 3a 2c 34 29 3b 0a 0a 20 20 20 48 32 20 3d	);....y4.=.square(:,4);.....H2.=
13120	20 63 72 6f 73 73 28 56 5f 76 65 72 74 2c 56 5f 68 6f 72 69 29 3b 0a 20 20 20 0a 20 20 20 56 5f	.cross(V_vert,V_hori);........V_
13140	64 69 61 67 31 20 3d 20 63 72 6f 73 73 28 63 72 6f 73 73 28 79 31 2c 79 33 29 2c 48 32 29 3b 0a	diag1.=.cross(cross(y1,y3),H2);.
13160	20 20 20 56 5f 64 69 61 67 32 20 3d 20 63 72 6f 73 73 28 63 72 6f 73 73 28 79 32 2c 79 34 29 2c	...V_diag2.=.cross(cross(y2,y4),
13180	48 32 29 3b 0a 0a 20 20 20 56 5f 64 69 61 67 31 20 3d 20 56 5f 64 69 61 67 31 20 2f 20 6e 6f 72	H2);.....V_diag1.=.V_diag1./.nor
131a0	6d 28 56 5f 64 69 61 67 31 29 3b 0a 20 20 20 56 5f 64 69 61 67 32 20 3d 20 56 5f 64 69 61 67 32	m(V_diag1);....V_diag2.=.V_diag2
131c0	20 2f 20 6e 6f 72 6d 28 56 5f 64 69 61 67 32 29 3b 0a 0a 20 20 20 56 5f 68 6f 72 69 5f 70 69 78	./.norm(V_diag2);.....V_hori_pix
131e0	20 3d 20 56 5f 68 6f 72 69 3b 0a 20 20 20 56 5f 76 65 72 74 5f 70 69 78 20 3d 20 56 5f 76 65 72	.=.V_hori;....V_vert_pix.=.V_ver
13200	74 3b 0a 20 20 20 56 5f 64 69 61 67 31 5f 70 69 78 20 3d 20 56 5f 64 69 61 67 31 3b 0a 20 20 20	t;....V_diag1_pix.=.V_diag1;....
13220	56 5f 64 69 61 67 32 5f 70 69 78 20 3d 20 56 5f 64 69 61 67 32 3b 0a 0a 0a 25 20 65 6e 64 20 6f	V_diag2_pix.=.V_diag2;...%.end.o
13240	66 20 63 6f 6d 70 75 74 61 74 69 6f 6e 20 6f 66 20 74 68 65 20 76 61 6e 69 73 68 69 6e 67 20 70	f.computation.of.the.vanishing.p
13260	6f 69 6e 74 73 20 69 6e 20 70 69 78 65 6c 73 2e 0a 0a 0a 0a 0a 0a 0a 0a 0a 69 66 20 74 77 6f 5f	oints.in.pixels..........if.two_
13280	66 6f 63 61 6c 2c 20 25 20 6f 6e 6c 79 20 69 66 20 77 65 20 61 74 74 65 6d 70 74 20 74 6f 20 65	focal,.%.only.if.we.attempt.to.e
132a0	73 74 69 6d 61 74 65 20 74 77 6f 20 66 6f 63 61 6c 73 2e 2e 2e 0a 20 20 20 25 20 55 73 65 20 64	stimate.two.focals.......%.Use.d
132c0	69 61 67 6f 6e 61 6c 20 6c 69 6e 65 73 20 61 6c 73 6f 20 74 6f 20 61 64 64 20 74 77 6f 20 65 78	iagonal.lines.also.to.add.two.ex
132e0	74 72 61 20 76 61 6e 69 73 68 69 6e 67 20 70 6f 69 6e 74 73 20 28 3f 29 0a 20 20 20 4e 5f 6d 69	tra.vanishing.points.(?)....N_mi
13300	6e 20 3d 20 6d 69 6e 28 4e 5f 78 2c 4e 5f 79 29 3b 0a 20 20 20 0a 20 20 20 69 66 20 4e 5f 6d 69	n.=.min(N_x,N_y);........if.N_mi
13320	6e 20 3c 20 32 2c 0a 20 20 20 20 20 20 75 73 65 5f 64 69 61 67 20 3d 20 30 3b 0a 20 20 20 20 20	n.<.2,.......use_diag.=.0;......
13340	20 74 77 6f 5f 66 6f 63 61 6c 20 3d 20 30 3b 0a 20 20 20 20 20 20 64 69 73 70 28 27 43 61 6e 6e	.two_focal.=.0;.......disp('Cann
13360	6f 74 20 65 73 74 69 6d 61 74 65 20 74 77 6f 20 66 6f 63 61 6c 73 20 28 6e 6f 20 65 78 69 73 74	ot.estimate.two.focals.(no.exist
13380	69 6e 67 20 64 69 61 67 6f 6e 61 6c 73 29 27 29 3b 20 20 20 0a 20 20 20 65 6c 73 65 0a 20 20 20	ing.diagonals)');.......else....
133a0	20 20 20 75 73 65 5f 64 69 61 67 20 3d 20 31 3b 0a 20 20 20 20 20 20 44 65 6c 74 61 5f 4e 20 3d	...use_diag.=.1;.......Delta_N.=
133c0	20 61 62 73 28 4e 5f 78 2d 4e 5f 79 29 3b 0a 20 20 20 20 20 20 4e 5f 65 78 74 72 61 20 3d 20 72	.abs(N_x-N_y);.......N_extra.=.r
133e0	6f 75 6e 64 28 28 4e 5f 6d 69 6e 20 2d 20 44 65 6c 74 61 5f 4e 20 2d 20 31 29 2f 32 29 3b 0a 20	ound((N_min.-.Delta_N.-.1)/2);..
13400	20 20 20 20 20 64 69 61 67 5f 6c 69 73 74 20 3d 20 2d 4e 5f 65 78 74 72 61 3a 44 65 6c 74 61 5f	.....diag_list.=.-N_extra:Delta_
13420	4e 2b 4e 5f 65 78 74 72 61 3b 0a 20 20 20 20 20 20 4e 5f 64 69 61 67 20 3d 20 6c 65 6e 67 74 68	N+N_extra;.......N_diag.=.length
13440	28 64 69 61 67 5f 6c 69 73 74 29 3b 0a 20 20 20 20 20 20 64 69 61 67 5f 31 20 3d 20 7a 65 72 6f	(diag_list);.......diag_1.=.zero
13460	73 28 33 2c 4e 5f 64 69 61 67 29 3b 0a 20 20 20 20 20 20 64 69 61 67 5f 32 20 3d 20 7a 65 72 6f	s(3,N_diag);.......diag_2.=.zero
13480	73 28 33 2c 4e 5f 64 69 61 67 29 3b 0a 20 20 20 65 6e 64 3b 0a 65 6c 73 65 20 20 20 0a 20 20 20	s(3,N_diag);....end;.else.......
134a0	25 20 47 69 76 65 20 75 70 20 74 68 65 20 75 73 65 20 6f 66 20 74 68 65 20 64 69 61 67 6f 6e 61	%.Give.up.the.use.of.the.diagona
134c0	6c 73 20 28 73 6f 20 66 61 72 29 0a 20 20 20 25 20 69 74 20 73 65 65 6d 73 20 74 68 61 74 20 74	ls.(so.far)....%.it.seems.that.t
134e0	68 65 20 65 72 72 6f 72 20 69 73 20 69 6e 63 72 65 61 73 65 64 0a 20 20 20 75 73 65 5f 64 69 61	he.error.is.increased....use_dia
13500	67 20 3d 20 30 3b 0a 65 6e 64 3b 0a 0a 0a 0a 25 20 54 68 65 20 76 65 72 74 69 63 61 6c 20 6c 69	g.=.0;.end;....%.The.vertical.li
13520	6e 65 73 3a 20 76 65 72 74 2c 20 48 6f 72 69 7a 6f 6e 74 61 6c 20 6c 69 6e 65 73 3a 20 68 6f 72	nes:.vert,.Horizontal.lines:.hor
13540	69 0a 76 65 72 74 20 3d 20 7a 65 72 6f 73 28 33 2c 6e 5f 73 71 5f 78 2b 31 29 3b 0a 68 6f 72 69	i.vert.=.zeros(3,n_sq_x+1);.hori
13560	20 3d 20 7a 65 72 6f 73 28 33 2c 6e 5f 73 71 5f 79 2b 31 29 3b 0a 20 0a 66 6f 72 20 63 6f 75 6e	.=.zeros(3,n_sq_y+1);...for.coun
13580	74 65 72 5f 6b 20 3d 20 31 3a 4e 5f 69 74 65 72 2c 20 09 25 20 74 68 65 20 49 74 65 72 61 74 69	ter_k.=.1:N_iter,..%.the.Iterati
135a0	76 65 20 56 61 6e 69 73 68 69 6e 67 20 50 6f 69 6e 74 73 20 41 6c 67 6f 72 69 74 68 6d 20 74 6f	ve.Vanishing.Points.Algorithm.to
135c0	0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	................................
135e0	20 25 20 65 73 74 69 6d 61 74 65 20 74 68 65 20 66 6f 63 61 6c 20 6c 65 6e 67 74 68 20 61 63 63	.%.estimate.the.focal.length.acc
13600	75 72 61 74 65 6c 79 0a 20 20 20 0a 20 20 20 78 5f 67 72 69 64 28 3a 29 20 3d 20 78 5f 61 6c 6c	urately........x_grid(:).=.x_all
13620	5f 63 28 31 2c 3a 29 3b 0a 20 20 20 79 5f 67 72 69 64 28 3a 29 20 3d 20 78 5f 61 6c 6c 5f 63 28	_c(1,:);....y_grid(:).=.x_all_c(
13640	32 2c 3a 29 3b 0a 20 20 20 20 20 20 20 20 20 0a 20 20 20 66 6f 72 20 6b 3d 31 3a 6e 5f 73 71 5f	2,:);..............for.k=1:n_sq_
13660	78 2b 31 2c 0a 20 20 20 20 20 20 5b 55 2c 53 2c 56 5d 20 3d 20 73 76 64 28 5b 78 5f 67 72 69 64	x+1,.......[U,S,V].=.svd([x_grid
13680	28 6b 2c 3a 29 3b 79 5f 67 72 69 64 28 6b 2c 3a 29 3b 6f 6e 65 73 28 31 2c 6e 5f 73 71 5f 79 2b	(k,:);y_grid(k,:);ones(1,n_sq_y+
136a0	31 29 5d 29 3b 0a 20 20 20 20 20 20 76 65 72 74 28 3a 2c 6b 29 20 3d 20 55 28 3a 2c 33 29 3b 0a	1)]);.......vert(:,k).=.U(:,3);.
136c0	20 20 20 65 6e 64 3b 0a 20 20 20 0a 20 20 20 66 6f 72 20 6b 3d 31 3a 6e 5f 73 71 5f 79 2b 31 2c	...end;........for.k=1:n_sq_y+1,
136e0	0a 20 20 20 20 20 20 5b 55 2c 53 2c 56 5d 20 3d 20 73 76 64 28 5b 78 5f 67 72 69 64 28 3a 2c 6b	.......[U,S,V].=.svd([x_grid(:,k
13700	29 27 3b 79 5f 67 72 69 64 28 3a 2c 6b 29 27 3b 6f 6e 65 73 28 31 2c 6e 5f 73 71 5f 78 2b 31 29	)';y_grid(:,k)';ones(1,n_sq_x+1)
13720	5d 29 3b 0a 20 20 20 20 20 20 68 6f 72 69 28 3a 2c 6b 29 20 3d 20 55 28 3a 2c 33 29 3b 0a 20 20	]);.......hori(:,k).=.U(:,3);...
13740	20 65 6e 64 3b 0a 20 20 20 0a 20 20 20 25 20 32 20 70 72 69 6e 63 69 70 6c 65 20 56 61 6e 69 73	.end;........%.2.principle.Vanis
13760	68 69 6e 67 20 70 6f 69 6e 74 73 3a 0a 20 20 20 5b 55 2c 53 2c 56 5d 20 3d 20 73 76 64 28 76 65	hing.points:....[U,S,V].=.svd(ve
13780	72 74 29 3b 0a 20 20 20 56 5f 76 65 72 74 20 3d 20 55 28 3a 2c 33 29 3b 0a 20 20 20 5b 55 2c 53	rt);....V_vert.=.U(:,3);....[U,S
137a0	2c 56 5d 20 3d 20 73 76 64 28 68 6f 72 69 29 3b 0a 20 20 20 56 5f 68 6f 72 69 20 3d 20 55 28 3a	,V].=.svd(hori);....V_hori.=.U(:
137c0	2c 33 29 3b 0a 20 20 20 0a 20 20 20 0a 0a 20 20 20 25 20 53 71 75 61 72 65 20 77 61 72 70 69 6e	,3);.............%.Square.warpin
137e0	67 3a 0a 20 20 20 0a 20 20 20 0a 20 20 20 76 65 72 74 5f 66 69 72 73 74 20 3d 20 76 65 72 74 28	g:............vert_first.=.vert(
13800	3a 2c 31 29 20 2d 20 64 6f 74 28 56 5f 76 65 72 74 2c 76 65 72 74 28 3a 2c 31 29 29 2f 64 6f 74	:,1).-.dot(V_vert,vert(:,1))/dot
13820	28 56 5f 76 65 72 74 2c 56 5f 76 65 72 74 29 20 2a 20 56 5f 76 65 72 74 3b 0a 20 20 20 76 65 72	(V_vert,V_vert).*.V_vert;....ver
13840	74 5f 6c 61 73 74 20 3d 20 76 65 72 74 28 3a 2c 6e 5f 73 71 5f 78 2b 31 29 20 2d 20 64 6f 74 28	t_last.=.vert(:,n_sq_x+1).-.dot(
13860	56 5f 76 65 72 74 2c 76 65 72 74 28 3a 2c 6e 5f 73 71 5f 78 2b 31 29 29 2f 64 6f 74 28 56 5f 76	V_vert,vert(:,n_sq_x+1))/dot(V_v
13880	65 72 74 2c 56 5f 76 65 72 74 29 20 2a 20 56 5f 76 65 72 74 3b 0a 20 20 20 0a 20 20 20 68 6f 72	ert,V_vert).*.V_vert;........hor
138a0	69 5f 66 69 72 73 74 20 3d 20 68 6f 72 69 28 3a 2c 31 29 20 2d 20 64 6f 74 28 56 5f 68 6f 72 69	i_first.=.hori(:,1).-.dot(V_hori
138c0	2c 68 6f 72 69 28 3a 2c 31 29 29 2f 64 6f 74 28 56 5f 68 6f 72 69 2c 56 5f 68 6f 72 69 29 20 2a	,hori(:,1))/dot(V_hori,V_hori).*
138e0	20 56 5f 68 6f 72 69 3b 0a 20 20 20 68 6f 72 69 5f 6c 61 73 74 20 3d 20 68 6f 72 69 28 3a 2c 6e	.V_hori;....hori_last.=.hori(:,n
13900	5f 73 71 5f 79 2b 31 29 20 2d 20 64 6f 74 28 56 5f 68 6f 72 69 2c 68 6f 72 69 28 3a 2c 6e 5f 73	_sq_y+1).-.dot(V_hori,hori(:,n_s
13920	71 5f 79 2b 31 29 29 2f 64 6f 74 28 56 5f 68 6f 72 69 2c 56 5f 68 6f 72 69 29 20 2a 20 56 5f 68	q_y+1))/dot(V_hori,V_hori).*.V_h
13940	6f 72 69 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 78 31 20 3d 20 63 72 6f 73 73 28 68 6f 72 69 5f	ori;............x1.=.cross(hori_
13960	66 69 72 73 74 2c 76 65 72 74 5f 66 69 72 73 74 29 3b 0a 20 20 20 78 32 20 3d 20 63 72 6f 73 73	first,vert_first);....x2.=.cross
13980	28 68 6f 72 69 5f 66 69 72 73 74 2c 76 65 72 74 5f 6c 61 73 74 29 3b 0a 20 20 20 78 33 20 3d 20	(hori_first,vert_last);....x3.=.
139a0	63 72 6f 73 73 28 68 6f 72 69 5f 6c 61 73 74 2c 76 65 72 74 5f 6c 61 73 74 29 3b 0a 20 20 20 78	cross(hori_last,vert_last);....x
139c0	34 20 3d 20 63 72 6f 73 73 28 68 6f 72 69 5f 6c 61 73 74 2c 76 65 72 74 5f 66 69 72 73 74 29 3b	4.=.cross(hori_last,vert_first);
139e0	0a 20 20 20 0a 20 20 20 78 31 20 3d 20 78 31 2f 78 31 28 33 29 3b 0a 20 20 20 78 32 20 3d 20 78	........x1.=.x1/x1(3);....x2.=.x
13a00	32 2f 78 32 28 33 29 3b 0a 20 20 20 78 33 20 3d 20 78 33 2f 78 33 28 33 29 3b 0a 20 20 20 78 34	2/x2(3);....x3.=.x3/x3(3);....x4
13a20	20 3d 20 78 34 2f 78 34 28 33 29 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 0a 20 20 20 5b 73 71 75	.=.x4/x4(3);................[squ
13a40	61 72 65 5d 20 3d 20 52 65 63 74 61 6e 67 6c 65 32 53 71 75 61 72 65 28 5b 78 31 20 78 32 20 78	are].=.Rectangle2Square([x1.x2.x
13a60	33 20 78 34 5d 2c 57 2c 4c 29 3b 0a 0a 20 20 20 79 31 20 3d 20 73 71 75 61 72 65 28 3a 2c 31 29	3.x4],W,L);.....y1.=.square(:,1)
13a80	3b 0a 20 20 20 79 32 20 3d 20 73 71 75 61 72 65 28 3a 2c 32 29 3b 0a 20 20 20 79 33 20 3d 20 73	;....y2.=.square(:,2);....y3.=.s
13aa0	71 75 61 72 65 28 3a 2c 33 29 3b 0a 20 20 20 79 34 20 3d 20 73 71 75 61 72 65 28 3a 2c 34 29 3b	quare(:,3);....y4.=.square(:,4);
13ac0	0a 0a 20 20 20 48 32 20 3d 20 63 72 6f 73 73 28 56 5f 76 65 72 74 2c 56 5f 68 6f 72 69 29 3b 0a	.....H2.=.cross(V_vert,V_hori);.
13ae0	20 20 20 0a 20 20 20 56 5f 64 69 61 67 31 20 3d 20 63 72 6f 73 73 28 63 72 6f 73 73 28 79 31 2c	.......V_diag1.=.cross(cross(y1,
13b00	79 33 29 2c 48 32 29 3b 0a 20 20 20 56 5f 64 69 61 67 32 20 3d 20 63 72 6f 73 73 28 63 72 6f 73	y3),H2);....V_diag2.=.cross(cros
13b20	73 28 79 32 2c 79 34 29 2c 48 32 29 3b 0a 0a 20 20 20 56 5f 64 69 61 67 31 20 3d 20 56 5f 64 69	s(y2,y4),H2);.....V_diag1.=.V_di
13b40	61 67 31 20 2f 20 6e 6f 72 6d 28 56 5f 64 69 61 67 31 29 3b 0a 20 20 20 56 5f 64 69 61 67 32 20	ag1./.norm(V_diag1);....V_diag2.
13b60	3d 20 56 5f 64 69 61 67 32 20 2f 20 6e 6f 72 6d 28 56 5f 64 69 61 67 32 29 3b 0a 0a 20 20 20 0a	=.V_diag2./.norm(V_diag2);......
13b80	20 20 20 0a 20 20 20 0a 20 20 20 25 20 45 73 74 69 6d 61 74 69 6f 6e 20 6f 66 20 74 68 65 20 66	...........%.Estimation.of.the.f
13ba0	6f 63 61 6c 20 6c 65 6e 67 74 68 2c 20 61 6e 64 20 6e 6f 72 6d 61 6c 69 7a 61 74 69 6f 6e 3a 0a	ocal.length,.and.normalization:.
13bc0	20 20 20 0a 20 20 20 25 20 43 6f 6d 70 75 74 65 20 74 68 65 20 65 6c 6c 69 70 73 69 73 20 6f 66	.......%.Compute.the.ellipsis.of
13be0	20 28 31 2f 66 5e 32 29 20 70 6f 73 69 74 69 6f 6e 73 3a 0a 20 20 20 25 20 61 20 2a 20 28 31 2f	.(1/f^2).positions:....%.a.*.(1/
13c00	66 78 29 5e 32 20 2b 20 62 20 2a 20 28 31 2f 66 78 29 5e 32 20 3d 20 2d 63 0a 20 20 20 0a 20 20	fx)^2.+.b.*.(1/fx)^2.=.-c.......
13c20	20 0a 20 20 20 61 31 20 3d 20 56 5f 68 6f 72 69 28 31 29 3b 0a 20 20 20 62 31 20 3d 20 56 5f 68	.....a1.=.V_hori(1);....b1.=.V_h
13c40	6f 72 69 28 32 29 3b 0a 20 20 20 63 31 20 3d 20 56 5f 68 6f 72 69 28 33 29 3b 0a 20 20 20 0a 20	ori(2);....c1.=.V_hori(3);......
13c60	20 20 61 32 20 3d 20 56 5f 76 65 72 74 28 31 29 3b 0a 20 20 20 62 32 20 3d 20 56 5f 76 65 72 74	..a2.=.V_vert(1);....b2.=.V_vert
13c80	28 32 29 3b 0a 20 20 20 63 32 20 3d 20 56 5f 76 65 72 74 28 33 29 3b 0a 20 20 20 0a 20 20 20 61	(2);....c2.=.V_vert(3);........a
13ca0	33 20 3d 20 56 5f 64 69 61 67 31 28 31 29 3b 0a 20 20 20 62 33 20 3d 20 56 5f 64 69 61 67 31 28	3.=.V_diag1(1);....b3.=.V_diag1(
13cc0	32 29 3b 0a 20 20 20 63 33 20 3d 20 56 5f 64 69 61 67 31 28 33 29 3b 0a 20 20 20 0a 20 20 20 61	2);....c3.=.V_diag1(3);........a
13ce0	34 20 3d 20 56 5f 64 69 61 67 32 28 31 29 3b 0a 20 20 20 62 34 20 3d 20 56 5f 64 69 61 67 32 28	4.=.V_diag2(1);....b4.=.V_diag2(
13d00	32 29 3b 0a 20 20 20 63 34 20 3d 20 56 5f 64 69 61 67 32 28 33 29 3b 0a 20 20 20 0a 20 20 20 0a	2);....c4.=.V_diag2(3);.........
13d20	20 20 20 69 66 20 74 77 6f 5f 66 6f 63 61 6c 2c 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 0a 20	...if.two_focal,................
13d40	20 20 20 20 20 41 20 3d 20 5b 61 31 2a 61 32 20 62 31 2a 62 32 3b 61 33 2a 61 34 20 62 33 2a 62	.....A.=.[a1a2.b1b2;a3a4.b3b
13d60	34 5d 3b 0a 20 20 20 20 20 20 62 20 3d 20 2d 5b 63 31 2a 63 32 3b 63 33 2a 63 34 5d 3b 0a 20 20	4];.......b.=.-[c1c2;c3c4];...
13d80	20 20 20 20 0a 20 20 20 20 20 20 66 20 3d 20 73 71 72 74 28 61 62 73 28 31 2e 2f 28 69 6e 76 28	...........f.=.sqrt(abs(1./(inv(
13da0	41 29 2a 62 29 29 29 3b 0a 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 66	A)*b)));.....else..............f
13dc0	20 3d 20 73 71 72 74 28 61 62 73 28 2d 28 63 31 2a 63 32 2a 28 61 31 2a 61 32 20 2b 20 62 31 2a	.=.sqrt(abs(-(c1c2(a1a2.+.b1
13de0	62 32 29 20 2b 20 63 33 2a 63 34 2a 28 61 33 2a 61 34 20 2b 20 62 33 2a 62 34 29 29 2f 28 63 31	b2).+.c3c4(a3a4.+.b3b4))/(c1
13e00	5e 32 2a 63 32 5e 32 20 2b 20 63 33 5e 32 2a 63 34 5e 32 29 29 29 3b 0a 20 20 20 20 20 20 0a 20	^2c2^2.+.c3^2c4^2)));.........
13e20	20 20 20 20 20 66 20 3d 20 5b 66 3b 66 5d 3b 0a 20 20 20 20 20 20 0a 20 20 20 65 6e 64 3b 0a 20	.....f.=.[f;f];...........end;..
13e40	20 20 0a 0a 20 20 20 0a 20 20 20 25 20 52 45 4d 41 52 4b 3a 0a 20 20 20 25 20 69 66 20 62 6f 74	...........%.REMARK:....%.if.bot
13e60	68 20 61 20 61 6e 64 20 62 20 61 72 65 20 73 6d 61 6c 6c 2c 20 74 68 65 20 63 61 6c 69 62 72 61	h.a.and.b.are.small,.the.calibra
13e80	74 69 6f 6e 20 69 73 20 69 6d 70 6f 73 73 69 62 6c 65 2e 0a 20 20 20 25 20 69 66 20 6f 6e 65 20	tion.is.impossible.....%.if.one.
13ea0	6f 66 20 74 68 65 6d 20 69 73 20 73 6d 61 6c 6c 2c 20 6f 6e 6c 79 20 74 68 65 20 6f 74 68 65 72	of.them.is.small,.only.the.other
13ec0	20 66 6f 63 61 6c 20 6c 65 6e 67 74 68 20 69 73 20 6f 62 73 65 72 76 61 62 6c 65 0a 20 20 20 25	.focal.length.is.observable....%
13ee0	20 69 66 20 6e 6f 6e 65 20 69 73 20 73 6d 61 6c 6c 2c 20 62 6f 74 68 20 66 6f 63 61 6c 73 20 61	.if.none.is.small,.both.focals.a
13f00	72 65 20 6f 62 73 65 72 76 61 62 6c 65 0a 20 20 20 0a 20 20 20 0a 20 20 20 66 63 5f 32 20 3d 20	re.observable............fc_2.=.
13f20	66 63 5f 32 20 2e 2a 20 66 3b 0a 20 20 20 0a 20 20 20 20 20 20 0a 20 20 20 25 20 44 45 42 55 47	fc_2..*.f;...............%.DEBUG
13f40	20 50 41 52 54 3a 20 66 69 78 20 66 6f 63 61 6c 20 74 6f 20 35 30 30 2e 2e 2e 0a 20 20 20 25 66	.PART:.fix.focal.to.500.......%f
13f60	63 5f 32 3d 20 5b 35 30 30 3b 35 30 30 5d 3b 20 64 69 73 70 28 27 4c 69 6e 65 20 32 39 33 20 74	c_2=.[500;500];.disp('Line.293.t
13f80	6f 20 62 65 20 65 61 72 61 73 65 64 20 69 6e 20 44 69 73 74 6f 72 32 43 61 6c 69 62 2e 6d 27 29	o.be.earased.in.Distor2Calib.m')
13fa0	3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 25 20 65 6e 64 20 6f 66 20 66 6f 63 61 6c 20 63 6f 6d 70	;............%.end.of.focal.comp
13fc0	65 6e 73 61 74 69 6f 6e 0a 20 20 20 0a 20 20 20 25 20 6e 6f 72 6d 61 6c 69 7a 65 20 62 79 20 74	ensation........%.normalize.by.t
13fe0	68 65 20 63 75 72 72 65 6e 74 20 66 6f 63 61 6c 3a 0a 20 20 20 0a 20 20 20 78 5f 61 6c 6c 20 3d	he.current.focal:........x_all.=
14000	20 5b 67 72 69 64 5f 70 74 73 5f 63 65 6e 74 65 72 65 64 28 31 2c 3a 29 2f 66 63 5f 32 28 31 29	.[grid_pts_centered(1,:)/fc_2(1)
14020	3b 67 72 69 64 5f 70 74 73 5f 63 65 6e 74 65 72 65 64 28 32 2c 3a 29 2f 66 63 5f 32 28 32 29 5d	;grid_pts_centered(2,:)/fc_2(2)]
14040	3b 0a 20 20 20 0a 20 20 20 25 20 43 6f 6d 70 65 6e 73 61 74 65 20 62 79 20 74 68 65 20 64 69 73	;........%.Compensate.by.the.dis
14060	74 6f 72 74 69 6f 6e 20 66 61 63 74 6f 72 3a 0a 20 20 20 0a 20 20 20 78 5f 61 6c 6c 5f 63 20 3d	tortion.factor:........x_all_c.=
14080	20 63 6f 6d 70 5f 64 69 73 74 6f 72 74 69 6f 6e 28 78 5f 61 6c 6c 2c 6b 5f 64 69 73 74 29 3b 0a	.comp_distortion(x_all,k_dist);.
140a0	20 20 20 0a 65 6e 64 3b 0a 20 20 20 0a 25 20 41 74 20 74 68 61 74 20 70 6f 69 6e 74 2c 20 77 65	....end;.....%.At.that.point,.we
140c0	20 68 6f 70 65 20 74 68 61 74 20 74 68 65 20 64 69 73 74 6f 72 74 69 6f 6e 20 69 73 20 67 6f 6e	.hope.that.the.distortion.is.gon
140e0	65 2e 2e 2e 0a 0a 78 5f 67 72 69 64 28 3a 29 20 3d 20 78 5f 61 6c 6c 5f 63 28 31 2c 3a 29 3b 0a	e.....x_grid(:).=.x_all_c(1,:);.
14100	79 5f 67 72 69 64 28 3a 29 20 3d 20 78 5f 61 6c 6c 5f 63 28 32 2c 3a 29 3b 0a 0a 66 6f 72 20 6b	y_grid(:).=.x_all_c(2,:);..for.k
14120	3d 31 3a 6e 5f 73 71 5f 78 2b 31 2c 0a 20 20 20 5b 55 2c 53 2c 56 5d 20 3d 20 73 76 64 28 5b 78	=1:n_sq_x+1,....[U,S,V].=.svd([x
14140	5f 67 72 69 64 28 6b 2c 3a 29 3b 79 5f 67 72 69 64 28 6b 2c 3a 29 3b 6f 6e 65 73 28 31 2c 6e 5f	_grid(k,:);y_grid(k,:);ones(1,n_
14160	73 71 5f 79 2b 31 29 5d 29 3b 0a 20 20 20 76 65 72 74 28 3a 2c 6b 29 20 3d 20 55 28 3a 2c 33 29	sq_y+1)]);....vert(:,k).=.U(:,3)
14180	3b 0a 65 6e 64 3b 0a 0a 66 6f 72 20 6b 3d 31 3a 6e 5f 73 71 5f 79 2b 31 2c 0a 20 20 20 5b 55 2c	;.end;..for.k=1:n_sq_y+1,....[U,
141a0	53 2c 56 5d 20 3d 20 73 76 64 28 5b 78 5f 67 72 69 64 28 3a 2c 6b 29 27 3b 79 5f 67 72 69 64 28	S,V].=.svd([x_grid(:,k)';y_grid(
141c0	3a 2c 6b 29 27 3b 6f 6e 65 73 28 31 2c 6e 5f 73 71 5f 78 2b 31 29 5d 29 3b 0a 20 20 20 68 6f 72	:,k)';ones(1,n_sq_x+1)]);....hor
141e0	69 28 3a 2c 6b 29 20 3d 20 55 28 3a 2c 33 29 3b 0a 65 6e 64 3b 0a 0a 25 20 56 61 6e 69 73 68 69	i(:,k).=.U(:,3);.end;..%.Vanishi
14200	6e 67 20 70 6f 69 6e 74 73 3a 0a 5b 55 2c 53 2c 56 5d 20 3d 20 73 76 64 28 76 65 72 74 29 3b 0a	ng.points:.[U,S,V].=.svd(vert);.
14220	56 5f 76 65 72 74 20 3d 20 55 28 3a 2c 33 29 3b 0a 5b 55 2c 53 2c 56 5d 20 3d 20 73 76 64 28 68	V_vert.=.U(:,3);.[U,S,V].=.svd(h
14240	6f 72 69 29 3b 0a 56 5f 68 6f 72 69 20 3d 20 55 28 3a 2c 33 29 3b 0a 0a 25 20 48 6f 72 69 7a 6f	ori);.V_hori.=.U(:,3);..%.Horizo
14260	6e 3a 0a 0a 48 5f 32 20 3d 20 63 72 6f 73 73 28 56 5f 76 65 72 74 2c 56 5f 68 6f 72 69 29 3b 0a	n:..H_2.=.cross(V_vert,V_hori);.
14280	20 20 20 0a 25 20 20 20 48 5f 32 20 3d 20 63 72 6f 73 73 28 56 5f 76 65 72 74 2c 56 5f 68 6f 72	....%...H_2.=.cross(V_vert,V_hor
142a0	69 29 3b 0a 0a 25 20 70 69 63 6b 20 61 20 70 6c 61 6e 65 20 69 6e 20 66 72 6f 6e 74 20 6f 66 20	i);..%.pick.a.plane.in.front.of.
142c0	74 68 65 20 63 61 6d 65 72 61 20 28 70 6f 73 69 74 69 76 65 20 64 65 70 74 68 29 0a 69 66 20 48	the.camera.(positive.depth).if.H
142e0	5f 32 28 33 29 20 3c 20 30 2c 20 48 5f 32 20 3d 20 2d 48 5f 32 3b 20 65 6e 64 3b 0a 0a 0a 25 20	_2(3).<.0,.H_2.=.-H_2;.end;...%.
14300	52 6f 74 61 74 69 6f 6e 20 6d 61 74 72 69 78 3a 0a 0a 69 66 20 56 5f 68 6f 72 69 28 31 29 20 3c	Rotation.matrix:..if.V_hori(1).<
14320	20 30 2c 20 56 5f 68 6f 72 69 20 3d 20 2d 56 5f 68 6f 72 69 3b 20 65 6e 64 3b 0a 0a 56 5f 68 6f	.0,.V_hori.=.-V_hori;.end;..V_ho
14340	72 69 20 3d 20 56 5f 68 6f 72 69 2f 6e 6f 72 6d 28 56 5f 68 6f 72 69 29 3b 0a 48 5f 32 20 3d 20	ri.=.V_hori/norm(V_hori);.H_2.=.
14360	48 5f 32 2f 6e 6f 72 6d 28 48 5f 32 29 3b 0a 0a 56 5f 68 6f 72 69 20 3d 20 56 5f 68 6f 72 69 20	H_2/norm(H_2);..V_hori.=.V_hori.
14380	2d 20 64 6f 74 28 56 5f 68 6f 72 69 2c 48 5f 32 29 2a 48 5f 32 3b 0a 0a 52 63 5f 32 20 3d 20 5b	-.dot(V_hori,H_2)*H_2;..Rc_2.=.[
143a0	56 5f 68 6f 72 69 20 63 72 6f 73 73 28 48 5f 32 2c 56 5f 68 6f 72 69 29 20 48 5f 32 5d 3b 0a 0a	V_hori.cross(H_2,V_hori).H_2];..
143c0	52 63 5f 32 20 3d 20 52 63 5f 32 20 2f 20 64 65 74 28 52 63 5f 32 29 3b 0a 0a 25 6f 6d 63 5f 32	Rc_2.=.Rc_2./.det(Rc_2);..%omc_2
143e0	20 3d 20 72 6f 64 72 69 67 75 65 73 28 52 63 5f 32 29 3b 0a 0a 25 52 63 5f 32 20 3d 20 72 6f 64	.=.rodrigues(Rc_2);..%Rc_2.=.rod
14400	72 69 67 75 65 73 28 6f 6d 63 5f 32 29 3b 0a 0a 25 20 46 69 6e 64 20 74 68 65 20 64 69 73 74 61	rigues(omc_2);..%.Find.the.dista
14420	6e 63 65 20 6f 66 20 74 68 65 20 70 6c 61 6e 65 20 66 6f 72 20 74 72 61 6e 73 6c 61 74 69 6f 6e	nce.of.the.plane.for.translation
14440	20 76 65 63 74 6f 72 3a 0a 0a 78 63 5f 32 20 3d 20 5b 78 5f 61 6c 6c 5f 63 3b 6f 6e 65 73 28 31	.vector:..xc_2.=.[x_all_c;ones(1
14460	2c 4e 70 29 5d 3b 0a 0a 5a 63 5f 32 20 3d 20 31 2e 2f 73 75 6d 28 78 63 5f 32 20 2e 2a 20 28 52	,Np)];..Zc_2.=.1./sum(xc_2..*.(R
14480	63 5f 32 28 3a 2c 33 29 2a 6f 6e 65 73 28 31 2c 4e 70 29 29 29 3b 0a 0a 58 6f 5f 32 20 3d 20 5b	c_2(:,3)*ones(1,Np)));..Xo_2.=.[
144a0	73 75 6d 28 78 63 5f 32 20 2e 2a 20 28 52 63 5f 32 28 3a 2c 31 29 2a 6f 6e 65 73 28 31 2c 4e 70	sum(xc_2...(Rc_2(:,1)ones(1,Np
144c0	29 29 29 2e 2a 5a 63 5f 32 20 3b 20 73 75 6d 28 78 63 5f 32 20 2e 2a 20 28 52 63 5f 32 28 3a 2c	))).Zc_2.;.sum(xc_2...(Rc_2(:,
144e0	32 29 2a 6f 6e 65 73 28 31 2c 4e 70 29 29 29 2e 2a 5a 63 5f 32 5d 3b 0a 0a 58 58 6f 5f 32 20 3d	2)ones(1,Np))).Zc_2];..XXo_2.=
14500	20 58 6f 5f 32 20 2d 20 6d 65 61 6e 28 58 6f 5f 32 27 29 27 2a 6f 6e 65 73 28 31 2c 4e 70 29 3b	.Xo_2.-.mean(Xo_2')'*ones(1,Np);
14520	0a 0a 64 69 73 74 61 6e 63 65 5f 78 20 3d 20 6e 6f 72 6d 28 58 67 72 69 64 5f 32 28 31 2c 3a 29	..distance_x.=.norm(Xgrid_2(1,:)
14540	29 2f 6e 6f 72 6d 28 58 58 6f 5f 32 28 31 2c 3a 29 29 3b 0a 64 69 73 74 61 6e 63 65 5f 79 20 3d	)/norm(XXo_2(1,:));.distance_y.=
14560	20 6e 6f 72 6d 28 58 67 72 69 64 5f 32 28 32 2c 3a 29 29 2f 6e 6f 72 6d 28 58 58 6f 5f 32 28 32	.norm(Xgrid_2(2,:))/norm(XXo_2(2
14580	2c 3a 29 29 3b 0a 0a 0a 64 69 73 74 61 6e 63 65 20 3d 20 73 75 6d 28 73 75 6d 28 58 58 6f 5f 32	,:));...distance.=.sum(sum(XXo_2
145a0	28 31 3a 32 2c 3a 29 2e 2a 58 67 72 69 64 5f 32 28 31 3a 32 2c 3a 29 29 29 2f 73 75 6d 28 73 75	(1:2,:).*Xgrid_2(1:2,:)))/sum(su
145c0	6d 28 58 58 6f 5f 32 28 31 3a 32 2c 3a 29 2e 5e 32 29 29 3b 0a 0a 61 6c 70 68 61 20 3d 20 61 62	m(XXo_2(1:2,:).^2));..alpha.=.ab
145e0	73 28 64 69 73 74 61 6e 63 65 5f 78 20 2d 20 64 69 73 74 61 6e 63 65 5f 79 29 2f 64 69 73 74 61	s(distance_x.-.distance_y)/dista
14600	6e 63 65 3b 0a 0a 69 66 20 28 61 6c 70 68 61 3e 30 2e 31 29 26 7e 74 77 6f 5f 66 6f 63 61 6c 2c	nce;..if.(alpha>0.1)&~two_focal,
14620	0a 20 20 20 64 69 73 70 28 27 53 68 6f 75 6c 64 20 75 73 65 20 74 77 6f 20 66 6f 63 61 6c 73 20	....disp('Should.use.two.focals.
14640	69 6e 20 78 20 61 6e 64 20 79 2e 2e 2e 27 29 3b 0a 65 6e 64 3b 0a 0a 25 20 44 65 64 75 63 65 20	in.x.and.y...');.end;..%.Deduce.
14660	74 68 65 20 74 72 61 6e 73 6c 61 74 69 6f 6e 20 76 65 63 74 6f 72 3a 0a 0a 54 63 5f 32 20 3d 20	the.translation.vector:..Tc_2.=.
14680	64 69 73 74 61 6e 63 65 20 2a 20 48 5f 32 3b 0a 0a 0a 0a 0a 0a 72 65 74 75 72 6e 3b 0a 0a 20 20	distance.*.H_2;......return;....
146a0	20 56 5f 68 6f 72 69 5f 70 69 78 2f 56 5f 68 6f 72 69 5f 70 69 78 28 33 29 0a 20 20 20 56 5f 76	.V_hori_pix/V_hori_pix(3)....V_v
146c0	65 72 74 5f 70 69 78 2f 56 5f 76 65 72 74 5f 70 69 78 28 33 29 0a 20 20 20 56 5f 64 69 61 67 31	ert_pix/V_vert_pix(3)....V_diag1
146e0	5f 70 69 78 2f 56 5f 64 69 61 67 31 5f 70 69 78 28 33 29 0a 20 20 20 56 5f 64 69 61 67 32 5f 70	_pix/V_diag1_pix(3)....V_diag2_p
14700	69 78 2f 56 5f 64 69 61 67 32 5f 70 69 78 28 33 29 0a 2c 33 29 3b 0a 20 20 20 65 6e 64 3b 0a 20	ix/V_diag2_pix(3).,3);....end;..
14720	20 20 0a 20 20 20 66 6f 72 20 6b 3d 31 3a 6e 5f 73 71 5f 79 2b 31 2c 0a 20 20 20 20 20 20 5b 55	......for.k=1:n_sq_y+1,.......[U
14740	2c 53 2c 56 5d 20 3d 20 73 76 64 28 5b 78 5f 67 72 69 64 28 3a 2c 6b 29 27 3b 79 5f 67 72 69 64	,S,V].=.svd([x_grid(:,k)';y_grid
14760	28 3a 2c 6b 29 27 3b 6f 6e 65 73 28 31 2c 6e 5f 73 71 5f 78 2b 31 29 5d 29 3b 0a 20 20 20 20 20	(:,k)';ones(1,n_sq_x+1)]);......
14780	20 68 6f 72 69 28 3a 2c 6b 29 20 3d 20 55 28 3a 2c 33 29 3b 0a 20 20 20 65 6e 64 3b 0a 20 20 20	.hori(:,k).=.U(:,3);....end;....
147a0	0a 20 20 20 25 20 32 20 70 72 69 6e 63 69 70 6c 65 20 56 61 6e 69 73 68 69 6e 67 20 70 6f 69 6e	....%.2.principle.Vanishing.poin
147c0	74 73 3a 0a 20 20 20 5b 55 2c 53 2c 56 5d 20 3d 20 73 76 64 28 76 65 72 74 29 3b 0a 20 20 20 56	ts:....[U,S,V].=.svd(vert);....V
147e0	5f 76 65 72 74 20 3d 20 55 28 3a 2c 33 29 3b 0a 20 20 20 5b 55 2c 53 2c 56 5d 20 3d 20 73 76 64	_vert.=.U(:,3);....[U,S,V].=.svd
14800	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 65 78 74 72 61 63 74 5f 67 72 69 64 2e 6d 00 00 00 00	TOOLBOX_calib/extract_grid.m....
14820	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14840	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14860	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
14880	20 20 31 35 30 33 30 20 20 37 30 32 34 30 33 37 33 32 31 20 20 31 31 32 37 30 00 20 00 00 00 00	..15030..7024037321..11270......
148a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
148c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
148e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14900	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14920	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14940	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14960	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14980	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
149a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
149c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
149e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
14a00	66 75 6e 63 74 69 6f 6e 20 5b 78 2c 58 2c 6e 5f 73 71 5f 78 2c 6e 5f 73 71 5f 79 2c 69 6e 64 5f	function.[x,X,n_sq_x,n_sq_y,ind_
14a20	6f 72 69 67 2c 69 6e 64 5f 78 2c 69 6e 64 5f 79 5d 20 3d 20 65 78 74 72 61 63 74 5f 67 72 69 64	orig,ind_x,ind_y].=.extract_grid
14a40	28 49 2c 77 69 6e 74 78 2c 77 69 6e 74 79 2c 66 63 2c 63 63 2c 6b 63 29 3b 0a 0a 6d 61 70 20 3d	(I,wintx,winty,fc,cc,kc);..map.=
14a60	20 67 72 61 79 28 32 35 36 29 3b 0a 0a 09 66 69 67 75 72 65 28 32 29 3b 0a 09 69 6d 61 67 65 28	.gray(256);...figure(2);..image(
14a80	49 29 3b 0a 20 20 20 63 6f 6c 6f 72 6d 61 70 28 6d 61 70 29 3b 0a 20 20 20 0a 20 20 20 0a 20 20	I);....colormap(map);...........
14aa0	20 69 66 20 6e 61 72 67 69 6e 20 3c 20 32 2c 0a 20 20 20 20 20 20 0a 09 09 64 69 73 70 28 27 57	.if.nargin.<.2,..........disp('W
14ac0	69 6e 64 6f 77 20 73 69 7a 65 20 66 6f 72 20 63 6f 72 6e 65 72 20 66 69 6e 64 65 72 20 28 77 69	indow.size.for.corner.finder.(wi
14ae0	6e 74 78 20 61 6e 64 20 77 69 6e 74 79 29 3a 27 29 3b 0a 09 09 77 69 6e 74 78 20 3d 20 69 6e 70	ntx.and.winty):');...wintx.=.inp
14b00	75 74 28 27 77 69 6e 74 78 20 28 5b 5d 20 3d 20 35 29 20 3d 20 27 29 3b 0a 09 09 69 66 20 69 73	ut('wintx.([].=.5).=.');...if.is
14b20	65 6d 70 74 79 28 77 69 6e 74 78 29 2c 20 77 69 6e 74 78 20 3d 20 35 3b 20 65 6e 64 3b 0a 09 09	empty(wintx),.wintx.=.5;.end;...
14b40	77 69 6e 74 78 20 3d 20 72 6f 75 6e 64 28 77 69 6e 74 78 29 3b 0a 09 09 77 69 6e 74 79 20 3d 20	wintx.=.round(wintx);...winty.=.
14b60	69 6e 70 75 74 28 27 77 69 6e 74 79 20 28 5b 5d 20 3d 20 35 29 20 3d 20 27 29 3b 0a 09 09 69 66	input('winty.([].=.5).=.');...if
14b80	20 69 73 65 6d 70 74 79 28 77 69 6e 74 79 29 2c 20 77 69 6e 74 79 20 3d 20 35 3b 20 65 6e 64 3b	.isempty(winty),.winty.=.5;.end;
14ba0	0a 09 09 77 69 6e 74 79 20 3d 20 72 6f 75 6e 64 28 77 69 6e 74 79 29 3b 0a 0a 09 09 66 70 72 69	...winty.=.round(winty);....fpri
14bc0	6e 74 66 28 31 2c 27 57 69 6e 64 6f 77 20 73 69 7a 65 20 3d 20 25 64 78 25 64 5c 6e 27 2c 32 2a	ntf(1,'Window.size.=.%dx%d\n',2*
14be0	77 69 6e 74 78 2b 31 2c 32 2a 77 69 6e 74 79 2b 31 29 3b 0a 20 20 20 20 20 20 0a 20 20 20 65 6e	wintx+1,2*winty+1);...........en
14c00	64 3b 0a 20 20 20 0a 0a 20 20 20 0a 20 20 20 74 69 74 6c 65 28 27 43 6c 69 63 6b 20 6f 6e 20 74	d;.............title('Click.on.t
14c20	68 65 20 66 6f 75 72 20 65 78 74 72 65 6d 65 20 63 6f 72 6e 65 72 73 20 6f 66 20 74 68 65 20 72	he.four.extreme.corners.of.the.r
14c40	65 63 74 61 6e 67 75 6c 61 72 20 70 61 74 74 65 72 6e 2e 2e 2e 27 29 3b 0a 20 20 20 0a 20 20 20	ectangular.pattern...');........
14c60	64 69 73 70 28 27 43 6c 69 63 6b 20 6f 6e 20 74 68 65 20 66 6f 75 72 20 65 78 74 72 65 6d 65 20	disp('Click.on.the.four.extreme.
14c80	63 6f 72 6e 65 72 73 20 6f 66 20 74 68 65 20 72 65 63 74 61 6e 67 75 6c 61 72 20 63 6f 6d 70 6c	corners.of.the.rectangular.compl
14ca0	65 74 65 20 70 61 74 74 65 72 6e 2e 2e 2e 27 29 3b 0a 20 20 20 0a 20 20 20 5b 78 2c 79 5d 20 3d	ete.pattern...');........[x,y].=
14cc0	20 67 69 6e 70 75 74 33 28 34 29 3b 0a 20 20 20 0a 20 20 20 5b 58 63 2c 67 6f 6f 64 2c 62 61 64	.ginput3(4);........[Xc,good,bad
14ce0	2c 74 79 70 65 5d 20 3d 20 63 6f 72 6e 65 72 66 69 6e 64 65 72 28 5b 78 27 3b 79 27 5d 2c 49 2c	,type].=.cornerfinder([x';y'],I,
14d00	77 69 6e 74 79 2c 77 69 6e 74 78 29 3b 20 25 20 74 68 65 20 66 6f 75 72 20 63 6f 72 6e 65 72 73	winty,wintx);.%.the.four.corners
14d20	0a 20 20 20 0a 20 20 20 78 20 3d 20 58 63 28 31 2c 3a 29 27 3b 0a 20 20 20 79 20 3d 20 58 63 28	........x.=.Xc(1,:)';....y.=.Xc(
14d40	32 2c 3a 29 27 3b 0a 20 20 20 0a 20 20 20 5b 79 2c 69 6e 64 79 5d 20 3d 20 73 6f 72 74 28 79 29	2,:)';........[y,indy].=.sort(y)
14d60	3b 0a 20 20 20 78 20 3d 20 78 28 69 6e 64 79 29 3b 0a 20 20 20 0a 20 20 20 69 66 20 28 78 28 32	;....x.=.x(indy);........if.(x(2
14d80	29 20 3e 20 78 28 31 29 29 2c 0a 20 20 20 20 20 20 78 34 20 3d 20 78 28 31 29 3b 79 34 20 3d 20	).>.x(1)),.......x4.=.x(1);y4.=.
14da0	79 28 31 29 3b 20 78 33 20 3d 20 78 28 32 29 3b 20 79 33 20 3d 20 79 28 32 29 3b 0a 20 20 20 65	y(1);.x3.=.x(2);.y3.=.y(2);....e
14dc0	6c 73 65 0a 20 20 20 20 20 20 78 34 20 3d 20 78 28 32 29 3b 79 34 20 3d 20 79 28 32 29 3b 20 78	lse.......x4.=.x(2);y4.=.y(2);.x
14de0	33 20 3d 20 78 28 31 29 3b 20 79 33 20 3d 20 79 28 31 29 3b 0a 20 20 20 65 6e 64 3b 0a 20 20 20	3.=.x(1);.y3.=.y(1);....end;....
14e00	69 66 20 28 78 28 33 29 20 3e 20 78 28 34 29 29 2c 0a 20 20 20 20 20 20 78 32 20 3d 20 78 28 33	if.(x(3).>.x(4)),.......x2.=.x(3
14e20	29 3b 79 32 20 3d 20 79 28 33 29 3b 20 78 31 20 3d 20 78 28 34 29 3b 20 79 31 20 3d 20 79 28 34	);y2.=.y(3);.x1.=.x(4);.y1.=.y(4
14e40	29 3b 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 78 32 20 3d 20 78 28 34 29 3b 79 32 20 3d 20	);....else.......x2.=.x(4);y2.=.
14e60	79 28 34 29 3b 20 78 31 20 3d 20 78 28 33 29 3b 20 79 31 20 3d 20 79 28 33 29 3b 0a 20 20 20 65	y(4);.x1.=.x(3);.y1.=.y(3);....e
14e80	6e 64 3b 0a 20 20 20 0a 20 20 20 78 20 3d 20 5b 78 31 3b 78 32 3b 78 33 3b 78 34 5d 3b 0a 20 20	nd;........x.=.[x1;x2;x3;x4];...
14ea0	20 79 20 3d 20 5b 79 31 3b 79 32 3b 79 33 3b 79 34 5d 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 66	.y.=.[y1;y2;y3;y4];............f
14ec0	69 67 75 72 65 28 32 29 3b 20 68 6f 6c 64 20 6f 6e 3b 0a 20 20 20 70 6c 6f 74 28 5b 78 3b 78 28	igure(2);.hold.on;....plot([x;x(
14ee0	31 29 5d 2c 5b 79 3b 79 28 31 29 5d 2c 27 67 2d 27 29 3b 0a 20 20 20 70 6c 6f 74 28 78 2c 79 2c	1)],[y;y(1)],'g-');....plot(x,y,
14f00	27 6f 67 27 29 3b 0a 20 20 20 68 78 3d 74 65 78 74 28 28 78 28 34 29 2b 78 28 33 29 29 2f 32 2c	'og');....hx=text((x(4)+x(3))/2,
14f20	28 79 28 34 29 2b 79 28 33 29 29 2f 32 20 2d 20 32 30 2c 27 58 27 29 3b 0a 20 20 20 73 65 74 28	(y(4)+y(3))/2.-.20,'X');....set(
14f40	68 78 2c 27 63 6f 6c 6f 72 27 2c 27 67 27 2c 27 46 6f 6e 74 73 69 7a 65 27 2c 31 34 29 3b 0a 20	hx,'color','g','Fontsize',14);..
14f60	20 20 68 79 3d 74 65 78 74 28 28 78 28 34 29 2b 78 28 31 29 29 2f 32 2d 32 30 2c 28 79 28 34 29	..hy=text((x(4)+x(1))/2-20,(y(4)
14f80	2b 79 28 31 29 29 2f 32 2c 27 59 27 29 3b 0a 20 20 20 73 65 74 28 68 79 2c 27 63 6f 6c 6f 72 27	+y(1))/2,'Y');....set(hy,'color'
14fa0	2c 27 67 27 2c 27 46 6f 6e 74 73 69 7a 65 27 2c 31 34 29 3b 0a 20 20 20 68 6f 6c 64 20 6f 66 66	,'g','Fontsize',14);....hold.off
14fc0	3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 25 20 54 72 79 20 74 6f 20 61 75 74 6f 6d 61 74 69 63 61	;............%.Try.to.automatica
14fe0	6c 6c 79 20 63 6f 75 6e 74 20 74 68 65 20 6e 75 6d 62 65 72 20 6f 66 20 73 71 75 61 72 65 73 20	lly.count.the.number.of.squares.
15000	69 6e 20 74 68 65 20 67 72 69 64 0a 20 20 20 0a 20 20 20 6e 5f 73 71 5f 78 31 20 3d 20 63 6f 75	in.the.grid........n_sq_x1.=.cou
15020	6e 74 5f 73 71 75 61 72 65 73 28 49 2c 78 31 2c 79 31 2c 78 32 2c 79 32 2c 77 69 6e 74 78 29 3b	nt_squares(I,x1,y1,x2,y2,wintx);
15040	0a 20 20 20 6e 5f 73 71 5f 78 32 20 3d 20 63 6f 75 6e 74 5f 73 71 75 61 72 65 73 28 49 2c 78 33	....n_sq_x2.=.count_squares(I,x3
15060	2c 79 33 2c 78 34 2c 79 34 2c 77 69 6e 74 78 29 3b 0a 20 20 20 6e 5f 73 71 5f 79 31 20 3d 20 63	,y3,x4,y4,wintx);....n_sq_y1.=.c
15080	6f 75 6e 74 5f 73 71 75 61 72 65 73 28 49 2c 78 32 2c 79 32 2c 78 33 2c 79 33 2c 77 69 6e 74 78	ount_squares(I,x2,y2,x3,y3,wintx
150a0	29 3b 0a 20 20 20 6e 5f 73 71 5f 79 32 20 3d 20 63 6f 75 6e 74 5f 73 71 75 61 72 65 73 28 49 2c	);....n_sq_y2.=.count_squares(I,
150c0	78 34 2c 79 34 2c 78 31 2c 79 31 2c 77 69 6e 74 78 29 3b 0a 20 20 20 0a 20 20 0a 20 20 20 0a 20	x4,y4,x1,y1,wintx);.............
150e0	20 20 25 20 49 66 20 63 6f 75 6c 64 20 6e 6f 74 20 63 6f 75 6e 74 20 74 68 65 20 6e 75 6d 62 65	..%.If.could.not.count.the.numbe
15100	72 20 6f 66 20 73 71 75 61 72 65 73 2c 20 65 6e 74 65 72 20 6d 61 6e 75 61 6c 6c 79 0a 20 20 20	r.of.squares,.enter.manually....
15120	0a 20 20 20 69 66 20 28 6e 5f 73 71 5f 78 31 7e 3d 6e 5f 73 71 5f 78 32 29 7c 28 6e 5f 73 71 5f	....if.(n_sq_x1~=n_sq_x2)\|(n_sq_
15140	79 31 7e 3d 6e 5f 73 71 5f 79 32 29 2c 0a 20 20 20 20 20 20 0a 0a 09 20 64 69 73 70 28 27 43 6f	y1~=n_sq_y2),...........disp('Co
15160	75 6c 64 20 6e 6f 74 20 63 6f 75 6e 74 20 74 68 65 20 6e 75 6d 62 65 72 20 6f 66 20 73 71 75 61	uld.not.count.the.number.of.squa
15180	72 65 73 20 69 6e 20 74 68 65 20 67 72 69 64 2e 20 45 6e 74 65 72 20 6d 61 6e 75 61 6c 6c 79 2e	res.in.the.grid..Enter.manually.
151a0	27 29 3b 0a 09 20 6e 5f 73 71 5f 78 20 3d 20 69 6e 70 75 74 28 27 4e 75 6d 62 65 72 20 6f 66 20	');...n_sq_x.=.input('Number.of.
151c0	73 71 75 61 72 65 73 20 61 6c 6f 6e 67 20 74 68 65 20 58 20 64 69 72 65 63 74 69 6f 6e 20 28 5b	squares.along.the.X.direction.([
151e0	5d 3d 31 30 29 20 3d 20 27 29 3b 20 25 36 0a 09 20 69 66 20 69 73 65 6d 70 74 79 28 6e 5f 73 71	]=10).=.');.%6...if.isempty(n_sq
15200	5f 78 29 2c 20 6e 5f 73 71 5f 78 20 3d 20 31 30 3b 20 65 6e 64 3b 0a 09 20 6e 5f 73 71 5f 79 20	_x),.n_sq_x.=.10;.end;...n_sq_y.
15220	3d 20 69 6e 70 75 74 28 27 4e 75 6d 62 65 72 20 6f 66 20 73 71 75 61 72 65 73 20 61 6c 6f 6e 67	=.input('Number.of.squares.along
15240	20 74 68 65 20 59 20 64 69 72 65 63 74 69 6f 6e 20 28 5b 5d 3d 31 30 29 20 3d 20 27 29 3b 20 25	.the.Y.direction.([]=10).=.');.%
15260	36 0a 09 20 69 66 20 69 73 65 6d 70 74 79 28 6e 5f 73 71 5f 79 29 2c 20 6e 5f 73 71 5f 79 20 3d	6...if.isempty(n_sq_y),.n_sq_y.=
15280	20 31 30 3b 20 65 6e 64 3b 20 0a 20 20 20 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 20 20 20	.10;.end;.........else..........
152a0	20 20 20 20 20 20 0a 20 20 20 20 20 20 6e 5f 73 71 5f 78 20 3d 20 6e 5f 73 71 5f 78 31 3b 0a 20	.............n_sq_x.=.n_sq_x1;..
152c0	20 20 20 20 20 6e 5f 73 71 5f 79 20 3d 20 6e 5f 73 71 5f 79 31 3b 0a 20 20 20 20 20 20 0a 20 20	.....n_sq_y.=.n_sq_y1;..........
152e0	20 65 6e 64 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 25 20 45 6e 74 65 72 20 74 68 65 20 73 69 7a	.end;............%.Enter.the.siz
15300	65 20 6f 66 20 65 61 63 68 20 73 71 75 61 72 65 0a 20 20 20 0a 20 20 20 64 58 20 3d 20 69 6e 70	e.of.each.square........dX.=.inp
15320	75 74 28 5b 27 53 69 7a 65 20 64 58 20 6f 66 20 65 61 63 68 20 73 71 75 61 72 65 20 61 6c 6f 6e	ut(['Size.dX.of.each.square.alon
15340	67 20 74 68 65 20 58 20 64 69 72 65 63 74 69 6f 6e 20 28 5b 5d 3d 33 63 6d 29 20 3d 20 27 5d 29	g.the.X.direction.([]=3cm).=.'])
15360	3b 0a 20 20 09 64 59 20 3d 20 69 6e 70 75 74 28 5b 27 53 69 7a 65 20 64 59 20 6f 66 20 65 61 63	;....dY.=.input(['Size.dY.of.eac
15380	68 20 73 71 75 61 72 65 20 61 6c 6f 6e 67 20 74 68 65 20 59 20 64 69 72 65 63 74 69 6f 6e 20 28	h.square.along.the.Y.direction.(
153a0	5b 5d 3d 33 63 6d 29 20 3d 20 27 5d 29 3b 0a 09 69 66 20 69 73 65 6d 70 74 79 28 64 58 29 2c 20	[]=3cm).=.']);..if.isempty(dX),.
153c0	64 58 20 3d 20 33 3b 20 65 6e 64 3b 0a 09 69 66 20 69 73 65 6d 70 74 79 28 64 59 29 2c 20 64 59	dX.=.3;.end;..if.isempty(dY),.dY
153e0	20 3d 20 33 3b 20 65 6e 64 3b 0a 09 0a 20 20 20 0a 20 20 20 0a 20 20 20 25 20 43 6f 6d 70 75 74	.=.3;.end;..............%.Comput
15400	65 20 74 68 65 20 69 6e 73 69 64 65 20 70 6f 69 6e 74 73 20 74 68 72 6f 75 67 68 20 63 6f 6d 70	e.the.inside.points.through.comp
15420	75 74 61 74 69 6f 6e 20 6f 66 20 74 68 65 20 70 6c 61 6e 61 72 20 68 6f 6d 6f 67 72 61 70 68 79	utation.of.the.planar.homography
15440	20 28 63 6f 6c 6c 69 6e 65 61 74 69 6f 6e 29 0a 20 20 20 0a 09 61 30 30 20 3d 20 5b 78 28 31 29	.(collineation)......a00.=.[x(1)
15460	3b 79 28 31 29 3b 31 5d 3b 0a 09 61 31 30 20 3d 20 5b 78 28 32 29 3b 79 28 32 29 3b 31 5d 3b 0a	;y(1);1];..a10.=.[x(2);y(2);1];.
15480	09 61 31 31 20 3d 20 5b 78 28 33 29 3b 79 28 33 29 3b 31 5d 3b 0a 09 61 30 31 20 3d 20 5b 78 28	.a11.=.[x(3);y(3);1];..a01.=.[x(
154a0	34 29 3b 79 28 34 29 3b 31 5d 3b 0a 0a 0a 09 25 20 43 6f 6d 70 75 74 65 20 74 68 65 20 70 6c 61	4);y(4);1];....%.Compute.the.pla
154c0	6e 61 72 74 20 63 6f 6c 6c 69 6e 65 61 74 69 6f 6e 3a 20 28 72 65 74 75 72 6e 20 74 68 65 20 6e	nart.collineation:.(return.the.n
154e0	6f 72 6d 61 6c 69 7a 61 74 69 6f 6e 20 6d 61 74 72 69 63 65 20 61 73 20 77 65 6c 6c 29 0a 20 20	ormalization.matrice.as.well)...
15500	20 0a 20 20 20 5b 48 6f 6d 6f 2c 48 6e 6f 72 6d 2c 69 6e 76 5f 48 6e 6f 72 6d 5d 20 3d 20 63 6f	.....[Homo,Hnorm,inv_Hnorm].=.co
15520	6d 70 75 74 65 5f 68 6f 6d 6f 67 72 61 70 68 79 20 28 5b 61 30 30 20 61 31 30 20 61 31 31 20 61	mpute_homography.([a00.a10.a11.a
15540	30 31 5d 2c 5b 30 20 31 20 31 20 30 3b 30 20 30 20 31 20 31 3b 31 20 31 20 31 20 31 5d 29 3b 0a	01],[0.1.1.0;0.0.1.1;1.1.1.1]);.
15560	20 20 20 0a 20 20 20 0a 09 25 20 42 75 69 6c 64 20 74 68 65 20 67 72 69 64 20 75 73 69 6e 67 20	.........%.Build.the.grid.using.
15580	74 68 65 20 70 6c 61 6e 61 72 20 63 6f 6c 6c 69 6e 65 61 74 69 6f 6e 3a 0a 0a 09 78 5f 6c 20 3d	the.planar.collineation:...x_l.=
155a0	20 28 28 30 3a 6e 5f 73 71 5f 78 29 27 2a 6f 6e 65 73 28 31 2c 6e 5f 73 71 5f 79 2b 31 29 29 2f	.((0:n_sq_x)'*ones(1,n_sq_y+1))/
155c0	6e 5f 73 71 5f 78 3b 0a 20 20 20 79 5f 6c 20 3d 20 28 6f 6e 65 73 28 6e 5f 73 71 5f 78 2b 31 2c	n_sq_x;....y_l.=.(ones(n_sq_x+1,
155e0	31 29 2a 28 30 3a 6e 5f 73 71 5f 79 29 29 2f 6e 5f 73 71 5f 79 3b 0a 20 20 20 70 74 73 20 3d 20	1)*(0:n_sq_y))/n_sq_y;....pts.=.
15600	5b 78 5f 6c 28 3a 29 20 79 5f 6c 28 3a 29 20 6f 6e 65 73 28 28 6e 5f 73 71 5f 78 2b 31 29 2a 28	[x_l(:).y_l(:).ones((n_sq_x+1)*(
15620	6e 5f 73 71 5f 79 2b 31 29 2c 31 29 5d 27 3b 0a 20 20 20 0a 20 20 20 58 58 20 3d 20 48 6f 6d 6f	n_sq_y+1),1)]';........XX.=.Homo
15640	2a 70 74 73 3b 0a 09 58 58 20 3d 20 58 58 28 31 3a 32 2c 3a 29 20 2e 2f 20 28 6f 6e 65 73 28 32	*pts;..XX.=.XX(1:2,:)../.(ones(2
15660	2c 31 29 2a 58 58 28 33 2c 3a 29 29 3b 0a 0a 20 20 20 0a 20 20 20 25 20 43 6f 6d 70 6c 65 74 65	,1)*XX(3,:));.........%.Complete
15680	20 73 69 7a 65 20 6f 66 20 74 68 65 20 72 65 63 74 61 6e 67 6c 65 0a 20 20 20 0a 20 20 20 57 20	.size.of.the.rectangle........W.
156a0	3d 20 6e 5f 73 71 5f 78 2a 64 58 3b 0a 20 20 20 4c 20 3d 20 6e 5f 73 71 5f 79 2a 64 59 3b 0a 20	=.n_sq_xdX;....L.=.n_sq_ydY;..
156c0	20 20 0a 20 20 20 0a 20 20 20 0a 20 20 20 69 66 20 6e 61 72 67 69 6e 20 3c 20 36 2c 0a 20 20 20	..............if.nargin.<.6,....
156e0	0a 20 20 20 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 20 41 44 44	....%%%%%%%%%%%%%%%%%%%%%%%%.ADD
15700	49 54 49 4f 4e 41 4c 20 53 54 55 46 46 20 49 4e 20 54 48 45 20 43 41 53 45 20 4f 46 20 48 49 47	ITIONAL.STUFF.IN.THE.CASE.OF.HIG
15720	48 4c 59 20 44 49 53 54 4f 52 54 45 44 20 49 4d 41 47 45 53 20 25 25 25 25 25 25 25 25 25 25 25	HLY.DISTORTED.IMAGES.%%%%%%%%%%%
15740	25 25 0a 20 20 20 66 69 67 75 72 65 28 32 29 3b 0a 20 20 20 68 6f 6c 64 20 6f 6e 3b 0a 20 20 20	%%....figure(2);....hold.on;....
15760	70 6c 6f 74 28 58 58 28 31 2c 3a 29 2c 58 58 28 32 2c 3a 29 2c 27 72 2b 27 29 3b 0a 20 20 20 74	plot(XX(1,:),XX(2,:),'r+');....t
15780	69 74 6c 65 28 27 54 68 65 20 72 65 64 20 63 72 6f 73 73 65 73 20 73 68 6f 75 6c 64 20 62 65 20	itle('The.red.crosses.should.be.
157a0	63 6c 6f 73 65 20 74 6f 20 74 68 65 20 69 6d 61 67 65 20 63 6f 72 6e 65 72 73 27 29 3b 0a 20 20	close.to.the.image.corners');...
157c0	20 68 6f 6c 64 20 6f 66 66 3b 0a 20 20 20 0a 20 20 20 64 69 73 70 28 27 49 66 20 74 68 65 20 67	.hold.off;........disp('If.the.g
157e0	75 65 73 73 65 64 20 67 72 69 64 20 63 6f 72 6e 65 72 73 20 28 72 65 64 20 63 72 6f 73 73 65 73	uessed.grid.corners.(red.crosses
15800	20 6f 6e 20 74 68 65 20 69 6d 61 67 65 29 20 61 72 65 20 6e 6f 74 20 63 6c 6f 73 65 20 74 6f 20	.on.the.image).are.not.close.to.
15820	74 68 65 20 61 63 74 75 61 6c 20 63 6f 72 6e 65 72 73 2c 27 29 3b 0a 20 20 20 64 69 73 70 28 27	the.actual.corners,');....disp('
15840	69 74 20 69 73 20 6e 65 63 65 73 73 61 72 79 20 74 6f 20 65 6e 74 65 72 20 61 6e 20 69 6e 69 74	it.is.necessary.to.enter.an.init
15860	69 61 6c 20 67 75 65 73 73 20 66 6f 72 20 74 68 65 20 72 61 64 69 61 6c 20 64 69 73 74 6f 72 74	ial.guess.for.the.radial.distort
15880	69 6f 6e 20 66 61 63 74 6f 72 20 6b 63 20 28 75 73 65 66 75 6c 20 66 6f 72 20 73 75 62 70 69 78	ion.factor.kc.(useful.for.subpix
158a0	65 6c 20 64 65 74 65 63 74 69 6f 6e 29 27 29 3b 0a 20 20 20 71 75 65 73 74 5f 64 69 73 74 6f 72	el.detection)');....quest_distor
158c0	74 20 3d 20 69 6e 70 75 74 28 27 4e 65 65 64 20 6f 66 20 61 6e 20 69 6e 69 74 69 61 6c 20 67 75	t.=.input('Need.of.an.initial.gu
158e0	65 73 73 20 66 6f 72 20 64 69 73 74 6f 72 74 69 6f 6e 3f 20 28 5b 5d 3d 6e 6f 2c 20 6f 74 68 65	ess.for.distortion?.([]=no,.othe
15900	72 3d 79 65 73 29 20 27 29 3b 0a 20 20 0a 20 20 20 71 75 65 73 74 5f 64 69 73 74 6f 72 74 20 3d	r=yes).');.......quest_distort.=
15920	20 7e 69 73 65 6d 70 74 79 28 71 75 65 73 74 5f 64 69 73 74 6f 72 74 29 3b 0a 20 20 20 0a 20 20	.~isempty(quest_distort);.......
15940	20 69 66 20 71 75 65 73 74 5f 64 69 73 74 6f 72 74 2c 0a 20 20 20 20 20 20 25 20 45 73 74 69 6d	.if.quest_distort,.......%.Estim
15960	61 74 69 6f 6e 20 6f 66 20 66 6f 63 61 6c 20 6c 65 6e 67 74 68 3a 0a 20 20 20 20 20 20 63 5f 67	ation.of.focal.length:.......c_g
15980	20 3d 20 5b 73 69 7a 65 28 49 2c 32 29 3b 73 69 7a 65 28 49 2c 31 29 5d 2f 32 20 2b 20 2e 35 3b	.=.[size(I,2);size(I,1)]/2.+..5;
159a0	0a 09 09 66 5f 67 20 3d 20 44 69 73 74 6f 72 32 43 61 6c 69 62 28 30 2c 5b 5b 78 28 31 29 20 78	...f_g.=.Distor2Calib(0,[[x(1).x
159c0	28 32 29 20 78 28 34 29 20 78 28 33 29 5d 20 2d 20 63 5f 67 28 31 29 3b 5b 79 28 31 29 20 79 28	(2).x(4).x(3)].-.c_g(1);[y(1).y(
159e0	32 29 20 79 28 34 29 20 79 28 33 29 5d 20 2d 20 63 5f 67 28 32 29 5d 2c 31 2c 31 2c 34 2c 57 2c	2).y(4).y(3)].-.c_g(2)],1,1,4,W,
15a00	4c 2c 5b 2d 57 2f 32 20 57 2f 32 20 57 2f 32 20 2d 57 2f 32 3b 4c 2f 32 20 4c 2f 32 20 2d 4c 2f	L,[-W/2.W/2.W/2.-W/2;L/2.L/2.-L/
15a20	32 20 2d 4c 2f 32 3b 20 30 20 30 20 30 20 30 5d 2c 31 30 30 2c 31 2c 31 29 3b 0a 20 20 20 20 20	2.-L/2;.0.0.0.0],100,1,1);......
15a40	20 66 5f 67 20 3d 20 6d 65 61 6e 28 66 5f 67 29 3b 0a 20 20 20 20 20 20 73 63 72 69 70 74 5f 66	.f_g.=.mean(f_g);.......script_f
15a60	69 74 5f 64 69 73 74 6f 72 74 69 6f 6e 3b 0a 20 20 20 65 6e 64 3b 0a 20 20 20 25 25 25 25 25 25	it_distortion;....end;....%%%%%%
15a80	25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 20 45 4e 44 20 41 44 44 49 54 49 4f 4e 41 4c 20 53	%%%%%%%%%%%%%%%.END.ADDITIONAL.S
15aa0	54 55 46 46 20 49 4e 20 54 48 45 20 43 41 53 45 20 4f 46 20 48 49 47 48 4c 59 20 44 49 53 54 4f	TUFF.IN.THE.CASE.OF.HIGHLY.DISTO
15ac0	52 54 45 44 20 49 4d 41 47 45 53 20 25 25 25 25 25 25 25 25 25 25 25 25 25 0a 20 20 20 0a 09 65	RTED.IMAGES.%%%%%%%%%%%%%......e
15ae0	6c 73 65 0a 20 20 20 09 0a 20 20 20 09 78 79 5f 63 6f 72 6e 65 72 73 5f 75 6e 64 69 73 74 20 3d	lse..........xy_corners_undist.=
15b00	20 63 6f 6d 70 5f 64 69 73 74 6f 72 74 69 6f 6e 5f 6f 75 6c 75 28 5b 28 78 27 20 2d 20 63 63 28	.comp_distortion_oulu([(x'.-.cc(
15b20	31 29 29 2f 66 63 28 31 29 3b 28 79 27 2d 63 63 28 32 29 29 2f 66 63 28 31 29 5d 2c 6b 63 29 3b	1))/fc(1);(y'-cc(2))/fc(1)],kc);
15b40	0a 09 20 0a 09 20 09 78 75 20 3d 20 78 79 5f 63 6f 72 6e 65 72 73 5f 75 6e 64 69 73 74 28 31 2c	.......xu.=.xy_corners_undist(1,
15b60	3a 29 27 3b 0a 09 20 09 79 75 20 3d 20 78 79 5f 63 6f 72 6e 65 72 73 5f 75 6e 64 69 73 74 28 32	:)';....yu.=.xy_corners_undist(2
15b80	2c 3a 29 27 3b 0a 09 20 0a 09 20 09 5b 58 58 75 5d 20 3d 20 70 72 6f 6a 65 63 74 65 64 47 72 69	,:)';.......[XXu].=.projectedGri
15ba0	64 20 28 20 5b 78 75 28 31 29 3b 79 75 28 31 29 5d 2c 20 5b 78 75 28 32 29 3b 79 75 28 32 29 5d	d.(.[xu(1);yu(1)],.[xu(2);yu(2)]
15bc0	2c 5b 78 75 28 33 29 3b 79 75 28 33 29 5d 2c 20 5b 78 75 28 34 29 3b 79 75 28 34 29 5d 2c 6e 5f	,[xu(3);yu(3)],.[xu(4);yu(4)],n_
15be0	73 71 5f 78 2b 31 2c 6e 5f 73 71 5f 79 2b 31 29 3b 20 25 20 54 68 65 20 66 75 6c 6c 20 67 72 69	sq_x+1,n_sq_y+1);.%.The.full.gri
15c00	64 0a 20 20 20 20 20 20 20 0a 20 20 20 20 20 20 72 32 20 3d 20 73 75 6d 28 58 58 75 2e 5e 32 29	d...............r2.=.sum(XXu.^2)
15c20	3b 20 20 20 20 20 20 20 0a 09 20 09 58 58 20 3d 20 28 6f 6e 65 73 28 32 2c 31 29 2a 28 31 20 2b	;...........XX.=.(ones(2,1)*(1.+
15c40	20 6b 63 28 31 29 20 2a 20 72 32 20 2b 20 6b 63 28 32 29 20 2a 20 28 72 32 2e 5e 32 29 29 29 20	.kc(1)..r2.+.kc(2)..(r2.^2))).
15c60	2e 2a 20 58 58 75 3b 0a 09 20 09 58 58 28 31 2c 3a 29 20 3d 20 66 63 28 31 29 2a 58 58 28 31 2c	..XXu;....XX(1,:).=.fc(1)XX(1,
15c80	3a 29 2b 63 63 28 31 29 3b 0a 09 20 09 58 58 28 32 2c 3a 29 20 3d 20 66 63 28 32 29 2a 58 58 28	:)+cc(1);....XX(2,:).=.fc(2)*XX(
15ca0	32 2c 3a 29 2b 63 63 28 32 29 3b 0a 20 20 20 20 20 20 20 0a 20 20 20 65 6e 64 3b 0a 20 20 20 20	2,:)+cc(2);............end;.....
15cc0	0a 20 20 20 0a 20 20 20 4e 70 20 3d 20 28 6e 5f 73 71 5f 78 2b 31 29 2a 28 6e 5f 73 71 5f 79 2b	........Np.=.(n_sq_x+1)*(n_sq_y+
15ce0	31 29 3b 0a 0a 20 20 20 64 69 73 70 28 27 43 6f 72 6e 65 72 20 65 78 74 72 61 63 74 69 6f 6e 2e	1);.....disp('Corner.extraction.
15d00	2e 2e 27 29 3b 0a 20 20 20 0a 20 20 20 67 72 69 64 5f 70 74 73 20 3d 20 63 6f 72 6e 65 72 66 69	..');........grid_pts.=.cornerfi
15d20	6e 64 65 72 28 58 58 2c 49 2c 77 69 6e 74 79 2c 77 69 6e 74 78 29 3b 20 25 25 25 20 46 69 6e 64	nder(XX,I,winty,wintx);.%%%.Find
15d40	73 20 74 68 65 20 65 78 61 63 74 20 63 6f 72 6e 65 72 73 20 61 74 20 65 76 65 72 79 20 70 6f 69	s.the.exact.corners.at.every.poi
15d60	6e 74 73 21 0a 20 20 20 0a 20 20 20 67 72 69 64 5f 70 74 73 20 3d 20 67 72 69 64 5f 70 74 73 20	nts!........grid_pts.=.grid_pts.
15d80	2d 20 31 3b 20 25 20 73 75 62 74 72 61 63 74 20 31 20 74 6f 20 62 72 69 6e 67 20 74 68 65 20 6f	-.1;.%.subtract.1.to.bring.the.o
15da0	72 69 67 69 6e 20 74 6f 20 28 30 2c 30 29 20 69 6e 73 74 65 61 64 20 6f 66 20 28 31 2c 31 29 20	rigin.to.(0,0).instead.of.(1,1).
15dc0	69 6e 20 6d 61 74 6c 61 62 20 28 6e 6f 74 20 6e 65 63 65 73 73 61 72 79 20 69 6e 20 43 29 0a 20	in.matlab.(not.necessary.in.C)..
15de0	20 20 0a 20 20 20 69 6e 64 5f 63 6f 72 6e 65 72 73 20 3d 20 5b 31 20 6e 5f 73 71 5f 78 2b 31 20	......ind_corners.=.[1.n_sq_x+1.
15e00	28 6e 5f 73 71 5f 78 2b 31 29 2a 6e 5f 73 71 5f 79 2b 31 20 28 6e 5f 73 71 5f 78 2b 31 29 2a 28	(n_sq_x+1)n_sq_y+1.(n_sq_x+1)(
15e20	6e 5f 73 71 5f 79 2b 31 29 5d 3b 20 25 20 69 6e 64 65 78 20 6f 66 20 74 68 65 20 34 20 63 6f 72	n_sq_y+1)];.%.index.of.the.4.cor
15e40	6e 65 72 73 0a 20 20 20 69 6e 64 5f 6f 72 69 67 20 3d 20 28 6e 5f 73 71 5f 78 2b 31 29 2a 6e 5f	ners....ind_orig.=.(n_sq_x+1)*n_
15e60	73 71 5f 79 20 2b 20 31 3b 0a 20 20 20 78 6f 72 69 67 20 3d 20 67 72 69 64 5f 70 74 73 28 31 2c	sq_y.+.1;....xorig.=.grid_pts(1,
15e80	69 6e 64 5f 6f 72 69 67 29 3b 0a 20 20 20 79 6f 72 69 67 20 3d 20 67 72 69 64 5f 70 74 73 28 32	ind_orig);....yorig.=.grid_pts(2
15ea0	2c 69 6e 64 5f 6f 72 69 67 29 3b 0a 20 20 20 64 78 70 6f 73 20 3d 20 6d 65 61 6e 28 5b 67 72 69	,ind_orig);....dxpos.=.mean([gri
15ec0	64 5f 70 74 73 28 3a 2c 69 6e 64 5f 6f 72 69 67 29 20 67 72 69 64 5f 70 74 73 28 3a 2c 69 6e 64	d_pts(:,ind_orig).grid_pts(:,ind
15ee0	5f 6f 72 69 67 2b 31 29 5d 27 29 3b 0a 20 20 20 64 79 70 6f 73 20 3d 20 6d 65 61 6e 28 5b 67 72	_orig+1)]');....dypos.=.mean([gr
15f00	69 64 5f 70 74 73 28 3a 2c 69 6e 64 5f 6f 72 69 67 29 20 67 72 69 64 5f 70 74 73 28 3a 2c 69 6e	id_pts(:,ind_orig).grid_pts(:,in
15f20	64 5f 6f 72 69 67 2d 6e 5f 73 71 5f 78 2d 31 29 5d 27 29 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20	d_orig-n_sq_x-1)]');............
15f40	69 6e 64 5f 78 20 3d 20 28 6e 5f 73 71 5f 78 2b 31 29 2a 28 6e 5f 73 71 5f 79 20 2b 20 31 29 3b	ind_x.=.(n_sq_x+1)*(n_sq_y.+.1);
15f60	0a 09 69 6e 64 5f 79 20 3d 20 31 3b 0a 0a 20 20 20 78 5f 62 6f 78 5f 6b 6b 20 3d 20 5b 67 72 69	..ind_y.=.1;.....x_box_kk.=.[gri
15f80	64 5f 70 74 73 28 31 2c 3a 29 2d 28 77 69 6e 74 78 2b 2e 35 29 3b 67 72 69 64 5f 70 74 73 28 31	d_pts(1,:)-(wintx+.5);grid_pts(1
15fa0	2c 3a 29 2b 28 77 69 6e 74 78 2b 2e 35 29 3b 67 72 69 64 5f 70 74 73 28 31 2c 3a 29 2b 28 77 69	,:)+(wintx+.5);grid_pts(1,:)+(wi
15fc0	6e 74 78 2b 2e 35 29 3b 67 72 69 64 5f 70 74 73 28 31 2c 3a 29 2d 28 77 69 6e 74 78 2b 2e 35 29	ntx+.5);grid_pts(1,:)-(wintx+.5)
15fe0	3b 67 72 69 64 5f 70 74 73 28 31 2c 3a 29 2d 28 77 69 6e 74 78 2b 2e 35 29 5d 3b 0a 20 20 20 79	;grid_pts(1,:)-(wintx+.5)];....y
16000	5f 62 6f 78 5f 6b 6b 20 3d 20 5b 67 72 69 64 5f 70 74 73 28 32 2c 3a 29 2d 28 77 69 6e 74 79 2b	_box_kk.=.[grid_pts(2,:)-(winty+
16020	2e 35 29 3b 67 72 69 64 5f 70 74 73 28 32 2c 3a 29 2d 28 77 69 6e 74 79 2b 2e 35 29 3b 67 72 69	.5);grid_pts(2,:)-(winty+.5);gri
16040	64 5f 70 74 73 28 32 2c 3a 29 2b 28 77 69 6e 74 79 2b 2e 35 29 3b 67 72 69 64 5f 70 74 73 28 32	d_pts(2,:)+(winty+.5);grid_pts(2
16060	2c 3a 29 2b 28 77 69 6e 74 79 2b 2e 35 29 3b 67 72 69 64 5f 70 74 73 28 32 2c 3a 29 2d 28 77 69	,:)+(winty+.5);grid_pts(2,:)-(wi
16080	6e 74 79 2b 2e 35 29 5d 3b 0a 0a 20 20 20 0a 20 20 20 66 69 67 75 72 65 28 33 29 3b 0a 20 20 20	nty+.5)];.........figure(3);....
160a0	69 6d 61 67 65 28 49 29 3b 20 63 6f 6c 6f 72 6d 61 70 28 6d 61 70 29 3b 20 68 6f 6c 64 20 6f 6e	image(I);.colormap(map);.hold.on
160c0	3b 0a 20 20 20 70 6c 6f 74 28 67 72 69 64 5f 70 74 73 28 31 2c 3a 29 2b 31 2c 67 72 69 64 5f 70	;....plot(grid_pts(1,:)+1,grid_p
160e0	74 73 28 32 2c 3a 29 2b 31 2c 27 72 2b 27 29 3b 0a 20 20 20 70 6c 6f 74 28 78 5f 62 6f 78 5f 6b	ts(2,:)+1,'r+');....plot(x_box_k
16100	6b 2b 31 2c 79 5f 62 6f 78 5f 6b 6b 2b 31 2c 27 2d 62 27 29 3b 0a 20 20 20 70 6c 6f 74 28 67 72	k+1,y_box_kk+1,'-b');....plot(gr
16120	69 64 5f 70 74 73 28 31 2c 69 6e 64 5f 63 6f 72 6e 65 72 73 29 2b 31 2c 67 72 69 64 5f 70 74 73	id_pts(1,ind_corners)+1,grid_pts
16140	28 32 2c 69 6e 64 5f 63 6f 72 6e 65 72 73 29 2b 31 2c 27 6d 6f 27 29 3b 0a 20 20 20 70 6c 6f 74	(2,ind_corners)+1,'mo');....plot
16160	28 78 6f 72 69 67 2b 31 2c 79 6f 72 69 67 2b 31 2c 27 2a 6d 27 29 3b 0a 20 20 20 68 20 3d 20 74	(xorig+1,yorig+1,'*m');....h.=.t
16180	65 78 74 28 78 6f 72 69 67 2d 31 35 2c 79 6f 72 69 67 2d 31 35 2c 27 4f 27 29 3b 0a 20 20 20 73	ext(xorig-15,yorig-15,'O');....s
161a0	65 74 28 68 2c 27 43 6f 6c 6f 72 27 2c 27 6d 27 2c 27 46 6f 6e 74 53 69 7a 65 27 2c 31 34 29 3b	et(h,'Color','m','FontSize',14);
161c0	0a 20 20 20 68 32 20 3d 20 74 65 78 74 28 64 78 70 6f 73 28 31 29 2d 31 30 2c 64 78 70 6f 73 28	....h2.=.text(dxpos(1)-10,dxpos(
161e0	32 29 2d 31 30 2c 27 64 58 27 29 3b 0a 20 20 20 73 65 74 28 68 32 2c 27 43 6f 6c 6f 72 27 2c 27	2)-10,'dX');....set(h2,'Color','
16200	67 27 2c 27 46 6f 6e 74 53 69 7a 65 27 2c 31 34 29 3b 0a 20 20 20 68 33 20 3d 20 74 65 78 74 28	g','FontSize',14);....h3.=.text(
16220	64 79 70 6f 73 28 31 29 2d 32 35 2c 64 79 70 6f 73 28 32 29 2d 33 2c 27 64 59 27 29 3b 0a 20 20	dypos(1)-25,dypos(2)-3,'dY');...
16240	20 73 65 74 28 68 33 2c 27 43 6f 6c 6f 72 27 2c 27 67 27 2c 27 46 6f 6e 74 53 69 7a 65 27 2c 31	.set(h3,'Color','g','FontSize',1
16260	34 29 3b 0a 20 20 20 78 6c 61 62 65 6c 28 27 58 63 20 28 69 6e 20 63 61 6d 65 72 61 20 66 72 61	4);....xlabel('Xc.(in.camera.fra
16280	6d 65 29 27 29 3b 0a 20 20 20 79 6c 61 62 65 6c 28 27 59 63 20 28 69 6e 20 63 61 6d 65 72 61 20	me)');....ylabel('Yc.(in.camera.
162a0	66 72 61 6d 65 29 27 29 3b 0a 20 20 20 74 69 74 6c 65 28 27 45 78 74 72 61 63 74 65 64 20 63 6f	frame)');....title('Extracted.co
162c0	72 6e 65 72 73 27 29 3b 0a 20 20 20 7a 6f 6f 6d 20 6f 6e 3b 0a 20 20 20 64 72 61 77 6e 6f 77 3b	rners');....zoom.on;....drawnow;
162e0	0a 20 20 20 68 6f 6c 64 20 6f 66 66 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 58 69 20 3d 20 72 65	....hold.off;............Xi.=.re
16300	73 68 61 70 65 28 28 5b 30 3a 6e 5f 73 71 5f 78 5d 2a 64 58 29 27 2a 6f 6e 65 73 28 31 2c 6e 5f	shape(([0:n_sq_x]dX)'ones(1,n_
16320	73 71 5f 79 2b 31 29 2c 4e 70 2c 31 29 27 3b 0a 20 20 20 59 69 20 3d 20 72 65 73 68 61 70 65 28	sq_y+1),Np,1)';....Yi.=.reshape(
16340	6f 6e 65 73 28 6e 5f 73 71 5f 78 2b 31 2c 31 29 2a 5b 6e 5f 73 71 5f 79 3a 2d 31 3a 30 5d 2a 64	ones(n_sq_x+1,1)[n_sq_y:-1:0]d
16360	59 2c 4e 70 2c 31 29 27 3b 0a 20 20 20 5a 69 20 3d 20 7a 65 72 6f 73 28 31 2c 4e 70 29 3b 0a 20	Y,Np,1)';....Zi.=.zeros(1,Np);..
16380	20 20 0a 20 20 20 58 67 72 69 64 20 3d 20 5b 58 69 3b 59 69 3b 5a 69 5d 3b 0a 20 20 20 0a 20 20	......Xgrid.=.[Xi;Yi;Zi];.......
163a0	20 0a 09 25 20 41 6c 6c 20 74 68 65 20 70 6f 69 6e 74 20 63 6f 6f 72 64 69 6e 61 74 65 73 20 28	...%.All.the.point.coordinates.(
163c0	6f 6e 20 74 68 65 20 69 6d 61 67 65 2c 20 61 6e 64 20 69 6e 20 33 44 29 20 2d 20 66 6f 72 20 67	on.the.image,.and.in.3D).-.for.g
163e0	6c 6f 62 61 6c 20 6f 70 74 69 6d 69 7a 61 74 69 6f 6e 3a 0a 0a 20 20 20 78 20 3d 20 67 72 69 64	lobal.optimization:.....x.=.grid
16400	5f 70 74 73 3b 0a 20 20 20 58 20 3d 20 58 67 72 69 64 3b 0a 20 20 20 0a 78 32 20 3d 20 78 28 33	_pts;....X.=.Xgrid;.....x2.=.x(3
16420	29 3b 79 32 20 3d 20 79 28 33 29 3b 20 78 31 20 3d 20 78 28 34 29 3b 20 79 31 20 3d 20 79 28 34	);y2.=.y(3);.x1.=.x(4);.y1.=.y(4
16440	29 3b 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 78 32 20 3d 20 78 28 34 29 3b 79 32 20 3d 20	);....else.......x2.=.x(4);y2.=.
16460	79 28 34 29 3b 20 78 31 20 3d 20 78 28 33 29 3b 20 79 31 20 3d 20 79 28 33 29 3b 0a 20 20 20 65	y(4);.x1.=.x(3);.y1.=.y(3);....e
16480	6e 64 3b 0a 20 20 20 0a 20 20 20 78 20 3d 20 5b 78 31 3b 78 32 3b 78 33 3b 78 34 5d 3b 0a 20 20	nd;........x.=.[x1;x2;x3;x4];...
164a0	20 79 20 3d 20 5b 79 31 3b 79 32 3b 79 33 3b 79 34 5d 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 66	.y.=.[y1;y2;y3;y4];............f
164c0	69 67 75 72 65 28 32 29 3b 20 68 6f 6c 64 20 6f 6e 3b 0a 20 20 20 70 6c 6f 74 28 5b 78 3b 78 28	igure(2);.hold.on;....plot([x;x(
164e0	31 29 5d 2c 5b 79 3b 79 28 31 29 5d 2c 27 67 2d 27 29 3b 0a 20 20 20 70 6c 6f 74 28 78 2c 79 2c	1)],[y;y(1)],'g-');....plot(x,y,
16500	27 6f 67 27 29 3b 0a 20 20 20 68 78 3d 74 65 78 74 28 28 78 28 34 29 2b 78 28 33 29 29 2f 32 2c	'og');....hx=text((x(4)+x(3))/2,
16520	28 79 28 34 29 2b 79 28 33 29 29 2f 32 20 2d 20 32 30 2c 27 58 27 29 3b 0a 20 20 20 73 65 74 28	(y(4)+y(3))/2.-.20,'X');....set(
16540	68 78 2c 27 63 6f 6c 6f 72 27 2c 27 67 27 2c 27 46 6f 6e 74 73 69 7a 65 27 2c 31 34 29 3b 0a 20	hx,'color','g','Fontsize',14);..
16560	20 20 68 79 3d 74 65 78 74 28 28 78 28 34 29 2b 78 28 31 29 29 2f 32 2d 32 30 2c 28 79 28 34 29	..hy=text((x(4)+x(1))/2-20,(y(4)
16580	2b 79 28 31 29 29 2f 32 2c 27 59 27 29 3b 0a 20 20 20 73 65 74 28 68 79 2c 27 63 6f 6c 6f 72 27	+y(1))/2,'Y');....set(hy,'color'
165a0	2c 27 67 27 2c 27 46 6f 6e 74 73 69 7a 65 27 2c 31 34 29 3b 0a 20 20 20 68 6f 6c 64 20 6f 66 66	,'g','Fontsize',14);....hold.off
165c0	3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 25 20 54 72 79 20 74 6f 20 61 75 74 6f 6d 61 74 69 63 61	;............%.Try.to.automatica
165e0	6c 6c 79 20 63 6f 75 6e 74 20 74 68 65 20 6e 75 6d 62 65 72 20 6f 66 20 73 71 75 61 72 65 73 20	lly.count.the.number.of.squares.
16600	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 65 78 74 72 61 63 74 5f 70 61 72 61 6d 65 74 65 72 73	TOOLBOX_calib/extract_parameters
16620	2e 6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	.m..............................
16640	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
16660	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
16680	20 20 20 31 36 34 31 20 20 37 30 32 34 30 33 37 33 32 31 20 20 31 32 34 37 31 00 20 00 00 00 00	...1641..7024037321..12471......
166a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
166c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
166e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
16700	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
16720	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
16740	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
16760	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
16780	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
167a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
167c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
167e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
16800	0a 25 25 25 20 45 78 74 72 61 63 74 69 6f 6e 20 6f 66 20 74 68 65 20 66 69 6e 61 6c 20 69 6e 74	.%%%.Extraction.of.the.final.int
16820	72 69 6e 73 69 63 20 61 6e 64 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 61 74 65 72 73 3a	rinsic.and.extrinsic.paramaters:
16840	0a 0a 63 68 65 63 6b 5f 61 63 74 69 76 65 5f 69 6d 61 67 65 73 3b 0a 0a 66 63 20 3d 20 73 6f 6c	..check_active_images;..fc.=.sol
16860	75 74 69 6f 6e 28 31 3a 32 29 3b 0a 6b 63 20 3d 20 73 6f 6c 75 74 69 6f 6e 28 33 3a 36 29 3b 0a	ution(1:2);.kc.=.solution(3:6);.
16880	63 63 20 3d 20 73 6f 6c 75 74 69 6f 6e 28 36 2a 6e 5f 69 6d 61 20 2b 20 34 20 2b 33 3a 36 2a 6e	cc.=.solution(6n_ima.+.4.+3:6n
168a0	5f 69 6d 61 20 2b 20 35 20 2b 33 29 3b 0a 0a 25 20 43 61 6c 69 62 72 61 74 69 6f 6e 20 6d 61 74	_ima.+.5.+3);..%.Calibration.mat
168c0	72 69 78 3a 0a 09 0a 4b 4b 20 3d 20 5b 66 63 28 31 29 20 30 20 63 63 28 31 29 3b 30 20 66 63 28	rix:...KK.=.[fc(1).0.cc(1);0.fc(
168e0	32 29 20 63 63 28 32 29 3b 20 30 20 30 20 31 5d 3b 0a 69 6e 76 5f 4b 4b 20 3d 20 69 6e 76 28 4b	2).cc(2);.0.0.1];.inv_KK.=.inv(K
16900	4b 29 3b 09 0a 0a 25 20 45 78 74 72 61 63 74 20 74 68 65 20 65 78 74 72 69 6e 73 69 63 20 70 61	K);...%.Extract.the.extrinsic.pa
16920	72 61 6d 74 65 72 73 2c 20 61 6e 64 20 72 65 63 6f 6d 70 75 74 65 72 20 74 68 65 20 63 6f 6c 6c	ramters,.and.recomputer.the.coll
16940	69 6e 65 61 74 69 6f 6e 73 0a 0a 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a 20 20 20	ineations..for.kk.=.1:n_ima,....
16960	0a 20 20 20 69 66 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 6b 6b 29 2c 20 20 20 0a 20 20 20	....if.active_images(kk),.......
16980	20 20 20 0a 20 20 20 20 20 20 6f 6d 63 6b 6b 20 3d 20 73 6f 6c 75 74 69 6f 6e 28 34 2b 36 2a 28	..........omckk.=.solution(4+6*(
169a0	6b 6b 2d 31 29 20 2b 20 33 3a 36 2a 6b 6b 20 2b 20 33 29 3b 20 20 20 0a 20 20 20 20 20 20 54 63	kk-1).+.3:6*kk.+.3);..........Tc
169c0	6b 6b 20 3d 20 73 6f 6c 75 74 69 6f 6e 28 36 2a 6b 6b 2b 31 20 2b 20 33 3a 36 2a 6b 6b 2b 33 20	kk.=.solution(6kk+1.+.3:6kk+3.
169e0	2b 20 33 29 3b 0a 20 20 20 20 20 20 0a 20 20 20 09 52 63 6b 6b 20 3d 20 72 6f 64 72 69 67 75 65	+.3);............Rckk.=.rodrigue
16a00	73 28 6f 6d 63 6b 6b 29 3b 0a 20 20 20 0a 20 20 20 09 48 6b 6b 20 3d 20 4b 4b 20 2a 20 5b 52 63	s(omckk);.........Hkk.=.KK.*.[Rc
16a20	6b 6b 28 3a 2c 31 29 20 52 63 6b 6b 28 3a 2c 32 29 20 54 63 6b 6b 5d 3b 0a 20 20 20 0a 20 20 20	kk(:,1).Rckk(:,2).Tckk];........
16a40	09 48 6b 6b 20 3d 20 48 6b 6b 20 2f 20 48 6b 6b 28 33 2c 33 29 3b 0a 20 20 20 20 20 20 0a 20 20	.Hkk.=.Hkk./.Hkk(3,3);..........
16a60	20 65 6c 73 65 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 6f 6d 63 6b 6b 20 3d 20 4e 61 4e 2a 6f	.else..............omckk.=.NaN*o
16a80	6e 65 73 28 33 2c 31 29 3b 20 20 20 0a 20 20 20 20 20 20 54 63 6b 6b 20 3d 20 4e 61 4e 2a 6f 6e	nes(3,1);..........Tckk.=.NaN*on
16aa0	65 73 28 33 2c 31 29 3b 0a 20 20 20 20 20 20 52 63 6b 6b 20 3d 20 4e 61 4e 2a 6f 6e 65 73 28 33	es(3,1);.......Rckk.=.NaN*ones(3
16ac0	2c 33 29 3b 0a 20 20 20 20 20 20 48 6b 6b 20 3d 20 4e 61 4e 2a 6f 6e 65 73 28 33 2c 33 29 3b 0a	,3);.......Hkk.=.NaN*ones(3,3);.
16ae0	20 20 20 20 20 20 0a 20 20 20 65 6e 64 3b 0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 6f 6d 63	..........end;........eval(['omc
16b00	5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 6f 6d 63 6b 6b 3b 27 5d 29 3b 0a 20 20	_'.num2str(kk).'.=.omckk;']);...
16b20	20 65 76 61 6c 28 5b 27 52 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 52 63 6b	.eval(['Rc_'.num2str(kk).'.=.Rck
16b40	6b 3b 27 5d 29 3b 0a 20 20 20 65 76 61 6c 28 5b 27 54 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b	k;']);....eval(['Tc_'.num2str(kk
16b60	29 20 27 20 3d 20 54 63 6b 6b 3b 27 5d 29 3b 0a 20 20 09 65 76 61 6c 28 5b 27 48 5f 27 20 6e 75	).'.=.Tckk;']);....eval(['H_'.nu
16b80	6d 32 73 74 72 28 6b 6b 29 20 27 3d 20 48 6b 6b 3b 27 5d 29 3b 0a 20 20 20 0a 65 6e 64 3b 0a 0a	m2str(kk).'=.Hkk;']);.....end;..
16ba0	0a 28 00 18 73 65 6c 65 63 74 5f 73 6f 6c 5f 77 69 74 68 5f 63 65 6e 74 65 72 2e 6d 00 28 00 18	.(..select_sol_with_center.m.(..
16bc0	00 00 05 c8 00 02 36 a4 00 28 00 1a 73 65 6c 65 63 74 5f 73 6f 6c 5f 77 69 74 68 5f 63 65 6e 74	......6..(..select_sol_with_cent
16be0	65 72 33 44 2e 6d 00 1a 00 00 05 dc 00 02 36 a5 00 18 00 09 73 74 61 72 74 75 70 2e 6d 00 33 44	er3D.m........6.....startup.m.3D
16c00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 65 78 74 72 61 63 74 5f 70 61 72 61 6d 65 74 65 72 73	TOOLBOX_calib/extract_parameters
16c20	33 44 2e 6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	3D.m............................
16c40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
16c60	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
16c80	20 20 20 31 33 31 35 20 20 37 30 32 34 30 33 37 33 32 32 20 20 31 32 36 35 37 00 20 00 00 00 00	...1315..7024037322..12657......
16ca0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
16cc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
16ce0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
16d00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
16d20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
16d40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
16d60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
16d80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
16da0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
16dc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
16de0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
16e00	0a 25 25 25 20 45 78 74 72 61 63 74 69 6f 6e 20 6f 66 20 74 68 65 20 66 69 6e 61 6c 20 69 6e 74	.%%%.Extraction.of.the.final.int
16e20	72 69 6e 73 69 63 20 61 6e 64 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 61 74 65 72 73 3a	rinsic.and.extrinsic.paramaters:
16e40	0a 0a 0a 66 63 20 3d 20 73 6f 6c 75 74 69 6f 6e 28 31 3a 32 29 3b 0a 6b 63 20 3d 20 73 6f 6c 75	...fc.=.solution(1:2);.kc.=.solu
16e60	74 69 6f 6e 28 33 3a 36 29 3b 0a 63 63 20 3d 20 73 6f 6c 75 74 69 6f 6e 28 36 2a 6e 5f 69 6d 61	tion(3:6);.cc.=.solution(6*n_ima
16e80	20 2b 20 34 20 2b 33 3a 36 2a 6e 5f 69 6d 61 20 2b 20 35 20 2b 33 29 3b 0a 0a 25 20 43 61 6c 69	.+.4.+3:6*n_ima.+.5.+3);..%.Cali
16ea0	62 72 61 74 69 6f 6e 20 6d 61 74 72 69 78 3a 0a 09 0a 4b 4b 20 3d 20 5b 66 63 28 31 29 20 30 20	bration.matrix:...KK.=.[fc(1).0.
16ec0	63 63 28 31 29 3b 30 20 66 63 28 32 29 20 63 63 28 32 29 3b 20 30 20 30 20 31 5d 3b 0a 69 6e 76	cc(1);0.fc(2).cc(2);.0.0.1];.inv
16ee0	5f 4b 4b 20 3d 20 69 6e 76 28 4b 4b 29 3b 09 0a 0a 25 20 45 78 74 72 61 63 74 20 74 68 65 20 65	_KK.=.inv(KK);...%.Extract.the.e
16f00	78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 74 65 72 73 2c 20 61 6e 64 20 72 65 63 6f 6d 70 75 74	xtrinsic.paramters,.and.recomput
16f20	65 72 20 74 68 65 20 63 6f 6c 6c 69 6e 65 61 74 69 6f 6e 73 0a 0a 66 6f 72 20 6b 6b 20 3d 20 31	er.the.collineations..for.kk.=.1
16f40	3a 6e 5f 69 6d 61 2c 0a 20 20 20 0a 20 20 20 6f 6d 63 6b 6b 20 3d 20 73 6f 6c 75 74 69 6f 6e 28	:n_ima,........omckk.=.solution(
16f60	34 2b 36 2a 28 6b 6b 2d 31 29 20 2b 20 33 3a 36 2a 6b 6b 20 2b 20 33 29 3b 0a 20 20 20 0a 20 20	4+6(kk-1).+.3:6kk.+.3);.......
16f80	20 54 63 6b 6b 20 3d 20 73 6f 6c 75 74 69 6f 6e 28 36 2a 6b 6b 2b 31 20 2b 20 33 3a 36 2a 6b 6b	.Tckk.=.solution(6kk+1.+.3:6kk
16fa0	2b 33 20 2b 20 33 29 3b 0a 20 20 20 0a 20 20 20 52 63 6b 6b 20 3d 20 72 6f 64 72 69 67 75 65 73	+3.+.3);........Rckk.=.rodrigues
16fc0	28 6f 6d 63 6b 6b 29 3b 0a 20 20 20 0a 20 20 20 48 6c 6b 6b 20 3d 20 4b 4b 20 2a 20 5b 52 63 6b	(omckk);........Hlkk.=.KK.*.[Rck
16fe0	6b 28 3a 2c 31 29 20 52 63 6b 6b 28 3a 2c 32 29 20 54 63 6b 6b 5d 3b 0a 20 20 20 0a 20 20 20 48	k(:,1).Rckk(:,2).Tckk];........H
17000	6c 6b 6b 20 3d 20 48 6c 6b 6b 20 2f 20 48 6c 6b 6b 28 33 2c 33 29 3b 0a 20 20 20 0a 20 20 20 65	lkk.=.Hlkk./.Hlkk(3,3);........e
17020	76 61 6c 28 5b 27 6f 6d 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 6f 6d 63 6b	val(['omc_'.num2str(kk).'.=.omck
17040	6b 3b 27 5d 29 3b 0a 20 20 20 65 76 61 6c 28 5b 27 52 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b	k;']);....eval(['Rc_'.num2str(kk
17060	29 20 27 20 3d 20 52 63 6b 6b 3b 27 5d 29 3b 0a 09 65 76 61 6c 28 5b 27 54 63 5f 27 20 6e 75 6d	).'.=.Rckk;']);..eval(['Tc_'.num
17080	32 73 74 72 28 6b 6b 29 20 27 20 3d 20 54 63 6b 6b 3b 27 5d 29 3b 0a 20 20 20 0a 20 20 20 65 76	2str(kk).'.=.Tckk;']);........ev
170a0	61 6c 28 5b 27 48 6c 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3d 48 6c 6b 6b 3b 27 5d 29	al(['Hl_'.num2str(kk).'=Hlkk;'])
170c0	3b 0a 20 20 20 0a 65 6e 64 3b 0a 0a 0a 2e 6d 00 00 00 05 04 00 02 35 e0 00 18 00 0a 72 6f 74 61	;.....end;....m.......5.....rota
170e0	74 69 6f 6e 2e 6d 00 0b 00 00 05 1c 00 02 36 9f 00 1c 00 0e 73 61 76 69 6e 67 5f 63 61 6c 69 62	tion.m........6.....saving_calib
17100	2e 6d 00 61 00 00 05 3c 00 02 36 a0 00 24 00 17 73 63 72 69 70 74 5f 66 69 74 5f 64 69 73 74 6f	.m.a...<..6..$..script_fit_disto
17120	72 74 69 6f 6e 2e 6d 00 00 00 05 5c 00 02 36 a1 00 24 00 16 73 65 6c 65 63 74 5f 73 6f 6c 5f 6e	rtion.m....\..6..$..select_sol_n
17140	6f 5f 63 65 6e 74 65 72 2e 6d 00 00 00 00 05 80 00 02 36 a2 00 28 00 18 73 65 6c 65 63 74 5f 73	o_center.m........6..(..select_s
17160	6f 6c 5f 6e 6f 5f 63 65 6e 74 65 72 33 44 2e 6d 00 00 05 80 00 00 05 a4 00 02 36 a3 00 28 00 18	ol_no_center3D.m..........6..(..
17180	73 65 6c 65 63 74 5f 73 6f 6c 5f 77 69 74 68 5f 63 65 6e 74 65 72 2e 6d 00 00 05 a4 00 00 05 c8	select_sol_with_center.m........
171a0	00 02 36 a4 00 28 00 1a 73 65 6c 65 63 74 5f 73 6f 6c 5f 77 69 74 68 5f 63 65 6e 74 65 72 33 44	..6..(..select_sol_with_center3D
171c0	2e 6d 00 c8 00 00 05 dc 00 02 36 a5 00 18 00 09 73 74 61 72 74 75 70 2e 6d 00 68 5f 00 00 05 f0	.m........6.....startup.m.h_....
171e0	00 02 36 a6 00 18 00 09 74 65 73 74 5f 33 64 2e 6d 00 00 09 00 00 06 00 00 02 33 c0 00 14 00 06	..6.....test_3d.m.........3.....
17200	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 65 78 74 72 69 6e 73 69 63 5f 63 6f 6d 70 75 74 61 74	TOOLBOX_calib/extrinsic_computat
17220	69 6f 6e 2e 6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	ion.m...........................
17240	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
17260	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
17280	20 20 31 30 32 32 32 20 20 37 30 32 34 30 33 37 33 32 33 20 20 31 33 32 34 33 00 20 00 00 00 00	..10222..7024037323..13243......
172a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
172c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
172e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
17300	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
17320	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
17340	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
17360	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
17380	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
173a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
173c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
173e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
17400	25 25 25 20 49 4e 50 55 54 20 54 48 45 20 49 4d 41 47 45 20 46 49 4c 45 20 4e 41 4d 45 3a 0a 0a	%%%.INPUT.THE.IMAGE.FILE.NAME:..
17420	64 69 72 3b 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 27 29 3b 0a 64 69 73 70 28 27 43 6f 6d	dir;..fprintf(1,'\n');.disp('Com
17440	70 75 74 61 74 69 6f 6e 20 6f 66 20 74 68 65 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65	putation.of.the.extrinsic.parame
17460	74 65 72 73 20 66 72 6f 6d 20 61 6e 20 69 6d 61 67 65 20 6f 66 20 61 20 70 61 74 74 65 72 6e 27	ters.from.an.image.of.a.pattern'
17480	29 3b 0a 64 69 73 70 28 27 54 68 65 20 69 6e 74 72 69 6e 73 69 63 20 63 61 6d 65 72 61 20 70 61	);.disp('The.intrinsic.camera.pa
174a0	72 61 6d 65 74 65 72 73 20 61 72 65 20 61 73 73 75 6d 65 64 20 74 6f 20 62 65 20 6b 6e 6f 77 6e	rameters.are.assumed.to.be.known
174c0	20 28 70 72 65 76 69 6f 75 73 6c 79 20 63 6f 6d 70 75 74 65 64 29 27 29 3b 0a 0a 66 70 72 69 6e	.(previously.computed)');..fprin
174e0	74 66 28 31 2c 27 5c 6e 27 29 3b 0a 69 6d 61 67 65 5f 6e 61 6d 65 20 3d 20 69 6e 70 75 74 28 27	tf(1,'\n');.image_name.=.input('
17500	49 6d 61 67 65 20 6e 61 6d 65 20 28 66 75 6c 6c 20 6e 61 6d 65 20 77 69 74 68 6f 75 74 20 65 78	Image.name.(full.name.without.ex
17520	74 65 6e 73 69 6f 6e 29 3a 20 27 2c 27 73 27 29 3b 0a 0a 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32	tension):.','s');..format_image2
17540	20 3d 20 27 30 27 3b 0a 0a 77 68 69 6c 65 20 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32 20 3d 3d 20	.=.'0';..while.format_image2.==.
17560	27 30 27 2c 0a 20 20 20 0a 20 20 20 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32 20 3d 20 20 69 6e 70	'0',........format_image2.=..inp
17580	75 74 28 27 49 6d 61 67 65 20 66 6f 72 6d 61 74 3a 20 28 5b 5d 3d 27 27 72 27 27 3d 27 27 72 61	ut('Image.format:.([]=''r''=''ra
175a0	73 27 27 2c 20 27 27 62 27 27 3d 27 27 62 6d 70 27 27 2c 20 27 27 74 27 27 3d 27 27 74 69 66 27	s'',.''b''=''bmp'',.''t''=''tif'
175c0	27 2c 20 27 27 70 27 27 3d 27 27 70 67 6d 27 27 2c 20 27 27 6a 27 27 3d 27 27 6a 70 67 27 27 29	',.''p''=''pgm'',.''j''=''jpg'')
175e0	20 27 2c 27 73 27 29 3b 0a 0a 09 69 66 20 69 73 65 6d 70 74 79 28 66 6f 72 6d 61 74 5f 69 6d 61	.','s');...if.isempty(format_ima
17600	67 65 32 29 2c 0a 20 20 20 09 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32 20 3d 20 27 72 61 73 27 3b	ge2),.....format_image2.=.'ras';
17620	0a 09 65 6e 64 3b 0a 0a 09 69 66 20 6c 6f 77 65 72 28 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32 28	..end;...if.lower(format_image2(
17640	31 29 29 20 3d 3d 20 27 62 27 2c 0a 20 20 20 09 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32 20 3d 20	1)).==.'b',.....format_image2.=.
17660	27 62 6d 70 27 3b 0a 09 65 6c 73 65 0a 20 20 20 09 69 66 20 6c 6f 77 65 72 28 66 6f 72 6d 61 74	'bmp';..else.....if.lower(format
17680	5f 69 6d 61 67 65 32 28 31 29 29 20 3d 3d 20 27 74 27 2c 0a 20 20 20 20 20 20 09 66 6f 72 6d 61	_image2(1)).==.'t',........forma
176a0	74 5f 69 6d 61 67 65 32 20 3d 20 27 74 69 66 27 3b 0a 20 20 20 09 65 6c 73 65 0a 20 20 20 20 20	t_image2.=.'tif';.....else......
176c0	20 09 69 66 20 6c 6f 77 65 72 28 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32 28 31 29 29 20 3d 3d 20	..if.lower(format_image2(1)).==.
176e0	27 70 27 2c 0a 20 20 20 20 20 20 20 20 20 09 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32 20 3d 20 27	'p',...........format_image2.=.'
17700	70 67 6d 27 3b 0a 09 20 20 20 20 20 20 65 6c 73 65 0a 20 20 20 09 20 20 20 20 20 20 69 66 20 6c	pgm';........else...........if.l
17720	6f 77 65 72 28 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32 28 31 29 29 20 3d 3d 20 27 6a 27 2c 0a 20	ower(format_image2(1)).==.'j',..
17740	20 20 20 20 20 09 20 20 20 20 20 20 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32 20 3d 20 27 6a 70 67	............format_image2.=.'jpg
17760	27 3b 0a 20 20 20 20 20 20 20 20 20 09 65 6c 73 65 0a 20 20 20 20 20 20 20 20 20 20 20 20 09 69	';...........else..............i
17780	66 20 6c 6f 77 65 72 28 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32 28 31 29 29 20 3d 3d 20 27 72 27	f.lower(format_image2(1)).==.'r'
177a0	2c 0a 09 20 20 20 20 20 20 20 20 20 20 20 20 20 20 09 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32 20	,.................format_image2.
177c0	3d 20 27 72 61 73 27 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 65 6c 73 65 0a 20 20 20	=.'ras';................else....
177e0	20 20 20 20 20 20 20 20 20 20 09 09 64 69 73 70 28 27 49 6e 76 61 6c 69 64 20 69 6d 61 67 65 20	............disp('Invalid.image.
17800	66 6f 72 6d 61 74 27 29 3b 20 20 20 20 20 20 20 0a 20 20 20 20 20 20 09 20 20 20 20 20 20 20 20	format');.......................
17820	20 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32 20 3d 20 27 30 27 3b 20 25 20 41 73 6b 20 66 6f 72 20	.format_image2.=.'0';.%.Ask.for.
17840	66 6f 72 6d 61 74 20 6f 6e 63 65 20 61 67 61 69 6e 0a 20 20 20 20 20 20 20 20 20 09 20 20 20 65	format.once.again..............e
17860	6e 64 3b 0a 20 20 20 20 20 20 09 20 20 20 65 6e 64 3b 0a 09 20 20 20 20 20 20 65 6e 64 3b 0a 20	nd;...........end;........end;..
17880	20 20 09 65 6e 64 3b 0a 09 65 6e 64 3b 0a 65 6e 64 3b 0a 0a 69 6d 61 5f 6e 61 6d 65 20 3d 20 5b	...end;..end;.end;..ima_name.=.[
178a0	69 6d 61 67 65 5f 6e 61 6d 65 20 27 2e 27 20 66 6f 72 6d 61 74 5f 69 6d 61 67 65 5d 3b 0a 0a 0a	image_name.'.'.format_image];...
178c0	0a 25 25 25 20 52 45 41 44 20 49 4e 20 49 4d 41 47 45 3a 0a 0a 69 66 20 66 6f 72 6d 61 74 5f 69	.%%%.READ.IN.IMAGE:..if.format_i
178e0	6d 61 67 65 28 31 29 20 3d 3d 20 27 70 27 2c 0a 20 20 20 49 20 3d 20 64 6f 75 62 6c 65 28 70 67	mage(1).==.'p',....I.=.double(pg
17900	6d 72 65 61 64 28 69 6d 61 5f 6e 61 6d 65 29 29 3b 0a 65 6c 73 65 0a 20 20 20 69 66 20 66 6f 72	mread(ima_name));.else....if.for
17920	6d 61 74 5f 69 6d 61 67 65 28 31 29 20 3d 3d 20 27 72 27 2c 0a 20 20 20 20 20 20 49 20 3d 20 72	mat_image(1).==.'r',.......I.=.r
17940	65 61 64 72 61 73 28 69 6d 61 5f 6e 61 6d 65 29 3b 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20	eadras(ima_name);....else.......
17960	49 20 3d 20 64 6f 75 62 6c 65 28 69 6d 72 65 61 64 28 69 6d 61 5f 6e 61 6d 65 29 29 3b 0a 20 20	I.=.double(imread(ima_name));...
17980	20 65 6e 64 3b 0a 65 6e 64 3b 0a 0a 69 66 20 73 69 7a 65 28 49 2c 33 29 3e 31 2c 0a 20 20 20 49	.end;.end;..if.size(I,3)>1,....I
179a0	20 3d 20 49 28 3a 2c 3a 2c 32 29 3b 0a 65 6e 64 3b 0a 0a 0a 25 25 25 20 45 58 54 52 41 43 54 20	.=.I(:,:,2);.end;...%%%.EXTRACT.
179c0	47 52 49 44 20 43 4f 52 4e 45 52 53 3a 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 45 78 74 72	GRID.CORNERS:..fprintf(1,'\nExtr
179e0	61 63 74 69 6f 6e 20 6f 66 20 74 68 65 20 67 72 69 64 20 63 6f 72 6e 65 72 73 20 6f 6e 20 74 68	action.of.the.grid.corners.on.th
17a00	65 20 69 6d 61 67 65 5c 6e 27 29 3b 0a 0a 64 69 73 70 28 27 57 69 6e 64 6f 77 20 73 69 7a 65 20	e.image\n');..disp('Window.size.
17a20	66 6f 72 20 63 6f 72 6e 65 72 20 66 69 6e 64 65 72 20 28 77 69 6e 74 78 20 61 6e 64 20 77 69 6e	for.corner.finder.(wintx.and.win
17a40	74 79 29 3a 27 29 3b 0a 77 69 6e 74 78 20 3d 20 69 6e 70 75 74 28 27 77 69 6e 74 78 20 28 5b 5d	ty):');.wintx.=.input('wintx.([]
17a60	20 3d 20 35 29 20 3d 20 27 29 3b 0a 69 66 20 69 73 65 6d 70 74 79 28 77 69 6e 74 78 29 2c 20 77	.=.5).=.');.if.isempty(wintx),.w
17a80	69 6e 74 78 20 3d 20 35 3b 20 65 6e 64 3b 0a 77 69 6e 74 78 20 3d 20 72 6f 75 6e 64 28 77 69 6e	intx.=.5;.end;.wintx.=.round(win
17aa0	74 78 29 3b 0a 77 69 6e 74 79 20 3d 20 69 6e 70 75 74 28 27 77 69 6e 74 79 20 28 5b 5d 20 3d 20	tx);.winty.=.input('winty.([].=.
17ac0	35 29 20 3d 20 27 29 3b 0a 69 66 20 69 73 65 6d 70 74 79 28 77 69 6e 74 79 29 2c 20 77 69 6e 74	5).=.');.if.isempty(winty),.wint
17ae0	79 20 3d 20 35 3b 20 65 6e 64 3b 0a 77 69 6e 74 79 20 3d 20 72 6f 75 6e 64 28 77 69 6e 74 79 29	y.=.5;.end;.winty.=.round(winty)
17b00	3b 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 57 69 6e 64 6f 77 20 73 69 7a 65 20 3d 20 25 64 78 25	;..fprintf(1,'Window.size.=.%dx%
17b20	64 5c 6e 27 2c 32 2a 77 69 6e 74 78 2b 31 2c 32 2a 77 69 6e 74 79 2b 31 29 3b 0a 0a 5b 78 5f 65	d\n',2wintx+1,2winty+1);..[x_e
17b40	78 74 2c 58 5f 65 78 74 2c 6e 5f 73 71 5f 78 2c 6e 5f 73 71 5f 79 2c 69 6e 64 5f 6f 72 69 67 2c	xt,X_ext,n_sq_x,n_sq_y,ind_orig,
17b60	69 6e 64 5f 78 2c 69 6e 64 5f 79 5d 20 3d 20 65 78 74 72 61 63 74 5f 67 72 69 64 28 49 2c 77 69	ind_x,ind_y].=.extract_grid(I,wi
17b80	6e 74 78 2c 77 69 6e 74 79 2c 66 63 2c 63 63 2c 6b 63 29 3b 0a 0a 0a 0a 25 25 25 20 43 6f 6d 70	ntx,winty,fc,cc,kc);....%%%.Comp
17ba0	75 74 61 74 69 6f 6e 20 6f 66 20 74 68 65 20 45 78 74 72 69 6e 73 69 63 20 50 61 72 61 6d 65 74	utation.of.the.Extrinsic.Paramet
17bc0	65 72 73 20 61 74 74 61 63 68 65 64 20 74 6f 20 74 68 65 20 67 72 69 64 3a 0a 0a 5b 6f 6d 63 5f	ers.attached.to.the.grid:..[omc_
17be0	65 78 74 2c 54 63 5f 65 78 74 2c 52 63 5f 65 78 74 2c 48 5f 65 78 74 5d 20 3d 20 63 6f 6d 70 75	ext,Tc_ext,Rc_ext,H_ext].=.compu
17c00	74 65 5f 65 78 74 72 69 6e 73 69 63 28 78 5f 65 78 74 2c 58 5f 65 78 74 2c 66 63 2c 63 63 2c 6b	te_extrinsic(x_ext,X_ext,fc,cc,k
17c20	63 29 3b 0a 0a 0a 25 25 25 20 52 65 70 72 6f 6a 65 63 74 20 74 68 65 20 70 6f 69 6e 74 73 20 6f	c);...%%%.Reproject.the.points.o
17c40	6e 20 74 68 65 20 69 6d 61 67 65 3a 0a 0a 5b 78 5f 72 65 70 72 6f 6a 5d 20 3d 20 70 72 6f 6a 65	n.the.image:..[x_reproj].=.proje
17c60	63 74 5f 70 6f 69 6e 74 73 28 58 5f 65 78 74 2c 6f 6d 63 5f 65 78 74 2c 54 63 5f 65 78 74 2c 66	ct_points(X_ext,omc_ext,Tc_ext,f
17c80	63 2c 63 63 2c 6b 63 29 3b 0a 0a 65 72 72 5f 72 65 70 72 6f 6a 20 3d 20 78 5f 65 78 74 20 2d 20	c,cc,kc);..err_reproj.=.x_ext.-.
17ca0	78 5f 72 65 70 72 6f 6a 3b 0a 0a 65 72 72 5f 73 74 64 32 20 3d 20 73 74 64 28 65 72 72 5f 72 65	x_reproj;..err_std2.=.std(err_re
17cc0	70 72 6f 6a 27 29 27 3b 0a 0a 0a 42 61 73 69 73 20 3d 20 5b 58 5f 65 78 74 28 3a 2c 5b 69 6e 64	proj')';...Basis.=.[X_ext(:,[ind
17ce0	5f 6f 72 69 67 20 69 6e 64 5f 78 20 69 6e 64 5f 6f 72 69 67 20 69 6e 64 5f 79 20 69 6e 64 5f 6f	_orig.ind_x.ind_orig.ind_y.ind_o
17d00	72 69 67 20 5d 29 5d 3b 0a 0a 56 58 20 3d 20 42 61 73 69 73 28 3a 2c 32 29 20 2d 20 42 61 73 69	rig.])];..VX.=.Basis(:,2).-.Basi
17d20	73 28 3a 2c 31 29 3b 0a 56 59 20 3d 20 42 61 73 69 73 28 3a 2c 34 29 20 2d 20 42 61 73 69 73 28	s(:,1);.VY.=.Basis(:,4).-.Basis(
17d40	3a 2c 31 29 3b 0a 0a 6e 58 20 3d 20 6e 6f 72 6d 28 56 58 29 3b 0a 6e 59 20 3d 20 6e 6f 72 6d 28	:,1);..nX.=.norm(VX);.nY.=.norm(
17d60	56 59 29 3b 0a 0a 56 5a 20 3d 20 6d 69 6e 28 6e 58 2c 6e 59 29 20 2a 20 63 72 6f 73 73 28 56 58	VY);..VZ.=.min(nX,nY).*.cross(VX
17d80	2f 6e 58 2c 56 59 2f 6e 59 29 3b 0a 0a 42 61 73 69 73 20 3d 20 5b 42 61 73 69 73 20 56 5a 5d 3b	/nX,VY/nY);..Basis.=.[Basis.VZ];
17da0	0a 0a 5b 78 5f 62 61 73 69 73 5d 20 3d 20 70 72 6f 6a 65 63 74 5f 70 6f 69 6e 74 73 28 42 61 73	..[x_basis].=.project_points(Bas
17dc0	69 73 2c 6f 6d 63 5f 65 78 74 2c 54 63 5f 65 78 74 2c 66 63 2c 63 63 2c 6b 63 29 3b 0a 0a 64 78	is,omc_ext,Tc_ext,fc,cc,kc);..dx
17de0	70 6f 73 20 3d 20 28 78 5f 62 61 73 69 73 28 3a 2c 32 29 20 2b 20 78 5f 62 61 73 69 73 28 3a 2c	pos.=.(x_basis(:,2).+.x_basis(:,
17e00	31 29 29 2f 32 3b 0a 64 79 70 6f 73 20 3d 20 28 78 5f 62 61 73 69 73 28 3a 2c 34 29 20 2b 20 78	1))/2;.dypos.=.(x_basis(:,4).+.x
17e20	5f 62 61 73 69 73 28 3a 2c 33 29 29 2f 32 3b 0a 64 7a 70 6f 73 20 3d 20 28 78 5f 62 61 73 69 73	_basis(:,3))/2;.dzpos.=.(x_basis
17e40	28 3a 2c 36 29 20 2b 20 78 5f 62 61 73 69 73 28 3a 2c 35 29 29 2f 32 3b 0a 0a 0a 0a 66 69 67 75	(:,6).+.x_basis(:,5))/2;....figu
17e60	72 65 28 32 29 3b 0a 69 6d 61 67 65 28 49 29 3b 0a 63 6f 6c 6f 72 6d 61 70 28 67 72 61 79 28 32	re(2);.image(I);.colormap(gray(2
17e80	35 36 29 29 3b 0a 68 6f 6c 64 20 6f 6e 3b 0a 70 6c 6f 74 28 78 5f 65 78 74 28 31 2c 3a 29 2b 31	56));.hold.on;.plot(x_ext(1,:)+1
17ea0	2c 78 5f 65 78 74 28 32 2c 3a 29 2b 31 2c 27 72 2b 27 29 3b 0a 70 6c 6f 74 28 78 5f 72 65 70 72	,x_ext(2,:)+1,'r+');.plot(x_repr
17ec0	6f 6a 28 31 2c 3a 29 2b 31 2c 78 5f 72 65 70 72 6f 6a 28 32 2c 3a 29 2b 31 2c 27 79 6f 27 29 3b	oj(1,:)+1,x_reproj(2,:)+1,'yo');
17ee0	0a 68 20 3d 20 74 65 78 74 28 78 5f 65 78 74 28 31 2c 69 6e 64 5f 6f 72 69 67 29 2d 32 35 2c 78	.h.=.text(x_ext(1,ind_orig)-25,x
17f00	5f 65 78 74 28 32 2c 69 6e 64 5f 6f 72 69 67 29 2d 32 35 2c 27 4f 27 29 3b 0a 73 65 74 28 68 2c	_ext(2,ind_orig)-25,'O');.set(h,
17f20	27 43 6f 6c 6f 72 27 2c 27 67 27 2c 27 46 6f 6e 74 53 69 7a 65 27 2c 31 34 29 3b 0a 68 32 20 3d	'Color','g','FontSize',14);.h2.=
17f40	20 74 65 78 74 28 64 78 70 6f 73 28 31 29 2b 31 2c 64 78 70 6f 73 28 32 29 2d 33 30 2c 27 58 27	.text(dxpos(1)+1,dxpos(2)-30,'X'
17f60	29 3b 0a 73 65 74 28 68 32 2c 27 43 6f 6c 6f 72 27 2c 27 67 27 2c 27 46 6f 6e 74 53 69 7a 65 27	);.set(h2,'Color','g','FontSize'
17f80	2c 31 34 29 3b 0a 68 33 20 3d 20 74 65 78 74 28 64 79 70 6f 73 28 31 29 2d 33 30 2c 64 79 70 6f	,14);.h3.=.text(dypos(1)-30,dypo
17fa0	73 28 32 29 2b 31 2c 27 59 27 29 3b 0a 73 65 74 28 68 33 2c 27 43 6f 6c 6f 72 27 2c 27 67 27 2c	s(2)+1,'Y');.set(h3,'Color','g',
17fc0	27 46 6f 6e 74 53 69 7a 65 27 2c 31 34 29 3b 0a 68 34 20 3d 20 74 65 78 74 28 64 7a 70 6f 73 28	'FontSize',14);.h4.=.text(dzpos(
17fe0	31 29 2d 31 30 2c 64 7a 70 6f 73 28 32 29 2d 32 30 2c 27 5a 27 29 3b 0a 73 65 74 28 68 34 2c 27	1)-10,dzpos(2)-20,'Z');.set(h4,'
18000	43 6f 6c 6f 72 27 2c 27 67 27 2c 27 46 6f 6e 74 53 69 7a 65 27 2c 31 34 29 3b 0a 70 6c 6f 74 28	Color','g','FontSize',14);.plot(
18020	78 5f 62 61 73 69 73 28 31 2c 3a 29 2b 31 2c 78 5f 62 61 73 69 73 28 32 2c 3a 29 2b 31 2c 27 67	x_basis(1,:)+1,x_basis(2,:)+1,'g
18040	2d 27 2c 27 6c 69 6e 65 77 69 64 74 68 27 2c 32 29 3b 0a 74 69 74 6c 65 28 27 49 6d 61 67 65 20	-','linewidth',2);.title('Image.
18060	70 6f 69 6e 74 73 20 28 2b 29 20 61 6e 64 20 72 65 70 72 6f 6a 65 63 74 65 64 20 67 72 69 64 20	points.(+).and.reprojected.grid.
18080	70 6f 69 6e 74 73 20 28 6f 29 27 29 3b 0a 68 6f 6c 64 20 6f 66 66 3b 0a 0a 0a 66 70 72 69 6e 74	points.(o)');.hold.off;...fprint
180a0	66 28 31 2c 27 5c 6e 5c 6e 45 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73 3a 5c 6e	f(1,'\n\nExtrinsic.parameters:\n
180c0	5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 54 72 61 6e 73 6c 61 74 69 6f 6e 20 76 65 63	\n');.fprintf(1,'Translation.vec
180e0	74 6f 72 3a 20 54 63 5f 65 78 74 20 3d 20 5b 20 25 33 2e 36 66 20 5c 74 20 25 33 2e 36 66 20 5c	tor:.Tc_ext.=.[.%3.6f.\t.%3.6f.\
18100	74 20 25 33 2e 36 66 20 5d 5c 6e 27 2c 54 63 5f 65 78 74 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c	t.%3.6f.]\n',Tc_ext);.fprintf(1,
18120	27 52 6f 74 61 74 69 6f 6e 20 76 65 63 74 6f 72 3a 20 20 20 6f 6d 63 5f 65 78 74 20 3d 20 5b 20	'Rotation.vector:...omc_ext.=.[.
18140	25 33 2e 36 66 20 5c 74 20 25 33 2e 36 66 20 5c 74 20 25 33 2e 36 66 20 5d 5c 6e 27 2c 6f 6d 63	%3.6f.\t.%3.6f.\t.%3.6f.]\n',omc
18160	5f 65 78 74 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 52 6f 74 61 74 69 6f 6e 20 6d 61 74 72 69	_ext);.fprintf(1,'Rotation.matri
18180	78 3a 20 20 20 20 52 63 5f 65 78 74 20 3d 20 5b 20 25 33 2e 36 66 20 5c 74 20 25 33 2e 36 66 20	x:....Rc_ext.=.[.%3.6f.\t.%3.6f.
181a0	5c 74 20 25 33 2e 36 66 5c 6e 27 2c 52 63 5f 65 78 74 28 31 2c 3a 29 27 29 3b 0a 66 70 72 69 6e	\t.%3.6f\n',Rc_ext(1,:)');.fprin
181c0	74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	tf(1,'..........................
181e0	20 20 20 20 20 25 33 2e 36 66 20 5c 74 20 25 33 2e 36 66 20 5c 74 20 25 33 2e 36 66 5c 6e 27 2c	.....%3.6f.\t.%3.6f.\t.%3.6f\n',
18200	52 63 5f 65 78 74 28 32 2c 3a 29 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20	Rc_ext(2,:)');.fprintf(1,'......
18220	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 25 33 2e 36 66 20 5c	.........................%3.6f.\
18240	74 20 25 33 2e 36 66 20 5c 74 20 25 33 2e 36 66 20 5d 5c 6e 27 2c 52 63 5f 65 78 74 28 33 2c 3a	t.%3.6f.\t.%3.6f.]\n',Rc_ext(3,:
18260	29 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 50 69 78 65 6c 20 65 72 72 6f 72 3a 20 20 20 20	)');.fprintf(1,'Pixel.error:....
18280	20 20 20 20 20 20 20 65 72 72 20 3d 20 5b 20 25 33 2e 35 66 20 5c 74 20 25 33 2e 35 66 20 5d 5c	.......err.=.[.%3.5f.\t.%3.5f.]\
182a0	6e 5c 6e 27 2c 65 72 72 5f 73 74 64 32 29 3b 20 0a 0a 0a 0a 0a 0a 72 65 74 75 72 6e 3b 0a 0a 0a	n\n',err_std2);.......return;...
182c0	25 20 53 74 6f 72 65 73 20 74 68 65 20 72 65 73 75 6c 74 73 3a 0a 0a 6b 6b 20 3d 20 31 3b 0a 0a	%.Stores.the.results:..kk.=.1;..
182e0	25 20 53 74 6f 72 65 73 20 6c 6f 63 61 74 69 6f 6e 20 6f 66 20 67 72 69 64 20 77 72 74 20 63 61	%.Stores.location.of.grid.wrt.ca
18300	6d 65 72 61 3a 0a 0a 65 76 61 6c 28 5b 27 6f 6d 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20	mera:..eval(['omc_'.num2str(kk).
18320	27 20 3d 20 6f 6d 63 5f 65 78 74 3b 27 5d 29 3b 0a 65 76 61 6c 28 5b 27 54 63 5f 27 20 6e 75 6d	'.=.omc_ext;']);.eval(['Tc_'.num
18340	32 73 74 72 28 6b 6b 29 20 27 20 3d 20 54 63 5f 65 78 74 3b 27 5d 29 3b 0a 0a 25 20 53 74 6f 72	2str(kk).'.=.Tc_ext;']);..%.Stor
18360	65 73 20 74 68 65 20 70 72 6f 6a 65 63 74 65 64 20 70 6f 69 6e 74 73 3a 0a 20 20 20 20 20 20 0a	es.the.projected.points:........
18380	65 76 61 6c 28 5b 27 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 78 5f 72 65 70	eval(['y_'.num2str(kk).'.=.x_rep
183a0	72 6f 6a 3b 27 5d 29 3b 0a 65 76 61 6c 28 5b 27 58 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20	roj;']);.eval(['X_'.num2str(kk).
183c0	27 20 3d 20 58 5f 65 78 74 3b 27 5d 29 3b 0a 65 76 61 6c 28 5b 27 78 5f 27 20 6e 75 6d 32 73 74	'.=.X_ext;']);.eval(['x_'.num2st
183e0	72 28 6b 6b 29 20 27 20 3d 20 78 5f 65 78 74 3b 27 5d 29 3b 20 20 20 20 20 20 0a 20 20 20 20 20	r(kk).'.=.x_ext;']);............
18400	20 0a 20 20 20 20 20 20 20 20 20 20 20 20 0a 25 20 4f 72 67 61 6e 69 7a 65 20 74 68 65 20 70 6f	...............%.Organize.the.po
18420	69 6e 74 73 20 69 6e 20 61 20 67 72 69 64 3a 0a 20 20 20 20 20 20 0a 65 76 61 6c 28 5b 27 6e 5f	ints.in.a.grid:........eval(['n_
18440	73 71 5f 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 6e 5f 73 71 5f 78 3b 27 5d	sq_x_'.num2str(kk).'.=.n_sq_x;']
18460	29 3b 0a 65 76 61 6c 28 5b 27 6e 5f 73 71 5f 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27	);.eval(['n_sq_y_'.num2str(kk).'
18480	20 3d 20 6e 5f 73 71 5f 79 3b 27 5d 29 3b 0a 20 20 20 0a 0a 69 6d 61 5f 6e 61 6d 65 20 3d 20 5b	.=.n_sq_y;']);......ima_name.=.[
184a0	69 6d 61 67 65 5f 6e 61 6d 65 20 27 2e 27 20 66 6f 72 6d 61 74 5f 69 6d 61 67 65 5d 3b 0a 0a 0a	image_name.'.'.format_image];...
184c0	0a 25 25 25 20 52 45 41 44 20 49 4e 20 49 4d 41 47 45 3a 0a 0a 69 66 20 66 6f 72 6d 61 74 5f 69	.%%%.READ.IN.IMAGE:..if.format_i
184e0	6d 61 67 65 28 31 29 20 3d 3d 20 27 70 27 2c 0a 20 20 20 49 20 3d 20 64 6f 75 62 6c 65 28 70 67	mage(1).==.'p',....I.=.double(pg
18500	6d 72 65 61 64 28 69 6d 61 5f 6e 61 6d 65 29 29 3b 0a 65 6c 73 65 0a 20 20 20 69 66 20 66 6f 72	mread(ima_name));.else....if.for
18520	6d 61 74 5f 69 6d 61 67 65 28 31 29 20 3d 3d 20 27 72 27 2c 0a 20 20 20 20 20 20 49 20 3d 20 72	mat_image(1).==.'r',.......I.=.r
18540	65 61 64 72 61 73 28 69 6d 61 5f 6e 61 6d 65 29 3b 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20	eadras(ima_name);....else.......
18560	49 20 3d 20 64 6f 75 62 6c 65 28 69 6d 72 65 61 64 28 69 6d 61 5f 6e 61 6d 65 29 29 3b 0a 20 20	I.=.double(imread(ima_name));...
18580	20 65 6e 64 3b 0a 65 6e 64 3b 0a 0a 69 66 20 73 69 7a 65 28 49 2c 33 29 3e 31 2c 0a 20 20 20 49	.end;.end;..if.size(I,3)>1,....I
185a0	20 3d 20 49 28 3a 2c 3a 2c 32 29 3b 0a 65 6e 64 3b 0a 0a 0a 25 25 25 20 45 58 54 52 41 43 54 20	.=.I(:,:,2);.end;...%%%.EXTRACT.
185c0	47 52 49 44 20 43 4f 52 4e 45 52 53 3a 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 45 78 74 72	GRID.CORNERS:..fprintf(1,'\nExtr
185e0	61 63 74 69 6f 6e 20 6f 66 20 74 68 65 20 67 72 69 64 20 63 6f 72 6e 65 72 73 20 6f 6e 20 74 68	action.of.the.grid.corners.on.th
18600	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 65 78 74 5f 63 61 6c 69 62 2e 6d 00 00 00 00 00 00 00	TOOLBOX_calib/ext_calib.m.......
18620	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
18640	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
18660	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
18680	20 20 20 36 34 37 34 20 20 37 30 32 34 30 33 37 33 32 33 20 20 31 30 35 34 31 00 20 00 00 00 00	...6474..7024037323..10541......
186a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
186c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
186e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
18700	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
18720	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
18740	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
18760	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
18780	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
187a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
187c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
187e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
18800	0a 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 20 53 48 4f 57 20 45 58 54 52 49	.%%%%%%%%%%%%%%%%%%%%.SHOW.EXTRI
18820	4e 53 49 43 20 52 45 53 55 4c 54 53 20 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25	NSIC.RESULTS.%%%%%%%%%%%%%%%%%%%
18840	25 25 25 25 25 0a 0a 63 68 65 63 6b 5f 61 63 74 69 76 65 5f 69 6d 61 67 65 73 3b 0a 0a 69 66 20	%%%%%..check_active_images;..if.
18860	7e 65 78 69 73 74 28 5b 27 6f 6d 63 5f 27 20 6e 75 6d 32 73 74 72 28 69 6e 64 5f 61 63 74 69 76	~exist(['omc_'.num2str(ind_activ
18880	65 28 31 29 29 5d 29 2c 0a 20 20 20 66 70 72 69 6e 74 66 28 31 2c 27 4e 65 65 64 20 74 6f 20 63	e(1))]),....fprintf(1,'Need.to.c
188a0	61 6c 69 62 72 61 74 65 20 62 65 66 6f 72 65 20 73 68 6f 77 69 6e 67 20 65 78 74 72 69 6e 73 69	alibrate.before.showing.extrinsi
188c0	63 20 72 65 73 75 6c 74 73 2e 20 4d 61 79 62 65 20 6e 65 65 64 20 74 6f 20 6c 6f 61 64 20 43 61	c.results..Maybe.need.to.load.Ca
188e0	6c 69 62 5f 52 65 73 75 6c 74 73 2e 6d 61 74 20 66 69 6c 65 2e 5c 6e 27 29 3b 0a 20 20 20 72 65	lib_Results.mat.file.\n');....re
18900	74 75 72 6e 3b 0a 65 6e 64 3b 0a 0a 25 69 66 20 7e 65 78 69 73 74 28 27 6e 6f 5f 67 72 69 64 27	turn;.end;..%if.~exist('no_grid'
18920	29 2c 0a 20 20 20 6e 6f 5f 67 72 69 64 20 3d 20 30 3b 0a 25 65 6e 64 3b 0a 0a 69 66 20 7e 65 78	),....no_grid.=.0;.%end;..if.~ex
18940	69 73 74 28 5b 27 6e 5f 73 71 5f 78 5f 27 20 6e 75 6d 32 73 74 72 28 69 6e 64 5f 61 63 74 69 76	ist(['n_sq_x_'.num2str(ind_activ
18960	65 28 31 29 29 5d 29 2c 0a 20 20 20 6e 6f 5f 67 72 69 64 20 3d 20 31 3b 0a 65 6e 64 3b 0a 0a 0a	e(1))]),....no_grid.=.1;.end;...
18980	69 66 20 30 2c 0a 0a 65 72 72 5f 73 74 64 20 3d 20 73 74 64 28 65 78 27 29 3b 0a 0a 66 70 72 69	if.0,..err_std.=.std(ex');..fpri
189a0	6e 74 66 28 31 2c 27 5c 6e 5c 6e 43 61 6c 69 62 72 61 74 69 6f 6e 20 72 65 73 75 6c 74 73 20 77	ntf(1,'\n\nCalibration.results.w
189c0	69 74 68 6f 75 74 20 70 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 20 65 73 74 69 6d 61 74 69 6f	ithout.principal.point.estimatio
189e0	6e 3a 5c 6e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 46 6f 63 61 6c 20 4c 65 6e 67 74	n:\n\n');.fprintf(1,'Focal.Lengt
18a00	68 3a 20 20 20 20 20 66 63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c	h:.....fc.=.[.%3.5f...%3.5f]\n',
18a20	66 63 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 50 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 3a	fc);.fprintf(1,'Principal.point:
18a40	20 20 63 63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 63 63 29 3b 0a	..cc.=.[.%3.5f...%3.5f]\n',cc);.
18a60	66 70 72 69 6e 74 66 28 31 2c 27 44 69 73 74 6f 72 74 69 6f 6e 3a 20 20 20 20 20 20 20 6b 63 20	fprintf(1,'Distortion:.......kc.
18a80	3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 20 20 20 25 33 2e 35	=.[.%3.5f...%3.5f...%3.5f...%3.5
18aa0	66 5d 5c 6e 27 2c 6b 63 29 3b 20 20 20 0a 66 70 72 69 6e 74 66 28 31 2c 27 50 69 78 65 6c 20 65	f]\n',kc);....fprintf(1,'Pixel.e
18ac0	72 72 6f 72 3a 20 20 20 20 20 20 65 72 72 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66	rror:......err.=.[.%3.5f...%3.5f
18ae0	5d 5c 6e 5c 6e 27 2c 65 72 72 5f 73 74 64 29 3b 20 0a 0a 65 6e 64 3b 0a 0a 0a 25 20 43 6f 6c 6f	]\n\n',err_std);...end;...%.Colo
18b00	72 20 63 6f 64 65 20 66 6f 72 20 65 61 63 68 20 69 6d 61 67 65 3a 0a 0a 63 6f 6c 6f 72 73 20 3d	r.code.for.each.image:..colors.=
18b20	20 27 62 72 67 6b 63 6d 27 3b 0a 0a 0a 25 25 25 20 53 68 6f 77 20 74 68 65 20 65 78 74 72 69 6e	.'brgkcm';...%%%.Show.the.extrin
18b40	73 69 63 20 70 61 72 61 6d 65 74 65 72 73 0a 0a 69 66 20 7e 65 78 69 73 74 28 27 64 58 27 29 2c	sic.parameters..if.~exist('dX'),
18b60	0a 20 20 20 65 76 61 6c 28 5b 27 64 58 20 3d 20 6e 6f 72 6d 28 54 63 5f 27 20 6e 75 6d 32 73 74	....eval(['dX.=.norm(Tc_'.num2st
18b80	72 28 69 6e 64 5f 61 63 74 69 76 65 28 31 29 29 20 27 29 2f 31 30 3b 27 5d 29 3b 0a 20 20 20 64	r(ind_active(1)).')/10;']);....d
18ba0	59 20 3d 20 64 58 3b 0a 65 6e 64 3b 0a 0a 49 50 20 3d 20 35 2a 64 58 2a 28 5b 30 20 6e 78 2d 31	Y.=.dX;.end;..IP.=.5dX([0.nx-1
18bc0	20 6e 78 2d 31 20 30 20 30 20 3b 20 30 20 30 20 6e 79 2d 31 20 6e 79 2d 31 20 30 3b 31 20 31 20	.nx-1.0.0.;.0.0.ny-1.ny-1.0;1.1.
18be0	31 20 31 20 31 5d 20 2d 20 5b 63 63 3b 30 5d 2a 6f 6e 65 73 28 31 2c 35 29 29 20 2e 2f 20 28 5b	1.1.1].-.[cc;0]*ones(1,5))../.([
18c00	66 63 3b 31 5d 2a 6f 6e 65 73 28 31 2c 35 29 29 3b 0a 42 41 53 45 20 3d 20 35 2a 64 58 2a 28 5b	fc;1]ones(1,5));.BASE.=.5dX*([
18c20	30 20 31 20 30 20 30 20 30 20 30 3b 30 20 30 20 30 20 31 20 30 20 30 3b 30 20 30 20 30 20 30 20	0.1.0.0.0.0;0.0.0.1.0.0;0.0.0.0.
18c40	30 20 31 5d 29 3b 0a 49 50 20 3d 20 72 65 73 68 61 70 65 28 5b 49 50 3b 42 41 53 45 28 3a 2c 31	0.1]);.IP.=.reshape([IP;BASE(:,1
18c60	29 2a 6f 6e 65 73 28 31 2c 35 29 3b 49 50 5d 2c 33 2c 31 35 29 3b 0a 0a 66 69 67 75 72 65 28 34	)*ones(1,5);IP],3,15);..figure(4
18c80	29 3b 0a 5b 61 2c 62 5d 20 3d 20 76 69 65 77 3b 0a 0a 66 69 67 75 72 65 28 34 29 3b 0a 70 6c 6f	);.[a,b].=.view;..figure(4);.plo
18ca0	74 33 28 42 41 53 45 28 31 2c 3a 29 2c 42 41 53 45 28 33 2c 3a 29 2c 2d 42 41 53 45 28 32 2c 3a	t3(BASE(1,:),BASE(3,:),-BASE(2,:
18cc0	29 2c 27 62 2d 27 2c 27 6c 69 6e 65 77 69 64 74 68 27 2c 32 27 29 3b 0a 68 6f 6c 64 20 6f 6e 3b	),'b-','linewidth',2');.hold.on;
18ce0	0a 70 6c 6f 74 33 28 49 50 28 31 2c 3a 29 2c 49 50 28 33 2c 3a 29 2c 2d 49 50 28 32 2c 3a 29 2c	.plot3(IP(1,:),IP(3,:),-IP(2,:),
18d00	27 72 2d 27 2c 27 6c 69 6e 65 77 69 64 74 68 27 2c 32 29 3b 0a 74 65 78 74 28 36 2a 64 58 2c 30	'r-','linewidth',2);.text(6*dX,0
18d20	2c 30 2c 27 58 5f 63 27 29 3b 0a 74 65 78 74 28 2d 64 58 2c 35 2a 64 58 2c 30 2c 27 5a 5f 63 27	,0,'X_c');.text(-dX,5*dX,0,'Z_c'
18d40	29 3b 0a 74 65 78 74 28 30 2c 30 2c 2d 36 2a 64 58 2c 27 59 5f 63 27 29 3b 0a 74 65 78 74 28 2d	);.text(0,0,-6*dX,'Y_c');.text(-
18d60	64 58 2c 2d 64 58 2c 64 58 2c 27 4f 5f 63 27 29 3b 0a 0a 0a 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e	dX,-dX,dX,'O_c');...for.kk.=.1:n
18d80	5f 69 6d 61 2c 0a 20 20 20 0a 20 20 20 69 66 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 6b 6b	_ima,........if.active_images(kk
18da0	29 3b 0a 20 20 20 20 20 20 0a 20 20 20 09 65 76 61 6c 28 5b 27 58 58 5f 6b 6b 20 3d 20 58 5f 27	);............eval(['XX_kk.=.X_'
18dc0	20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 09 65 76 61 6c 28 5b 27 6f	.num2str(kk).';']);.....eval(['o
18de0	6d 63 5f 6b 6b 20 3d 20 6f 6d 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b	mc_kk.=.omc_'.num2str(kk).';']);
18e00	0a 20 20 20 09 65 76 61 6c 28 5b 27 54 63 5f 6b 6b 20 3d 20 54 63 5f 27 20 6e 75 6d 32 73 74 72	.....eval(['Tc_kk.=.Tc_'.num2str
18e20	28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 20 20 20 4e 5f 6b 6b 20 3d 20 73 69 7a 65 28 58 58	(kk).';']);.......N_kk.=.size(XX
18e40	5f 6b 6b 2c 32 29 3b 0a 20 20 20 20 20 20 20 20 20 0a 20 20 20 20 20 20 20 20 20 69 66 20 7e 65	_kk,2);....................if.~e
18e60	78 69 73 74 28 5b 27 6e 5f 73 71 5f 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 5d 29 2c 0a 20	xist(['n_sq_x_'.num2str(kk)]),..
18e80	20 20 20 20 20 20 20 20 20 20 20 6e 6f 5f 67 72 69 64 20 3d 20 31 3b 0a 20 20 20 20 20 20 20 20	...........no_grid.=.1;.........
18ea0	20 65 6e 64 3b 0a 20 20 20 20 20 20 20 20 20 0a 20 20 20 20 20 20 20 20 20 69 66 20 7e 6e 6f 5f	.end;....................if.~no_
18ec0	67 72 69 64 2c 0a 20 20 20 20 20 20 20 20 20 20 20 20 65 76 61 6c 28 5b 27 6e 5f 73 71 5f 78 20	grid,.............eval(['n_sq_x.
18ee0	3d 20 6e 5f 73 71 5f 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20	=.n_sq_x_'.num2str(kk).';']);...
18f00	20 20 20 20 20 20 20 20 20 20 65 76 61 6c 28 5b 27 6e 5f 73 71 5f 79 20 3d 20 6e 5f 73 71 5f 79	..........eval(['n_sq_y.=.n_sq_y
18f20	5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 20 20 20 20 20 20 20	_'.num2str(kk).';']);...........
18f40	20 20 69 66 20 28 4e 5f 6b 6b 20 7e 3d 20 28 28 6e 5f 73 71 5f 78 2b 31 29 2a 28 6e 5f 73 71 5f	..if.(N_kk.~=.((n_sq_x+1)*(n_sq_
18f60	79 2b 31 29 29 29 2c 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 6e 6f 5f 67 72 69 64 20 3d	y+1))),................no_grid.=
18f80	20 31 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 20 20 20 65 6e	.1;.............end;..........en
18fa0	64 3b 0a 20 20 20 20 20 20 20 20 20 0a 20 20 20 20 20 20 20 20 20 69 66 20 7e 69 73 6e 61 6e 28	d;....................if.~isnan(
18fc0	6f 6d 63 5f 6b 6b 28 31 2c 31 29 29 2c 0a 20 20 20 20 20 20 20 20 20 20 20 20 0a 20 20 20 20 20	omc_kk(1,1)),...................
18fe0	20 20 20 20 20 20 20 52 5f 6b 6b 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63 5f 6b 6b 29 3b	.......R_kk.=.rodrigues(omc_kk);
19000	0a 20 20 20 20 20 20 20 20 20 20 20 20 0a 20 20 20 20 20 20 20 20 20 20 20 20 59 59 5f 6b 6b 20	..........................YY_kk.
19020	3d 20 52 5f 6b 6b 20 2a 20 58 58 5f 6b 6b 20 2b 20 54 63 5f 6b 6b 20 2a 20 6f 6e 65 73 28 31 2c	=.R_kk..XX_kk.+.Tc_kk..ones(1,
19040	6c 65 6e 67 74 68 28 58 58 5f 6b 6b 29 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 0a 20 20 20	length(XX_kk));.................
19060	20 20 20 20 20 20 20 20 20 75 75 20 3d 20 5b 2d 64 58 3b 2d 64 59 3b 30 5d 2f 32 3b 0a 20 20 20	.........uu.=.[-dX;-dY;0]/2;....
19080	20 20 20 20 20 20 20 20 20 75 75 20 3d 20 52 5f 6b 6b 20 2a 20 75 75 20 2b 20 54 63 5f 6b 6b 3b	.........uu.=.R_kk.*.uu.+.Tc_kk;
190a0	20 0a 20 20 20 20 20 20 20 20 20 20 20 20 0a 20 20 20 20 20 20 20 20 20 20 20 20 69 66 20 7e 6e	...........................if.~n
190c0	6f 5f 67 72 69 64 2c 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 59 59 78 20 3d 20 7a 65 72	o_grid,................YYx.=.zer
190e0	6f 73 28 6e 5f 73 71 5f 78 2b 31 2c 6e 5f 73 71 5f 79 2b 31 29 3b 0a 20 20 20 20 20 20 20 20 20	os(n_sq_x+1,n_sq_y+1);..........
19100	20 20 20 20 20 20 59 59 79 20 3d 20 7a 65 72 6f 73 28 6e 5f 73 71 5f 78 2b 31 2c 6e 5f 73 71 5f	......YYy.=.zeros(n_sq_x+1,n_sq_
19120	79 2b 31 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 59 59 7a 20 3d 20 7a 65 72 6f 73	y+1);................YYz.=.zeros
19140	28 6e 5f 73 71 5f 78 2b 31 2c 6e 5f 73 71 5f 79 2b 31 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20	(n_sq_x+1,n_sq_y+1);............
19160	20 20 20 20 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 59 59 78 28 3a 29 20 3d 20 59 59 5f	....................YYx(:).=.YY_
19180	6b 6b 28 31 2c 3a 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 59 59 79 28 3a 29 20 3d	kk(1,:);................YYy(:).=
191a0	20 59 59 5f 6b 6b 28 32 2c 3a 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 59 59 7a 28	.YY_kk(2,:);................YYz(
191c0	3a 29 20 3d 20 59 59 5f 6b 6b 28 33 2c 3a 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	:).=.YY_kk(3,:);................
191e0	0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 25 6b 65 79 62 6f 61 72 64 3b 0a 20 20 20 20 20	................%keyboard;......
19200	20 20 20 20 20 20 20 20 20 20 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 66 69 67 75 72 65	..........................figure
19220	28 34 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 68 68 68 3d 20 6d 65 73 68 28 59 59	(4);................hhh=.mesh(YY
19240	78 2c 59 59 7a 2c 2d 59 59 79 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 73 65 74 28	x,YYz,-YYy);................set(
19260	68 68 68 2c 27 65 64 67 65 63 6f 6c 6f 72 27 2c 63 6f 6c 6f 72 73 28 72 65 6d 28 6b 6b 2d 31 2c	hhh,'edgecolor',colors(rem(kk-1,
19280	36 29 2b 31 29 2c 27 6c 69 6e 65 77 69 64 74 68 27 2c 31 29 3b 20 25 2c 27 66 61 63 65 63 6f 6c	6)+1),'linewidth',1);.%,'facecol
192a0	6f 72 27 2c 27 6e 6f 6e 65 27 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 25 70 6c 6f	or','none');................%plo
192c0	74 33 28 59 59 5f 6b 6b 28 31 2c 3a 29 2c 59 59 5f 6b 6b 28 33 2c 3a 29 2c 2d 59 59 5f 6b 6b 28	t3(YY_kk(1,:),YY_kk(3,:),-YY_kk(
192e0	32 2c 3a 29 2c 5b 27 6f 27 20 63 6f 6c 6f 72 73 28 72 65 6d 28 6b 6b 2d 31 2c 36 29 2b 31 29 5d	2,:),['o'.colors(rem(kk-1,6)+1)]
19300	29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 74 65 78 74 28 75 75 28 31 29 2c 75 75 28	);................text(uu(1),uu(
19320	33 29 2c 2d 75 75 28 32 29 2c 6e 75 6d 32 73 74 72 28 6b 6b 29 2c 27 66 6f 6e 74 73 69 7a 65 27	3),-uu(2),num2str(kk),'fontsize'
19340	2c 31 34 2c 27 63 6f 6c 6f 72 27 2c 63 6f 6c 6f 72 73 28 72 65 6d 28 6b 6b 2d 31 2c 36 29 2b 31	,14,'color',colors(rem(kk-1,6)+1
19360	29 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 20 20 20 20 20	));.............else............
19380	20 20 20 20 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 66 69 67 75 72 65 28 34 29 3b 0a 20	....................figure(4);..
193a0	20 20 20 20 20 20 20 20 20 20 20 20 20 20 70 6c 6f 74 33 28 59 59 5f 6b 6b 28 31 2c 3a 29 2c 59	..............plot3(YY_kk(1,:),Y
193c0	59 5f 6b 6b 28 33 2c 3a 29 2c 2d 59 59 5f 6b 6b 28 32 2c 3a 29 2c 5b 27 2e 27 20 63 6f 6c 6f 72	Y_kk(3,:),-YY_kk(2,:),['.'.color
193e0	73 28 72 65 6d 28 6b 6b 2d 31 2c 36 29 2b 31 29 5d 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20	s(rem(kk-1,6)+1)]);.............
19400	20 20 20 74 65 78 74 28 75 75 28 31 29 2c 75 75 28 33 29 2c 2d 75 75 28 32 29 2c 6e 75 6d 32 73	...text(uu(1),uu(3),-uu(2),num2s
19420	74 72 28 6b 6b 29 2c 27 66 6f 6e 74 73 69 7a 65 27 2c 31 34 2c 27 63 6f 6c 6f 72 27 2c 63 6f 6c	tr(kk),'fontsize',14,'color',col
19440	6f 72 73 28 72 65 6d 28 6b 6b 2d 31 2c 36 29 2b 31 29 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20	ors(rem(kk-1,6)+1));............
19460	20 20 20 20 0a 20 20 20 20 20 20 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 20 20 20 20	.................end;...........
19480	20 20 0a 20 20 20 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 0a 20 20 20 65 6e 64 3b 0a	............end;...........end;.
194a0	20 20 20 0a 65 6e 64 3b 0a 0a 66 69 67 75 72 65 28 34 29 3b 72 6f 74 61 74 65 33 64 20 6f 6e 3b	....end;..figure(4);rotate3d.on;
194c0	0a 61 78 69 73 28 27 65 71 75 61 6c 27 29 3b 0a 74 69 74 6c 65 28 27 45 78 74 72 69 6e 73 69 63	.axis('equal');.title('Extrinsic
194e0	20 70 61 72 61 6d 65 74 65 72 73 27 29 3b 0a 25 76 69 65 77 28 36 30 2c 33 30 29 3b 0a 76 69 65	.parameters');.%view(60,30);.vie
19500	77 28 61 2c 62 29 3b 0a 68 6f 6c 64 20 6f 66 66 3b 0a 0a 73 65 74 28 34 2c 27 4e 61 6d 65 27 2c	w(a,b);.hold.off;..set(4,'Name',
19520	27 33 44 27 2c 27 4e 75 6d 62 65 72 54 69 74 6c 65 27 2c 27 6f 66 66 27 29 3b 0a 0a 25 25 25 25	'3D','NumberTitle','off');..%%%%
19540	25 25 0a 20 20 20 66 69 67 75 72 65 28 32 29 3b 0a 20 20 20 68 6f 6c 64 20 6f 6e 3b 0a 20 20 20	%%....figure(2);....hold.on;....
19560	70 6c 6f 74 28 58 58 28 31 2c 3a 29 2c 58 58 28 32 2c 3a 29 2c 27 72 2b 27 29 3b 0a 20 20 20 74	plot(XX(1,:),XX(2,:),'r+');....t
19580	69 74 6c 65 28 27 54 68 65 20 72 65 64 20 63 72 6f 73 73 65 73 20 73 68 6f 75 6c 64 20 62 65 20	itle('The.red.crosses.should.be.
195a0	63 6c 6f 73 65 20 74 6f 20 74 68 65 20 69 6d 61 67 65 20 63 6f 72 6e 65 72 73 27 29 3b 0a 20 20	close.to.the.image.corners');...
195c0	20 68 6f 6c 64 20 6f 66 66 3b 0a 20 20 20 0a 20 20 20 64 69 73 70 28 27 49 66 20 74 68 65 20 67	.hold.off;........disp('If.the.g
195e0	75 65 73 73 65 64 20 67 72 69 64 20 63 6f 72 6e 65 72 73 20 28 72 65 64 20 63 72 6f 73 73 65 73	uessed.grid.corners.(red.crosses
19600	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 67 69 6e 70 75 74 33 2e 6d 00 00 00 00 00 00 00 00 00	TOOLBOX_calib/ginput3.m.........
19620	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
19640	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
19660	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
19680	20 20 31 34 33 30 34 20 20 37 30 32 34 30 33 37 33 32 34 20 20 31 30 32 31 30 00 20 00 00 00 00	..14304..7024037324..10210......
196a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
196c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
196e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
19700	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
19720	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
19740	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
19760	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
19780	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
197a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
197c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
197e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
19800	66 75 6e 63 74 69 6f 6e 20 5b 6f 75 74 31 2c 6f 75 74 32 2c 6f 75 74 33 5d 20 3d 20 67 69 6e 70	function.[out1,out2,out3].=.ginp
19820	75 74 32 28 61 72 67 31 29 0a 25 47 49 4e 50 55 54 20 47 72 61 70 68 69 63 61 6c 20 69 6e 70 75	ut2(arg1).%GINPUT.Graphical.inpu
19840	74 20 66 72 6f 6d 20 6d 6f 75 73 65 2e 0a 25 20 20 20 5b 58 2c 59 5d 20 3d 20 47 49 4e 50 55 54	t.from.mouse..%...[X,Y].=.GINPUT
19860	28 4e 29 20 67 65 74 73 20 4e 20 70 6f 69 6e 74 73 20 66 72 6f 6d 20 74 68 65 20 63 75 72 72 65	(N).gets.N.points.from.the.curre
19880	6e 74 20 61 78 65 73 20 61 6e 64 20 72 65 74 75 72 6e 73 20 0a 25 20 20 20 74 68 65 20 58 2d 20	nt.axes.and.returns..%...the.X-.
198a0	61 6e 64 20 59 2d 63 6f 6f 72 64 69 6e 61 74 65 73 20 69 6e 20 6c 65 6e 67 74 68 20 4e 20 76 65	and.Y-coordinates.in.length.N.ve
198c0	63 74 6f 72 73 20 58 20 61 6e 64 20 59 2e 20 20 54 68 65 20 63 75 72 73 6f 72 0a 25 20 20 20 63	ctors.X.and.Y...The.cursor.%...c
198e0	61 6e 20 62 65 20 70 6f 73 69 74 69 6f 6e 65 64 20 75 73 69 6e 67 20 61 20 6d 6f 75 73 65 20 28	an.be.positioned.using.a.mouse.(
19900	6f 72 20 62 79 20 75 73 69 6e 67 20 74 68 65 20 41 72 72 6f 77 20 4b 65 79 73 20 6f 6e 20 73 6f	or.by.using.the.Arrow.Keys.on.so
19920	6d 65 20 0a 25 20 20 20 73 79 73 74 65 6d 73 29 2e 20 20 44 61 74 61 20 70 6f 69 6e 74 73 20 61	me..%...systems)...Data.points.a
19940	72 65 20 65 6e 74 65 72 65 64 20 62 79 20 70 72 65 73 73 69 6e 67 20 61 20 6d 6f 75 73 65 20 62	re.entered.by.pressing.a.mouse.b
19960	75 74 74 6f 6e 0a 25 20 20 20 6f 72 20 61 6e 79 20 6b 65 79 20 6f 6e 20 74 68 65 20 6b 65 79 62	utton.%...or.any.key.on.the.keyb
19980	6f 61 72 64 20 65 78 63 65 70 74 20 63 61 72 72 69 61 67 65 20 72 65 74 75 72 6e 2c 20 77 68 69	oard.except.carriage.return,.whi
199a0	63 68 20 74 65 72 6d 69 6e 61 74 65 73 0a 25 20 20 20 74 68 65 20 69 6e 70 75 74 20 62 65 66 6f	ch.terminates.%...the.input.befo
199c0	72 65 20 4e 20 70 6f 69 6e 74 73 20 61 72 65 20 65 6e 74 65 72 65 64 2e 0a 25 0a 25 20 20 20 5b	re.N.points.are.entered..%.%...[
199e0	58 2c 59 5d 20 3d 20 47 49 4e 50 55 54 20 67 61 74 68 65 72 73 20 61 6e 20 75 6e 6c 69 6d 69 74	X,Y].=.GINPUT.gathers.an.unlimit
19a00	65 64 20 6e 75 6d 62 65 72 20 6f 66 20 70 6f 69 6e 74 73 20 75 6e 74 69 6c 20 74 68 65 0a 25 20	ed.number.of.points.until.the.%.
19a20	20 20 72 65 74 75 72 6e 20 6b 65 79 20 69 73 20 70 72 65 73 73 65 64 2e 0a 25 20 0a 25 20 20 20	..return.key.is.pressed..%..%...
19a40	5b 58 2c 59 2c 42 55 54 54 4f 4e 5d 20 3d 20 47 49 4e 50 55 54 28 4e 29 20 72 65 74 75 72 6e 73	[X,Y,BUTTON].=.GINPUT(N).returns
19a60	20 61 20 74 68 69 72 64 20 72 65 73 75 6c 74 2c 20 42 55 54 54 4f 4e 2c 20 74 68 61 74 20 0a 25	.a.third.result,.BUTTON,.that..%
19a80	20 20 20 63 6f 6e 74 61 69 6e 73 20 61 20 76 65 63 74 6f 72 20 6f 66 20 69 6e 74 65 67 65 72 73	...contains.a.vector.of.integers
19aa0	20 73 70 65 63 69 66 79 69 6e 67 20 77 68 69 63 68 20 6d 6f 75 73 65 20 62 75 74 74 6f 6e 20 77	.specifying.which.mouse.button.w
19ac0	61 73 0a 25 20 20 20 75 73 65 64 20 28 31 2c 32 2c 33 20 66 72 6f 6d 20 6c 65 66 74 29 20 6f 72	as.%...used.(1,2,3.from.left).or
19ae0	20 41 53 43 49 49 20 6e 75 6d 62 65 72 73 20 69 66 20 61 20 6b 65 79 20 6f 6e 20 74 68 65 20 6b	.ASCII.numbers.if.a.key.on.the.k
19b00	65 79 62 6f 61 72 64 0a 25 20 20 20 77 61 73 20 75 73 65 64 2e 0a 0a 25 20 20 20 43 6f 70 79 72	eyboard.%...was.used...%...Copyr
19b20	69 67 68 74 20 28 63 29 20 31 39 38 34 2d 39 36 20 62 79 20 54 68 65 20 4d 61 74 68 57 6f 72 6b	ight.(c).1984-96.by.The.MathWork
19b40	73 2c 20 49 6e 63 2e 0a 25 20 20 20 24 52 65 76 69 73 69 6f 6e 3a 20 35 2e 31 38 20 24 20 20 24	s,.Inc..%...$Revision:.5.18.$..$
19b60	44 61 74 65 3a 20 31 39 39 36 2f 31 31 2f 31 30 20 31 37 3a 34 38 3a 30 38 20 24 0a 0a 25 20 46	Date:.1996/11/10.17:48:08.$..%.F
19b80	69 78 65 64 20 76 65 72 73 69 6f 6e 20 62 79 20 4a 65 61 6e 2d 59 76 65 73 20 42 6f 75 67 75 65	ixed.version.by.Jean-Yves.Bougue
19ba0	74 20 74 6f 20 68 61 76 65 20 61 20 63 72 6f 73 73 20 69 6e 73 74 65 61 64 20 6f 66 20 32 20 6c	t.to.have.a.cross.instead.of.2.l
19bc0	69 6e 65 73 0a 25 20 4d 6f 72 65 20 76 69 73 69 62 6c 65 20 66 6f 72 20 69 6d 61 67 65 73 0a 0a	ines.%.More.visible.for.images..
19be0	50 20 3d 20 4e 61 4e 2a 6f 6e 65 73 28 31 36 2c 31 36 29 3b 0a 50 28 31 3a 31 35 2c 31 3a 31 35	P.=.NaN*ones(16,16);.P(1:15,1:15
19c00	29 20 3d 20 32 2a 6f 6e 65 73 28 31 35 2c 31 35 29 3b 0a 50 28 32 3a 31 34 2c 32 3a 31 34 29 20	).=.2*ones(15,15);.P(2:14,2:14).
19c20	3d 20 6f 6e 65 73 28 31 33 2c 31 33 29 3b 0a 50 28 33 3a 31 33 2c 33 3a 31 33 29 20 3d 20 4e 61	=.ones(13,13);.P(3:13,3:13).=.Na
19c40	4e 2a 6f 6e 65 73 28 31 31 2c 31 31 29 3b 0a 50 28 36 3a 31 30 2c 36 3a 31 30 29 20 3d 20 32 2a	Nones(11,11);.P(6:10,6:10).=.2
19c60	6f 6e 65 73 28 35 2c 35 29 3b 0a 50 28 37 3a 39 2c 37 3a 39 29 20 3d 20 31 2a 6f 6e 65 73 28 33	ones(5,5);.P(7:9,7:9).=.1*ones(3
19c80	2c 33 29 3b 0a 0a 6f 75 74 31 20 3d 20 5b 5d 3b 20 6f 75 74 32 20 3d 20 5b 5d 3b 20 6f 75 74 33	,3);..out1.=.[];.out2.=.[];.out3
19ca0	20 3d 20 5b 5d 3b 20 79 20 3d 20 5b 5d 3b 0a 63 20 3d 20 63 6f 6d 70 75 74 65 72 3b 0a 69 66 20	.=.[];.y.=.[];.c.=.computer;.if.
19cc0	7e 73 74 72 63 6d 70 28 63 28 31 3a 32 29 2c 27 50 43 27 29 20 26 20 7e 73 74 72 63 6d 70 28 63	~strcmp(c(1:2),'PC').&.~strcmp(c
19ce0	28 31 3a 32 29 2c 27 4d 41 27 29 0a 20 20 20 20 74 70 20 3d 20 67 65 74 28 30 2c 27 54 65 72 6d	(1:2),'MA').....tp.=.get(0,'Term
19d00	69 6e 61 6c 50 72 6f 74 6f 63 6f 6c 27 29 3b 0a 65 6c 73 65 0a 20 20 20 20 74 70 20 3d 20 27 6d	inalProtocol');.else.....tp.=.'m
19d20	69 63 72 6f 27 3b 0a 65 6e 64 0a 0a 69 66 20 7e 73 74 72 63 6d 70 28 74 70 2c 27 6e 6f 6e 65 27	icro';.end..if.~strcmp(tp,'none'
19d40	29 20 26 20 7e 73 74 72 63 6d 70 28 74 70 2c 27 78 27 29 20 26 20 7e 73 74 72 63 6d 70 28 74 70	).&.~strcmp(tp,'x').&.~strcmp(tp
19d60	2c 27 6d 69 63 72 6f 27 29 2c 0a 20 20 20 20 69 66 20 6e 61 72 67 6f 75 74 20 3d 3d 20 31 2c 0a	,'micro'),.....if.nargout.==.1,.
19d80	20 20 20 20 20 20 20 20 69 66 20 6e 61 72 67 69 6e 20 3d 3d 20 31 2c 0a 20 20 20 20 20 20 20 20	........if.nargin.==.1,.........
19da0	20 20 20 20 65 76 61 6c 28 27 6f 75 74 31 20 3d 20 74 72 6d 67 69 6e 70 75 74 28 61 72 67 31 29	....eval('out1.=.trmginput(arg1)
19dc0	3b 27 29 3b 0a 20 20 20 20 20 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 20 20 20 20 20 20 65 76	;');.........else.............ev
19de0	61 6c 28 27 6f 75 74 31 20 3d 20 74 72 6d 67 69 6e 70 75 74 3b 27 29 3b 0a 20 20 20 20 20 20 20	al('out1.=.trmginput;');........
19e00	20 65 6e 64 0a 20 20 20 20 65 6c 73 65 69 66 20 6e 61 72 67 6f 75 74 20 3d 3d 20 32 20 7c 20 6e	.end.....elseif.nargout.==.2.\|.n
19e20	61 72 67 6f 75 74 20 3d 3d 20 30 2c 0a 20 20 20 20 20 20 20 20 69 66 20 6e 61 72 67 69 6e 20 3d	argout.==.0,.........if.nargin.=
19e40	3d 20 31 2c 0a 20 20 20 20 20 20 20 20 20 20 20 20 65 76 61 6c 28 27 5b 6f 75 74 31 2c 6f 75 74	=.1,.............eval('[out1,out
19e60	32 5d 20 3d 20 74 72 6d 67 69 6e 70 75 74 28 61 72 67 31 29 3b 27 29 3b 0a 20 20 20 20 20 20 20	2].=.trmginput(arg1);');........
19e80	20 65 6c 73 65 0a 20 20 20 20 20 20 20 20 20 20 20 20 65 76 61 6c 28 27 5b 6f 75 74 31 2c 6f 75	.else.............eval('[out1,ou
19ea0	74 32 5d 20 3d 20 74 72 6d 67 69 6e 70 75 74 3b 27 29 3b 0a 20 20 20 20 20 20 20 20 65 6e 64 0a	t2].=.trmginput;');.........end.
19ec0	20 20 20 20 20 20 20 20 69 66 20 20 6e 61 72 67 6f 75 74 20 3d 3d 20 30 0a 20 20 20 20 20 20 20	........if..nargout.==.0........
19ee0	20 20 20 20 20 6f 75 74 31 20 3d 20 5b 20 6f 75 74 31 20 6f 75 74 32 20 5d 3b 0a 20 20 20 20 20	.....out1.=.[.out1.out2.];......
19f00	20 20 20 65 6e 64 0a 20 20 20 20 65 6c 73 65 69 66 20 6e 61 72 67 6f 75 74 20 3d 3d 20 33 2c 0a	...end.....elseif.nargout.==.3,.
19f20	20 20 20 20 20 20 20 20 69 66 20 6e 61 72 67 69 6e 20 3d 3d 20 31 2c 0a 20 20 20 20 20 20 20 20	........if.nargin.==.1,.........
19f40	20 20 20 20 65 76 61 6c 28 27 5b 6f 75 74 31 2c 6f 75 74 32 2c 6f 75 74 33 5d 20 3d 20 74 72 6d	....eval('[out1,out2,out3].=.trm
19f60	67 69 6e 70 75 74 28 61 72 67 31 29 3b 27 29 3b 0a 20 20 20 20 20 20 20 20 65 6c 73 65 0a 20 20	ginput(arg1);');.........else...
19f80	20 20 20 20 20 20 20 20 20 20 65 76 61 6c 28 27 5b 6f 75 74 31 2c 6f 75 74 32 2c 6f 75 74 33 5d	..........eval('[out1,out2,out3]
19fa0	20 3d 20 74 72 6d 67 69 6e 70 75 74 3b 27 29 3b 0a 20 20 20 20 20 20 20 20 65 6e 64 0a 20 20 20	.=.trmginput;');.........end....
19fc0	20 65 6e 64 0a 65 6c 73 65 0a 0a 20 20 20 20 66 69 67 20 3d 20 67 63 66 3b 0a 20 20 20 20 66 69	.end.else......fig.=.gcf;.....fi
19fe0	67 75 72 65 28 67 63 66 29 3b 0a 0a 20 20 20 20 69 66 20 6e 61 72 67 69 6e 20 3d 3d 20 30 0a 20	gure(gcf);......if.nargin.==.0..
1a000	20 20 20 20 20 20 20 68 6f 77 5f 6d 61 6e 79 20 3d 20 2d 31 3b 0a 20 20 20 20 20 20 20 20 62 20	.......how_many.=.-1;.........b.
1a020	3d 20 5b 5d 3b 0a 20 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 20 20 68 6f 77 5f 6d 61 6e 79 20	=.[];.....else.........how_many.
1a040	3d 20 61 72 67 31 3b 0a 20 20 20 20 20 20 20 20 62 20 3d 20 5b 5d 3b 0a 20 20 20 20 20 20 20 20	=.arg1;.........b.=.[];.........
1a060	69 66 20 20 69 73 73 74 72 28 68 6f 77 5f 6d 61 6e 79 29 20 2e 2e 2e 0a 20 20 20 20 20 20 20 20	if..isstr(how_many).............
1a080	20 20 20 20 7c 20 73 69 7a 65 28 68 6f 77 5f 6d 61 6e 79 2c 31 29 20 7e 3d 20 31 20 7c 20 73 69	....\|.size(how_many,1).~=.1.\|.si
1a0a0	7a 65 28 68 6f 77 5f 6d 61 6e 79 2c 32 29 20 7e 3d 20 31 20 2e 2e 2e 0a 20 20 20 20 20 20 20 20	ze(how_many,2).~=.1.............
1a0c0	20 20 20 20 7c 20 7e 28 66 69 78 28 68 6f 77 5f 6d 61 6e 79 29 20 3d 3d 20 68 6f 77 5f 6d 61 6e	....\|.~(fix(how_many).==.how_man
1a0e0	79 29 20 2e 2e 2e 0a 20 20 20 20 20 20 20 20 20 20 20 20 7c 20 68 6f 77 5f 6d 61 6e 79 20 3c 20	y).................\|.how_many.<.
1a100	30 0a 20 20 20 20 20 20 20 20 20 20 20 20 65 72 72 6f 72 28 27 52 65 71 75 69 72 65 73 20 61 20	0.............error('Requires.a.
1a120	70 6f 73 69 74 69 76 65 20 69 6e 74 65 67 65 72 2e 27 29 0a 20 20 20 20 20 20 20 20 65 6e 64 0a	positive.integer.').........end.
1a140	20 20 20 20 20 20 20 20 69 66 20 68 6f 77 5f 6d 61 6e 79 20 3d 3d 20 30 0a 20 20 20 20 20 20 20	........if.how_many.==.0........
1a160	20 20 20 20 20 70 74 72 5f 66 69 67 20 3d 20 30 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 77 68	.....ptr_fig.=.0;.............wh
1a180	69 6c 65 28 70 74 72 5f 66 69 67 20 7e 3d 20 66 69 67 29 0a 20 20 20 20 20 20 20 20 20 20 20 20	ile(ptr_fig.~=.fig).............
1a1a0	20 20 20 20 70 74 72 5f 66 69 67 20 3d 20 67 65 74 28 30 2c 27 50 6f 69 6e 74 65 72 57 69 6e 64	....ptr_fig.=.get(0,'PointerWind
1a1c0	6f 77 27 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 65 6e 64 0a 20 20 20 20 20 20 20 20 20 20	ow');.............end...........
1a1e0	20 20 73 63 72 6e 5f 70 74 20 3d 20 67 65 74 28 30 2c 27 50 6f 69 6e 74 65 72 4c 6f 63 61 74 69	..scrn_pt.=.get(0,'PointerLocati
1a200	6f 6e 27 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 6c 6f 63 20 3d 20 67 65 74 28 66 69 67 2c	on');.............loc.=.get(fig,
1a220	27 50 6f 73 69 74 69 6f 6e 27 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 70 74 20 3d 20 5b 73	'Position');.............pt.=.[s
1a240	63 72 6e 5f 70 74 28 31 29 20 2d 20 6c 6f 63 28 31 29 2c 20 73 63 72 6e 5f 70 74 28 32 29 20 2d	crn_pt(1).-.loc(1),.scrn_pt(2).-
1a260	20 6c 6f 63 28 32 29 5d 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 6f 75 74 31 20 3d 20 70 74 28	.loc(2)];.............out1.=.pt(
1a280	31 29 3b 20 79 20 3d 20 70 74 28 32 29 3b 0a 20 20 20 20 20 20 20 20 65 6c 73 65 69 66 20 68 6f	1);.y.=.pt(2);.........elseif.ho
1a2a0	77 5f 6d 61 6e 79 20 3c 20 30 0a 20 20 20 20 20 20 20 20 20 20 20 20 65 72 72 6f 72 28 27 41 72	w_many.<.0.............error('Ar
1a2c0	67 75 6d 65 6e 74 20 6d 75 73 74 20 62 65 20 61 20 70 6f 73 69 74 69 76 65 20 69 6e 74 65 67 65	gument.must.be.a.positive.intege
1a2e0	72 2e 27 29 0a 20 20 20 20 20 20 20 20 65 6e 64 0a 20 20 20 20 65 6e 64 0a 0a 70 6f 69 6e 74 65	r.').........end.....end..pointe
1a300	72 20 3d 20 67 65 74 28 67 63 66 2c 27 70 6f 69 6e 74 65 72 27 29 3b 0a 0a 73 65 74 28 67 63 66	r.=.get(gcf,'pointer');..set(gcf
1a320	2c 27 50 6f 69 6e 74 65 72 27 2c 27 63 75 73 74 6f 6d 27 2c 27 50 6f 69 6e 74 65 72 53 68 61 70	,'Pointer','custom','PointerShap
1a340	65 43 44 61 74 61 27 2c 50 2c 27 50 6f 69 6e 74 65 72 53 68 61 70 65 48 6f 74 53 70 6f 74 27 2c	eCData',P,'PointerShapeHotSpot',
1a360	5b 38 2c 38 5d 29 3b 0a 25 73 65 74 28 67 63 66 2c 27 70 6f 69 6e 74 65 72 27 2c 27 63 72 6f 73	[8,8]);.%set(gcf,'pointer','cros
1a380	73 68 61 69 72 27 29 3b 0a 20 20 20 20 66 69 67 5f 75 6e 69 74 73 20 3d 20 67 65 74 28 66 69 67	shair');.....fig_units.=.get(fig
1a3a0	2c 27 75 6e 69 74 73 27 29 3b 0a 20 20 20 20 63 68 61 72 20 3d 20 30 3b 0a 0a 20 20 20 20 77 68	,'units');.....char.=.0;......wh
1a3c0	69 6c 65 20 68 6f 77 5f 6d 61 6e 79 20 7e 3d 20 30 0a 20 20 20 20 20 20 20 20 25 20 55 73 65 20	ile.how_many.~=.0.........%.Use.
1a3e0	6e 6f 2d 73 69 64 65 20 65 66 66 65 63 74 20 57 41 49 54 46 4f 52 42 55 54 54 4f 4e 50 52 45 53	no-side.effect.WAITFORBUTTONPRES
1a400	53 0a 20 20 20 20 20 20 20 20 77 61 73 65 72 72 20 3d 20 30 3b 0a 20 20 20 20 20 20 20 20 65 76	S.........waserr.=.0;.........ev
1a420	61 6c 28 27 6b 65 79 64 6f 77 6e 20 3d 20 77 66 62 70 3b 27 2c 20 27 77 61 73 65 72 72 20 3d 20	al('keydown.=.wfbp;',.'waserr.=.
1a440	31 3b 27 29 3b 0a 20 20 20 20 20 20 20 20 69 66 28 77 61 73 65 72 72 20 3d 3d 20 31 29 0a 20 20	1;');.........if(waserr.==.1)...
1a460	20 20 20 20 69 66 28 69 73 68 61 6e 64 6c 65 28 66 69 67 29 29 0a 20 20 20 20 20 20 20 20 73 65	....if(ishandle(fig)).........se
1a480	74 28 66 69 67 2c 27 70 6f 69 6e 74 65 72 27 2c 70 6f 69 6e 74 65 72 2c 27 75 6e 69 74 73 27 2c	t(fig,'pointer',pointer,'units',
1a4a0	66 69 67 5f 75 6e 69 74 73 29 3b 0a 20 20 20 20 20 20 20 20 65 72 72 6f 72 28 27 49 6e 74 65 72	fig_units);.........error('Inter
1a4c0	72 75 70 74 65 64 27 29 3b 0a 20 20 20 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 20 20 65 72 72	rupted');.......else.........err
1a4e0	6f 72 28 27 49 6e 74 65 72 72 75 70 74 65 64 20 62 79 20 66 69 67 75 72 65 20 64 65 6c 65 74 69	or('Interrupted.by.figure.deleti
1a500	6f 6e 27 29 3b 0a 20 20 20 20 20 20 65 6e 64 0a 20 20 20 20 20 20 20 20 65 6e 64 0a 20 20 20 20	on');.......end.........end.....
1a520	20 20 0a 20 20 20 20 20 20 20 20 70 74 72 5f 66 69 67 20 3d 20 67 65 74 28 30 2c 27 43 75 72 72	...........ptr_fig.=.get(0,'Curr
1a540	65 6e 74 46 69 67 75 72 65 27 29 3b 0a 20 20 20 20 20 20 20 20 69 66 28 70 74 72 5f 66 69 67 20	entFigure');.........if(ptr_fig.
1a560	3d 3d 20 66 69 67 29 0a 20 20 20 20 20 20 20 20 20 20 20 20 69 66 20 6b 65 79 64 6f 77 6e 0a 20	==.fig).............if.keydown..
1a580	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 63 68 61 72 20 3d 20 67 65 74 28 66 69 67 2c 20 27	...............char.=.get(fig,.'
1a5a0	43 75 72 72 65 6e 74 43 68 61 72 61 63 74 65 72 27 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20	CurrentCharacter');.............
1a5c0	20 20 20 20 62 75 74 74 6f 6e 20 3d 20 61 62 73 28 67 65 74 28 66 69 67 2c 20 27 43 75 72 72 65	....button.=.abs(get(fig,.'Curre
1a5e0	6e 74 43 68 61 72 61 63 74 65 72 27 29 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	ntCharacter'));.................
1a600	73 63 72 6e 5f 70 74 20 3d 20 67 65 74 28 30 2c 20 27 50 6f 69 6e 74 65 72 4c 6f 63 61 74 69 6f	scrn_pt.=.get(0,.'PointerLocatio
1a620	6e 27 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 73 65 74 28 66 69 67 2c 27 75 6e	n');.................set(fig,'un
1a640	69 74 73 27 2c 27 70 69 78 65 6c 73 27 29 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 6c	its','pixels').................l
1a660	6f 63 20 3d 20 67 65 74 28 66 69 67 2c 20 27 50 6f 73 69 74 69 6f 6e 27 29 3b 0a 20 20 20 20 20	oc.=.get(fig,.'Position');......
1a680	20 20 20 20 20 20 20 20 20 20 20 70 74 20 3d 20 5b 73 63 72 6e 5f 70 74 28 31 29 20 2d 20 6c 6f	...........pt.=.[scrn_pt(1).-.lo
1a6a0	63 28 31 29 2c 20 73 63 72 6e 5f 70 74 28 32 29 20 2d 20 6c 6f 63 28 32 29 5d 3b 0a 20 20 20 20	c(1),.scrn_pt(2).-.loc(2)];.....
1a6c0	20 20 20 20 20 20 20 20 20 20 20 20 73 65 74 28 66 69 67 2c 27 43 75 72 72 65 6e 74 50 6f 69 6e	............set(fig,'CurrentPoin
1a6e0	74 27 2c 70 74 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 20	t',pt);.............else........
1a700	20 20 20 20 20 20 20 20 20 62 75 74 74 6f 6e 20 3d 20 67 65 74 28 66 69 67 2c 20 27 53 65 6c 65	.........button.=.get(fig,.'Sele
1a720	63 74 69 6f 6e 54 79 70 65 27 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 69 66 20	ctionType');.................if.
1a740	73 74 72 63 6d 70 28 62 75 74 74 6f 6e 2c 27 6f 70 65 6e 27 29 0a 20 20 20 20 20 20 20 20 20 20	strcmp(button,'open')...........
1a760	20 20 20 20 20 20 20 20 20 20 62 75 74 74 6f 6e 20 3d 20 62 28 6c 65 6e 67 74 68 28 62 29 29 3b	..........button.=.b(length(b));
1a780	0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 65 6c 73 65 69 66 20 73 74 72 63 6d 70 28 62	.................elseif.strcmp(b
1a7a0	75 74 74 6f 6e 2c 27 6e 6f 72 6d 61 6c 27 29 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	utton,'normal').................
1a7c0	20 20 20 20 62 75 74 74 6f 6e 20 3d 20 31 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	....button.=.1;.................
1a7e0	65 6c 73 65 69 66 20 73 74 72 63 6d 70 28 62 75 74 74 6f 6e 2c 27 65 78 74 65 6e 64 27 29 0a 20	elseif.strcmp(button,'extend')..
1a800	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 62 75 74 74 6f 6e 20 3d 20 32 3b 0a 20	...................button.=.2;..
1a820	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 65 6c 73 65 69 66 20 73 74 72 63 6d 70 28 62 75 74	...............elseif.strcmp(but
1a840	74 6f 6e 2c 27 61 6c 74 27 29 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 62	ton,'alt').....................b
1a860	75 74 74 6f 6e 20 3d 20 33 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 65 6c 73 65 0a	utton.=.3;.................else.
1a880	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 65 72 72 6f 72 28 27 49 6e 76 61 6c	....................error('Inval
1a8a0	69 64 20 6d 6f 75 73 65 20 73 65 6c 65 63 74 69 6f 6e 2e 27 29 0a 20 20 20 20 20 20 20 20 20 20	id.mouse.selection.')...........
1a8c0	20 20 20 20 20 20 65 6e 64 0a 20 20 20 20 20 20 20 20 20 20 20 20 65 6e 64 0a 20 20 20 20 20 20	......end.............end.......
1a8e0	20 20 20 20 20 20 70 74 20 3d 20 67 65 74 28 67 63 61 2c 20 27 43 75 72 72 65 6e 74 50 6f 69 6e	......pt.=.get(gca,.'CurrentPoin
1a900	74 27 29 3b 0a 0a 20 20 20 20 20 20 20 20 20 20 20 20 68 6f 77 5f 6d 61 6e 79 20 3d 20 68 6f 77	t');..............how_many.=.how
1a920	5f 6d 61 6e 79 20 2d 20 31 3b 0a 0a 20 20 20 20 20 20 20 20 20 20 20 20 69 66 28 63 68 61 72 20	_many.-.1;..............if(char.
1a940	3d 3d 20 31 33 29 20 25 20 26 20 68 6f 77 5f 6d 61 6e 79 20 7e 3d 20 30 29 0a 20 20 20 20 20 20	==.13).%.&.how_many.~=.0).......
1a960	20 20 20 20 20 20 20 20 20 20 25 20 69 66 20 74 68 65 20 72 65 74 75 72 6e 20 6b 65 79 20 77 61	..........%.if.the.return.key.wa
1a980	73 20 70 72 65 73 73 65 64 2c 20 63 68 61 72 20 77 69 6c 6c 20 3d 3d 20 31 33 2c 0a 20 20 20 20	s.pressed,.char.will.==.13,.....
1a9a0	20 20 20 20 20 20 20 20 20 20 20 20 25 20 61 6e 64 20 74 68 61 74 27 73 20 6f 75 72 20 73 69 67	............%.and.that's.our.sig
1a9c0	6e 61 6c 20 74 6f 20 62 72 65 61 6b 20 6f 75 74 20 6f 66 20 68 65 72 65 20 77 68 65 74 68 65 72	nal.to.break.out.of.here.whether
1a9e0	0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 25 20 6f 72 20 6e 6f 74 20 77 65 20 68 61 76	.................%.or.not.we.hav
1aa00	65 20 63 6f 6c 6c 65 63 74 65 64 20 61 6c 6c 20 74 68 65 20 72 65 71 75 65 73 74 65 64 20 64 61	e.collected.all.the.requested.da
1aa20	74 61 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 25 20 70 6f 69 6e 74 73 2e 20 20 0a 20	ta.................%.points.....
1aa40	20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 25 20 49 66 20 74 68 69 73 20 77 61 73 20 61 6e 20	...............%.If.this.was.an.
1aa60	65 61 72 6c 79 20 62 72 65 61 6b 6f 75 74 2c 20 64 6f 6e 27 74 20 69 6e 63 6c 75 64 65 0a 20 20	early.breakout,.don't.include...
1aa80	20 20 20 20 20 20 20 20 20 20 20 20 20 20 25 20 74 68 65 20 3c 52 65 74 75 72 6e 3e 20 6b 65 79	..............%.the.<Return>.key
1aaa0	20 69 6e 66 6f 20 69 6e 20 74 68 65 20 72 65 74 75 72 6e 20 61 72 72 61 79 73 2e 0a 20 20 20 20	.info.in.the.return.arrays......
1aac0	20 20 20 20 20 20 20 20 20 20 20 20 25 20 57 65 20 77 69 6c 6c 20 6e 6f 20 6c 6f 6e 67 65 72 20	............%.We.will.no.longer.
1aae0	63 6f 75 6e 74 20 69 74 20 69 66 20 69 74 27 73 20 74 68 65 20 6c 61 73 74 20 69 6e 70 75 74 2e	count.it.if.it's.the.last.input.
1ab00	0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 62 72 65 61 6b 3b 0a 20 20 20 20 20 20 20 20	.................break;.........
1ab20	20 20 20 20 65 6e 64 0a 0a 20 20 20 20 20 20 20 20 20 20 20 20 6f 75 74 31 20 3d 20 5b 6f 75 74	....end..............out1.=.[out
1ab40	31 3b 70 74 28 31 2c 31 29 5d 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 79 20 3d 20 5b 79 3b 70	1;pt(1,1)];.............y.=.[y;p
1ab60	74 28 31 2c 32 29 5d 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 62 20 3d 20 5b 62 3b 62 75 74 74	t(1,2)];.............b.=.[b;butt
1ab80	6f 6e 5d 3b 0a 20 20 20 20 20 20 20 20 65 6e 64 0a 20 20 20 20 65 6e 64 0a 0a 20 20 20 20 73 65	on];.........end.....end......se
1aba0	74 28 66 69 67 2c 27 70 6f 69 6e 74 65 72 27 2c 70 6f 69 6e 74 65 72 2c 27 75 6e 69 74 73 27 2c	t(fig,'pointer',pointer,'units',
1abc0	66 69 67 5f 75 6e 69 74 73 29 3b 0a 0a 20 20 20 20 69 66 20 6e 61 72 67 6f 75 74 20 3e 20 31 0a	fig_units);......if.nargout.>.1.
1abe0	20 20 20 20 20 20 20 20 6f 75 74 32 20 3d 20 79 3b 0a 20 20 20 20 20 20 20 20 69 66 20 6e 61 72	........out2.=.y;.........if.nar
1ac00	67 6f 75 74 20 3e 20 32 0a 20 20 20 20 20 20 20 20 20 20 20 20 6f 75 74 33 20 3d 20 62 3b 0a 20	gout.>.2.............out3.=.b;..
1ac20	20 20 20 20 20 20 20 65 6e 64 0a 20 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 20 20 6f 75 74 31	.......end.....else.........out1
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1ac60	25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25	%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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1ad00	74 6f 6e 20 66 75 6e 63 74 69 6f 6e 73 0a 66 70 72 6f 70 73 20 3d 20 7b 27 77 69 6e 64 6f 77 62	ton.functions.fprops.=.{'windowb
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1ad40	0a 20 20 20 20 20 20 20 20 20 20 27 77 69 6e 64 6f 77 62 75 74 74 6f 6e 64 6f 77 6e 66 63 6e 27	...........'windowbuttondownfcn'
1ad60	2c 27 77 69 6e 64 6f 77 62 75 74 74 6f 6e 6d 6f 74 69 6f 6e 66 63 6e 27 7d 3b 0a 66 69 67 20 3d	,'windowbuttonmotionfcn'};.fig.=
1ad80	20 67 63 66 3b 0a 66 76 61 6c 73 20 3d 20 67 65 74 28 66 69 67 2c 66 70 72 6f 70 73 29 3b 0a 73	.gcf;.fvals.=.get(fig,fprops);.s
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1adc0	52 65 6d 6f 76 65 20 61 6c 6c 20 6f 74 68 65 72 20 62 75 74 74 6f 6e 64 6f 77 6e 20 66 75 6e 63	Remove.all.other.buttondown.func
1ade0	74 69 6f 6e 73 0a 61 78 20 3d 20 66 69 6e 64 6f 62 6a 28 66 69 67 2c 27 74 79 70 65 27 2c 27 61	tions.ax.=.findobj(fig,'type','a
1ae00	78 65 73 27 29 3b 0a 69 66 20 69 73 65 6d 70 74 79 28 61 78 29 0a 20 20 20 20 63 68 20 3d 20 7b	xes');.if.isempty(ax).....ch.=.{
1ae20	7d 3b 0a 65 6c 73 65 0a 20 20 20 20 63 68 20 3d 20 67 65 74 28 61 78 2c 7b 27 43 68 69 6c 64 72	};.else.....ch.=.get(ax,{'Childr
1ae40	65 6e 27 7d 29 3b 0a 65 6e 64 0a 66 6f 72 20 69 3d 31 3a 6c 65 6e 67 74 68 28 63 68 29 2c 0a 20	en'});.end.for.i=1:length(ch),..
1ae60	20 20 20 63 68 7b 69 7d 20 3d 20 63 68 7b 69 7d 28 3a 29 27 3b 0a 65 6e 64 0a 68 20 3d 20 5b 61	...ch{i}.=.ch{i}(:)';.end.h.=.[a
1ae80	78 28 3a 29 27 2c 63 68 7b 3a 7d 5d 3b 0a 76 61 6c 73 20 3d 20 67 65 74 28 68 2c 7b 27 62 75 74	x(:)',ch{:}];.vals.=.get(h,{'but
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1aec0	73 69 7a 65 28 76 61 6c 73 29 29 3b 0a 73 65 74 28 68 2c 7b 27 62 75 74 74 6f 6e 64 6f 77 6e 66	size(vals));.set(h,{'buttondownf
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1af20	63 6f 6e 64 69 74 69 6f 6e 73 0a 77 61 73 65 72 72 20 3d 20 30 3b 0a 65 76 61 6c 28 5b 27 69 66	conditions.waserr.=.0;.eval(['if
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1afa0	69 74 66 6f 72 62 75 74 74 6f 6e 70 72 65 73 73 3b 27 2c 2e 2e 2e 0a 20 20 20 20 20 20 27 65 6e	itforbuttonpress;',..........'en
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1afe0	72 79 74 68 69 6e 67 20 62 61 63 6b 0a 69 66 28 69 73 68 61 6e 64 6c 65 28 66 69 67 29 29 0a 20	rything.back.if(ishandle(fig))..
1b000	20 73 65 74 28 66 69 67 2c 66 70 72 6f 70 73 2c 66 76 61 6c 73 29 0a 20 20 73 65 74 28 68 2c 7b	.set(fig,fprops,fvals)...set(h,{
1b020	27 62 75 74 74 6f 6e 64 6f 77 6e 66 63 6e 27 7d 2c 76 61 6c 73 29 0a 65 6e 64 0a 0a 69 66 28 77	'buttondownfcn'},vals).end..if(w
1b040	61 73 65 72 72 20 3d 3d 20 31 29 0a 20 20 65 72 72 6f 72 28 27 49 6e 74 65 72 72 75 70 74 65 64	aserr.==.1)...error('Interrupted
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1b080	64 6f 77 6e 3b 20 65 6e 64 0a 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25	down;.end.%%%%%%%%%%%%%%%%%%%%%%
1b0a0	25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25	%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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1b140	0a 09 20 0a 09 20 09 78 75 20 3d 20 78 79 5f 63 6f 72 6e 65 72 73 5f 75 6e 64 69 73 74 28 31 2c	.......xu.=.xy_corners_undist(1,
1b160	3a 29 27 3b 0a 09 20 09 79 75 20 3d 20 78 79 5f 63 6f 72 6e 65 72 73 5f 75 6e 64 69 73 74 28 32	:)';....yu.=.xy_corners_undist(2
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1b2c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
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1b340	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1b360	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1b380	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1b3a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1b3c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1b3e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1b400	25 67 6f 5f 63 61 6c 69 62 5f 6f 70 74 69 6d 0a 25 0a 25 4d 61 69 6e 20 63 61 6c 69 62 72 61 74	%go_calib_optim.%.%Main.calibrat
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1b4c0	2e 2e 2e 3a 20 43 6f 72 72 65 73 70 6f 6e 64 69 6e 67 20 67 72 69 64 20 63 6f 6f 72 64 69 6e 61	...:.Corresponding.grid.coordina
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1b760	74 68 65 20 69 6e 74 72 69 6e 73 69 63 20 63 61 6d 65 72 61 20 70 61 72 61 6d 65 74 65 72 73 20	the.intrinsic.camera.parameters.
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1b8c0	74 6f 72 20 74 6f 20 7a 65 72 6f 2e 0a 25 0a 25 56 45 52 59 20 49 4d 50 4f 52 54 41 4e 54 3a 20	tor.to.zero..%.%VERY.IMPORTANT:.
1b8e0	54 68 69 73 20 66 75 6e 63 74 69 6f 6e 20 77 6f 72 6b 73 20 66 6f 72 20 32 44 20 61 6e 64 20 33	This.function.works.for.2D.and.3
1b900	44 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 72 69 67 73 2c 20 65 78 63 65 70 74 20 66 6f 72 20 69	D.calibration.rigs,.except.for.i
1b920	6e 69 74 5f 69 6e 74 72 69 6e 73 69 63 5f 70 61 72 61 6d 2e 6d 0a 25 74 68 61 74 20 69 73 20 73	nit_intrinsic_param.m.%that.is.s
1b940	6f 20 66 61 72 20 69 6d 70 6c 65 6d 65 6e 74 65 64 20 74 6f 20 77 6f 72 6b 20 6f 6e 6c 79 20 77	o.far.implemented.to.work.only.w
1b960	69 74 68 20 32 44 20 72 69 67 73 2e 0a 25 49 6e 20 74 68 65 20 66 75 74 75 72 65 2c 20 61 20 6d	ith.2D.rigs..%In.the.future,.a.m
1b980	6f 72 65 20 67 65 6e 65 72 61 6c 20 66 75 6e 63 74 69 6f 6e 20 77 69 6c 6c 20 62 65 20 74 68 65	ore.general.function.will.be.the
1b9a0	72 65 2e 0a 25 46 6f 72 20 6e 6f 77 2c 20 69 66 20 75 73 69 6e 67 20 61 20 33 44 20 63 61 6c 69	re..%For.now,.if.using.a.3D.cali
1b9c0	62 72 61 74 69 6f 6e 20 72 69 67 2c 20 73 65 74 20 71 75 69 63 6b 5f 69 6e 69 74 20 74 6f 20 31	bration.rig,.set.quick_init.to.1
1b9e0	20 66 6f 72 20 61 6e 20 65 61 73 79 20 69 6e 69 74 69 61 6c 69 7a 61 74 69 6f 6e 20 6f 66 20 74	.for.an.easy.initialization.of.t
1ba00	68 65 20 66 6f 63 61 6c 20 6c 65 6e 67 74 68 0a 0a 0a 64 65 73 61 63 74 69 76 61 74 65 64 5f 69	he.focal.length...desactivated_i
1ba20	6d 61 67 65 73 20 3d 20 5b 5d 3b 0a 0a 0a 67 6f 5f 63 61 6c 69 62 5f 6f 70 74 69 6d 5f 69 74 65	mages.=.[];...go_calib_optim_ite
1ba40	72 3b 0a 0a 0a 69 66 20 7e 69 73 65 6d 70 74 79 28 64 65 73 61 63 74 69 76 61 74 65 64 5f 69 6d	r;...if.~isempty(desactivated_im
1ba60	61 67 65 73 29 2c 0a 20 20 20 0a 20 20 20 70 61 72 61 6d 5f 6c 69 73 74 5f 73 61 76 65 20 3d 20	ages),........param_list_save.=.
1ba80	70 61 72 61 6d 5f 6c 69 73 74 3b 0a 20 20 20 0a 20 20 20 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e	param_list;........fprintf(1,'\n
1baa0	4e 65 77 20 6f 70 74 69 6d 69 7a 61 74 69 6f 6e 20 69 6e 63 6c 75 64 69 6e 67 20 74 68 65 20 69	New.optimization.including.the.i
1bac0	6d 61 67 65 73 20 74 68 61 74 20 68 61 76 65 20 62 65 65 6e 20 64 65 61 63 74 69 76 61 74 65 64	mages.that.have.been.deactivated
1bae0	20 64 75 72 69 6e 67 20 74 68 65 20 70 72 65 76 69 6f 75 73 20 6f 70 74 69 6d 69 7a 61 74 69 6f	.during.the.previous.optimizatio
1bb00	6e 2e 5c 6e 27 29 3b 0a 20 20 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 64 65 73 61 63 74 69	n.\n');....active_images(desacti
1bb20	76 61 74 65 64 5f 69 6d 61 67 65 73 29 20 3d 20 6f 6e 65 73 28 31 2c 6c 65 6e 67 74 68 28 64 65	vated_images).=.ones(1,length(de
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1bb60	61 74 65 64 5f 69 6d 61 67 65 73 20 3d 20 5b 5d 3b 0a 20 20 20 0a 20 20 20 67 6f 5f 63 61 6c 69	ated_images.=.[];........go_cali
1bb80	62 5f 6f 70 74 69 6d 5f 69 74 65 72 3b 0a 20 20 20 0a 20 20 20 69 66 20 7e 69 73 65 6d 70 74 79	b_optim_iter;........if.~isempty
1bba0	28 64 65 73 61 63 74 69 76 61 74 65 64 5f 69 6d 61 67 65 73 29 2c 0a 20 20 20 20 20 20 66 70 72	(desactivated_images),.......fpr
1bbc0	69 6e 74 66 28 31 2c 5b 27 4c 69 73 74 20 6f 66 20 69 6d 61 67 65 73 20 6c 65 66 74 20 64 65 73	intf(1,['List.of.images.left.des
1bbe0	61 63 74 69 76 61 74 65 64 3a 20 27 20 6e 75 6d 32 73 74 72 28 64 65 73 61 63 74 69 76 61 74 65	activated:.'.num2str(desactivate
1bc00	64 5f 69 6d 61 67 65 73 29 20 27 5c 6e 27 20 5d 20 29 3b 0a 20 20 20 65 6e 64 3b 0a 20 20 20 0a	d_images).'\n'.].);....end;.....
1bc20	20 20 20 70 61 72 61 6d 5f 6c 69 73 74 20 3d 20 5b 70 61 72 61 6d 5f 6c 69 73 74 5f 73 61 76 65	...param_list.=.[param_list_save
1bc40	28 3a 2c 31 3a 65 6e 64 2d 31 29 20 70 61 72 61 6d 5f 6c 69 73 74 5d 3b 0a 20 20 20 0a 65 6e 64	(:,1:end-1).param_list];.....end
1bc60	3b 0a 0a 0a 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 20 47 52 41 50 48 49 43	;...%%%%%%%%%%%%%%%%%%%%.GRAPHIC
1bc80	41 4c 20 4f 55 54 50 55 54 20 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25	AL.OUTPUT.%%%%%%%%%%%%%%%%%%%%%%
1bca0	25 25 0a 0a 25 67 72 61 70 68 6f 75 74 5f 63 61 6c 69 62 3b 0a 0a 20 20 20 20 20 20 20 20 20 20	%%..%graphout_calib;............
1bcc0	20 20 20 20 20 20 65 6e 64 0a 20 20 20 20 20 20 20 20 20 20 20 20 65 6e 64 0a 20 20 20 20 20 20	......end.............end.......
1bce0	20 20 20 20 20 20 70 74 20 3d 20 67 65 74 28 67 63 61 2c 20 27 43 75 72 72 65 6e 74 50 6f 69 6e	......pt.=.get(gca,.'CurrentPoin
1bd00	74 27 29 3b 0a 0a 20 20 20 20 20 20 20 20 20 20 20 20 68 6f 77 5f 6d 61 6e 79 20 3d 20 68 6f 77	t');..............how_many.=.how
1bd20	5f 6d 61 6e 79 20 2d 20 31 3b 0a 0a 20 20 20 20 20 20 20 20 20 20 20 20 69 66 28 63 68 61 72 20	_many.-.1;..............if(char.
1bd40	3d 3d 20 31 33 29 20 25 20 26 20 68 6f 77 5f 6d 61 6e 79 20 7e 3d 20 30 29 0a 20 20 20 20 20 20	==.13).%.&.how_many.~=.0).......
1bd60	20 20 20 20 20 20 20 20 20 20 25 20 69 66 20 74 68 65 20 72 65 74 75 72 6e 20 6b 65 79 20 77 61	..........%.if.the.return.key.wa
1bd80	73 20 70 72 65 73 73 65 64 2c 20 63 68 61 72 20 77 69 6c 6c 20 3d 3d 20 31 33 2c 0a 20 20 20 20	s.pressed,.char.will.==.13,.....
1bda0	20 20 20 20 20 20 20 20 20 20 20 20 25 20 61 6e 64 20 74 68 61 74 27 73 20 6f 75 72 20 73 69 67	............%.and.that's.our.sig
1bdc0	6e 61 6c 20 74 6f 20 62 72 65 61 6b 20 6f 75 74 20 6f 66 20 68 65 72 65 20 77 68 65 74 68 65 72	nal.to.break.out.of.here.whether
1bde0	0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 25 20 6f 72 20 6e 6f 74 20 77 65 20 68 61 76	.................%.or.not.we.hav
1be00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 67 6f 5f 63 61 6c 69 62 5f 6f 70 74 69 6d 33 44 2e 6d	TOOLBOX_calib/go_calib_optim3D.m
1be20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1be40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1be60	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
1be80	20 20 31 35 30 32 30 20 20 37 30 32 34 30 33 37 33 32 36 20 20 31 31 37 35 33 00 20 00 00 00 00	..15020..7024037326..11753......
1bea0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1bec0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1bee0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1bf00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1bf20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1bf40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1bf60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1bf80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1bfa0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1bfc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1bfe0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1c000	25 20 53 69 6d 70 6c 69 66 69 65 64 20 76 65 72 73 69 6f 6e 20 6f 66 20 67 6f 5f 63 61 6c 69 62	%.Simplified.version.of.go_calib
1c020	2e 6d 0a 0a 0a 69 66 20 7e 65 78 69 73 74 28 27 78 5f 31 27 29 2c 0a 20 20 20 63 6c 69 63 6b 5f	.m...if.~exist('x_1'),....click_
1c040	63 61 6c 69 62 3b 0a 65 6e 64 3b 0a 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 4d 61 69 6e 20	calib;.end;...fprintf(1,'\nMain.
1c060	63 61 6c 69 62 72 61 74 69 6f 6e 20 70 72 6f 63 65 64 75 72 65 5c 6e 27 29 3b 0a 0a 25 20 69 6e	calibration.procedure\n');..%.in
1c080	69 74 69 61 6c 20 67 75 65 73 73 20 66 6f 72 20 70 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 20	itial.guess.for.principal.point.
1c0a0	61 6e 64 20 64 69 73 74 6f 72 74 69 6f 6e 3a 0a 63 5f 69 6e 69 74 20 3d 20 5b 6e 78 3b 6e 79 5d	and.distortion:.c_init.=.[nx;ny]
1c0c0	2f 32 20 2d 20 30 2e 35 3b 20 25 20 69 6e 69 74 69 61 6c 69 7a 65 20 61 74 20 74 68 65 20 63 65	/2.-.0.5;.%.initialize.at.the.ce
1c0e0	6e 74 65 72 20 6f 66 20 74 68 65 20 69 6d 61 67 65 0a 6b 5f 69 6e 69 74 20 3d 20 5b 30 3b 30 3b	nter.of.the.image.k_init.=.[0;0;
1c100	30 3b 30 5d 3b 20 25 20 69 6e 69 74 69 61 6c 69 7a 65 20 74 6f 20 7a 65 72 6f 20 28 6e 6f 20 64	0;0];.%.initialize.to.zero.(no.d
1c120	69 73 74 6f 72 74 69 6f 6e 29 0a 0a 0a 25 20 43 6f 6d 70 75 74 65 20 65 78 70 6c 69 63 69 74 65	istortion)...%.Compute.explicite
1c140	6c 79 20 74 68 65 20 66 6f 63 61 6c 20 6c 65 6e 74 67 68 20 75 73 69 6e 67 20 61 6c 6c 20 74 68	ly.the.focal.lentgh.using.all.th
1c160	65 20 28 6d 75 74 75 61 6c 6c 79 20 6f 72 74 68 6f 67 6f 6e 61 6c 29 20 76 61 6e 69 73 68 69 6e	e.(mutually.orthogonal).vanishin
1c180	67 20 70 6f 69 6e 74 73 0a 25 20 6e 6f 74 65 3a 20 54 68 65 20 76 61 6e 69 68 69 6e 67 20 70 6f	g.points.%.note:.The.vanihing.po
1c1a0	69 6e 74 73 20 61 72 65 20 68 69 64 64 65 6e 20 69 6e 20 74 68 65 20 70 6c 61 6e 61 72 20 63 6f	ints.are.hidden.in.the.planar.co
1c1c0	6c 6c 69 6e 65 61 74 69 6f 6e 73 20 48 5f 6b 6b 0a 0a 41 20 3d 20 5b 5d 3b 0a 62 20 3d 20 5b 5d	llineations.H_kk..A.=.[];.b.=.[]
1c1e0	3b 0a 0a 25 20 6d 61 74 72 69 78 20 74 68 61 74 20 73 75 62 74 72 61 63 74 20 74 68 65 20 70 72	;..%.matrix.that.subtract.the.pr
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1c220	69 6e 69 74 28 31 29 3b 30 20 31 20 2d 63 5f 69 6e 69 74 28 32 29 3b 30 20 30 20 31 5d 3b 0a 0a	init(1);0.1.-c_init(2);0.0.1];..
1c240	0a 66 6f 72 20 6b 6b 3d 31 3a 6e 5f 69 6d 61 2c 0a 20 20 20 0a 20 20 20 25 20 6c 65 66 74 20 50	.for.kk=1:n_ima,........%.left.P
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1c280	27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 0a 20 20 20 48 6c 6b 6b	'.num2str(kk).';']);........Hlkk
1c2a0	20 3d 20 53 75 62 5f 63 63 20 2a 20 48 6c 6b 6b 3b 0a 0a 20 20 20 25 20 45 78 74 72 61 63 74 20	.=.Sub_cc.*.Hlkk;.....%.Extract.
1c2c0	76 61 6e 69 73 68 69 6e 67 20 70 6f 69 6e 74 73 20 28 64 69 72 65 63 74 20 61 6e 64 20 64 69 61	vanishing.points.(direct.and.dia
1c2e0	67 6f 6e 61 6c 73 29 3a 0a 20 20 20 0a 20 20 20 56 6c 5f 68 6f 72 69 5f 70 69 78 20 3d 20 48 6c	gonals):........Vl_hori_pix.=.Hl
1c300	6b 6b 28 3a 2c 31 29 3b 0a 20 20 20 56 6c 5f 76 65 72 74 5f 70 69 78 20 3d 20 48 6c 6b 6b 28 3a	kk(:,1);....Vl_vert_pix.=.Hlkk(:
1c320	2c 32 29 3b 0a 20 20 20 56 6c 5f 64 69 61 67 31 5f 70 69 78 20 3d 20 28 48 6c 6b 6b 28 3a 2c 31	,2);....Vl_diag1_pix.=.(Hlkk(:,1
1c340	29 2b 48 6c 6b 6b 28 3a 2c 32 29 29 2f 32 3b 0a 20 20 20 56 6c 5f 64 69 61 67 32 5f 70 69 78 20	)+Hlkk(:,2))/2;....Vl_diag2_pix.
1c360	3d 20 28 48 6c 6b 6b 28 3a 2c 31 29 2d 48 6c 6b 6b 28 3a 2c 32 29 29 2f 32 3b 0a 20 20 20 0a 20	=.(Hlkk(:,1)-Hlkk(:,2))/2;......
1c380	20 20 56 6c 5f 68 6f 72 69 5f 70 69 78 20 3d 20 56 6c 5f 68 6f 72 69 5f 70 69 78 2f 6e 6f 72 6d	..Vl_hori_pix.=.Vl_hori_pix/norm
1c3a0	28 56 6c 5f 68 6f 72 69 5f 70 69 78 29 3b 0a 20 20 20 56 6c 5f 76 65 72 74 5f 70 69 78 20 3d 20	(Vl_hori_pix);....Vl_vert_pix.=.
1c3c0	56 6c 5f 76 65 72 74 5f 70 69 78 2f 6e 6f 72 6d 28 56 6c 5f 76 65 72 74 5f 70 69 78 29 3b 0a 20	Vl_vert_pix/norm(Vl_vert_pix);..
1c3e0	20 20 56 6c 5f 64 69 61 67 31 5f 70 69 78 20 3d 20 56 6c 5f 64 69 61 67 31 5f 70 69 78 2f 6e 6f	..Vl_diag1_pix.=.Vl_diag1_pix/no
1c400	72 6d 28 56 6c 5f 64 69 61 67 31 5f 70 69 78 29 3b 0a 20 20 20 56 6c 5f 64 69 61 67 32 5f 70 69	rm(Vl_diag1_pix);....Vl_diag2_pi
1c420	78 20 3d 20 56 6c 5f 64 69 61 67 32 5f 70 69 78 2f 6e 6f 72 6d 28 56 6c 5f 64 69 61 67 32 5f 70	x.=.Vl_diag2_pix/norm(Vl_diag2_p
1c440	69 78 29 3b 0a 20 20 20 0a 20 20 20 61 6c 31 20 3d 20 56 6c 5f 68 6f 72 69 5f 70 69 78 28 31 29	ix);........al1.=.Vl_hori_pix(1)
1c460	3b 0a 20 20 20 62 6c 31 20 3d 20 56 6c 5f 68 6f 72 69 5f 70 69 78 28 32 29 3b 0a 20 20 20 63 6c	;....bl1.=.Vl_hori_pix(2);....cl
1c480	31 20 3d 20 56 6c 5f 68 6f 72 69 5f 70 69 78 28 33 29 3b 0a 20 20 20 0a 20 20 20 61 6c 32 20 3d	1.=.Vl_hori_pix(3);........al2.=
1c4a0	20 56 6c 5f 76 65 72 74 5f 70 69 78 28 31 29 3b 0a 20 20 20 62 6c 32 20 3d 20 56 6c 5f 76 65 72	.Vl_vert_pix(1);....bl2.=.Vl_ver
1c4c0	74 5f 70 69 78 28 32 29 3b 0a 20 20 20 63 6c 32 20 3d 20 56 6c 5f 76 65 72 74 5f 70 69 78 28 33	t_pix(2);....cl2.=.Vl_vert_pix(3
1c4e0	29 3b 0a 20 20 20 0a 20 20 20 61 6c 33 20 3d 20 56 6c 5f 64 69 61 67 31 5f 70 69 78 28 31 29 3b	);........al3.=.Vl_diag1_pix(1);
1c500	0a 20 20 20 62 6c 33 20 3d 20 56 6c 5f 64 69 61 67 31 5f 70 69 78 28 32 29 3b 0a 20 20 20 63 6c	....bl3.=.Vl_diag1_pix(2);....cl
1c520	33 20 3d 20 56 6c 5f 64 69 61 67 31 5f 70 69 78 28 33 29 3b 0a 20 20 20 0a 20 20 20 61 6c 34 20	3.=.Vl_diag1_pix(3);........al4.
1c540	3d 20 56 6c 5f 64 69 61 67 32 5f 70 69 78 28 31 29 3b 0a 20 20 20 62 6c 34 20 3d 20 56 6c 5f 64	=.Vl_diag2_pix(1);....bl4.=.Vl_d
1c560	69 61 67 32 5f 70 69 78 28 32 29 3b 0a 20 20 20 63 6c 34 20 3d 20 56 6c 5f 64 69 61 67 32 5f 70	iag2_pix(2);....cl4.=.Vl_diag2_p
1c580	69 78 28 33 29 3b 0a 20 20 20 0a 20 20 20 25 20 72 69 67 68 74 20 50 61 74 74 65 72 6e 3a 0a 20	ix(3);........%.right.Pattern:..
1c5a0	20 20 0a 20 20 20 65 76 61 6c 28 5b 27 48 72 6b 6b 20 3d 20 48 72 5f 27 20 6e 75 6d 32 73 74 72	......eval(['Hrkk.=.Hr_'.num2str
1c5c0	28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 0a 20 20 20 48 72 6b 6b 20 3d 20 53 75 62 5f 63 63	(kk).';']);........Hrkk.=.Sub_cc
1c5e0	20 2a 20 48 72 6b 6b 3b 0a 0a 20 20 20 25 20 45 78 74 72 61 63 74 20 76 61 6e 69 73 68 69 6e 67	.*.Hrkk;.....%.Extract.vanishing
1c600	20 70 6f 69 6e 74 73 20 28 64 69 72 65 63 74 20 61 6e 64 20 64 69 61 67 6f 6e 61 6c 73 29 3a 0a	.points.(direct.and.diagonals):.
1c620	20 20 20 0a 20 20 20 56 72 5f 68 6f 72 69 5f 70 69 78 20 3d 20 48 72 6b 6b 28 3a 2c 31 29 3b 0a	.......Vr_hori_pix.=.Hrkk(:,1);.
1c640	20 20 20 56 72 5f 76 65 72 74 5f 70 69 78 20 3d 20 48 72 6b 6b 28 3a 2c 32 29 3b 0a 20 20 20 56	...Vr_vert_pix.=.Hrkk(:,2);....V
1c660	72 5f 64 69 61 67 31 5f 70 69 78 20 3d 20 28 48 72 6b 6b 28 3a 2c 31 29 2b 48 72 6b 6b 28 3a 2c	r_diag1_pix.=.(Hrkk(:,1)+Hrkk(:,
1c680	32 29 29 2f 32 3b 0a 20 20 20 56 72 5f 64 69 61 67 32 5f 70 69 78 20 3d 20 28 48 72 6b 6b 28 3a	2))/2;....Vr_diag2_pix.=.(Hrkk(:
1c6a0	2c 31 29 2d 48 72 6b 6b 28 3a 2c 32 29 29 2f 32 3b 0a 20 20 20 0a 20 20 20 56 72 5f 68 6f 72 69	,1)-Hrkk(:,2))/2;........Vr_hori
1c6c0	5f 70 69 78 20 3d 20 56 72 5f 68 6f 72 69 5f 70 69 78 2f 6e 6f 72 6d 28 56 6c 5f 68 6f 72 69 5f	_pix.=.Vr_hori_pix/norm(Vl_hori_
1c6e0	70 69 78 29 3b 0a 20 20 20 56 72 5f 76 65 72 74 5f 70 69 78 20 3d 20 56 72 5f 76 65 72 74 5f 70	pix);....Vr_vert_pix.=.Vr_vert_p
1c700	69 78 2f 6e 6f 72 6d 28 56 6c 5f 76 65 72 74 5f 70 69 78 29 3b 0a 20 20 20 56 72 5f 64 69 61 67	ix/norm(Vl_vert_pix);....Vr_diag
1c720	31 5f 70 69 78 20 3d 20 56 72 5f 64 69 61 67 31 5f 70 69 78 2f 6e 6f 72 6d 28 56 72 5f 64 69 61	1_pix.=.Vr_diag1_pix/norm(Vr_dia
1c740	67 31 5f 70 69 78 29 3b 0a 20 20 20 56 72 5f 64 69 61 67 32 5f 70 69 78 20 3d 20 56 72 5f 64 69	g1_pix);....Vr_diag2_pix.=.Vr_di
1c760	61 67 32 5f 70 69 78 2f 6e 6f 72 6d 28 56 72 5f 64 69 61 67 32 5f 70 69 78 29 3b 0a 20 20 20 0a	ag2_pix/norm(Vr_diag2_pix);.....
1c780	20 20 20 61 72 31 20 3d 20 56 72 5f 68 6f 72 69 5f 70 69 78 28 31 29 3b 0a 20 20 20 62 72 31 20	...ar1.=.Vr_hori_pix(1);....br1.
1c7a0	3d 20 56 72 5f 68 6f 72 69 5f 70 69 78 28 32 29 3b 0a 20 20 20 63 72 31 20 3d 20 56 72 5f 68 6f	=.Vr_hori_pix(2);....cr1.=.Vr_ho
1c7c0	72 69 5f 70 69 78 28 33 29 3b 0a 20 20 20 0a 20 20 20 61 72 32 20 3d 20 56 72 5f 76 65 72 74 5f	ri_pix(3);........ar2.=.Vr_vert_
1c7e0	70 69 78 28 31 29 3b 0a 20 20 20 62 72 32 20 3d 20 56 72 5f 76 65 72 74 5f 70 69 78 28 32 29 3b	pix(1);....br2.=.Vr_vert_pix(2);
1c800	0a 20 20 20 63 72 32 20 3d 20 56 72 5f 76 65 72 74 5f 70 69 78 28 33 29 3b 0a 20 20 20 0a 20 20	....cr2.=.Vr_vert_pix(3);.......
1c820	20 61 72 33 20 3d 20 56 72 5f 64 69 61 67 31 5f 70 69 78 28 31 29 3b 0a 20 20 20 62 72 33 20 3d	.ar3.=.Vr_diag1_pix(1);....br3.=
1c840	20 56 72 5f 64 69 61 67 31 5f 70 69 78 28 32 29 3b 0a 20 20 20 63 72 33 20 3d 20 56 72 5f 64 69	.Vr_diag1_pix(2);....cr3.=.Vr_di
1c860	61 67 31 5f 70 69 78 28 33 29 3b 0a 20 20 20 0a 20 20 20 61 72 34 20 3d 20 56 72 5f 64 69 61 67	ag1_pix(3);........ar4.=.Vr_diag
1c880	32 5f 70 69 78 28 31 29 3b 0a 20 20 20 62 72 34 20 3d 20 56 72 5f 64 69 61 67 32 5f 70 69 78 28	2_pix(1);....br4.=.Vr_diag2_pix(
1c8a0	32 29 3b 0a 20 20 20 63 72 34 20 3d 20 56 72 5f 64 69 61 67 32 5f 70 69 78 28 33 29 3b 0a 20 20	2);....cr4.=.Vr_diag2_pix(3);...
1c8c0	20 0a 20 20 20 0a 20 20 20 25 20 43 6f 6c 6c 65 63 74 20 61 6c 6c 20 74 68 65 20 63 6f 6e 73 74	.........%.Collect.all.the.const
1c8e0	72 61 69 6e 74 73 3a 0a 20 20 20 0a 20 20 20 41 5f 6b 6b 20 3d 20 5b 61 6c 31 2a 61 6c 32 20 20	raints:........A_kk.=.[al1*al2..
1c900	62 6c 31 2a 62 6c 32 3b 0a 20 20 20 20 20 20 61 6c 33 2a 61 6c 34 20 20 62 6c 33 2a 62 6c 34 3b	bl1bl2;.......al3al4..bl3*bl4;
1c920	0a 20 20 20 20 20 20 61 72 31 2a 61 72 32 20 20 62 72 31 2a 62 72 32 3b 0a 20 20 20 20 20 20 61	.......ar1ar2..br1br2;.......a
1c940	72 33 2a 61 72 34 20 20 62 72 33 2a 62 72 34 3b 0a 20 20 20 20 20 20 61 6c 31 2a 61 72 31 20 20	r3ar4..br3br4;.......al1*ar1..
1c960	62 6c 31 2a 62 72 31 5d 3b 0a 20 20 20 0a 20 20 20 62 5f 6b 6b 20 3d 20 2d 5b 63 6c 31 2a 63 6c	bl1br1];........b_kk.=.-[cl1cl
1c980	32 3b 63 6c 33 2a 63 6c 34 3b 63 72 31 2a 63 72 32 3b 63 72 33 2a 63 72 34 3b 63 6c 31 2a 63 72	2;cl3cl4;cr1cr2;cr3cr4;cl1cr
1c9a0	31 5d 3b 0a 20 20 20 0a 0a 20 20 20 41 20 3d 20 5b 41 3b 41 5f 6b 6b 5d 3b 0a 20 20 20 62 20 3d	1];.........A.=.[A;A_kk];....b.=
1c9c0	20 5b 62 3b 62 5f 6b 6b 5d 3b 0a 20 20 20 0a 65 6e 64 3b 0a 0a 25 20 75 73 65 20 61 6c 6c 20 74	.[b;b_kk];.....end;..%.use.all.t
1c9e0	68 65 20 76 61 6e 69 73 68 69 6e 67 20 70 6f 69 6e 74 73 20 74 6f 20 65 73 74 69 6d 61 74 65 20	he.vanishing.points.to.estimate.
1ca00	66 6f 63 61 6c 20 6c 65 6e 67 74 68 3a 0a 0a 66 5f 69 6e 69 74 20 3d 20 73 71 72 74 28 61 62 73	focal.length:..f_init.=.sqrt(abs
1ca20	28 31 2e 2f 28 69 6e 76 28 41 27 2a 41 29 2a 41 27 2a 62 29 29 29 3b 20 25 20 69 66 20 75 73 69	(1./(inv(A'A)A'*b)));.%.if.usi
1ca40	6e 67 20 61 20 74 77 6f 2d 66 6f 63 61 6c 20 6d 6f 64 65 6c 20 66 6f 72 20 69 6e 69 74 69 61 6c	ng.a.two-focal.model.for.initial
1ca60	20 67 75 65 73 73 0a 0a 25 66 5f 69 6e 69 74 20 3d 20 73 71 72 74 28 62 27 2a 28 73 75 6d 28 41	.guess..%f_init.=.sqrt(b'*(sum(A
1ca80	27 29 27 29 20 2f 20 28 62 27 2a 62 29 29 20 2a 20 6f 6e 65 73 28 32 2c 31 29 3b 20 25 20 69 66	')')./.(b'b))..ones(2,1);.%.if
1caa0	20 73 69 6e 67 6c 65 20 66 6f 63 61 6c 20 6c 65 6e 67 74 68 20 6d 6f 64 65 6c 20 69 73 20 75 73	.single.focal.length.model.is.us
1cac0	65 64 0a 0a 0a 25 20 47 6c 6f 62 61 6c 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 6d 61 74 72 69 78	ed...%.Global.calibration.matrix
1cae0	20 28 69 6e 69 74 69 61 6c 20 67 75 65 73 73 29 3a 0a 20 20 20 09 0a 4b 4b 20 3d 20 5b 66 5f 69	.(initial.guess):......KK.=.[f_i
1cb00	6e 69 74 28 31 29 20 30 20 63 5f 69 6e 69 74 28 31 29 3b 30 20 66 5f 69 6e 69 74 28 32 29 20 63	nit(1).0.c_init(1);0.f_init(2).c
1cb20	5f 69 6e 69 74 28 32 29 3b 20 30 20 30 20 31 5d 3b 0a 69 6e 76 5f 4b 4b 20 3d 20 69 6e 76 28 4b	_init(2);.0.0.1];.inv_KK.=.inv(K
1cb40	4b 29 3b 0a 0a 09 0a 25 20 43 6f 6d 70 75 74 69 6e 67 20 6f 66 20 74 68 65 20 65 78 74 72 69 6e	K);....%.Computing.of.the.extrin
1cb60	73 69 63 20 70 61 72 61 6d 65 74 65 72 73 20 28 66 72 6f 6d 20 74 68 65 20 63 6f 6c 6c 69 6e 65	sic.parameters.(from.the.colline
1cb80	61 74 69 6f 6e 73 29 0a 0a 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a 20 20 20 0a 20	ations)..for.kk.=.1:n_ima,......
1cba0	20 20 65 76 61 6c 28 5b 27 48 6c 6b 6b 20 3d 20 48 6c 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29	..eval(['Hlkk.=.Hl_'.num2str(kk)
1cbc0	20 27 3b 27 5d 29 3b 0a 20 20 20 0a 20 20 20 48 6c 32 20 3d 20 69 6e 76 5f 4b 4b 2a 48 6c 6b 6b	.';']);........Hl2.=.inv_KK*Hlkk
1cbe0	3b 0a 20 20 20 20 20 20 0a 20 20 20 73 63 20 3d 20 6d 65 61 6e 28 5b 6e 6f 72 6d 28 48 6c 32 28	;...........sc.=.mean([norm(Hl2(
1cc00	3a 2c 31 29 29 3b 6e 6f 72 6d 28 48 6c 32 28 3a 2c 32 29 29 5d 29 3b 0a 20 20 20 0a 20 09 48 6c	:,1));norm(Hl2(:,2))]);.......Hl
1cc20	32 20 3d 20 48 6c 32 2f 73 63 3b 0a 20 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 48 72 6b 6b 20	2.=.Hl2/sc;.........eval(['Hrkk.
1cc40	3d 20 48 72 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 0a 20 20	=.Hr_'.num2str(kk).';']);.......
1cc60	20 48 72 32 20 3d 20 69 6e 76 5f 4b 4b 2a 48 72 6b 6b 3b 0a 20 20 20 20 20 20 0a 20 20 20 73 63	.Hr2.=.inv_KK*Hrkk;...........sc
1cc80	20 3d 20 6d 65 61 6e 28 5b 6e 6f 72 6d 28 48 72 32 28 3a 2c 31 29 29 3b 6e 6f 72 6d 28 48 72 32	.=.mean([norm(Hr2(:,1));norm(Hr2
1cca0	28 3a 2c 32 29 29 5d 29 3b 0a 20 20 20 0a 20 20 20 48 72 32 20 3d 20 48 72 32 2f 73 63 3b 0a 20	(:,2))]);........Hr2.=.Hr2/sc;..
1ccc0	20 20 0a 20 20 20 6f 6d 63 6c 20 3d 20 72 6f 64 72 69 67 75 65 73 28 5b 48 6c 32 28 3a 2c 31 3a	......omcl.=.rodrigues([Hl2(:,1:
1cce0	32 29 20 63 72 6f 73 73 28 48 6c 32 28 3a 2c 31 29 2c 48 6c 32 28 3a 2c 32 29 29 5d 29 3b 0a 20	2).cross(Hl2(:,1),Hl2(:,2))]);..
1cd00	20 20 54 63 6c 20 3d 20 48 6c 32 28 3a 2c 33 29 3b 0a 20 20 20 0a 20 20 20 25 6f 6d 63 72 20 3d	..Tcl.=.Hl2(:,3);........%omcr.=
1cd20	20 72 6f 64 72 69 67 75 65 73 28 5b 48 72 32 28 3a 2c 31 3a 32 29 20 63 72 6f 73 73 28 48 72 32	.rodrigues([Hr2(:,1:2).cross(Hr2
1cd40	28 3a 2c 31 29 2c 48 72 32 28 3a 2c 32 29 29 5d 29 3b 0a 20 20 20 25 54 63 72 20 3d 20 48 72 32	(:,1),Hr2(:,2))]);....%Tcr.=.Hr2
1cd60	28 3a 2c 33 29 3b 0a 20 20 20 0a 20 20 20 0a 20 20 09 6f 6d 63 6b 6b 20 3d 20 6f 6d 63 6c 3b 20	(:,3);............omckk.=.omcl;.
1cd80	25 72 6f 64 72 69 67 75 65 73 28 5b 48 32 28 3a 2c 31 3a 32 29 20 63 72 6f 73 73 28 48 32 28 3a	%rodrigues([H2(:,1:2).cross(H2(:
1cda0	2c 31 29 2c 48 32 28 3a 2c 32 29 29 5d 29 3b 0a 20 20 09 54 63 6b 6b 20 3d 20 54 63 6c 3b 20 25	,1),H2(:,2))]);....Tckk.=.Tcl;.%
1cdc0	48 32 28 3a 2c 33 29 3b 0a 20 20 20 0a 20 20 09 65 76 61 6c 28 5b 27 6f 6d 63 5f 27 20 6e 75 6d	H2(:,3);........eval(['omc_'.num
1cde0	32 73 74 72 28 6b 6b 29 20 27 20 3d 20 6f 6d 63 6b 6b 3b 27 5d 29 3b 0a 20 20 09 65 76 61 6c 28	2str(kk).'.=.omckk;']);....eval(
1ce00	5b 27 54 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 54 63 6b 6b 3b 27 5d 29 3b	['Tc_'.num2str(kk).'.=.Tckk;']);
1ce20	0a 20 20 20 09 0a 65 6e 64 3b 0a 0a 0a 20 20 20 20 20 20 0a 25 20 49 6e 69 74 69 61 6c 69 73 61	......end;..........%.Initialisa
1ce40	74 69 6f 6e 20 6f 66 20 74 68 65 20 70 61 72 61 6d 65 74 65 72 73 20 66 6f 72 20 67 6c 6f 62 61	tion.of.the.parameters.for.globa
1ce60	6c 20 6d 69 6e 69 6d 69 7a 61 74 69 6f 6e 3a 0a 0a 69 6e 69 74 5f 70 61 72 61 6d 20 3d 20 5b 66	l.minimization:..init_param.=.[f
1ce80	5f 69 6e 69 74 3b 6b 5f 69 6e 69 74 5d 3b 0a 0a 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f 69 6d 61	_init;k_init];..for.kk.=.1:n_ima
1cea0	2c 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 69 6e 69 74 5f 70 61 72 61 6d 20 3d 20 5b 69 6e 69	,.......eval(['init_param.=.[ini
1cec0	74 5f 70 61 72 61 6d 3b 20 6f 6d 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 20 54 63	t_param;.omc_'.num2str(kk).';.Tc
1cee0	5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 5d 3b 27 5d 29 3b 0a 65 6e 64 3b 0a 0a 69 66 20	_'.num2str(kk).'];']);.end;..if.
1cf00	7e 65 78 69 73 74 28 27 6c 73 71 6e 6f 6e 6c 69 6e 27 29 2c 0a 0a 09 6f 70 74 69 6f 6e 73 20 3d	~exist('lsqnonlin'),...options.=
1cf20	20 5b 31 20 31 65 2d 34 20 31 65 2d 34 20 31 65 2d 36 20 20 30 20 30 20 30 20 30 20 30 20 30 20	.[1.1e-4.1e-4.1e-6..0.0.0.0.0.0.
1cf40	30 20 30 20 30 20 36 30 30 30 20 30 20 31 65 2d 38 20 30 2e 31 20 30 5d 3b 0a 0a 09 69 66 20 65	0.0.0.6000.0.1e-8.0.1.0];...if.e
1cf60	78 69 73 74 28 27 6c 65 61 73 74 73 71 27 29 2c 0a 20 20 20 09 73 73 73 20 3d 20 5b 27 5b 70 61	xist('leastsq'),.....sss.=.['[pa
1cf80	72 61 6d 2c 6f 70 74 5d 20 3d 20 6c 65 61 73 74 73 71 28 27 27 6d 75 6c 74 69 5f 65 72 72 6f 72	ram,opt].=.leastsq(''multi_error
1cfa0	5f 6f 75 6c 75 27 27 2c 69 6e 69 74 5f 70 61 72 61 6d 2c 6f 70 74 69 6f 6e 73 2c 5b 5d 2c 6e 5f	_oulu'',init_param,options,[],n_
1cfc0	69 6d 61 2c 63 5f 69 6e 69 74 29 3b 27 5d 3b 0a 09 65 6c 73 65 0a 20 20 20 09 73 73 73 20 3d 20	ima,c_init);'];..else.....sss.=.
1cfe0	5b 27 5b 70 61 72 61 6d 2c 6f 70 74 5d 20 3d 20 6c 65 61 73 74 73 71 32 28 27 27 6d 75 6c 74 69	['[param,opt].=.leastsq2(''multi
1d000	5f 65 72 72 6f 72 5f 6f 75 6c 75 27 27 2c 69 6e 69 74 5f 70 61 72 61 6d 2c 6f 70 74 69 6f 6e 73	_error_oulu'',init_param,options
1d020	2c 5b 5d 2c 6e 5f 69 6d 61 2c 63 5f 69 6e 69 74 29 3b 27 5d 3b 0a 09 65 6e 64 3b 0a 0a 65 6c 73	,[],n_ima,c_init);'];..end;..els
1d040	65 0a 20 20 20 0a 20 20 20 6f 70 74 69 6f 6e 73 20 3d 20 6f 70 74 69 6d 73 65 74 28 27 6c 73 71	e........options.=.optimset('lsq
1d060	6e 6f 6e 6c 69 6e 27 29 3b 0a 20 20 20 6f 70 74 69 6f 6e 73 2e 4d 61 78 49 74 65 72 20 20 3d 20	nonlin');....options.MaxIter..=.
1d080	36 30 30 30 3b 0a 20 20 20 6f 70 74 69 6f 6e 73 2e 44 69 73 70 6c 61 79 20 3d 20 27 69 74 65 72	6000;....options.Display.=.'iter
1d0a0	27 3b 0a 20 20 09 73 73 73 20 3d 20 5b 27 5b 70 61 72 61 6d 2c 6f 70 74 5d 20 3d 20 6c 73 71 6e	';....sss.=.['[param,opt].=.lsqn
1d0c0	6f 6e 6c 69 6e 28 27 27 6d 75 6c 74 69 5f 65 72 72 6f 72 5f 6f 75 6c 75 27 27 2c 69 6e 69 74 5f	onlin(''multi_error_oulu'',init_
1d0e0	70 61 72 61 6d 2c 5b 5d 2c 5b 5d 2c 6f 70 74 69 6f 6e 73 2c 6e 5f 69 6d 61 2c 63 5f 69 6e 69 74	param,[],[],options,n_ima,c_init
1d100	29 3b 27 5d 3b 0a 0a 65 6e 64 3b 0a 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 4f 70 74 69 6d	);'];..end;...fprintf(1,'\nOptim
1d120	69 7a 61 74 69 6f 6e 20 6e 6f 74 20 69 6e 63 6c 75 64 69 6e 67 20 74 68 65 20 70 72 69 6e 63 69	ization.not.including.the.princi
1d140	70 61 6c 20 70 6f 69 6e 74 2e 2e 2e 5c 6e 27 29 0a 65 76 61 6c 28 73 73 73 29 3b 0a 0a 68 69 73	pal.point...\n').eval(sss);..his
1d160	74 6f 72 79 20 20 3d 20 5b 5b 69 6e 69 74 5f 70 61 72 61 6d 3b 63 5f 69 6e 69 74 5d 20 5b 70 61	tory..=.[[init_param;c_init].[pa
1d180	72 61 6d 3b 63 5f 69 6e 69 74 5d 5d 3b 0a 0a 73 6f 6c 5f 6e 6f 5f 63 65 6e 74 65 72 20 3d 20 5b	ram;c_init]];..sol_no_center.=.[
1d1a0	70 61 72 61 6d 3b 63 5f 69 6e 69 74 5d 3b 0a 0a 69 6e 69 74 5f 70 61 72 61 6d 20 3d 20 73 6f 6c	param;c_init];..init_param.=.sol
1d1c0	5f 6e 6f 5f 63 65 6e 74 65 72 3b 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 4f 70 74 69 6d 69	_no_center;..fprintf(1,'\nOptimi
1d1e0	7a 61 74 69 6f 6e 20 69 6e 63 6c 75 64 69 6e 67 20 74 68 65 20 70 72 69 6e 63 69 70 61 6c 20 70	zation.including.the.principal.p
1d200	6f 69 6e 74 2e 2e 2e 5c 6e 27 29 0a 0a 65 76 61 6c 28 73 73 73 29 3b 0a 0a 68 69 73 74 6f 72 79	oint...\n')..eval(sss);..history
1d220	20 3d 20 5b 68 69 73 74 6f 72 79 20 70 61 72 61 6d 5d 3b 0a 0a 0a 73 6f 6c 5f 77 69 74 68 5f 63	.=.[history.param];...sol_with_c
1d240	65 6e 74 65 72 20 3d 20 70 61 72 61 6d 3b 0a 0a 0a 0a 0a 25 25 25 20 45 78 74 72 61 63 74 69 6f	enter.=.param;.....%%%.Extractio
1d260	6e 20 6f 66 20 74 68 65 20 66 69 6e 61 6c 20 69 6e 74 72 69 6e 73 69 63 20 61 6e 64 20 65 78 74	n.of.the.final.intrinsic.and.ext
1d280	72 69 6e 73 69 63 20 70 61 72 61 6d 61 74 65 72 73 20 28 69 6e 20 74 68 65 20 6e 6f 2d 63 65 6e	rinsic.paramaters.(in.the.no-cen
1d2a0	74 65 72 20 63 61 73 65 29 3a 0a 0a 73 6f 6c 75 74 69 6f 6e 20 3d 20 73 6f 6c 5f 6e 6f 5f 63 65	ter.case):..solution.=.sol_no_ce
1d2c0	6e 74 65 72 3b 0a 65 78 74 72 61 63 74 5f 70 61 72 61 6d 65 74 65 72 73 33 44 3b 0a 0a 66 70 72	nter;.extract_parameters3D;..fpr
1d2e0	69 6e 74 66 28 31 2c 27 5c 6e 5c 6e 43 61 6c 69 62 72 61 74 69 6f 6e 20 72 65 73 75 6c 74 73 20	intf(1,'\n\nCalibration.results.
1d300	77 69 74 68 6f 75 74 20 70 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 20 65 73 74 69 6d 61 74 69	without.principal.point.estimati
1d320	6f 6e 3a 5c 6e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 46 6f 63 61 6c 20 4c 65 6e 67	on:\n\n');.fprintf(1,'Focal.Leng
1d340	74 68 3a 20 20 20 20 20 66 63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27	th:.....fc.=.[.%3.5f...%3.5f]\n'
1d360	2c 66 63 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 50 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74	,fc);.fprintf(1,'Principal.point
1d380	3a 20 20 63 63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 63 63 29 3b	:..cc.=.[.%3.5f...%3.5f]\n',cc);
1d3a0	0a 66 70 72 69 6e 74 66 28 31 2c 27 44 69 73 74 6f 72 74 69 6f 6e 3a 20 20 20 20 20 20 20 6b 63	.fprintf(1,'Distortion:.......kc
1d3c0	20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 20 20 20 25 33 2e	.=.[.%3.5f...%3.5f...%3.5f...%3.
1d3e0	35 66 5d 5c 6e 27 2c 6b 63 29 3b 20 20 20 0a 66 70 72 69 6e 74 66 28 31 2c 5b 27 50 69 78 65 6c	5f]\n',kc);....fprintf(1,['Pixel
1d400	20 65 72 72 6f 72 3a 20 20 20 20 20 20 5b 63 6c 69 63 6b 20 6f 6e 20 27 27 73 6f 6c 2e 20 77 69	.error:......[click.on.''sol..wi
1d420	74 68 6f 75 74 20 63 65 6e 74 65 72 27 27 5d 5c 6e 27 5d 29 3b 20 0a 0a 0a 0a 0a 25 20 50 69 63	thout.center'']\n']);......%.Pic
1d440	6b 20 74 68 65 20 73 6f 6c 75 74 69 6f 6e 20 77 69 74 68 20 70 72 69 6e 63 69 70 61 6c 20 70 6f	k.the.solution.with.principal.po
1d460	69 6e 74 0a 25 25 25 20 4e 4f 54 45 3a 20 41 74 20 74 68 61 74 20 70 6f 69 6e 74 2c 20 74 68 65	int.%%%.NOTE:.At.that.point,.the
1d480	20 75 73 65 72 20 63 61 6e 20 63 68 6f 6f 73 65 20 77 68 69 63 68 20 73 6f 6c 75 74 69 6f 6e 20	.user.can.choose.which.solution.
1d4a0	74 6f 20 70 69 63 6b 3a 20 77 69 74 68 20 6f 72 20 77 69 74 68 6f 75 74 0a 25 25 25 20 70 72 69	to.pick:.with.or.without.%%%.pri
1d4c0	6e 63 69 70 61 6c 20 70 6f 69 6e 74 20 65 73 74 69 6d 61 74 69 6f 6e 2e 20 42 79 20 64 65 66 61	ncipal.point.estimation..By.defa
1d4e0	75 6c 74 2c 20 77 65 20 70 69 63 6b 20 74 68 65 20 73 6f 6c 75 74 69 6f 6e 20 77 69 74 68 20 70	ult,.we.pick.the.solution.with.p
1d500	72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 2e 0a 0a 73 6f 6c 75 74 69 6f 6e 20 3d 20 73 6f 6c 5f	rincipal.point...solution.=.sol_
1d520	77 69 74 68 5f 63 65 6e 74 65 72 3b 0a 0a 0a 0a 25 25 25 20 45 78 74 72 61 63 74 69 6f 6e 20 6f	with_center;....%%%.Extraction.o
1d540	66 20 74 68 65 20 66 69 6e 61 6c 20 69 6e 74 72 69 6e 73 69 63 20 61 6e 64 20 65 78 74 72 69 6e	f.the.final.intrinsic.and.extrin
1d560	73 69 63 20 70 61 72 61 6d 61 74 65 72 73 3a 0a 0a 65 78 74 72 61 63 74 5f 70 61 72 61 6d 65 74	sic.paramaters:..extract_paramet
1d580	65 72 73 33 44 3b 0a 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 5c 6e 43 61 6c 69 62 72 61 74	ers3D;...fprintf(1,'\n\nCalibrat
1d5a0	69 6f 6e 20 72 65 73 75 6c 74 73 20 77 69 74 68 20 70 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74	ion.results.with.principal.point
1d5c0	20 65 73 74 69 6d 61 74 69 6f 6e 3a 5c 6e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 46	.estimation:\n\n');.fprintf(1,'F
1d5e0	6f 63 61 6c 20 4c 65 6e 67 74 68 3a 20 20 20 20 20 66 63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20	ocal.Length:.....fc.=.[.%3.5f...
1d600	25 33 2e 35 66 5d 5c 6e 27 2c 66 63 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 50 72 69 6e 63 69	%3.5f]\n',fc);.fprintf(1,'Princi
1d620	70 61 6c 20 70 6f 69 6e 74 3a 20 20 63 63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66	pal.point:..cc.=.[.%3.5f...%3.5f
1d640	5d 5c 6e 27 2c 63 63 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 44 69 73 74 6f 72 74 69 6f 6e 3a	]\n',cc);.fprintf(1,'Distortion:
1d660	20 20 20 20 20 20 20 6b 63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 20 20 20 25 33	.......kc.=.[.%3.5f...%3.5f...%3
1d680	2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 6b 63 29 3b 20 20 20 0a 0a 0a 25 25 25 25 25 25	.5f...%3.5f]\n',kc);......%%%%%%
1d6a0	25 25 25 25 25 25 25 25 25 25 25 25 25 25 20 47 52 41 50 48 49 43 41 4c 20 4f 55 54 50 55 54 20	%%%%%%%%%%%%%%.GRAPHICAL.OUTPUT.
1d6c0	25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 0a 0a 67 72 61 70 68 6f	%%%%%%%%%%%%%%%%%%%%%%%%..grapho
1d6e0	75 74 5f 63 61 6c 69 62 33 44 3b 0a 0a 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 4e 6f 74 65 3a 20	ut_calib3D;....fprintf(1,'Note:.
1d700	49 66 20 74 68 65 20 73 6f 6c 75 74 69 6f 6e 20 69 73 20 6e 6f 74 20 73 61 74 69 73 66 61 63 74	If.the.solution.is.not.satisfact
1d720	6f 72 79 2c 20 73 65 6c 65 63 74 20 73 6f 6c 75 74 69 6f 6e 20 77 69 74 68 6f 75 74 20 63 65 6e	ory,.select.solution.without.cen
1d740	74 65 72 20 65 73 74 69 6d 61 74 69 6f 6e 2e 5c 6e 5c 6e 27 29 3b 0a 0a 0a 25 25 25 25 25 25 25	ter.estimation.\n\n');...%%%%%%%
1d760	25 25 25 25 25 25 25 20 53 61 76 65 20 61 6c 6c 20 74 68 65 20 43 61 6c 69 62 72 61 74 69 6f 6e	%%%%%%%.Save.all.the.Calibration
1d780	20 72 65 73 75 6c 74 73 3a 0a 0a 64 69 73 70 28 27 53 61 76 65 20 63 61 6c 69 62 72 61 74 69 6f	.results:..disp('Save.calibratio
1d7a0	6e 20 72 65 73 75 6c 74 73 20 75 6e 64 65 72 20 43 61 6c 69 62 5f 52 65 73 75 6c 74 73 2e 6d 61	n.results.under.Calib_Results.ma
1d7c0	74 27 29 3b 0a 0a 73 74 72 69 6e 67 5f 73 61 76 65 20 3d 20 27 73 61 76 65 20 43 61 6c 69 62 5f	t');..string_save.=.'save.Calib_
1d7e0	52 65 73 75 6c 74 73 20 66 63 20 6b 63 20 63 63 20 65 78 20 78 20 79 20 73 6f 6c 75 74 69 6f 6e	Results.fc.kc.cc.ex.x.y.solution
1d800	20 73 6f 6c 5f 77 69 74 68 5f 63 65 6e 74 65 72 20 73 6f 6c 5f 6e 6f 5f 63 65 6e 74 65 72 20 68	.sol_with_center.sol_no_center.h
1d820	69 73 74 6f 72 79 20 77 69 6e 74 78 20 77 69 6e 74 79 20 6e 5f 69 6d 61 20 74 79 70 65 5f 6e 75	istory.wintx.winty.n_ima.type_nu
1d840	6d 62 65 72 69 6e 67 20 4e 5f 73 6c 6f 74 73 20 73 6d 61 6c 6c 5f 63 61 6c 69 62 5f 69 6d 61 67	mbering.N_slots.small_calib_imag
1d860	65 20 66 69 72 73 74 5f 6e 75 6d 20 69 6d 61 67 65 5f 6e 75 6d 62 65 72 73 20 66 6f 72 6d 61 74	e.first_num.image_numbers.format
1d880	5f 69 6d 61 67 65 20 63 61 6c 69 62 5f 6e 61 6d 65 20 48 63 61 6c 20 57 63 61 6c 20 6e 78 20 6e	_image.calib_name.Hcal.Wcal.nx.n
1d8a0	79 20 6d 61 70 20 64 58 5f 64 65 66 61 75 6c 74 20 64 59 5f 64 65 66 61 75 6c 74 20 4b 4b 20 69	y.map.dX_default.dY_default.KK.i
1d8c0	6e 76 5f 4b 4b 20 64 58 20 64 59 27 3b 0a 0a 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f 69 6d 61 2c	nv_KK.dX.dY';..for.kk.=.1:n_ima,
1d8e0	0a 20 20 20 73 74 72 69 6e 67 5f 73 61 76 65 20 3d 20 5b 73 74 72 69 6e 67 5f 73 61 76 65 20 27	....string_save.=.[string_save.'
1d900	20 58 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b	.X_'.num2str(kk).'.x_'.num2str(k
1d920	6b 29 20 27 20 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 65 78 5f 27 20 6e 75 6d 32	k).'.y_'.num2str(kk).'.ex_'.num2
1d940	73 74 72 28 6b 6b 29 20 27 20 6f 6d 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 54 63	str(kk).'.omc_'.num2str(kk).'.Tc
1d960	5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 48 6c 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b	_'.num2str(kk).'.Hl_'.num2str(kk
1d980	29 20 27 20 6e 6c 5f 73 71 5f 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 6e 6c 5f 73	).'.nl_sq_x_'.num2str(kk).'.nl_s
1d9a0	71 5f 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 48 72 5f 27 20 6e 75 6d 32 73 74 72	q_y_'.num2str(kk).'.Hr_'.num2str
1d9c0	28 6b 6b 29 20 27 20 6e 72 5f 73 71 5f 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 6e	(kk).'.nr_sq_x_'.num2str(kk).'.n
1d9e0	72 5f 73 71 5f 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 5d 3b 0a 65 6e 64 3b 0a 0a 65 76 61	r_sq_y_'.num2str(kk)];.end;..eva
1da00	6c 28 73 74 72 69 6e 67 5f 73 61 76 65 29 3b 0a 49 53 49 54 49 4f 4e 20 25 25 25 25 25 25 25 25	l(string_save);.ISITION.%%%%%%%%
1da20	25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 0a 20 20 20 0a 20 20 0a 20 20 20	%%%%%%%%%%%%%%%%%%%%%...........
1da40	78 31 20 3d 20 61 31 30 28 31 29 2f 61 31 30 28 33 29 3b 0a 20 20 20 78 34 20 3d 20 61 31 31 28	x1.=.a10(1)/a10(3);....x4.=.a11(
1da60	31 29 2f 61 31 31 28 33 29 3b 0a 20 20 20 0a 20 20 20 79 31 20 3d 20 61 31 30 28 32 29 2f 61 31	1)/a11(3);........y1.=.a10(2)/a1
1da80	30 28 33 29 3b 0a 20 20 20 79 34 20 3d 20 61 31 31 28 32 29 2f 61 31 31 28 33 29 3b 0a 20 20 20	0(3);....y4.=.a11(2)/a11(3);....
1daa0	0a 0a 20 20 66 69 67 75 72 65 28 32 29 3b 0a 20 20 68 6f 6c 64 20 6f 6e 3b 0a 20 20 70 6c 6f 74	....figure(2);...hold.on;...plot
1dac0	28 5b 78 31 20 78 34 5d 2c 5b 79 31 20 79 34 5d 2c 27 63 2d 27 29 3b 0a 20 20 70 6c 6f 74 28 5b	([x1.x4],[y1.y4],'c-');...plot([
1dae0	78 31 20 78 34 5d 2c 5b 79 31 20 79 34 5d 2c 27 63 6f 27 29 3b 0a 20 20 68 6f 6c 64 20 6f 66 66	x1.x4],[y1.y4],'co');...hold.off
1db00	3b 0a 0a 20 20 20 74 69 74 6c 65 28 5b 27 43 6c 69 63 6b 20 6f 6e 20 74 68 65 20 74 77 6f 20 72	;.....title(['Click.on.the.two.r
1db20	65 6d 61 69 6e 69 6e 67 20 65 78 74 72 65 6d 65 20 63 6f 72 6e 65 72 73 20 6f 66 20 74 68 65 20	emaining.extreme.corners.of.the.
1db40	72 69 67 68 74 20 72 65 63 74 61 6e 67 75 6c 61 72 20 70 61 74 74 65 72 6e 2e 2e 2e 20 49 6d 61	right.rectangular.pattern....Ima
1db60	67 65 20 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 5d 29 3b 0a 20 20 20 0a 20 20 20 64 69 73 70 28	ge.'.num2str(kk)]);........disp(
1db80	27 43 6c 69 63 6b 20 6f 6e 20 74 68 65 20 74 77 6f 20 72 65 6d 61 69 6e 69 6e 67 20 65 78 74 72	'Click.on.the.two.remaining.extr
1dba0	65 6d 65 20 63 6f 72 6e 65 72 73 20 6f 66 20 74 68 65 20 72 69 67 68 74 20 72 65 63 74 61 6e 67	eme.corners.of.the.right.rectang
1dbc0	75 6c 61 72 20 70 61 74 74 65 72 6e 2e 2e 2e 27 29 3b 0a 20 20 20 0a 20 20 20 5b 78 2c 79 5d 20	ular.pattern...');........[x,y].
1dbe0	3d 20 67 69 6e 70 75 74 33 28 32 29 3b 0a 20 20 20 0a 20 20 20 5b 58 63 2c 67 6f 6f 64 2c 62 61	=.ginput3(2);........[Xc,good,ba
1dc00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 67 6f 5f 63 61 6c 69 62 5f 6f 70 74 69 6d 5f 63 6f 6e	TOOLBOX_calib/go_calib_optim_con
1dc20	74 2e 6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	t.m.............................
1dc40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1dc60	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
1dc80	20 20 20 36 35 31 30 20 20 37 30 32 34 30 33 37 33 32 37 20 20 31 32 35 37 34 00 20 00 00 00 00	...6510..7024037327..12574......
1dca0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1dcc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1dce0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1dd00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1dd20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1dd40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1dd60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1dd80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1dda0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1ddc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1dde0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1de00	25 20 53 69 6d 70 6c 69 66 69 65 64 20 76 65 72 73 69 6f 6e 20 6f 66 20 67 6f 5f 63 61 6c 69 62	%.Simplified.version.of.go_calib
1de20	2e 6d 0a 0a 69 66 20 7e 65 78 69 73 74 28 27 78 5f 31 27 29 2c 0a 20 20 20 63 6c 69 63 6b 5f 63	.m..if.~exist('x_1'),....click_c
1de40	61 6c 69 62 3b 0a 65 6e 64 3b 0a 20 20 20 20 20 20 0a 0a 25 20 49 6e 69 74 69 61 6c 69 73 61 74	alib;.end;.........%.Initialisat
1de60	69 6f 6e 20 6f 66 20 74 68 65 20 70 61 72 61 6d 65 74 65 72 73 20 66 6f 72 20 67 6c 6f 62 61 6c	ion.of.the.parameters.for.global
1de80	20 6d 69 6e 69 6d 69 7a 61 74 69 6f 6e 3a 0a 0a 69 6e 69 74 5f 70 61 72 61 6d 20 3d 20 5b 66 63	.minimization:..init_param.=.[fc
1dea0	3b 6b 63 5d 3b 0a 0a 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a 20 20 20 0a 20 20 20	;kc];..for.kk.=.1:n_ima,........
1dec0	69 66 20 7e 65 78 69 73 74 28 5b 27 6f 6d 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 5d 29 2c	if.~exist(['omc_'.num2str(kk)]),
1dee0	0a 20 20 20 20 20 20 65 76 61 6c 28 5b 27 48 6b 6b 20 3d 20 48 5f 27 20 6e 75 6d 32 73 74 72 28	.......eval(['Hkk.=.H_'.num2str(
1df00	6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 09 48 32 20 3d 20 69 6e 76 5f 4b 4b 2a 48 6b 6b 3b 0a	kk).';']);.....H2.=.inv_KK*Hkk;.
1df20	20 20 20 20 20 20 73 63 20 3d 20 6d 65 61 6e 28 5b 6e 6f 72 6d 28 48 32 28 3a 2c 31 29 29 3b 6e	......sc.=.mean([norm(H2(:,1));n
1df40	6f 72 6d 28 48 32 28 3a 2c 32 29 29 5d 29 3b 0a 20 20 20 09 48 32 20 3d 20 48 32 2f 73 63 3b 0a	orm(H2(:,2))]);.....H2.=.H2/sc;.
1df60	20 20 20 20 20 20 6f 6d 63 6b 6b 20 3d 20 72 6f 64 72 69 67 75 65 73 28 5b 48 32 28 3a 2c 31 3a	......omckk.=.rodrigues([H2(:,1:
1df80	32 29 20 63 72 6f 73 73 28 48 32 28 3a 2c 31 29 2c 48 32 28 3a 2c 32 29 29 5d 29 3b 0a 20 20 20	2).cross(H2(:,1),H2(:,2))]);....
1dfa0	20 20 20 54 63 6b 6b 20 3d 20 48 32 28 3a 2c 33 29 3b 0a 20 20 20 20 20 20 65 76 61 6c 28 5b 27	...Tckk.=.H2(:,3);.......eval(['
1dfc0	6f 6d 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 6f 6d 63 6b 6b 3b 27 5d 29 3b	omc_'.num2str(kk).'.=.omckk;']);
1dfe0	0a 20 20 20 20 20 20 65 76 61 6c 28 5b 27 54 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27	.......eval(['Tc_'.num2str(kk).'
1e000	20 3d 20 54 63 6b 6b 3b 27 5d 29 3b 0a 20 20 20 65 6e 64 3b 0a 20 20 20 0a 20 20 20 65 76 61 6c	.=.Tckk;']);....end;........eval
1e020	28 5b 27 69 6e 69 74 5f 70 61 72 61 6d 20 3d 20 5b 69 6e 69 74 5f 70 61 72 61 6d 3b 20 6f 6d 63	(['init_param.=.[init_param;.omc
1e040	5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 20 54 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b	_'.num2str(kk).';.Tc_'.num2str(k
1e060	6b 29 20 27 5d 3b 27 5d 29 3b 0a 65 6e 64 3b 0a 0a 69 6e 69 74 5f 70 61 72 61 6d 20 3d 20 5b 69	k).'];']);.end;..init_param.=.[i
1e080	6e 69 74 5f 70 61 72 61 6d 3b 63 63 5d 3b 0a 0a 0a 0a 25 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d	nit_param;cc];....%-------------
1e0a0	2d 2d 2d 2d 2d 2d 2d 20 4d 61 69 6e 20 4f 70 74 69 6d 69 7a 61 74 69 6f 6e 3a 0a 0a 66 70 72 69	-------.Main.Optimization:..fpri
1e0c0	6e 74 66 28 31 2c 27 5c 6e 52 65 2d 4f 70 74 69 6d 69 7a 61 74 69 6f 6e 2e 2e 2e 5c 6e 27 29 0a	ntf(1,'\nRe-Optimization...\n').
1e0e0	0a 0a 70 61 72 61 6d 20 3d 20 69 6e 69 74 5f 70 61 72 61 6d 3b 0a 63 68 61 6e 67 65 20 3d 20 31	..param.=.init_param;.change.=.1
1e100	3b 0a 0a 69 74 65 72 20 3d 20 30 3b 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 49 74 65 72 61 74 69	;..iter.=.0;..fprintf(1,'Iterati
1e120	6f 6e 20 27 29 3b 0a 0a 77 68 69 6c 65 20 28 63 68 61 6e 67 65 20 3e 20 31 65 2d 36 29 26 28 69	on.');..while.(change.>.1e-6)&(i
1e140	74 65 72 20 3c 20 31 30 29 2c 0a 20 20 20 0a 20 20 20 66 70 72 69 6e 74 66 28 31 2c 27 25 64 2e	ter.<.10),........fprintf(1,'%d.
1e160	2e 2e 27 2c 69 74 65 72 2b 31 29 3b 0a 0a 09 4a 4a 20 3d 20 5b 5d 3b 0a 09 65 78 20 3d 20 5b 5d	..',iter+1);...JJ.=.[];..ex.=.[]
1e180	3b 0a 09 0a 09 63 20 3d 20 70 61 72 61 6d 28 36 2a 6e 5f 69 6d 61 20 2b 20 34 20 2b 20 33 3a 36	;....c.=.param(6*n_ima.+.4.+.3:6
1e1a0	2a 6e 5f 69 6d 61 20 2b 20 35 20 2b 20 33 29 3b 0a 09 66 20 3d 20 70 61 72 61 6d 28 31 3a 32 29	*n_ima.+.5.+.3);..f.=.param(1:2)
1e1c0	3b 0a 09 6b 20 3d 20 70 61 72 61 6d 28 33 3a 36 29 3b 0a 09 0a 09 66 6f 72 20 6b 6b 20 3d 20 31	;..k.=.param(3:6);....for.kk.=.1
1e1e0	3a 6e 5f 69 6d 61 2c 0a 20 20 09 20 0a 20 20 20 09 6f 6d 63 6b 6b 20 3d 20 70 61 72 61 6d 28 34	:n_ima,..........omckk.=.param(4
1e200	2b 36 2a 28 6b 6b 2d 31 29 20 2b 20 33 3a 36 2a 6b 6b 20 2b 20 33 29 3b 0a 20 20 20 09 0a 20 20	+6(kk-1).+.3:6kk.+.3);........
1e220	09 09 54 63 6b 6b 20 3d 20 70 61 72 61 6d 28 36 2a 6b 6b 2b 31 20 2b 20 33 3a 36 2a 6b 6b 2b 33	..Tckk.=.param(6kk+1.+.3:6kk+3
1e240	20 2b 20 33 29 3b 0a 20 20 20 09 0a 20 20 20 09 65 76 61 6c 28 5b 27 58 5f 6b 6b 20 3d 20 58 5f	.+.3);..........eval(['X_kk.=.X_
1e260	27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 09 65 76 61 6c 28 5b 27	'.num2str(kk).';']);.....eval(['
1e280	78 5f 6b 6b 20 3d 20 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20	x_kk.=.x_'.num2str(kk).';']);...
1e2a0	20 09 0a 20 20 20 09 4e 70 20 3d 20 73 69 7a 65 28 58 5f 6b 6b 2c 32 29 3b 0a 20 20 20 09 0a 20	.......Np.=.size(X_kk,2);.......
1e2c0	20 20 09 4a 4a 6b 6b 20 3d 20 7a 65 72 6f 73 28 32 2a 4e 70 2c 6e 5f 69 6d 61 20 2a 20 36 20 2b	...JJkk.=.zeros(2Np,n_ima..6.+
1e2e0	20 38 29 3b 0a 20 20 20 09 0a 20 20 20 09 5b 78 2c 64 78 64 6f 6d 2c 64 78 64 54 2c 64 78 64 66	.8);..........[x,dxdom,dxdT,dxdf
1e300	2c 64 78 64 63 2c 64 78 64 6b 5d 20 3d 20 70 72 6f 6a 65 63 74 5f 70 6f 69 6e 74 73 28 58 5f 6b	,dxdc,dxdk].=.project_points(X_k
1e320	6b 2c 6f 6d 63 6b 6b 2c 54 63 6b 6b 2c 66 2c 63 2c 6b 29 3b 0a 20 20 20 20 20 20 0a 20 20 20 09	k,omckk,Tckk,f,c,k);............
1e340	65 78 6b 6b 20 3d 20 78 5f 6b 6b 20 2d 20 78 3b 0a 20 20 20 0a 20 20 20 09 65 78 20 3d 20 5b 65	exkk.=.x_kk.-.x;.........ex.=.[e
1e360	78 3b 65 78 6b 6b 28 3a 29 5d 3b 0a 20 20 20 0a 20 20 20 09 4a 4a 6b 6b 28 3a 2c 31 3a 32 29 20	x;exkk(:)];.........JJkk(:,1:2).
1e380	3d 20 64 78 64 66 3b 0a 20 20 20 09 4a 4a 6b 6b 28 3a 2c 33 3a 36 29 20 3d 20 64 78 64 6b 3b 0a	=.dxdf;.....JJkk(:,3:6).=.dxdk;.
1e3a0	20 20 20 09 4a 4a 6b 6b 28 3a 2c 34 2b 36 2a 28 6b 6b 2d 31 29 20 2b 20 33 3a 36 2a 6b 6b 20 2b	....JJkk(:,4+6(kk-1).+.3:6kk.+
1e3c0	20 33 29 20 3d 20 64 78 64 6f 6d 3b 0a 20 20 20 09 4a 4a 6b 6b 28 3a 2c 36 2a 6b 6b 2b 31 20 2b	.3).=.dxdom;.....JJkk(:,6*kk+1.+
1e3e0	20 33 3a 36 2a 6b 6b 2b 33 20 2b 20 33 29 20 3d 20 64 78 64 54 3b 0a 20 20 20 09 4a 4a 6b 6b 28	.3:6*kk+3.+.3).=.dxdT;.....JJkk(
1e400	3a 2c 36 2a 6e 5f 69 6d 61 20 2b 20 34 20 2b 20 33 3a 36 2a 6e 5f 69 6d 61 20 2b 20 35 20 2b 20	:,6n_ima.+.4.+.3:6n_ima.+.5.+.
1e420	33 29 20 3d 20 64 78 64 63 3b 0a 20 20 20 09 0a 20 20 20 09 4a 4a 20 3d 20 5b 4a 4a 3b 4a 4a 6b	3).=.dxdc;..........JJ.=.[JJ;JJk
1e440	6b 5d 3b 0a 20 20 20 09 0a 09 65 6e 64 3b 0a 09 0a 09 70 61 72 61 6d 5f 69 6e 6e 6f 76 20 3d 20	k];.......end;....param_innov.=.
1e460	69 6e 76 28 4a 4a 27 2a 4a 4a 29 2a 28 4a 4a 27 29 2a 65 78 3b 0a 09 70 61 72 61 6d 5f 75 70 20	inv(JJ'JJ)(JJ')*ex;..param_up.
1e480	3d 20 70 61 72 61 6d 20 2b 20 70 61 72 61 6d 5f 69 6e 6e 6f 76 3b 0a 09 63 68 61 6e 67 65 20 3d	=.param.+.param_innov;..change.=
1e4a0	20 6e 6f 72 6d 28 70 61 72 61 6d 5f 69 6e 6e 6f 76 29 2f 6e 6f 72 6d 28 70 61 72 61 6d 5f 75 70	.norm(param_innov)/norm(param_up
1e4c0	29 3b 0a 09 70 61 72 61 6d 20 3d 20 70 61 72 61 6d 5f 75 70 3b 0a 09 69 74 65 72 20 3d 20 69 74	);..param.=.param_up;..iter.=.it
1e4e0	65 72 20 2b 20 31 3b 0a 20 20 20 0a 65 6e 64 3b 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 27	er.+.1;.....end;..fprintf(1,'\n'
1e500	29 3b 0a 0a 0a 73 6f 6c 5f 77 69 74 68 5f 63 65 6e 74 65 72 20 3d 20 70 61 72 61 6d 3b 0a 0a 73	);...sol_with_center.=.param;..s
1e520	6f 6c 75 74 69 6f 6e 20 3d 20 73 6f 6c 5f 77 69 74 68 5f 63 65 6e 74 65 72 3b 0a 0a 0a 25 25 25	olution.=.sol_with_center;...%%%
1e540	20 45 78 74 72 61 63 74 69 6f 6e 20 6f 66 20 74 68 65 20 66 69 6e 61 6c 20 69 6e 74 72 69 6e 73	.Extraction.of.the.final.intrins
1e560	69 63 20 61 6e 64 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 61 74 65 72 73 3a 0a 0a 65 78	ic.and.extrinsic.paramaters:..ex
1e580	74 72 61 63 74 5f 70 61 72 61 6d 65 74 65 72 73 3b 0a 63 6f 6d 70 5f 65 72 72 6f 72 5f 63 61 6c	tract_parameters;.comp_error_cal
1e5a0	69 62 3b 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 5c 6e 43 61 6c 69 62 72 61 74 69 6f 6e 20	ib;..fprintf(1,'\n\nCalibration.
1e5c0	72 65 73 75 6c 74 73 20 77 69 74 68 20 70 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 20 65 73 74	results.with.principal.point.est
1e5e0	69 6d 61 74 69 6f 6e 3a 5c 6e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 46 6f 63 61 6c	imation:\n\n');.fprintf(1,'Focal
1e600	20 4c 65 6e 67 74 68 3a 20 20 20 20 20 66 63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35	.Length:.....fc.=.[.%3.5f...%3.5
1e620	66 5d 5c 6e 27 2c 66 63 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 50 72 69 6e 63 69 70 61 6c 20	f]\n',fc);.fprintf(1,'Principal.
1e640	70 6f 69 6e 74 3a 20 20 63 63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27	point:..cc.=.[.%3.5f...%3.5f]\n'
1e660	2c 63 63 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 44 69 73 74 6f 72 74 69 6f 6e 3a 20 20 20 20	,cc);.fprintf(1,'Distortion:....
1e680	20 20 20 6b 63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 20	...kc.=.[.%3.5f...%3.5f...%3.5f.
1e6a0	20 20 25 33 2e 35 66 5d 5c 6e 27 2c 6b 63 29 3b 20 20 20 0a 66 70 72 69 6e 74 66 28 31 2c 27 50	..%3.5f]\n',kc);....fprintf(1,'P
1e6c0	69 78 65 6c 20 65 72 72 6f 72 3a 20 20 20 20 20 20 65 72 72 20 3d 20 5b 20 25 33 2e 35 66 20 20	ixel.error:......err.=.[.%3.5f..
1e6e0	20 25 33 2e 35 66 5d 5c 6e 5c 6e 27 2c 65 72 72 5f 73 74 64 29 3b 20 0a 0a 0a 25 25 25 25 25 25	.%3.5f]\n\n',err_std);....%%%%%%
1e700	25 25 25 25 25 25 25 25 25 25 25 25 25 25 20 47 52 41 50 48 49 43 41 4c 20 4f 55 54 50 55 54 20	%%%%%%%%%%%%%%.GRAPHICAL.OUTPUT.
1e720	25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 0a 0a 67 72 61 70 68 6f	%%%%%%%%%%%%%%%%%%%%%%%%..grapho
1e740	75 74 5f 63 61 6c 69 62 3b 0a 0a 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 4e 6f 74 65 3a 20 49 66	ut_calib;....fprintf(1,'Note:.If
1e760	20 74 68 65 20 73 6f 6c 75 74 69 6f 6e 20 69 73 20 6e 6f 74 20 73 61 74 69 73 66 61 63 74 6f 72	.the.solution.is.not.satisfactor
1e780	79 2c 20 73 65 6c 65 63 74 20 73 6f 6c 75 74 69 6f 6e 20 77 69 74 68 6f 75 74 20 63 65 6e 74 65	y,.select.solution.without.cente
1e7a0	72 20 65 73 74 69 6d 61 74 69 6f 6e 2e 5c 6e 5c 6e 27 29 3b 0a 0a 0a 25 25 25 25 25 25 25 25 25	r.estimation.\n\n');...%%%%%%%%%
1e7c0	25 25 25 25 25 20 53 61 76 65 20 61 6c 6c 20 74 68 65 20 43 61 6c 69 62 72 61 74 69 6f 6e 20 72	%%%%%.Save.all.the.Calibration.r
1e7e0	65 73 75 6c 74 73 3a 0a 0a 64 69 73 70 28 27 53 61 76 65 20 63 61 6c 69 62 72 61 74 69 6f 6e 20	esults:..disp('Save.calibration.
1e800	72 65 73 75 6c 74 73 20 75 6e 64 65 72 20 43 61 6c 69 62 5f 52 65 73 75 6c 74 73 2e 6d 61 74 27	results.under.Calib_Results.mat'
1e820	29 3b 0a 0a 73 74 72 69 6e 67 5f 73 61 76 65 20 3d 20 27 73 61 76 65 20 43 61 6c 69 62 5f 52 65	);..string_save.=.'save.Calib_Re
1e840	73 75 6c 74 73 20 66 63 20 6b 63 20 63 63 20 65 78 20 78 20 79 20 73 6f 6c 75 74 69 6f 6e 20 73	sults.fc.kc.cc.ex.x.y.solution.s
1e860	6f 6c 5f 77 69 74 68 5f 63 65 6e 74 65 72 20 73 6f 6c 75 74 69 6f 6e 5f 69 6e 69 74 20 68 69 73	ol_with_center.solution_init.his
1e880	74 6f 72 79 20 77 69 6e 74 78 20 77 69 6e 74 79 20 6e 5f 69 6d 61 20 74 79 70 65 5f 6e 75 6d 62	tory.wintx.winty.n_ima.type_numb
1e8a0	65 72 69 6e 67 20 4e 5f 73 6c 6f 74 73 20 73 6d 61 6c 6c 5f 63 61 6c 69 62 5f 69 6d 61 67 65 20	ering.N_slots.small_calib_image.
1e8c0	66 69 72 73 74 5f 6e 75 6d 20 69 6d 61 67 65 5f 6e 75 6d 62 65 72 73 20 66 6f 72 6d 61 74 5f 69	first_num.image_numbers.format_i
1e8e0	6d 61 67 65 20 63 61 6c 69 62 5f 6e 61 6d 65 20 48 63 61 6c 20 57 63 61 6c 20 6e 78 20 6e 79 20	mage.calib_name.Hcal.Wcal.nx.ny.
1e900	6d 61 70 20 64 58 5f 64 65 66 61 75 6c 74 20 64 59 5f 64 65 66 61 75 6c 74 20 4b 4b 20 69 6e 76	map.dX_default.dY_default.KK.inv
1e920	5f 4b 4b 20 64 58 20 64 59 27 3b 0a 0a 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a 20	_KK.dX.dY';..for.kk.=.1:n_ima,..
1e940	20 20 73 74 72 69 6e 67 5f 73 61 76 65 20 3d 20 5b 73 74 72 69 6e 67 5f 73 61 76 65 20 27 20 58	..string_save.=.[string_save.'.X
1e960	5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29	_'.num2str(kk).'.x_'.num2str(kk)
1e980	20 27 20 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 65 78 5f 27 20 6e 75 6d 32 73 74	.'.y_'.num2str(kk).'.ex_'.num2st
1e9a0	72 28 6b 6b 29 20 27 20 6f 6d 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 52 63 5f 27	r(kk).'.omc_'.num2str(kk).'.Rc_'
1e9c0	20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 54 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20	.num2str(kk).'.Tc_'.num2str(kk).
1e9e0	27 20 48 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 48 69 6e 69 5f 27 20 6e 75 6d 32 73	'.H_'.num2str(kk).'.Hini_'.num2s
1ea00	74 72 28 6b 6b 29 20 27 20 6e 5f 73 71 5f 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20	tr(kk).'.n_sq_x_'.num2str(kk).'.
1ea20	6e 5f 73 71 5f 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 77 69 6e 74 78 5f 27 20 6e	n_sq_y_'.num2str(kk).'.wintx_'.n
1ea40	75 6d 32 73 74 72 28 6b 6b 29 20 27 20 77 69 6e 74 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29	um2str(kk).'.winty_'.num2str(kk)
1ea60	20 27 20 64 58 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 64 59 5f 27 20 6e 75 6d 32 73	.'.dX_'.num2str(kk).'.dY_'.num2s
1ea80	74 72 28 6b 6b 29 5d 3b 0a 65 6e 64 3b 0a 0a 65 76 61 6c 28 73 74 72 69 6e 67 5f 73 61 76 65 29	tr(kk)];.end;..eval(string_save)
1eaa0	3b 0a 0a 72 65 74 75 72 6e 3b 0a 0a 69 66 20 65 78 69 73 74 28 27 63 61 6c 69 62 5f 64 61 74 61	;..return;..if.exist('calib_data
1eac0	2e 6d 61 74 27 29 2c 0a 20 20 20 63 63 63 20 3d 20 63 6f 6d 70 75 74 65 72 3b 0a 20 20 20 69 66	.mat'),....ccc.=.computer;....if
1eae0	20 63 63 63 28 31 29 3d 3d 27 50 27 2c 0a 20 20 20 20 20 20 65 76 61 6c 28 27 21 64 65 6c 20 63	.ccc(1)=='P',.......eval('!del.c
1eb00	61 6c 69 62 5f 64 61 74 61 2e 6d 61 74 27 29 3b 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 65	alib_data.mat');....else.......e
1eb20	76 61 6c 28 27 21 72 6d 20 63 61 6c 69 62 5f 64 61 74 61 2e 6d 61 74 27 29 3b 0a 20 20 20 65 6e	val('!rm.calib_data.mat');....en
1eb40	64 3b 0a 65 6e 64 3b 0a 20 43 6f 6d 70 75 74 69 6e 67 20 6f 66 20 74 68 65 20 65 78 74 72 69 6e	d;.end;..Computing.of.the.extrin
1eb60	73 69 63 20 70 61 72 61 6d 65 74 65 72 73 20 28 66 72 6f 6d 20 74 68 65 20 63 6f 6c 6c 69 6e 65	sic.parameters.(from.the.colline
1eb80	61 74 69 6f 6e 73 29 0a 0a 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a 20 20 20 0a 20	ations)..for.kk.=.1:n_ima,......
1eba0	20 20 65 76 61 6c 28 5b 27 48 6c 6b 6b 20 3d 20 48 6c 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29	..eval(['Hlkk.=.Hl_'.num2str(kk)
1ebc0	20 27 3b 27 5d 29 3b 0a 20 20 20 0a 20 20 20 48 6c 32 20 3d 20 69 6e 76 5f 4b 4b 2a 48 6c 6b 6b	.';']);........Hl2.=.inv_KK*Hlkk
1ebe0	3b 0a 20 20 20 20 20 20 0a 20 20 20 73 63 20 3d 20 6d 65 61 6e 28 5b 6e 6f 72 6d 28 48 6c 32 28	;...........sc.=.mean([norm(Hl2(
1ec00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 67 72 61 70 68 6f 75 74 5f 63 61 6c 69 62 2e 6d 00 00	TOOLBOX_calib/graphout_calib.m..
1ec20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1ec40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1ec60	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
1ec80	20 20 20 20 33 35 35 20 20 37 30 32 34 30 33 37 33 33 31 20 20 31 31 35 34 31 00 20 00 00 00 00	....355..7024037331..11541......
1eca0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1ecc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1ece0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1ed00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1ed20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1ed40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1ed60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1ed80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1eda0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1edc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1ede0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1ee00	0a 0a 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 20 47 52 41 50 48 49 43 41 4c	..%%%%%%%%%%%%%%%%%%%%.GRAPHICAL
1ee20	20 4f 55 54 50 55 54 20 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25	.OUTPUT.%%%%%%%%%%%%%%%%%%%%%%%%
1ee40	0a 0a 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 20 53 48 4f 57 20 45 58 54 52	..%%%%%%%%%%%%%%%%%%%%.SHOW.EXTR
1ee60	49 4e 53 49 43 20 52 45 53 55 4c 54 53 20 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25	INSIC.RESULTS.%%%%%%%%%%%%%%%%%%
1ee80	25 25 25 25 25 25 0a 0a 65 78 74 5f 63 61 6c 69 62 3b 0a 0a 25 25 25 25 25 25 25 25 25 25 25 25	%%%%%%..ext_calib;..%%%%%%%%%%%%
1eea0	25 25 25 25 25 25 25 25 20 52 45 50 52 4f 4a 45 43 54 20 4f 4e 20 54 48 45 20 49 4d 41 47 45 53	%%%%%%%%.REPROJECT.ON.THE.IMAGES
1eec0	20 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 0a 0a 72 65 70 72 6f	.%%%%%%%%%%%%%%%%%%%%%%%%..repro
1eee0	6a 65 63 74 5f 63 61 6c 69 62 3b 0a 0a 61 64 2e 6d 00 65 72 00 00 04 2c 00 02 35 d7 00 1c 00 0f	ject_calib;..ad.m.er...,..5.....
1ef00	70 72 6f 6a 65 63 74 32 5f 6f 75 6c 75 2e 6d 00 00 00 04 44 00 02 35 d8 00 1c 00 0f 70 72 6f 6a	project2_oulu.m....D..5.....proj
1ef20	65 63 74 65 64 47 72 69 64 2e 6d 00 00 00 04 60 00 02 35 d9 00 20 00 10 70 72 6f 6a 65 63 74 5f	ectedGrid.m....`..5.....project_
1ef40	70 6f 69 6e 74 73 2e 6d 00 47 72 69 00 00 04 74 00 02 35 da 00 18 00 09 72 65 61 64 72 61 73 2e	points.m.Gri...t..5.....readras.
1ef60	6d 00 74 5f 00 00 04 94 00 02 35 db 00 24 00 15 72 65 63 6f 6d 70 5f 63 6f 72 6e 65 72 5f 63 61	m.t_......5..$..recomp_corner_ca
1ef80	6c 69 62 2e 6d 00 00 17 00 00 04 a4 00 02 35 dc 00 14 00 06 72 65 63 74 2e 6d 00 63 00 00 04 c0	lib.m.........5.....rect.m.c....
1efa0	00 02 35 dd 00 20 00 12 52 65 63 74 61 6e 67 6c 65 32 53 71 75 61 72 65 2e 6d 00 74 00 00 04 dc	..5.....Rectangle2Square.m.t....
1efc0	00 02 35 de 00 20 00 11 72 65 70 72 6f 6a 65 63 74 5f 63 61 6c 69 62 2e 6d 00 72 65 00 00 04 f0	..5.....reproject_calib.m.re....
1efe0	00 02 35 df 00 18 00 0b 72 6f 64 72 69 67 75 65 73 2e 6d 00 00 00 05 04 00 02 35 e0 00 18 00 0a	..5.....rodrigues.m.......5.....
1f000	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 67 72 61 70 68 6f 75 74 5f 63 61 6c 69 62 33 44 2e 6d	TOOLBOX_calib/graphout_calib3D.m
1f020	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1f040	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1f060	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
1f080	20 20 20 37 31 32 36 20 20 37 30 32 34 30 33 37 33 33 32 20 20 31 31 37 35 34 00 20 00 00 00 00	...7126..7024037332..11754......
1f0a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1f0c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1f0e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1f100	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1f120	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1f140	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1f160	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1f180	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1f1a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1f1c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1f1e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
1f200	0a 0a 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 20 47 52 41 50 48 49 43 41 4c	..%%%%%%%%%%%%%%%%%%%%.GRAPHICAL
1f220	20 4f 55 54 50 55 54 20 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25	.OUTPUT.%%%%%%%%%%%%%%%%%%%%%%%%
1f240	0a 0a 0a 25 20 43 6f 6c 6f 72 20 63 6f 64 65 20 66 6f 72 20 65 61 63 68 20 69 6d 61 67 65 3a 0a	...%.Color.code.for.each.image:.
1f260	0a 63 6f 6c 6f 72 73 20 3d 20 27 62 72 67 6b 63 6d 27 3b 0a 0a 0a 25 25 25 20 53 68 6f 77 20 74	.colors.=.'brgkcm';...%%%.Show.t
1f280	68 65 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73 0a 0a 49 50 20 3d 20 38 2a	he.extrinsic.parameters..IP.=.8*
1f2a0	64 58 2a 28 5b 30 20 6e 78 2d 31 20 6e 78 2d 31 20 30 20 30 20 3b 20 30 20 30 20 6e 79 2d 31 20	dX*([0.nx-1.nx-1.0.0.;.0.0.ny-1.
1f2c0	6e 79 2d 31 20 30 3b 31 20 31 20 31 20 31 20 31 5d 20 2d 20 5b 63 63 3b 30 5d 2a 6f 6e 65 73 28	ny-1.0;1.1.1.1.1].-.[cc;0]*ones(
1f2e0	31 2c 35 29 29 20 2e 2f 20 28 5b 66 63 3b 31 5d 2a 6f 6e 65 73 28 31 2c 35 29 29 3b 0a 0a 0a 66	1,5))../.([fc;1]*ones(1,5));...f
1f300	69 67 75 72 65 28 34 29 3b 0a 5b 61 2c 62 5d 20 3d 20 76 69 65 77 3b 0a 0a 66 69 67 75 72 65 28	igure(4);.[a,b].=.view;..figure(
1f320	34 29 3b 0a 70 6c 6f 74 33 28 35 2a 5b 30 20 64 58 20 30 20 30 20 30 20 30 20 5d 2c 35 2a 5b 30	4);.plot3(5[0.dX.0.0.0.0.],5[0
1f340	20 30 20 30 20 30 20 30 20 64 58 5d 2c 2d 35 2a 5b 30 20 30 20 30 20 64 58 20 30 20 30 20 5d 2c	.0.0.0.0.dX],-5*[0.0.0.dX.0.0.],
1f360	27 62 2d 27 2c 27 6c 69 6e 65 77 69 64 74 68 27 2c 32 27 29 3b 0a 68 6f 6c 64 20 6f 6e 3b 0a 70	'b-','linewidth',2');.hold.on;.p
1f380	6c 6f 74 33 28 49 50 28 31 2c 3a 29 2c 49 50 28 33 2c 3a 29 2c 2d 49 50 28 32 2c 3a 29 2c 27 72	lot3(IP(1,:),IP(3,:),-IP(2,:),'r
1f3a0	2d 27 2c 27 6c 69 6e 65 77 69 64 74 68 27 2c 32 29 3b 0a 74 65 78 74 28 36 2a 64 58 2c 30 2c 30	-','linewidth',2);.text(6*dX,0,0
1f3c0	2c 27 58 5f 63 27 29 3b 0a 74 65 78 74 28 2d 64 58 2c 35 2a 64 58 2c 30 2c 27 5a 5f 63 27 29 3b	,'X_c');.text(-dX,5*dX,0,'Z_c');
1f3e0	0a 74 65 78 74 28 30 2c 30 2c 2d 36 2a 64 58 2c 27 59 5f 63 27 29 3b 0a 74 65 78 74 28 2d 64 58	.text(0,0,-6*dX,'Y_c');.text(-dX
1f400	2c 2d 64 58 2c 64 58 2c 27 4f 5f 63 27 29 3b 0a 0a 0a 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f 69	,-dX,dX,'O_c');...for.kk.=.1:n_i
1f420	6d 61 2c 0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 58 58 5f 6b 6b 20 3d 20 58 5f 27 20 6e 75	ma,........eval(['XX_kk.=.X_'.nu
1f440	6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 65 76 61 6c 28 5b 27 6f 6d 63 5f 6b	m2str(kk).';']);....eval(['omc_k
1f460	6b 20 3d 20 6f 6d 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20	k.=.omc_'.num2str(kk).';']);....
1f480	65 76 61 6c 28 5b 27 54 63 5f 6b 6b 20 3d 20 54 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20	eval(['Tc_kk.=.Tc_'.num2str(kk).
1f4a0	27 3b 27 5d 29 3b 0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 6e 6c 5f 73 71 5f 78 20 3d 20 6e	';']);........eval(['nl_sq_x.=.n
1f4c0	6c 5f 73 71 5f 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 65	l_sq_x_'.num2str(kk).';']);....e
1f4e0	76 61 6c 28 5b 27 6e 6c 5f 73 71 5f 79 20 3d 20 6e 6c 5f 73 71 5f 79 5f 27 20 6e 75 6d 32 73 74	val(['nl_sq_y.=.nl_sq_y_'.num2st
1f500	72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 6e 72 5f 73 71	r(kk).';']);........eval(['nr_sq
1f520	5f 78 20 3d 20 6e 72 5f 73 71 5f 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29	_x.=.nr_sq_x_'.num2str(kk).';'])
1f540	3b 0a 20 20 20 65 76 61 6c 28 5b 27 6e 72 5f 73 71 5f 79 20 3d 20 6e 72 5f 73 71 5f 79 5f 27 20	;....eval(['nr_sq_y.=.nr_sq_y_'.
1f560	6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 0a 20 20 20 52 5f 6b 6b 20 3d 20 72 6f	num2str(kk).';']);.....R_kk.=.ro
1f580	64 72 69 67 75 65 73 28 6f 6d 63 5f 6b 6b 29 3b 0a 20 20 20 0a 20 20 20 59 59 5f 6b 6b 20 3d 20	drigues(omc_kk);........YY_kk.=.
1f5a0	52 5f 6b 6b 20 2a 20 58 58 5f 6b 6b 20 2b 20 54 63 5f 6b 6b 20 2a 20 6f 6e 65 73 28 31 2c 6c 65	R_kk..XX_kk.+.Tc_kk..ones(1,le
1f5c0	6e 67 74 68 28 58 58 5f 6b 6b 29 29 3b 0a 20 20 20 0a 20 20 20 59 59 6c 5f 6b 6b 20 3d 20 59 59	ngth(XX_kk));........YYl_kk.=.YY
1f5e0	5f 6b 6b 28 3a 2c 31 3a 28 6e 6c 5f 73 71 5f 78 2b 31 29 2a 28 6e 6c 5f 73 71 5f 79 2b 31 29 29	_kk(:,1:(nl_sq_x+1)*(nl_sq_y+1))
1f600	3b 0a 20 20 20 59 59 72 5f 6b 6b 20 3d 20 59 59 5f 6b 6b 28 3a 2c 28 6e 6c 5f 73 71 5f 78 2b 31	;....YYr_kk.=.YY_kk(:,(nl_sq_x+1
1f620	29 2a 28 6e 6c 5f 73 71 5f 79 2b 31 29 2b 31 3a 65 6e 64 29 3b 0a 0a 20 20 20 0a 20 20 20 65 76	)*(nl_sq_y+1)+1:end);.........ev
1f640	61 6c 28 5b 27 59 59 6c 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 59 59 6c 5f 6b	al(['YYl_'.num2str(kk).'.=.YYl_k
1f660	6b 3b 27 5d 29 3b 0a 20 20 20 65 76 61 6c 28 5b 27 59 59 72 5f 27 20 6e 75 6d 32 73 74 72 28 6b	k;']);....eval(['YYr_'.num2str(k
1f680	6b 29 20 27 20 3d 20 59 59 72 5f 6b 6b 3b 27 5d 29 3b 0a 20 20 20 0a 20 20 20 75 75 20 3d 20 5b	k).'.=.YYr_kk;']);........uu.=.[
1f6a0	2d 64 58 3b 2d 64 59 3b 30 5d 2f 32 3b 0a 20 20 20 75 75 20 3d 20 52 5f 6b 6b 20 2a 20 75 75 20	-dX;-dY;0]/2;....uu.=.R_kk.*.uu.
1f6c0	2b 20 54 63 5f 6b 6b 3b 20 0a 20 20 20 0a 20 20 20 59 59 6c 78 20 3d 20 7a 65 72 6f 73 28 6e 6c	+.Tc_kk;.........YYlx.=.zeros(nl
1f6e0	5f 73 71 5f 78 2b 31 2c 6e 6c 5f 73 71 5f 79 2b 31 29 3b 0a 20 20 20 59 59 6c 79 20 3d 20 7a 65	_sq_x+1,nl_sq_y+1);....YYly.=.ze
1f700	72 6f 73 28 6e 6c 5f 73 71 5f 78 2b 31 2c 6e 6c 5f 73 71 5f 79 2b 31 29 3b 0a 20 20 20 59 59 6c	ros(nl_sq_x+1,nl_sq_y+1);....YYl
1f720	7a 20 3d 20 7a 65 72 6f 73 28 6e 6c 5f 73 71 5f 78 2b 31 2c 6e 6c 5f 73 71 5f 79 2b 31 29 3b 0a	z.=.zeros(nl_sq_x+1,nl_sq_y+1);.
1f740	20 20 20 0a 20 20 20 59 59 72 78 20 3d 20 7a 65 72 6f 73 28 6e 72 5f 73 71 5f 78 2b 31 2c 6e 72	.......YYrx.=.zeros(nr_sq_x+1,nr
1f760	5f 73 71 5f 79 2b 31 29 3b 0a 20 20 20 59 59 72 79 20 3d 20 7a 65 72 6f 73 28 6e 72 5f 73 71 5f	_sq_y+1);....YYry.=.zeros(nr_sq_
1f780	78 2b 31 2c 6e 72 5f 73 71 5f 79 2b 31 29 3b 0a 20 20 20 59 59 72 7a 20 3d 20 7a 65 72 6f 73 28	x+1,nr_sq_y+1);....YYrz.=.zeros(
1f7a0	6e 72 5f 73 71 5f 78 2b 31 2c 6e 72 5f 73 71 5f 79 2b 31 29 3b 0a 20 20 20 0a 20 20 20 59 59 6c	nr_sq_x+1,nr_sq_y+1);........YYl
1f7c0	78 28 3a 29 20 3d 20 59 59 6c 5f 6b 6b 28 31 2c 3a 29 3b 0a 20 20 20 59 59 6c 79 28 3a 29 20 3d	x(:).=.YYl_kk(1,:);....YYly(:).=
1f7e0	20 59 59 6c 5f 6b 6b 28 32 2c 3a 29 3b 0a 20 20 20 59 59 6c 7a 28 3a 29 20 3d 20 59 59 6c 5f 6b	.YYl_kk(2,:);....YYlz(:).=.YYl_k
1f800	6b 28 33 2c 3a 29 3b 0a 20 20 20 0a 20 20 20 59 59 72 78 28 3a 29 20 3d 20 59 59 72 5f 6b 6b 28	k(3,:);........YYrx(:).=.YYr_kk(
1f820	31 2c 3a 29 3b 0a 20 20 20 59 59 72 79 28 3a 29 20 3d 20 59 59 72 5f 6b 6b 28 32 2c 3a 29 3b 0a	1,:);....YYry(:).=.YYr_kk(2,:);.
1f840	20 20 20 59 59 72 7a 28 3a 29 20 3d 20 59 59 72 5f 6b 6b 28 33 2c 3a 29 3b 0a 20 20 20 0a 20 20	...YYrz(:).=.YYr_kk(3,:);.......
1f860	20 0a 20 20 20 25 6b 65 79 62 6f 61 72 64 3b 0a 20 20 20 0a 20 20 20 66 69 67 75 72 65 28 34 29	.....%keyboard;........figure(4)
1f880	3b 0a 20 20 20 68 68 68 3d 20 6d 65 73 68 28 59 59 6c 78 2c 59 59 6c 7a 2c 2d 59 59 6c 79 29 3b	;....hhh=.mesh(YYlx,YYlz,-YYly);
1f8a0	0a 20 20 20 73 65 74 28 68 68 68 2c 27 65 64 67 65 63 6f 6c 6f 72 27 2c 63 6f 6c 6f 72 73 28 72	....set(hhh,'edgecolor',colors(r
1f8c0	65 6d 28 6b 6b 2d 31 2c 36 29 2b 31 29 2c 27 6c 69 6e 65 77 69 64 74 68 27 2c 31 29 3b 20 25 2c	em(kk-1,6)+1),'linewidth',1);.%,
1f8e0	27 66 61 63 65 63 6f 6c 6f 72 27 2c 27 6e 6f 6e 65 27 29 3b 0a 20 20 20 25 70 6c 6f 74 33 28 59	'facecolor','none');....%plot3(Y
1f900	59 5f 6b 6b 28 31 2c 3a 29 2c 59 59 5f 6b 6b 28 33 2c 3a 29 2c 2d 59 59 5f 6b 6b 28 32 2c 3a 29	Y_kk(1,:),YY_kk(3,:),-YY_kk(2,:)
1f920	2c 5b 27 6f 27 20 63 6f 6c 6f 72 73 28 72 65 6d 28 6b 6b 2d 31 2c 36 29 2b 31 29 5d 29 3b 0a 20	,['o'.colors(rem(kk-1,6)+1)]);..
1f940	20 20 68 68 68 3d 20 6d 65 73 68 28 59 59 72 78 2c 59 59 72 7a 2c 2d 59 59 72 79 29 3b 0a 20 20	..hhh=.mesh(YYrx,YYrz,-YYry);...
1f960	20 73 65 74 28 68 68 68 2c 27 65 64 67 65 63 6f 6c 6f 72 27 2c 63 6f 6c 6f 72 73 28 72 65 6d 28	.set(hhh,'edgecolor',colors(rem(
1f980	6b 6b 2d 31 2c 36 29 2b 31 29 2c 27 6c 69 6e 65 77 69 64 74 68 27 2c 31 29 3b 0a 20 20 20 74 65	kk-1,6)+1),'linewidth',1);....te
1f9a0	78 74 28 75 75 28 31 29 2c 75 75 28 33 29 2c 2d 75 75 28 32 29 2c 6e 75 6d 32 73 74 72 28 6b 6b	xt(uu(1),uu(3),-uu(2),num2str(kk
1f9c0	29 2c 27 66 6f 6e 74 73 69 7a 65 27 2c 31 34 2c 27 63 6f 6c 6f 72 27 2c 63 6f 6c 6f 72 73 28 72	),'fontsize',14,'color',colors(r
1f9e0	65 6d 28 6b 6b 2d 31 2c 36 29 2b 31 29 29 3b 0a 20 20 20 0a 65 6e 64 3b 0a 0a 66 69 67 75 72 65	em(kk-1,6)+1));.....end;..figure
1fa00	28 34 29 3b 72 6f 74 61 74 65 33 64 20 6f 6e 3b 0a 61 78 69 73 28 27 65 71 75 61 6c 27 29 3b 0a	(4);rotate3d.on;.axis('equal');.
1fa20	74 69 74 6c 65 28 27 45 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73 27 29 3b 0a 25	title('Extrinsic.parameters');.%
1fa40	76 69 65 77 28 36 30 2c 33 30 29 3b 0a 76 69 65 77 28 61 2c 62 29 3b 0a 68 6f 6c 64 20 6f 66 66	view(60,30);.view(a,b);.hold.off
1fa60	3b 0a 0a 0a 0a 25 20 52 65 70 72 6f 6a 65 63 74 20 74 68 65 20 70 61 74 74 65 72 6e 73 20 6f 6e	;....%.Reproject.the.patterns.on
1fa80	20 74 68 65 20 69 6d 61 67 65 73 2c 20 61 6e 64 20 63 6f 6d 70 75 74 65 20 74 68 65 20 70 69 78	.the.images,.and.compute.the.pix
1faa0	65 6c 20 65 72 72 6f 72 73 3a 0a 0a 25 20 52 65 6c 6f 61 64 20 74 68 65 20 69 6d 61 67 65 73 20	el.errors:..%.Reload.the.images.
1fac0	69 66 20 6e 65 63 65 73 73 61 72 79 0a 0a 69 66 20 7e 65 78 69 73 74 28 27 49 5f 31 27 29 2c 0a	if.necessary..if.~exist('I_1'),.
1fae0	20 20 20 69 6d 61 5f 72 65 61 64 5f 63 61 6c 69 62 3b 0a 20 20 20 69 66 20 6e 6f 5f 69 6d 61 67	...ima_read_calib;....if.no_imag
1fb00	65 5f 66 69 6c 65 2c 0a 20 20 20 20 20 20 72 65 74 75 72 6e 3b 0a 20 20 20 65 6e 64 3b 0a 65 6e	e_file,.......return;....end;.en
1fb20	64 3b 0a 0a 0a 65 78 20 3d 20 5b 5d 3b 20 25 20 47 6c 6f 62 61 6c 20 65 72 72 6f 72 20 76 65 63	d;...ex.=.[];.%.Global.error.vec
1fb40	74 6f 72 0a 78 20 3d 20 5b 5d 3b 20 25 20 44 65 74 65 63 74 65 64 20 63 6f 72 6e 65 72 73 20 6f	tor.x.=.[];.%.Detected.corners.o
1fb60	6e 20 74 68 65 20 69 6d 61 67 65 20 70 6c 61 6e 65 0a 79 20 3d 20 5b 5d 3b 20 25 20 52 65 70 72	n.the.image.plane.y.=.[];.%.Repr
1fb80	6f 6a 65 63 74 65 64 20 70 6f 69 6e 74 73 0a 0a 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f 69 6d 61	ojected.points..for.kk.=.1:n_ima
1fba0	2c 0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 6f 6d 63 6b 6b 20 3d 20 6f 6d 63 5f 27 20 6e 75	,........eval(['omckk.=.omc_'.nu
1fbc0	6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 65 76 61 6c 28 5b 27 54 63 6b 6b 20	m2str(kk).';']);....eval(['Tckk.
1fbe0	3d 20 54 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 0a 20 20	=.Tc_'.num2str(kk).';']);.......
1fc00	20 52 6b 6b 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63 6b 6b 29 3b 0a 20 20 20 0a 20 20 20	.Rkk.=.rodrigues(omckk);........
1fc20	65 76 61 6c 28 5b 27 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 20 3d 20 70 72 6f 6a	eval(['y_'.num2str(kk).'..=.proj
1fc40	65 63 74 32 5f 6f 75 6c 75 28 58 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 2c 52 6b 6b 2c	ect2_oulu(X_'.num2str(kk).',Rkk,
1fc60	54 63 6b 6b 2c 66 63 2c 63 63 2c 6b 63 29 3b 27 5d 29 3b 0a 0a 20 20 20 65 76 61 6c 28 5b 27 65	Tckk,fc,cc,kc);']);.....eval(['e
1fc80	78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 78 5f 27 20 6e 75 6d 32 73 74 72 28	x_'.num2str(kk).'.=.x_'.num2str(
1fca0	6b 6b 29 20 27 20 2d 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20	kk).'.-y_'.num2str(kk).';']);...
1fcc0	20 0a 20 20 20 65 76 61 6c 28 5b 27 78 5f 6b 6b 20 3d 20 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b	.....eval(['x_kk.=.x_'.num2str(k
1fce0	6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 0a 20 20 20 66 69 67 75 72 65 28 34 2b 6b 6b 29 3b 0a 20	k).';']);........figure(4+kk);..
1fd00	20 20 65 76 61 6c 28 5b 27 49 20 3d 20 49 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27	..eval(['I.=.I_'.num2str(kk).';'
1fd20	5d 29 3b 0a 20 20 20 69 6d 61 67 65 28 49 29 3b 20 68 6f 6c 64 20 6f 6e 3b 0a 20 20 20 63 6f 6c	]);....image(I);.hold.on;....col
1fd40	6f 72 6d 61 70 28 67 72 61 79 28 32 35 36 29 29 3b 0a 20 20 20 74 69 74 6c 65 28 5b 27 49 6d 61	ormap(gray(256));....title(['Ima
1fd60	67 65 20 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 2d 20 49 6d 61 67 65 20 70 6f 69 6e 74	ge.'.num2str(kk).'.-.Image.point
1fd80	73 20 28 2b 29 20 61 6e 64 20 72 65 70 72 6f 6a 65 63 74 65 64 20 67 72 69 64 20 70 6f 69 6e 74	s.(+).and.reprojected.grid.point
1fda0	73 20 28 6f 29 27 5d 29 3b 0a 20 20 20 65 76 61 6c 28 5b 27 70 6c 6f 74 28 78 5f 27 20 6e 75 6d	s.(o)']);....eval(['plot(x_'.num
1fdc0	32 73 74 72 28 6b 6b 29 20 27 28 31 2c 3a 29 2b 31 2c 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b	2str(kk).'(1,:)+1,x_'.num2str(kk
1fde0	29 20 27 28 32 2c 3a 29 2b 31 2c 27 27 72 2b 27 27 29 3b 27 5d 29 3b 0a 20 20 20 65 76 61 6c 28	).'(2,:)+1,''r+'');']);....eval(
1fe00	5b 27 70 6c 6f 74 28 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 28 31 2c 3a 29 2b 31 2c	['plot(y_'.num2str(kk).'(1,:)+1,
1fe20	79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 28 32 2c 3a 29 2b 31 2c 27 27 27 20 63 6f 6c	y_'.num2str(kk).'(2,:)+1,'''.col
1fe40	6f 72 73 28 72 65 6d 28 6b 6b 2d 31 2c 36 29 2b 31 29 20 27 6f 27 27 29 3b 27 5d 29 3b 0a 20 20	ors(rem(kk-1,6)+1).'o'');']);...
1fe60	20 7a 6f 6f 6d 20 6f 6e 3b 0a 20 20 20 68 6f 6c 64 20 6f 66 66 3b 0a 20 20 20 0a 20 20 20 0a 20	.zoom.on;....hold.off;..........
1fe80	20 20 65 76 61 6c 28 5b 27 65 78 20 3d 20 5b 65 78 20 65 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b	..eval(['ex.=.[ex.ex_'.num2str(k
1fea0	6b 29 20 27 5d 3b 27 5d 29 3b 0a 20 20 20 65 76 61 6c 28 5b 27 78 20 3d 20 5b 78 20 78 5f 27 20	k).'];']);....eval(['x.=.[x.x_'.
1fec0	6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 5d 3b 27 5d 29 3b 0a 20 20 20 65 76 61 6c 28 5b 27 79 20	num2str(kk).'];']);....eval(['y.
1fee0	3d 20 5b 79 20 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 5d 3b 27 5d 29 3b 0a 20 20 20	=.[y.y_'.num2str(kk).'];']);....
1ff00	0a 65 6e 64 3b 0a 0a 0a 66 69 67 75 72 65 28 35 2b 6e 5f 69 6d 61 29 3b 0a 66 6f 72 20 6b 6b 20	.end;...figure(5+n_ima);.for.kk.
1ff20	3d 20 31 3a 6e 5f 69 6d 61 2c 0a 20 20 20 65 76 61 6c 28 5b 27 70 6c 6f 74 28 65 78 5f 27 20 6e	=.1:n_ima,....eval(['plot(ex_'.n
1ff40	75 6d 32 73 74 72 28 6b 6b 29 20 27 28 31 2c 3a 29 2c 65 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b	um2str(kk).'(1,:),ex_'.num2str(k
1ff60	6b 29 20 27 28 32 2c 3a 29 2c 27 27 27 20 63 6f 6c 6f 72 73 28 72 65 6d 28 6b 6b 2d 31 2c 36 29	k).'(2,:),'''.colors(rem(kk-1,6)
1ff80	2b 31 29 20 27 2b 27 27 29 3b 27 5d 29 3b 0a 20 20 20 68 6f 6c 64 20 6f 6e 3b 0a 65 6e 64 3b 0a	+1).'+'');']);....hold.on;.end;.
1ffa0	68 6f 6c 64 20 6f 66 66 3b 0a 61 78 69 73 28 27 65 71 75 61 6c 27 29 3b 0a 74 69 74 6c 65 28 27	hold.off;.axis('equal');.title('
1ffc0	52 65 70 72 6f 6a 65 63 74 69 6f 6e 20 65 72 72 6f 72 20 28 69 6e 20 70 69 78 65 6c 29 27 29 3b	Reprojection.error.(in.pixel)');
1ffe0	0a 78 6c 61 62 65 6c 28 27 78 27 29 3b 0a 79 6c 61 62 65 6c 28 27 79 27 29 3b 0a 0a 65 72 72 5f	.xlabel('x');.ylabel('y');..err_
20000	73 74 64 20 3d 20 73 74 64 28 65 78 27 29 27 3b 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 50 69 78	std.=.std(ex')';..fprintf(1,'Pix
20020	65 6c 20 65 72 72 6f 72 3a 20 20 20 20 20 20 65 72 72 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25	el.error:......err.=.[.%3.5f...%
20040	33 2e 35 66 5d 5c 6e 5c 6e 27 2c 65 72 72 5f 73 74 64 29 3b 20 0a 63 68 20 69 6d 61 67 65 3a 0a	3.5f]\n\n',err_std);..ch.image:.
20060	0a 63 6f 6c 6f 72 73 20 3d 20 27 62 72 67 6b 63 6d 27 3b 0a 0a 0a 25 25 25 20 53 68 6f 77 20 74	.colors.=.'brgkcm';...%%%.Show.t
20080	68 65 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73 0a 0a 49 50 20 3d 20 38 2a	he.extrinsic.parameters..IP.=.8*
200a0	64 58 2a 28 5b 30 20 6e 78 2d 31 20 6e 78 2d 31 20 30 20 30 20 3b 20 30 20 30 20 6e 79 2d 31 20	dX*([0.nx-1.nx-1.0.0.;.0.0.ny-1.
200c0	6e 79 2d 31 20 30 3b 31 20 31 20 31 20 31 20 31 5d 20 2d 20 5b 63 63 3b 30 5d 2a 6f 6e 65 73 28	ny-1.0;1.1.1.1.1].-.[cc;0]*ones(
200e0	31 2c 35 29 29 20 2e 2f 20 28 5b 66 63 3b 31 5d 2a 6f 6e 65 73 28 31 2c 35 29 29 3b 0a 0a 0a 66	1,5))../.([fc;1]*ones(1,5));...f
20100	69 67 75 72 65 28 34 29 3b 0a 5b 61 2c 62 5d 20 3d 20 76 69 65 77 3b 0a 0a 66 69 67 75 72 65 28	igure(4);.[a,b].=.view;..figure(
20120	34 29 3b 0a 70 6c 6f 74 33 28 35 2a 5b 30 20 64 58 20 30 20 30 20 30 20 30 20 5d 2c 35 2a 5b 30	4);.plot3(5[0.dX.0.0.0.0.],5[0
20140	20 30 20 30 20 30 20 30 20 64 58 5d 2c 2d 35 2a 5b 30 20 30 20 30 20 64 58 20 30 20 30 20 5d 2c	.0.0.0.0.dX],-5*[0.0.0.dX.0.0.],
20160	27 62 2d 27 2c 27 6c 69 6e 65 77 69 64 74 68 27 2c 32 27 29 3b 0a 68 6f 6c 64 20 6f 6e 3b 0a 70	'b-','linewidth',2');.hold.on;.p
20180	6c 6f 74 33 28 49 50 28 31 2c 3a 29 2c 49 50 28 33 2c 3a 29 2c 2d 49 50 28 32 2c 3a 29 2c 27 72	lot3(IP(1,:),IP(3,:),-IP(2,:),'r
201a0	2d 27 2c 27 6c 69 6e 65 77 69 64 74 68 27 2c 32 29 3b 0a 74 65 78 74 28 36 2a 64 58 2c 30 2c 30	-','linewidth',2);.text(6*dX,0,0
201c0	2c 27 58 5f 63 27 29 3b 0a 74 65 78 74 28 2d 64 58 2c 35 2a 64 58 2c 30 2c 27 5a 5f 63 27 29 3b	,'X_c');.text(-dX,5*dX,0,'Z_c');
201e0	0a 74 65 78 74 28 30 2c 30 2c 2d 36 2a 64 58 2c 27 59 5f 63 27 29 3b 0a 74 65 78 74 28 2d 64 58	.text(0,0,-6*dX,'Y_c');.text(-dX
20200	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 69 6d 61 5f 72 65 61 64 5f 63 61 6c 69 62 2e 6d 00 00	TOOLBOX_calib/ima_read_calib.m..
20220	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
20240	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
20260	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
20280	20 20 20 33 34 31 30 20 20 37 30 32 34 30 33 37 33 33 32 20 20 31 31 34 36 35 00 20 00 00 00 00	...3410..7024037332..11465......
202a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
202c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
202e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
20300	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
20320	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
20340	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
20360	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
20380	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
203a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
203c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
203e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
20400	0a 69 66 20 7e 65 78 69 73 74 28 27 63 61 6c 69 62 5f 6e 61 6d 65 27 29 2c 0a 20 20 20 64 61 74	.if.~exist('calib_name'),....dat
20420	61 5f 63 61 6c 69 62 3b 0a 65 6e 64 3b 0a 0a 63 68 65 63 6b 5f 61 63 74 69 76 65 5f 69 6d 61 67	a_calib;.end;..check_active_imag
20440	65 73 3b 0a 0a 69 6d 61 67 65 73 5f 72 65 61 64 20 3d 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73	es;..images_read.=.active_images
20460	3b 0a 0a 69 6d 61 67 65 5f 6e 75 6d 62 65 72 73 20 3d 20 66 69 72 73 74 5f 6e 75 6d 3a 6e 5f 69	;..image_numbers.=.first_num:n_i
20480	6d 61 2d 31 2b 66 69 72 73 74 5f 6e 75 6d 3b 0a 0a 6e 6f 5f 69 6d 61 67 65 5f 66 69 6c 65 20 3d	ma-1+first_num;..no_image_file.=
204a0	20 30 3b 0a 0a 69 20 3d 20 31 3b 0a 0a 77 68 69 6c 65 20 28 69 20 3c 3d 20 6e 5f 69 6d 61 29 2c	.0;..i.=.1;..while.(i.<=.n_ima),
204c0	20 25 20 26 20 28 7e 6e 6f 5f 69 6d 61 67 65 5f 66 69 6c 65 29 2c 0a 20 20 20 0a 20 20 20 69 66	.%.&.(~no_image_file),........if
204e0	20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 69 29 2c 0a 20 20 20 0a 20 20 20 09 25 66 70 72 69	.active_images(i),.........%fpri
20500	6e 74 66 28 31 2c 27 4c 6f 61 64 69 6e 67 20 69 6d 61 67 65 20 25 64 2e 2e 2e 5c 6e 27 2c 69 29	ntf(1,'Loading.image.%d...\n',i)
20520	3b 0a 20 20 20 0a 20 20 20 09 69 66 20 7e 74 79 70 65 5f 6e 75 6d 62 65 72 69 6e 67 2c 20 20 20	;.........if.~type_numbering,...
20540	0a 20 20 20 20 20 20 09 6e 75 6d 62 65 72 5f 65 78 74 20 3d 20 20 6e 75 6d 32 73 74 72 28 69 6d	........number_ext.=..num2str(im
20560	61 67 65 5f 6e 75 6d 62 65 72 73 28 69 29 29 3b 0a 20 20 20 09 65 6c 73 65 0a 20 20 20 20 20 20	age_numbers(i));.....else.......
20580	09 6e 75 6d 62 65 72 5f 65 78 74 20 3d 20 73 70 72 69 6e 74 66 28 5b 27 25 2e 27 20 6e 75 6d 32	.number_ext.=.sprintf(['%.'.num2
205a0	73 74 72 28 4e 5f 73 6c 6f 74 73 29 20 27 64 27 5d 2c 69 6d 61 67 65 5f 6e 75 6d 62 65 72 73 28	str(N_slots).'d'],image_numbers(
205c0	69 29 29 3b 0a 20 20 20 09 65 6e 64 3b 0a 20 20 20 09 0a 20 20 20 20 20 20 69 6d 61 5f 6e 61 6d	i));.....end;............ima_nam
205e0	65 20 3d 20 5b 63 61 6c 69 62 5f 6e 61 6d 65 20 20 6e 75 6d 62 65 72 5f 65 78 74 20 27 2e 27 20	e.=.[calib_name..number_ext.'.'.
20600	66 6f 72 6d 61 74 5f 69 6d 61 67 65 5d 3b 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 69 66 20 69	format_image];..............if.i
20620	20 3d 3d 20 69 6e 64 5f 61 63 74 69 76 65 28 31 29 2c 0a 20 20 20 20 20 20 20 20 20 66 70 72 69	.==.ind_active(1),..........fpri
20640	6e 74 66 28 31 2c 27 4c 6f 61 64 69 6e 67 20 69 6d 61 67 65 20 27 29 3b 0a 20 20 20 20 20 20 65	ntf(1,'Loading.image.');.......e
20660	6e 64 3b 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 69 66 20 65 78 69 73 74 28 69 6d 61 5f 6e 61	nd;..............if.exist(ima_na
20680	6d 65 29 2c 0a 20 20 20 20 20 20 20 20 20 0a 20 20 20 20 20 20 20 20 20 66 70 72 69 6e 74 66 28	me),....................fprintf(
206a0	31 2c 27 25 64 2e 2e 2e 27 2c 69 29 3b 0a 20 20 20 20 20 20 09 0a 20 20 20 20 20 20 09 69 66 20	1,'%d...',i);................if.
206c0	66 6f 72 6d 61 74 5f 69 6d 61 67 65 28 31 29 20 3d 3d 20 27 70 27 2c 0a 20 20 20 20 20 20 20 20	format_image(1).==.'p',.........
206e0	20 09 49 69 20 3d 20 64 6f 75 62 6c 65 28 70 67 6d 72 65 61 64 28 69 6d 61 5f 6e 61 6d 65 29 29	..Ii.=.double(pgmread(ima_name))
20700	3b 0a 20 20 20 20 20 20 09 65 6c 73 65 0a 20 20 20 20 20 20 09 09 69 66 20 66 6f 72 6d 61 74 5f	;........else.........if.format_
20720	69 6d 61 67 65 28 31 29 20 3d 3d 20 27 72 27 2c 0a 20 20 20 20 20 20 20 20 20 09 09 49 69 20 3d	image(1).==.'r',............Ii.=
20740	20 72 65 61 64 72 61 73 28 69 6d 61 5f 6e 61 6d 65 29 3b 0a 20 20 20 09 09 09 65 6c 73 65 0a 20	.readras(ima_name);.......else..
20760	20 20 20 20 20 09 09 09 49 69 20 3d 20 64 6f 75 62 6c 65 28 69 6d 72 65 61 64 28 69 6d 61 5f 6e	........Ii.=.double(imread(ima_n
20780	61 6d 65 29 29 3b 0a 20 20 20 09 09 09 65 6e 64 3b 0a 20 20 20 20 20 20 09 65 6e 64 3b 0a 20 20	ame));.......end;........end;...
207a0	20 20 20 20 09 0a 20 20 20 09 09 69 66 20 73 69 7a 65 28 49 69 2c 33 29 3e 31 2c 0a 20 20 20 20	...........if.size(Ii,3)>1,.....
207c0	20 20 09 09 49 69 20 3d 20 49 69 28 3a 2c 3a 2c 32 29 3b 0a 20 20 20 09 09 65 6e 64 3b 0a 20 20	....Ii.=.Ii(:,:,2);......end;...
207e0	20 0a 20 20 20 09 09 65 76 61 6c 28 5b 27 49 5f 27 20 6e 75 6d 32 73 74 72 28 69 29 20 27 20 3d	.......eval(['I_'.num2str(i).'.=
20800	20 49 69 3b 27 5d 29 3b 0a 20 20 20 20 20 20 20 20 20 0a 20 20 20 20 20 20 65 6c 73 65 0a 20 20	.Ii;']);.................else...
20820	20 20 20 20 20 20 20 0a 20 20 20 20 20 20 20 20 20 66 70 72 69 6e 74 66 28 31 2c 27 25 64 2e 2e	.................fprintf(1,'%d..
20840	2e 27 2c 69 29 3b 0a 0a 09 09 09 69 6d 61 67 65 73 5f 72 65 61 64 28 69 29 20 3d 20 30 3b 0a 0a	.',i);.....images_read(i).=.0;..
20860	09 09 09 6e 6f 5f 69 6d 61 67 65 5f 66 69 6c 65 20 3d 20 31 3b 0a 20 20 20 20 20 20 20 20 20 0a	...no_image_file.=.1;...........
20880	09 09 65 6e 64 3b 0a 20 20 20 20 20 20 0a 20 20 20 65 6e 64 3b 0a 20 20 20 0a 20 20 20 69 20 3d	..end;...........end;........i.=
208a0	20 69 2b 31 3b 20 20 20 0a 20 20 20 0a 65 6e 64 3b 0a 0a 0a 69 66 20 6e 6f 5f 69 6d 61 67 65 5f	.i+1;........end;...if.no_image_
208c0	66 69 6c 65 2c 0a 20 20 20 0a 20 20 20 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 57 41 52 4e 49 4e	file,........fprintf(1,'\nWARNIN
208e0	47 21 20 43 61 6e 6e 6f 74 20 6c 6f 61 64 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 69 6d 61 67 65	G!.Cannot.load.calibration.image
20900	73 5c 6e 27 29 3b 0a 20 20 20 0a 65 6c 73 65 0a 20 20 20 0a 20 20 20 66 70 72 69 6e 74 66 28 31	s\n');.....else........fprintf(1
20920	2c 27 5c 6e 27 29 3b 0a 0a 20 20 20 69 66 20 73 69 7a 65 28 49 5f 31 2c 31 29 7e 3d 34 38 30 2c	,'\n');.....if.size(I_1,1)~=480,
20940	0a 20 20 20 09 73 6d 61 6c 6c 5f 63 61 6c 69 62 5f 69 6d 61 67 65 20 3d 20 31 3b 0a 09 65 6c 73	.....small_calib_image.=.1;..els
20960	65 0a 20 20 20 09 73 6d 61 6c 6c 5f 63 61 6c 69 62 5f 69 6d 61 67 65 20 3d 20 30 3b 0a 09 65 6e	e.....small_calib_image.=.0;..en
20980	64 3b 0a 20 20 20 0a 20 20 20 5b 48 63 61 6c 2c 57 63 61 6c 5d 20 3d 20 73 69 7a 65 28 49 5f 31	d;........[Hcal,Wcal].=.size(I_1
209a0	29 3b 20 09 25 20 73 69 7a 65 20 6f 66 20 74 68 65 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 69 6d	);..%.size.of.the.calibration.im
209c0	61 67 65 0a 20 20 20 0a 20 20 20 5b 6e 79 2c 6e 78 5d 20 3d 20 73 69 7a 65 28 49 5f 31 29 3b 0a	age........[ny,nx].=.size(I_1);.
209e0	20 20 20 0a 20 20 20 63 6c 69 63 6b 6e 61 6d 65 20 3d 20 5b 5d 3b 0a 20 20 20 0a 20 20 20 6d 61	.......clickname.=.[];........ma
20a00	70 20 3d 20 67 72 61 79 28 32 35 36 29 3b 0a 20 20 20 0a 09 25 73 74 72 69 6e 67 5f 73 61 76 65	p.=.gray(256);......%string_save
20a20	20 3d 20 27 73 61 76 65 20 63 61 6c 69 62 5f 64 61 74 61 20 6e 5f 69 6d 61 20 74 79 70 65 5f 6e	.=.'save.calib_data.n_ima.type_n
20a40	75 6d 62 65 72 69 6e 67 20 4e 5f 73 6c 6f 74 73 20 69 6d 61 67 65 5f 6e 75 6d 62 65 72 73 20 66	umbering.N_slots.image_numbers.f
20a60	6f 72 6d 61 74 5f 69 6d 61 67 65 20 63 61 6c 69 62 5f 6e 61 6d 65 20 48 63 61 6c 20 57 63 61 6c	ormat_image.calib_name.Hcal.Wcal
20a80	20 6e 78 20 6e 79 20 6d 61 70 20 73 6d 61 6c 6c 5f 63 61 6c 69 62 5f 69 6d 61 67 65 27 3b 0a 0a	.nx.ny.map.small_calib_image';..
20aa0	09 25 65 76 61 6c 28 73 74 72 69 6e 67 5f 73 61 76 65 29 3b 0a 0a 09 64 69 73 70 28 27 64 6f 6e	.%eval(string_save);...disp('don
20ac0	65 27 29 3b 0a 09 25 63 6c 69 63 6b 5f 63 61 6c 69 62 3b 0a 0a 65 6e 64 3b 0a 0a 69 66 20 7e 65	e');..%click_calib;..end;..if.~e
20ae0	78 69 73 74 28 27 6d 61 70 27 29 2c 20 6d 61 70 20 3d 20 67 72 61 79 28 32 35 36 29 3b 20 65 6e	xist('map'),.map.=.gray(256);.en
20b00	64 3b 0a 0a 0a 0a 0a 0a 29 2c 59 59 5f 6b 6b 28 33 2c 3a 29 2c 2d 59 59 5f 6b 6b 28 32 2c 3a 29	d;......),YY_kk(3,:),-YY_kk(2,:)
20b20	2c 5b 27 6f 27 20 63 6f 6c 6f 72 73 28 72 65 6d 28 6b 6b 2d 31 2c 36 29 2b 31 29 5d 29 3b 0a 20	,['o'.colors(rem(kk-1,6)+1)]);..
20b40	20 20 68 68 68 3d 20 6d 65 73 68 28 59 59 72 78 2c 59 59 72 7a 2c 2d 59 59 72 79 29 3b 0a 20 20	..hhh=.mesh(YYrx,YYrz,-YYry);...
20b60	20 73 65 74 28 68 68 68 2c 27 65 64 67 65 63 6f 6c 6f 72 27 2c 63 6f 6c 6f 72 73 28 72 65 6d 28	.set(hhh,'edgecolor',colors(rem(
20b80	6b 6b 2d 31 2c 36 29 2b 31 29 2c 27 6c 69 6e 65 77 69 64 74 68 27 2c 31 29 3b 0a 20 20 20 74 65	kk-1,6)+1),'linewidth',1);....te
20ba0	78 74 28 75 75 28 31 29 2c 75 75 28 33 29 2c 2d 75 75 28 32 29 2c 6e 75 6d 32 73 74 72 28 6b 6b	xt(uu(1),uu(3),-uu(2),num2str(kk
20bc0	29 2c 27 66 6f 6e 74 73 69 7a 65 27 2c 31 34 2c 27 63 6f 6c 6f 72 27 2c 63 6f 6c 6f 72 73 28 72	),'fontsize',14,'color',colors(r
20be0	65 6d 28 6b 6b 2d 31 2c 36 29 2b 31 29 29 3b 0a 20 20 20 0a 65 6e 64 3b 0a 0a 66 69 67 75 72 65	em(kk-1,6)+1));.....end;..figure
20c00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 69 6e 69 74 5f 63 61 6c 69 62 5f 70 61 72 61 6d 2e 6d	TOOLBOX_calib/init_calib_param.m
20c20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
20c40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
20c60	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
20c80	20 20 31 32 37 36 31 20 20 37 30 32 34 30 33 37 33 33 33 20 20 31 32 31 30 31 00 20 00 00 00 00	..12761..7024037333..12101......
20ca0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
20cc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
20ce0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
20d00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
20d20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
20d40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
20d60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
20d80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
20da0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
20dc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
20de0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
20e00	25 69 6e 69 74 5f 63 61 6c 69 62 5f 70 61 72 61 6d 0a 25 0a 25 49 6e 69 74 69 61 6c 69 7a 61 74	%init_calib_param.%.%Initializat
20e20	69 6f 6e 20 6f 66 20 74 68 65 20 69 6e 74 72 69 6e 73 69 63 20 61 6e 64 20 65 78 74 72 69 6e 73	ion.of.the.intrinsic.and.extrins
20e40	69 63 20 70 61 72 61 6d 65 74 65 72 73 2e 0a 25 52 75 6e 73 20 61 73 20 61 20 73 63 72 69 70 74	ic.parameters..%Runs.as.a.script
20e60	2e 0a 25 0a 25 54 68 69 73 20 66 75 6e 63 74 69 6f 6e 20 69 73 20 6f 62 73 6f 6c 65 74 65 20 77	..%.%This.function.is.obsolete.w
20e80	69 74 68 20 69 6e 69 74 5f 69 6e 74 72 69 6e 73 69 63 5f 70 61 72 61 6d 20 63 61 6c 6c 65 64 20	ith.init_intrinsic_param.called.
20ea0	66 72 6f 6d 20 67 6f 5f 63 61 6c 69 62 5f 6f 70 74 69 6d 0a 25 0a 25 49 4e 50 55 54 3a 20 78 5f	from.go_calib_optim.%.%INPUT:.x_
20ec0	31 2c 78 5f 32 2c 78 5f 33 2c 2e 2e 2e 3a 20 46 65 61 74 75 72 65 20 6c 6f 63 61 74 69 6f 6e 73	1,x_2,x_3,...:.Feature.locations
20ee0	20 6f 6e 20 74 68 65 20 69 6d 61 67 65 73 0a 25 20 20 20 20 20 20 20 58 5f 31 2c 58 5f 32 2c 58	.on.the.images.%.......X_1,X_2,X
20f00	5f 33 2c 2e 2e 2e 3a 20 43 6f 72 72 65 73 70 6f 6e 64 69 6e 67 20 67 72 69 64 20 63 6f 6f 72 64	_3,...:.Corresponding.grid.coord
20f20	69 6e 61 74 65 73 0a 25 0a 25 4f 55 54 50 55 54 3a 20 66 63 3a 20 43 61 6d 65 72 61 20 66 6f 63	inates.%.%OUTPUT:.fc:.Camera.foc
20f40	61 6c 20 6c 65 6e 67 74 68 0a 25 20 20 20 20 20 20 20 20 63 63 3a 20 50 72 69 6e 63 69 70 61 6c	al.length.%........cc:.Principal
20f60	20 70 6f 69 6e 74 20 63 6f 6f 72 64 69 6e 61 74 65 73 0a 25 09 20 20 20 20 20 20 6b 63 3a 20 44	.point.coordinates.%.......kc:.D
20f80	69 73 74 6f 72 74 69 6f 6e 20 63 6f 65 66 66 69 63 69 65 6e 74 73 0a 25 20 20 20 20 20 20 20 20	istortion.coefficients.%........
20fa0	4b 4b 3a 20 54 68 65 20 63 61 6d 65 72 61 20 6d 61 74 72 69 78 20 28 63 6f 6e 74 61 69 6e 69 6e	KK:.The.camera.matrix.(containin
20fc0	67 20 66 63 20 61 6e 64 20 63 63 29 0a 25 20 20 20 20 20 20 20 20 6f 6d 63 5f 31 2c 6f 6d 63 5f	g.fc.and.cc).%........omc_1,omc_
20fe0	32 2c 6f 6d 63 5f 33 2c 2e 2e 2e 3a 20 33 44 20 72 6f 74 61 74 69 6f 6e 20 76 65 63 74 6f 72 73	2,omc_3,...:.3D.rotation.vectors
21000	20 61 74 74 61 63 68 65 64 20 74 6f 20 74 68 65 20 67 72 69 64 20 70 6f 73 69 74 69 6f 6e 73 20	.attached.to.the.grid.positions.
21020	69 6e 20 73 70 61 63 65 0a 25 20 20 20 20 20 20 20 20 54 63 5f 31 2c 54 63 5f 32 2c 54 63 5f 33	in.space.%........Tc_1,Tc_2,Tc_3
21040	2c 2e 2e 2e 3a 20 33 44 20 74 72 61 6e 73 6c 61 74 69 6f 6e 20 76 65 63 74 6f 72 73 20 61 74 74	,...:.3D.translation.vectors.att
21060	61 63 68 65 64 20 74 6f 20 74 68 65 20 67 72 69 64 20 70 6f 73 69 74 69 6f 6e 73 20 69 6e 20 73	ached.to.the.grid.positions.in.s
21080	70 61 63 65 0a 25 20 20 20 20 20 20 20 20 52 63 5f 31 2c 52 63 5f 32 2c 52 63 5f 33 2c 2e 2e 2e	pace.%........Rc_1,Rc_2,Rc_3,...
210a0	3a 20 33 44 20 72 6f 74 61 74 69 6f 6e 20 6d 61 74 72 69 63 65 73 20 63 6f 72 72 65 73 70 6f 6e	:.3D.rotation.matrices.correspon
210c0	64 69 6e 67 20 74 6f 20 74 68 65 20 6f 6d 63 20 76 65 63 74 6f 72 73 0a 25 0a 25 4d 65 74 68 6f	ding.to.the.omc.vectors.%.%Metho
210e0	64 3a 20 43 6f 6d 70 75 74 65 20 74 68 65 20 70 6c 61 6e 61 72 20 68 6f 6d 6f 67 72 61 70 68 69	d:.Compute.the.planar.homographi
21100	65 73 20 48 5f 31 2c 20 48 5f 32 2c 20 48 5f 33 2c 20 2e 2e 2e 20 61 6e 64 20 63 6f 6d 70 75 74	es.H_1,.H_2,.H_3,.....and.comput
21120	65 73 0a 25 20 20 20 20 20 20 20 20 74 68 65 20 66 6f 63 61 6c 20 6c 65 6e 67 74 68 20 66 63 20	es.%........the.focal.length.fc.
21140	66 72 6f 6d 20 6f 72 74 68 6f 67 6f 6e 61 6c 20 76 61 6e 69 73 68 69 6e 67 20 70 6f 69 6e 74 73	from.orthogonal.vanishing.points
21160	20 63 6f 6e 73 74 72 61 69 6e 74 2e 0a 25 20 20 20 20 20 20 20 20 54 68 65 20 70 72 69 6e 63 69	.constraint..%........The.princi
21180	70 61 6c 20 70 6f 69 6e 74 20 63 63 20 69 73 20 61 73 73 75 6d 65 64 20 61 74 20 74 68 65 20 63	pal.point.cc.is.assumed.at.the.c
211a0	65 6e 74 65 72 20 6f 66 20 74 68 65 20 69 6d 61 67 65 2e 0a 25 20 20 20 20 20 20 20 20 41 73 73	enter.of.the.image..%........Ass
211c0	75 6d 65 73 20 6e 6f 20 69 6d 61 67 65 20 64 69 73 74 6f 72 74 69 6f 6e 20 28 6b 63 20 3d 20 5b	umes.no.image.distortion.(kc.=.[
211e0	30 3b 30 3b 30 3b 30 5d 29 0a 25 20 20 20 20 20 20 20 20 4f 6e 63 65 20 74 68 65 20 69 6e 74 72	0;0;0;0]).%........Once.the.intr
21200	69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73 20 61 72 65 20 65 73 74 69 6d 61 74 65 64 2c 20	insic.parameters.are.estimated,.
21220	74 68 65 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73 0a 25 20 20 20 20 20 20	the.extrinsic.parameters.%......
21240	20 20 61 72 65 20 63 6f 6d 70 75 74 65 64 20 66 6f 72 20 65 61 63 68 20 69 6d 61 67 65 2e 0a 25	..are.computed.for.each.image..%
21260	0a 25 4e 6f 74 65 3a 20 54 68 65 20 72 6f 77 20 76 65 63 74 6f 72 20 61 63 74 69 76 65 5f 69 6d	.%Note:.The.row.vector.active_im
21280	61 67 65 73 20 63 6f 6e 73 69 73 74 73 20 6f 66 20 7a 65 72 6f 73 20 61 6e 64 20 6f 6e 65 73 2e	ages.consists.of.zeros.and.ones.
212a0	20 54 6f 20 64 65 61 63 74 69 76 61 74 65 20 61 6e 20 69 6d 61 67 65 2c 20 73 65 74 20 74 68 65	.To.deactivate.an.image,.set.the
212c0	0a 25 20 20 20 20 20 20 63 6f 72 72 65 73 70 6f 6e 64 69 6e 67 20 65 6e 74 72 79 20 69 6e 20 74	.%......corresponding.entry.in.t
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21300	0a 25 0a 25 0a 25 49 6d 70 6f 72 74 61 6e 74 20 66 75 6e 63 74 69 6f 6e 73 20 63 61 6c 6c 65 64	.%.%.%Important.functions.called
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21340	5f 68 6f 6d 6f 67 72 61 70 68 79 2e 6d 3a 20 43 6f 6d 70 75 74 65 73 20 74 68 65 20 70 6c 61 6e	_homography.m:.Computes.the.plan
21360	61 72 20 68 6f 6d 6f 67 72 61 70 68 79 20 62 65 74 77 65 65 6e 20 70 6f 69 6e 74 73 20 6f 6e 20	ar.homography.between.points.on.
21380	74 68 65 20 67 72 69 64 20 69 6e 20 33 44 2c 20 61 6e 64 20 74 68 65 20 69 6d 61 67 65 20 70 6c	the.grid.in.3D,.and.the.image.pl
213a0	61 6e 65 2e 0a 25 0a 25 63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 2e 6d 3a 20 43 6f 6d	ane..%.%compute_extrinsic.m:.Com
213c0	70 75 74 65 73 20 74 68 65 20 6c 6f 63 61 74 69 6f 6e 20 6f 66 20 61 20 67 72 69 64 20 61 73 73	putes.the.location.of.a.grid.ass
213e0	75 6d 69 6e 67 20 6b 6e 6f 77 6e 20 69 6e 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73	uming.known.intrinsic.parameters
21400	2e 0a 25 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 54 68 69 73 20 66 75	..%......................This.fu
21420	6e 63 74 69 6f 6e 20 69 73 20 63 61 6c 6c 65 64 20 61 74 20 74 68 65 20 69 6e 69 74 69 61 6c 69	nction.is.called.at.the.initiali
21440	7a 61 74 69 6f 6e 20 73 74 65 70 2e 0a 0a 0a 0a 0a 63 68 65 63 6b 5f 61 63 74 69 76 65 5f 69 6d	zation.step......check_active_im
21460	61 67 65 73 3b 0a 0a 69 66 20 7e 65 78 69 73 74 28 5b 27 78 5f 27 20 6e 75 6d 32 73 74 72 28 69	ages;..if.~exist(['x_'.num2str(i
21480	6e 64 5f 61 63 74 69 76 65 28 31 29 29 20 5d 29 2c 0a 20 20 20 63 6c 69 63 6b 5f 63 61 6c 69 62	nd_active(1)).]),....click_calib
214a0	3b 0a 65 6e 64 3b 0a 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 49 6e 69 74 69 61 6c 69 7a 61	;.end;...fprintf(1,'\nInitializa
214c0	74 69 6f 6e 20 6f 66 20 74 68 65 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 70 61 72 61 6d 65 74 65	tion.of.the.calibration.paramete
214e0	72 73 20 2d 20 4e 75 6d 62 65 72 20 6f 66 20 69 6d 61 67 65 73 3a 20 25 64 5c 6e 27 2c 6c 65 6e	rs.-.Number.of.images:.%d\n',len
21500	67 74 68 28 69 6e 64 5f 61 63 74 69 76 65 29 29 3b 0a 0a 0a 25 20 49 6e 69 74 69 61 6c 69 7a 65	gth(ind_active));...%.Initialize
21520	20 74 68 65 20 68 6f 6d 6f 67 72 61 70 68 69 65 73 3a 0a 0a 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e	.the.homographies:..for.kk.=.1:n
21540	5f 69 6d 61 2c 0a 20 20 20 65 76 61 6c 28 5b 27 78 5f 6b 6b 20 3d 20 78 5f 27 20 6e 75 6d 32 73	_ima,....eval(['x_kk.=.x_'.num2s
21560	74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 65 76 61 6c 28 5b 27 58 5f 6b 6b 20 3d 20 58	tr(kk).';']);....eval(['X_kk.=.X
21580	5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 69 66 20 28 69 73 6e	_'.num2str(kk).';']);....if.(isn
215a0	61 6e 28 78 5f 6b 6b 28 31 2c 31 29 29 29 2c 0a 20 20 20 20 20 20 69 66 20 61 63 74 69 76 65 5f	an(x_kk(1,1))),.......if.active_
215c0	69 6d 61 67 65 73 28 6b 6b 29 2c 0a 20 20 20 20 20 20 20 20 20 66 70 72 69 6e 74 66 28 31 2c 27	images(kk),..........fprintf(1,'
215e0	57 41 52 4e 49 4e 47 3a 20 43 61 6e 6e 6f 74 20 63 61 6c 69 62 72 61 74 65 20 77 69 74 68 20 69	WARNING:.Cannot.calibrate.with.i
21600	6d 61 67 65 20 25 64 2e 20 4e 65 65 64 20 74 6f 20 65 78 74 72 61 63 74 20 67 72 69 64 20 63 6f	mage.%d..Need.to.extract.grid.co
21620	72 6e 65 72 73 20 66 69 72 73 74 2e 5c 6e 27 2c 6b 6b 29 0a 20 20 20 20 20 20 20 20 20 66 70 72	rners.first.\n',kk)..........fpr
21640	69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 53 65 74 20 61 63 74 69 76 65 5f 69 6d 61 67	intf(1,'.........Set.active_imag
21660	65 73 28 25 64 29 3d 31 3b 20 61 6e 64 20 72 75 6e 20 45 78 74 72 61 63 74 20 67 72 69 64 20 63	es(%d)=1;.and.run.Extract.grid.c
21680	6f 72 6e 65 72 73 2e 5c 6e 27 2c 6b 6b 29 0a 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20	orners.\n',kk).......end;.......
216a0	61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 6b 6b 29 20 3d 20 30 3b 0a 20 20 20 65 6e 64 3b 0a 20	active_images(kk).=.0;....end;..
216c0	20 20 69 66 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 6b 6b 29 2c 0a 20 20 20 20 20 20 65 76	..if.active_images(kk),.......ev
216e0	61 6c 28 5b 27 48 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 63 6f 6d 70 75 74 65	al(['H_'.num2str(kk).'.=.compute
21700	5f 68 6f 6d 6f 67 72 61 70 68 79 28 78 5f 6b 6b 2c 58 5f 6b 6b 28 31 3a 32 2c 3a 29 29 3b 27 5d	_homography(x_kk,X_kk(1:2,:));']
21720	29 3b 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 65 76 61 6c 28 5b 27 48 5f 27 20 6e 75 6d 32	);....else.......eval(['H_'.num2
21740	73 74 72 28 6b 6b 29 20 27 20 3d 20 4e 61 4e 2a 6f 6e 65 73 28 33 2c 33 29 3b 27 5d 29 3b 0a 20	str(kk).'.=.NaN*ones(3,3);']);..
21760	20 20 65 6e 64 3b 0a 65 6e 64 3b 0a 0a 63 68 65 63 6b 5f 61 63 74 69 76 65 5f 69 6d 61 67 65 73	..end;.end;..check_active_images
21780	3b 0a 0a 25 20 69 6e 69 74 69 61 6c 20 67 75 65 73 73 20 66 6f 72 20 70 72 69 6e 63 69 70 61 6c	;..%.initial.guess.for.principal
217a0	20 70 6f 69 6e 74 20 61 6e 64 20 64 69 73 74 6f 72 74 69 6f 6e 3a 0a 0a 69 66 20 7e 65 78 69 73	.point.and.distortion:..if.~exis
217c0	74 28 27 6e 78 27 29 2c 20 5b 6e 79 2c 6e 78 5d 20 3d 20 73 69 7a 65 28 49 29 3b 20 65 6e 64 3b	t('nx'),.[ny,nx].=.size(I);.end;
217e0	0a 0a 63 5f 69 6e 69 74 20 3d 20 5b 6e 78 3b 6e 79 5d 2f 32 20 2d 20 30 2e 35 3b 20 25 20 69 6e	..c_init.=.[nx;ny]/2.-.0.5;.%.in
21800	69 74 69 61 6c 69 7a 65 20 61 74 20 74 68 65 20 63 65 6e 74 65 72 20 6f 66 20 74 68 65 20 69 6d	itialize.at.the.center.of.the.im
21820	61 67 65 0a 6b 5f 69 6e 69 74 20 3d 20 5b 30 3b 30 3b 30 3b 30 5d 3b 20 25 20 69 6e 69 74 69 61	age.k_init.=.[0;0;0;0];.%.initia
21840	6c 69 7a 65 20 74 6f 20 7a 65 72 6f 20 28 6e 6f 20 64 69 73 74 6f 72 74 69 6f 6e 29 0a 0a 0a 0a	lize.to.zero.(no.distortion)....
21860	25 20 43 6f 6d 70 75 74 65 20 65 78 70 6c 69 63 69 74 65 6c 79 20 74 68 65 20 66 6f 63 61 6c 20	%.Compute.explicitely.the.focal.
21880	6c 65 6e 67 74 68 20 75 73 69 6e 67 20 61 6c 6c 20 74 68 65 20 28 6d 75 74 75 61 6c 6c 79 20 6f	length.using.all.the.(mutually.o
218a0	72 74 68 6f 67 6f 6e 61 6c 29 20 76 61 6e 69 73 68 69 6e 67 20 70 6f 69 6e 74 73 0a 25 20 6e 6f	rthogonal).vanishing.points.%.no
218c0	74 65 3a 20 54 68 65 20 76 61 6e 69 68 69 6e 67 20 70 6f 69 6e 74 73 20 61 72 65 20 68 69 64 64	te:.The.vanihing.points.are.hidd
218e0	65 6e 20 69 6e 20 74 68 65 20 70 6c 61 6e 61 72 20 63 6f 6c 6c 69 6e 65 61 74 69 6f 6e 73 20 48	en.in.the.planar.collineations.H
21900	5f 6b 6b 0a 0a 41 20 3d 20 5b 5d 3b 0a 62 20 3d 20 5b 5d 3b 0a 0a 25 20 6d 61 74 72 69 78 20 74	_kk..A.=.[];.b.=.[];..%.matrix.t
21920	68 61 74 20 73 75 62 74 72 61 63 74 20 74 68 65 20 70 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74	hat.subtract.the.principal.point
21940	3a 0a 53 75 62 5f 63 63 20 3d 20 5b 31 20 30 20 2d 63 5f 69 6e 69 74 28 31 29 3b 30 20 31 20 2d	:.Sub_cc.=.[1.0.-c_init(1);0.1.-
21960	63 5f 69 6e 69 74 28 32 29 3b 30 20 30 20 31 5d 3b 0a 0a 66 6f 72 20 6b 6b 3d 31 3a 6e 5f 69 6d	c_init(2);0.0.1];..for.kk=1:n_im
21980	61 2c 0a 20 20 20 0a 20 20 20 69 66 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 6b 6b 29 2c 0a	a,........if.active_images(kk),.
219a0	20 20 20 20 20 20 0a 20 20 20 09 65 76 61 6c 28 5b 27 48 6b 6b 20 3d 20 48 5f 27 20 6e 75 6d 32	...........eval(['Hkk.=.H_'.num2
219c0	73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 0a 20 20 20 09 48 6b 6b 20 3d 20 53 75 62	str(kk).';']);.........Hkk.=.Sub
219e0	5f 63 63 20 2a 20 48 6b 6b 3b 20 20 20 0a 20 20 20 0a 20 20 20 09 25 20 45 78 74 72 61 63 74 20	_cc.*.Hkk;............%.Extract.
21a00	76 61 6e 69 73 68 69 6e 67 20 70 6f 69 6e 74 73 20 28 64 69 72 65 63 74 20 61 6e 64 20 64 69 61	vanishing.points.(direct.and.dia
21a20	67 6f 6e 61 6c 73 29 3a 0a 20 20 20 0a 20 20 20 09 56 5f 68 6f 72 69 5f 70 69 78 20 3d 20 48 6b	gonals):.........V_hori_pix.=.Hk
21a40	6b 28 3a 2c 31 29 3b 0a 20 20 20 09 56 5f 76 65 72 74 5f 70 69 78 20 3d 20 48 6b 6b 28 3a 2c 32	k(:,1);.....V_vert_pix.=.Hkk(:,2
21a60	29 3b 0a 20 20 20 09 56 5f 64 69 61 67 31 5f 70 69 78 20 3d 20 28 48 6b 6b 28 3a 2c 31 29 2b 48	);.....V_diag1_pix.=.(Hkk(:,1)+H
21a80	6b 6b 28 3a 2c 32 29 29 2f 32 3b 0a 20 20 20 09 56 5f 64 69 61 67 32 5f 70 69 78 20 3d 20 28 48	kk(:,2))/2;.....V_diag2_pix.=.(H
21aa0	6b 6b 28 3a 2c 31 29 2d 48 6b 6b 28 3a 2c 32 29 29 2f 32 3b 0a 20 20 20 0a 20 20 20 09 56 5f 68	kk(:,1)-Hkk(:,2))/2;.........V_h
21ac0	6f 72 69 5f 70 69 78 20 3d 20 56 5f 68 6f 72 69 5f 70 69 78 2f 6e 6f 72 6d 28 56 5f 68 6f 72 69	ori_pix.=.V_hori_pix/norm(V_hori
21ae0	5f 70 69 78 29 3b 0a 20 20 20 09 56 5f 76 65 72 74 5f 70 69 78 20 3d 20 56 5f 76 65 72 74 5f 70	_pix);.....V_vert_pix.=.V_vert_p
21b00	69 78 2f 6e 6f 72 6d 28 56 5f 76 65 72 74 5f 70 69 78 29 3b 0a 20 20 20 09 56 5f 64 69 61 67 31	ix/norm(V_vert_pix);.....V_diag1
21b20	5f 70 69 78 20 3d 20 56 5f 64 69 61 67 31 5f 70 69 78 2f 6e 6f 72 6d 28 56 5f 64 69 61 67 31 5f	_pix.=.V_diag1_pix/norm(V_diag1_
21b40	70 69 78 29 3b 0a 20 20 20 09 56 5f 64 69 61 67 32 5f 70 69 78 20 3d 20 56 5f 64 69 61 67 32 5f	pix);.....V_diag2_pix.=.V_diag2_
21b60	70 69 78 2f 6e 6f 72 6d 28 56 5f 64 69 61 67 32 5f 70 69 78 29 3b 0a 20 20 20 20 20 20 0a 20 20	pix/norm(V_diag2_pix);..........
21b80	20 20 20 20 61 31 20 3d 20 56 5f 68 6f 72 69 5f 70 69 78 28 31 29 3b 0a 20 20 20 20 20 20 62 31	....a1.=.V_hori_pix(1);.......b1
21ba0	20 3d 20 56 5f 68 6f 72 69 5f 70 69 78 28 32 29 3b 0a 20 20 20 20 20 20 63 31 20 3d 20 56 5f 68	.=.V_hori_pix(2);.......c1.=.V_h
21bc0	6f 72 69 5f 70 69 78 28 33 29 3b 0a 20 20 20 20 20 20 0a 20 20 20 09 61 32 20 3d 20 56 5f 76 65	ori_pix(3);............a2.=.V_ve
21be0	72 74 5f 70 69 78 28 31 29 3b 0a 20 20 20 09 62 32 20 3d 20 56 5f 76 65 72 74 5f 70 69 78 28 32	rt_pix(1);.....b2.=.V_vert_pix(2
21c00	29 3b 0a 20 20 20 09 63 32 20 3d 20 56 5f 76 65 72 74 5f 70 69 78 28 33 29 3b 0a 20 20 20 09 0a	);.....c2.=.V_vert_pix(3);......
21c20	20 20 20 09 61 33 20 3d 20 56 5f 64 69 61 67 31 5f 70 69 78 28 31 29 3b 0a 20 20 20 09 62 33 20	....a3.=.V_diag1_pix(1);.....b3.
21c40	3d 20 56 5f 64 69 61 67 31 5f 70 69 78 28 32 29 3b 0a 20 20 20 09 63 33 20 3d 20 56 5f 64 69 61	=.V_diag1_pix(2);.....c3.=.V_dia
21c60	67 31 5f 70 69 78 28 33 29 3b 0a 20 20 20 09 0a 20 20 20 09 61 34 20 3d 20 56 5f 64 69 61 67 32	g1_pix(3);..........a4.=.V_diag2
21c80	5f 70 69 78 28 31 29 3b 0a 20 20 20 09 62 34 20 3d 20 56 5f 64 69 61 67 32 5f 70 69 78 28 32 29	_pix(1);.....b4.=.V_diag2_pix(2)
21ca0	3b 0a 20 20 20 09 63 34 20 3d 20 56 5f 64 69 61 67 32 5f 70 69 78 28 33 29 3b 0a 20 09 0a 20 09	;.....c4.=.V_diag2_pix(3);......
21cc0	20 20 20 41 5f 6b 6b 20 3d 20 5b 61 31 2a 61 32 20 20 62 31 2a 62 32 3b 0a 09 20 20 20 20 09 20	...A_kk.=.[a1a2..b1b2;........
21ce0	20 20 20 61 33 2a 61 34 20 20 62 33 2a 62 34 5d 3b 0a 20 20 20 0a 20 20 20 09 62 5f 6b 6b 20 3d	...a3a4..b3b4];.........b_kk.=
21d00	20 2d 5b 63 31 2a 63 32 3b 63 33 2a 63 34 5d 3b 0a 20 20 20 09 0a 09 09 0a 20 20 20 09 41 20 3d	.-[c1c2;c3c4];.............A.=
21d20	20 5b 41 3b 41 5f 6b 6b 5d 3b 0a 20 20 20 09 62 20 3d 20 5b 62 3b 62 5f 6b 6b 5d 3b 0a 20 20 20	.[A;A_kk];.....b.=.[b;b_kk];....
21d40	20 20 20 0a 20 20 20 65 6e 64 3b 0a 20 20 20 0a 65 6e 64 3b 0a 0a 0a 25 20 75 73 65 20 61 6c 6c	.......end;.....end;...%.use.all
21d60	20 74 68 65 20 76 61 6e 69 73 68 69 6e 67 20 70 6f 69 6e 74 73 20 74 6f 20 65 73 74 69 6d 61 74	.the.vanishing.points.to.estimat
21d80	65 20 66 6f 63 61 6c 20 6c 65 6e 67 74 68 3a 0a 0a 66 5f 69 6e 69 74 20 3d 20 73 71 72 74 28 61	e.focal.length:..f_init.=.sqrt(a
21da0	62 73 28 31 2e 2f 28 69 6e 76 28 41 27 2a 41 29 2a 41 27 2a 62 29 29 29 3b 20 25 20 69 66 20 75	bs(1./(inv(A'A)A'*b)));.%.if.u
21dc0	73 69 6e 67 20 61 20 74 77 6f 2d 66 6f 63 61 6c 20 6d 6f 64 65 6c 20 66 6f 72 20 69 6e 69 74 69	sing.a.two-focal.model.for.initi
21de0	61 6c 20 67 75 65 73 73 0a 0a 25 66 5f 69 6e 69 74 20 3d 20 73 71 72 74 28 62 27 2a 28 73 75 6d	al.guess..%f_init.=.sqrt(b'*(sum
21e00	28 41 27 29 27 29 20 2f 20 28 62 27 2a 62 29 29 20 2a 20 6f 6e 65 73 28 32 2c 31 29 3b 20 25 20	(A')')./.(b'b))..ones(2,1);.%.
21e20	69 66 20 73 69 6e 67 6c 65 20 66 6f 63 61 6c 20 6c 65 6e 67 74 68 20 6d 6f 64 65 6c 20 69 73 20	if.single.focal.length.model.is.
21e40	75 73 65 64 0a 0a 0a 25 20 47 6c 6f 62 61 6c 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 6d 61 74 72	used...%.Global.calibration.matr
21e60	69 78 20 28 69 6e 69 74 69 61 6c 20 67 75 65 73 73 29 3a 0a 20 20 20 09 0a 4b 4b 20 3d 20 5b 66	ix.(initial.guess):......KK.=.[f
21e80	5f 69 6e 69 74 28 31 29 20 30 20 63 5f 69 6e 69 74 28 31 29 3b 30 20 66 5f 69 6e 69 74 28 32 29	_init(1).0.c_init(1);0.f_init(2)
21ea0	20 63 5f 69 6e 69 74 28 32 29 3b 20 30 20 30 20 31 5d 3b 0a 69 6e 76 5f 4b 4b 20 3d 20 69 6e 76	.c_init(2);.0.0.1];.inv_KK.=.inv
21ec0	28 4b 4b 29 3b 0a 0a 0a 63 63 20 3d 20 63 5f 69 6e 69 74 3b 0a 66 63 20 3d 20 66 5f 69 6e 69 74	(KK);...cc.=.c_init;.fc.=.f_init
21ee0	3b 0a 6b 63 20 3d 20 6b 5f 69 6e 69 74 3b 0a 0a 0a 25 20 43 6f 6d 70 75 74 69 6e 67 20 6f 66 20	;.kc.=.k_init;...%.Computing.of.
21f00	74 68 65 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73 20 28 66 72 6f 6d 20 74	the.extrinsic.parameters.(from.t
21f20	68 65 20 63 6f 6c 6c 69 6e 65 61 74 69 6f 6e 73 29 0a 0a 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f	he.collineations)..for.kk.=.1:n_
21f40	69 6d 61 2c 0a 20 20 20 0a 20 20 20 69 66 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 6b 6b 29	ima,........if.active_images(kk)
21f60	2c 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 0a 20 20 20 09 65 76 61 6c 28 5b 27 78 5f 6b 6b 20	,...................eval(['x_kk.
21f80	3d 20 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 20 20 20 65	=.x_'.num2str(kk).';']);.......e
21fa0	76 61 6c 28 5b 27 58 5f 6b 6b 20 3d 20 58 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27	val(['X_kk.=.X_'.num2str(kk).';'
21fc0	5d 29 3b 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 5b 6f 6d 63 6b 6b 2c 54 63 6b 6b 5d 20 3d 20	]);..............[omckk,Tckk].=.
21fe0	63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 28 78 5f 6b 6b 2c 58 5f 6b 6b 2c 66 63 2c 63	compute_extrinsic(x_kk,X_kk,fc,c
22000	63 2c 6b 63 29 3b 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 52 63 6b 6b 20 3d 20 72 6f 64 72 69	c,kc);..............Rckk.=.rodri
22020	67 75 65 73 28 6f 6d 63 5f 6b 6b 29 3b 0a 20 20 20 20 20 20 20 20 20 0a 20 20 20 65 6c 73 65 0a	gues(omc_kk);..............else.
22040	20 20 20 20 20 20 0a 20 20 20 20 20 20 6f 6d 63 6b 6b 20 3d 20 4e 61 4e 2a 6f 6e 65 73 28 33 2c	.............omckk.=.NaN*ones(3,
22060	31 29 3b 0a 20 20 20 20 20 20 54 63 6b 6b 20 3d 20 4e 61 4e 2a 6f 6e 65 73 28 33 2c 31 29 3b 0a	1);.......Tckk.=.NaN*ones(3,1);.
22080	20 20 20 20 20 20 52 63 6b 6b 20 3d 20 4e 61 4e 2a 6f 6e 65 73 28 33 2c 33 29 3b 0a 20 20 20 20	......Rckk.=.NaN*ones(3,3);.....
220a0	20 20 0a 09 65 6e 64 3b 0a 0a 20 20 20 65 76 61 6c 28 5b 27 6f 6d 63 5f 27 20 6e 75 6d 32 73 74	....end;.....eval(['omc_'.num2st
220c0	72 28 6b 6b 29 20 27 20 3d 20 6f 6d 63 6b 6b 3b 27 5d 29 3b 0a 20 20 20 65 76 61 6c 28 5b 27 52	r(kk).'.=.omckk;']);....eval(['R
220e0	63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 52 63 6b 6b 3b 27 5d 29 3b 0a 20 20	c_'.num2str(kk).'.=.Rckk;']);...
22100	20 65 76 61 6c 28 5b 27 54 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 54 63 6b	.eval(['Tc_'.num2str(kk).'.=.Tck
22120	6b 3b 27 5d 29 3b 0a 20 20 20 20 20 20 0a 65 6e 64 3b 0a 0a 0a 25 20 49 6e 69 74 69 61 6c 69 7a	k;']);........end;...%.Initializ
22140	61 74 69 6f 6e 20 6f 66 20 74 68 65 20 70 61 72 61 6d 65 74 65 72 73 20 66 6f 72 20 67 6c 6f 62	ation.of.the.parameters.for.glob
22160	61 6c 20 6d 69 6e 69 6d 69 7a 61 74 69 6f 6e 3a 0a 0a 69 6e 69 74 5f 70 61 72 61 6d 20 3d 20 5b	al.minimization:..init_param.=.[
22180	66 5f 69 6e 69 74 3b 6b 5f 69 6e 69 74 5d 3b 0a 0a 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f 69 6d	f_init;k_init];..for.kk.=.1:n_im
221a0	61 2c 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 69 6e 69 74 5f 70 61 72 61 6d 20 3d 20 5b 69 6e	a,.......eval(['init_param.=.[in
221c0	69 74 5f 70 61 72 61 6d 3b 20 6f 6d 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 20 54	it_param;.omc_'.num2str(kk).';.T
221e0	63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 5d 3b 27 5d 29 3b 0a 65 6e 64 3b 0a 0a 73 6f	c_'.num2str(kk).'];']);.end;..so
22200	6c 75 74 69 6f 6e 5f 69 6e 69 74 20 3d 20 5b 69 6e 69 74 5f 70 61 72 61 6d 3b 63 5f 69 6e 69 74	lution_init.=.[init_param;c_init
22220	5d 3b 0a 0a 73 6f 6c 75 74 69 6f 6e 20 3d 20 73 6f 6c 75 74 69 6f 6e 5f 69 6e 69 74 3b 0a 0a 63	];..solution.=.solution_init;..c
22240	6f 6d 70 5f 65 72 72 6f 72 5f 63 61 6c 69 62 3b 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 5c	omp_error_calib;..fprintf(1,'\n\
22260	6e 43 61 6c 69 62 72 61 74 69 6f 6e 20 70 61 72 61 6d 65 74 65 72 73 20 61 66 74 65 72 20 69 6e	nCalibration.parameters.after.in
22280	69 74 69 61 6c 69 7a 61 74 69 6f 6e 3a 5c 6e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27	itialization:\n\n');.fprintf(1,'
222a0	46 6f 63 61 6c 20 4c 65 6e 67 74 68 3a 20 20 20 20 20 66 63 20 3d 20 5b 20 25 33 2e 35 66 20 20	Focal.Length:.....fc.=.[.%3.5f..
222c0	20 25 33 2e 35 66 5d 5c 6e 27 2c 66 63 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 50 72 69 6e 63	.%3.5f]\n',fc);.fprintf(1,'Princ
222e0	69 70 61 6c 20 70 6f 69 6e 74 3a 20 20 63 63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35	ipal.point:..cc.=.[.%3.5f...%3.5
22300	66 5d 5c 6e 27 2c 63 63 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 44 69 73 74 6f 72 74 69 6f 6e	f]\n',cc);.fprintf(1,'Distortion
22320	3a 20 20 20 20 20 20 20 6b 63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 20 20 20 25	:.......kc.=.[.%3.5f...%3.5f...%
22340	33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 6b 63 29 3b 20 20 20 0a 66 70 72 69 6e 74 66	3.5f...%3.5f]\n',kc);....fprintf
22360	28 31 2c 27 50 69 78 65 6c 20 65 72 72 6f 72 3a 20 20 20 20 20 20 65 72 72 20 3d 20 5b 20 25 33	(1,'Pixel.error:......err.=.[.%3
22380	2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 5c 6e 27 2c 65 72 72 5f 73 74 64 29 3b 20 0a 0a 0a 25	.5f...%3.5f]\n\n',err_std);....%
223a0	25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 20 47 52 41 50 48 49 43 41 4c 20 4f 55	%%%%%%%%%%%%%%%%%%%.GRAPHICAL.OU
223c0	54 50 55 54 20 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 0a 0a 25	TPUT.%%%%%%%%%%%%%%%%%%%%%%%%..%
223e0	67 72 61 70 68 6f 75 74 5f 63 61 6c 69 62 3b 0a 0a 20 20 4f 6e 63 65 20 74 68 65 20 69 6e 74 72	graphout_calib;....Once.the.intr
22400	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 6c 6f 61 64 69 6e 67 5f 63 61 6c 69 62 2e 6d 00 00 00	TOOLBOX_calib/loading_calib.m...
22420	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22440	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22460	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
22480	20 20 20 20 33 34 33 20 20 37 30 32 34 30 33 37 33 33 35 20 20 31 31 33 32 36 00 20 00 00 00 00	....343..7024037335..11326......
224a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
224c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
224e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22500	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22520	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22540	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22560	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22580	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
225a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
225c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
225e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22600	69 66 20 7e 65 78 69 73 74 28 27 43 61 6c 69 62 5f 52 65 73 75 6c 74 73 2e 6d 61 74 27 29 2c 0a	if.~exist('Calib_Results.mat'),.
22620	20 20 20 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 43 61 6c 69 62 72 61 74 69 6f 6e 20 66 69 6c 65	...fprintf(1,'\nCalibration.file
22640	20 43 61 6c 69 62 5f 52 65 73 75 6c 74 73 2e 6d 61 74 20 6e 6f 74 20 66 6f 75 6e 64 21 5c 6e 27	.Calib_Results.mat.not.found!\n'
22660	29 3b 0a 20 20 20 72 65 74 75 72 6e 3b 0a 65 6e 64 3b 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c	);....return;.end;..fprintf(1,'\
22680	6e 4c 6f 61 64 69 6e 67 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 72 65 73 75 6c 74 73 20 66 72 6f	nLoading.calibration.results.fro
226a0	6d 20 43 61 6c 69 62 5f 52 65 73 75 6c 74 73 2e 6d 61 74 5c 6e 27 29 3b 0a 0a 6c 6f 61 64 20 43	m.Calib_Results.mat\n');..load.C
226c0	61 6c 69 62 5f 52 65 73 75 6c 74 73 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 64 6f 6e 65 5c 6e 27	alib_Results..fprintf(1,'done\n'
226e0	29 3b 0a 6e 00 00 04 94 00 02 35 db 00 24 00 15 72 65 63 6f 6d 70 5f 63 6f 72 6e 65 72 5f 63 61	);.n......5..$..recomp_corner_ca
22700	6c 69 62 2e 6d 00 04 94 00 00 04 a4 00 02 35 dc 00 14 00 06 72 65 63 74 2e 6d 00 65 00 00 04 c0	lib.m.........5.....rect.m.e....
22720	00 02 35 dd 00 20 00 12 52 65 63 74 61 6e 67 6c 65 32 53 71 75 61 72 65 2e 6d 00 65 00 00 04 dc	..5.....Rectangle2Square.m.e....
22740	00 02 35 de 00 20 00 11 72 65 70 72 6f 6a 65 63 74 5f 63 61 6c 69 62 2e 6d 00 00 65 00 00 04 f0	..5.....reproject_calib.m..e....
22760	00 02 35 df 00 18 00 0b 72 6f 64 72 69 67 75 65 73 2e 6d 00 00 00 05 04 00 02 35 e0 00 18 00 0a	..5.....rodrigues.m.......5.....
22780	72 6f 74 61 74 69 6f 6e 2e 6d 00 72 00 00 05 1c 00 02 36 9f 00 1c 00 0e 73 61 76 69 6e 67 5f 63	rotation.m.r......6.....saving_c
227a0	61 6c 69 62 2e 6d 00 6e 00 00 05 3c 00 02 36 a0 00 24 00 17 73 63 72 69 70 74 5f 66 69 74 5f 64	alib.m.n...<..6..$..script_fit_d
227c0	69 73 74 6f 72 74 69 6f 6e 2e 6d 00 00 00 05 5c 00 02 36 a1 00 24 00 16 73 65 6c 65 63 74 5f 73	istortion.m....\..6..$..select_s
227e0	6f 6c 5f 6e 6f 5f 63 65 6e 74 65 72 2e 6d 00 5c 00 00 05 80 00 02 36 a2 00 28 00 18 73 65 6c 65	ol_no_center.m.\......6..(..sele
22800	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 4d 75 6c 74 69 5f 43 61 6c 69 62 5f 6f 75 6c 75 2e 6d	TOOLBOX_calib/Multi_Calib_oulu.m
22820	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22840	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22860	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
22880	20 20 20 20 32 33 32 20 20 37 30 32 34 30 33 37 33 33 37 20 20 31 32 30 30 36 00 20 00 00 00 00	....232..7024037337..12006......
228a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
228c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
228e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22900	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22920	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22940	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22960	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22980	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
229a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
229c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
229e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22a00	0a 25 20 65 6e 74 65 72 20 69 6d 61 67 65 20 6e 61 6d 65 73 2c 20 6e 75 6d 62 65 72 73 2c 20 2e	.%.enter.image.names,.numbers,..
22a20	2e 2e 0a 64 61 74 61 5f 63 61 6c 69 62 3b 0a 0a 25 72 65 61 64 20 69 6d 61 67 65 73 20 66 72 6f	...data_calib;..%read.images.fro
22a40	6d 20 66 69 6c 65 73 0a 69 6d 61 5f 72 65 61 64 5f 63 61 6c 69 62 3b 0a 0a 63 6c 69 63 6b 5f 63	m.files.ima_read_calib;..click_c
22a60	61 6c 69 62 3b 0a 0a 25 67 6f 5f 63 61 6c 69 62 3b 20 25 20 74 68 65 20 6f 72 69 67 69 6e 61 6c	alib;..%go_calib;.%.the.original
22a80	20 76 65 72 73 69 6f 6e 0a 0a 67 6f 5f 63 61 6c 69 62 5f 6f 70 74 69 6d 3b 0a 00 10 70 72 6f 6a	.version..go_calib_optim;...proj
22aa0	65 63 74 5f 70 6f 69 6e 74 73 2e 6d 00 00 04 60 00 00 04 74 00 02 35 da 00 18 00 09 72 65 61 64	ect_points.m...`...t..5.....read
22ac0	72 61 73 2e 6d 00 2e 6d 00 00 04 94 00 02 35 db 00 24 00 15 72 65 63 6f 6d 70 5f 63 6f 72 6e 65	ras.m..m......5..$..recomp_corne
22ae0	72 5f 63 61 6c 69 62 2e 6d 00 35 db 00 00 04 a4 00 02 35 dc 00 14 00 06 72 65 63 74 2e 6d 00 61	r_calib.m.5.......5.....rect.m.a
22b00	00 00 04 c0 00 02 35 dd 00 20 00 12 52 65 63 74 61 6e 67 6c 65 32 53 71 75 61 72 65 2e 6d 00 c0	......5.....Rectangle2Square.m..
22b20	00 00 04 dc 00 02 35 de 00 20 00 11 72 65 70 72 6f 6a 65 63 74 5f 63 61 6c 69 62 2e 6d 00 04 dc	......5.....reproject_calib.m...
22b40	00 00 04 f0 00 02 35 df 00 18 00 0b 72 6f 64 72 69 67 75 65 73 2e 6d 00 00 00 05 04 00 02 35 e0	......5.....rodrigues.m.......5.
22b60	00 18 00 0a 72 6f 74 61 74 69 6f 6e 2e 6d 00 65 00 00 05 1c 00 02 36 9f 00 1c 00 0e 73 61 76 69	....rotation.m.e......6.....savi
22b80	6e 67 5f 63 61 6c 69 62 2e 6d 00 72 00 00 05 3c 00 02 36 a0 00 24 00 17 73 63 72 69 70 74 5f 66	ng_calib.m.r...<..6..$..script_f
22ba0	69 74 5f 64 69 73 74 6f 72 74 69 6f 6e 2e 6d 00 00 00 05 5c 00 02 36 a1 00 24 00 16 73 65 6c 65	it_distortion.m....\..6..$..sele
22bc0	63 74 5f 73 6f 6c 5f 6e 6f 5f 63 65 6e 74 65 72 2e 6d 00 a1 00 00 05 80 00 02 36 a2 00 28 00 18	ct_sol_no_center.m........6..(..
22be0	73 65 6c 65 63 74 5f 73 6f 6c 5f 6e 6f 5f 63 65 6e 74 65 72 33 44 2e 6d 00 28 00 18 00 00 05 a4	select_sol_no_center3D.m.(......
22c00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 6d 75 6c 74 69 5f 65 72 72 6f 72 5f 6f 75 6c 75 2e 6d	TOOLBOX_calib/multi_error_oulu.m
22c20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22c40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22c60	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
22c80	20 20 20 31 37 33 37 20 20 37 30 32 34 30 33 37 33 34 30 20 20 31 32 32 31 32 00 20 00 00 00 00	...1737..7024037340..12212......
22ca0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22cc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22ce0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22d00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22d20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22d40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22d60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22d80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22da0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22dc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22de0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
22e00	66 75 6e 63 74 69 6f 6e 20 65 78 20 3d 20 6d 75 6c 74 69 5f 65 72 72 6f 72 5f 6f 75 6c 75 28 70	function.ex.=.multi_error_oulu(p
22e20	61 72 61 6d 2c 6e 5f 69 6d 61 2c 63 63 29 3b 0a 0a 67 6c 6f 62 61 6c 20 58 5f 31 20 78 5f 31 20	aram,n_ima,cc);..global.X_1.x_1.
22e40	58 5f 32 20 78 5f 32 20 58 5f 33 20 78 5f 33 20 58 5f 34 20 78 5f 34 20 58 5f 35 20 78 5f 35 20	X_2.x_2.X_3.x_3.X_4.x_4.X_5.x_5.
22e60	58 5f 36 20 78 5f 36 20 58 5f 37 20 78 5f 37 20 58 5f 38 20 78 5f 38 20 58 5f 39 20 78 5f 39 20	X_6.x_6.X_7.x_7.X_8.x_8.X_9.x_9.
22e80	58 5f 31 30 20 78 5f 31 30 20 58 5f 31 31 20 78 5f 31 31 20 58 5f 31 32 20 78 5f 31 32 20 58 5f	X_10.x_10.X_11.x_11.X_12.x_12.X_
22ea0	31 33 20 78 5f 31 33 20 58 5f 31 34 20 78 5f 31 34 20 58 5f 31 35 20 78 5f 31 35 20 58 5f 31 36	13.x_13.X_14.x_14.X_15.x_15.X_16
22ec0	20 78 5f 31 36 20 58 5f 31 37 20 78 5f 31 37 20 58 5f 31 38 20 78 5f 31 38 20 58 5f 31 39 20 78	.x_16.X_17.x_17.X_18.x_18.X_19.x
22ee0	5f 31 39 20 58 5f 32 30 20 78 5f 32 30 20 58 5f 32 31 20 78 5f 32 31 20 58 5f 32 32 20 78 5f 32	_19.X_20.x_20.X_21.x_21.X_22.x_2
22f00	32 20 58 5f 32 33 20 78 5f 32 33 20 58 5f 32 34 20 78 5f 32 34 20 58 5f 32 35 20 78 5f 32 35 20	2.X_23.x_23.X_24.x_24.X_25.x_25.
22f20	58 5f 32 36 20 78 5f 32 36 20 58 5f 32 37 20 78 5f 32 37 20 58 5f 32 38 20 78 5f 32 38 20 58 5f	X_26.x_26.X_27.x_27.X_28.x_28.X_
22f40	32 39 20 78 5f 32 39 20 58 5f 33 30 20 78 5f 33 30 0a 0a 66 63 20 3d 20 70 61 72 61 6d 28 31 3a	29.x_29.X_30.x_30..fc.=.param(1:
22f60	32 29 3b 0a 6b 63 20 3d 20 70 61 72 61 6d 28 33 3a 36 29 3b 0a 25 70 70 63 20 3d 20 70 61 72 61	2);.kc.=.param(3:6);.%ppc.=.para
22f80	6d 28 35 3a 36 29 3b 0a 0a 69 66 20 6c 65 6e 67 74 68 28 70 61 72 61 6d 29 20 3e 20 36 2a 6e 5f	m(5:6);..if.length(param).>.6*n_
22fa0	69 6d 61 20 2b 20 33 20 2b 20 33 2c 0a 20 20 20 0a 20 20 20 63 63 20 3d 20 70 61 72 61 6d 28 36	ima.+.3.+.3,........cc.=.param(6
22fc0	2a 6e 5f 69 6d 61 20 2b 20 34 20 2b 20 33 3a 36 2a 6e 5f 69 6d 61 20 2b 20 35 20 2b 20 33 29 3b	n_ima.+.4.+.3:6n_ima.+.5.+.3);
22fe0	0a 20 20 20 0a 20 20 20 69 66 20 6c 65 6e 67 74 68 28 70 61 72 61 6d 29 20 3e 20 36 2a 6e 5f 69	........if.length(param).>.6*n_i
23000	6d 61 20 2b 20 35 20 2b 20 33 2c 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 63 5f 64 20 3d 20 70	ma.+.5.+.3,..............c_d.=.p
23020	61 72 61 6d 28 36 2a 6e 5f 69 6d 61 20 2b 20 36 20 2b 20 33 20 3a 36 2a 6e 5f 69 6d 61 20 2b 20	aram(6n_ima.+.6.+.3.:6n_ima.+.
23040	37 20 2b 20 33 29 3b 0a 20 20 20 20 20 20 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 0a 20 20	7.+.3);...........else..........
23060	20 20 20 20 63 5f 64 20 3d 20 5b 30 3b 30 5d 3b 0a 20 20 20 20 20 20 0a 20 20 20 65 6e 64 3b 0a	....c_d.=.[0;0];...........end;.
23080	20 20 20 0a 65 6c 73 65 0a 20 20 20 0a 20 20 20 63 5f 64 20 3d 20 5b 30 3b 30 5d 3b 0a 0a 65 6e	....else........c_d.=.[0;0];..en
230a0	64 3b 0a 0a 0a 0a 65 78 20 3d 20 5b 5d 3b 0a 0a 25 6b 65 79 62 6f 61 72 64 3b 0a 0a 66 6f 72 20	d;....ex.=.[];..%keyboard;..for.
230c0	6b 6b 20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a 20 20 20 0a 20 20 20 6f 6d 63 6b 6b 20 3d 20 70 61 72	kk.=.1:n_ima,........omckk.=.par
230e0	61 6d 28 34 2b 36 2a 28 6b 6b 2d 31 29 20 2b 20 33 3a 36 2a 6b 6b 20 2b 20 33 29 3b 0a 20 20 20	am(4+6(kk-1).+.3:6kk.+.3);....
23100	0a 20 20 20 54 63 6b 6b 20 3d 20 70 61 72 61 6d 28 36 2a 6b 6b 2b 31 20 2b 20 33 3a 36 2a 6b 6b	....Tckk.=.param(6kk+1.+.3:6kk
23120	2b 33 20 2b 20 33 29 3b 0a 0a 20 20 20 52 6b 6b 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63	+3.+.3);.....Rkk.=.rodrigues(omc
23140	6b 6b 29 3b 0a 0a 20 20 20 65 76 61 6c 28 5b 27 79 6b 6b 20 3d 20 70 72 6f 6a 65 63 74 32 5f 6f	kk);.....eval(['ykk.=.project2_o
23160	75 6c 75 28 58 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 2c 52 6b 6b 2c 54 63 6b 6b 2c 66	ulu(X_'.num2str(kk).',Rkk,Tckk,f
23180	63 2c 63 63 2c 6b 63 29 3b 27 5d 29 3b 0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 65 78 6b 6b	c,cc,kc);']);........eval(['exkk
231a0	20 3d 20 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 2d 79 6b 6b 3b 27 5d 29 3b 0a 0a	.=.x_'.num2str(kk).'.-ykk;']);..
231c0	20 20 20 65 78 20 3d 20 5b 65 78 3b 65 78 6b 6b 28 3a 29 5d 3b 0a 20 20 20 0a 65 6e 64 3b 0a 54	...ex.=.[ex;exkk(:)];.....end;.T
231e0	00 02 36 b4 00 20 00 13 63 68 65 63 6b 5f 63 6f 6e 76 65 72 67 65 6e 63 65 2e 6d 00 00 00 07 70	..6.....check_convergence.m....p
23200	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 70 67 6d 72 65 61 64 2e 6d 00 00 00 00 00 00 00 00 00	TOOLBOX_calib/pgmread.m.........
23220	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
23240	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
23260	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
23280	20 20 20 31 30 33 37 20 20 37 30 32 34 30 33 37 33 34 31 20 20 31 30 32 31 34 00 20 00 00 00 00	...1037..7024037341..10214......
232a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
232c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
232e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
23300	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
23320	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
23340	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
23360	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
23380	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
233a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
233c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
233e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
23400	66 75 6e 63 74 69 6f 6e 20 69 6d 67 20 3d 20 70 67 6d 72 65 61 64 28 66 69 6c 65 6e 61 6d 65 29	function.img.=.pgmread(filename)
23420	0a 25 20 66 75 6e 63 74 69 6f 6e 20 69 6d 67 20 3d 20 70 67 6d 72 65 61 64 28 66 69 6c 65 6e 61	.%.function.img.=.pgmread(filena
23440	6d 65 29 0a 25 20 20 20 74 68 69 73 20 69 73 20 6d 79 20 76 65 72 73 69 6f 6e 20 6f 66 20 70 67	me).%...this.is.my.version.of.pg
23460	6d 72 65 61 64 20 66 6f 72 20 74 68 65 20 70 67 6d 20 66 69 6c 65 20 63 72 65 61 74 65 64 20 62	mread.for.the.pgm.file.created.b
23480	79 20 58 56 2e 0a 25 20 20 20 0a 25 20 20 74 68 69 73 20 70 72 6f 67 72 61 6d 20 61 6c 73 6f 20	y.XV..%....%..this.program.also.
234a0	63 6f 72 72 65 63 74 73 20 66 6f 72 20 74 68 65 20 73 68 69 66 74 73 20 69 6e 20 74 68 65 20 69	corrects.for.the.shifts.in.the.i
234c0	6d 61 67 65 20 66 72 6f 6d 20 70 6d 20 66 69 6c 65 2e 0a 0a 66 69 64 20 3d 20 66 6f 70 65 6e 28	mage.from.pm.file...fid.=.fopen(
234e0	66 69 6c 65 6e 61 6d 65 2c 27 72 27 29 3b 0a 66 73 63 61 6e 66 28 66 69 64 2c 20 27 50 35 5c 6e	filename,'r');.fscanf(fid,.'P5\n
23500	27 29 3b 0a 63 6d 74 20 3d 20 27 23 27 3b 0a 77 68 69 6c 65 20 66 69 6e 64 73 74 72 28 63 6d 74	');.cmt.=.'#';.while.findstr(cmt
23520	2c 20 27 23 27 29 2c 0a 20 20 63 6d 74 20 3d 20 66 67 65 74 73 28 66 69 64 29 3b 0a 20 20 20 69	,.'#'),...cmt.=.fgets(fid);....i
23540	66 20 6c 65 6e 67 74 68 28 66 69 6e 64 73 74 72 28 63 6d 74 2c 20 27 23 27 29 29 20 7e 3d 20 31	f.length(findstr(cmt,.'#')).~=.1
23560	2c 0a 20 20 20 20 20 20 59 58 20 3d 20 73 73 63 61 6e 66 28 63 6d 74 2c 20 27 25 64 20 25 64 27	,.......YX.=.sscanf(cmt,.'%d.%d'
23580	29 3b 0a 20 20 20 20 20 20 79 20 3d 20 59 58 28 31 29 3b 20 78 20 3d 20 59 58 28 32 29 3b 0a 20	);.......y.=.YX(1);.x.=.YX(2);..
235a0	20 20 65 6e 64 0a 65 6e 64 0a 0a 25 66 67 65 74 73 28 66 69 64 29 3b 0a 0a 25 69 6d 67 20 3d 20	..end.end..%fgets(fid);..%img.=.
235c0	66 73 63 61 6e 66 28 66 69 64 2c 27 25 64 27 2c 73 69 7a 65 29 3b 0a 25 69 6d 67 20 3d 20 69 6d	fscanf(fid,'%d',size);.%img.=.im
235e0	67 27 3b 0a 0a 69 6d 67 20 3d 20 66 72 65 61 64 28 66 69 64 2c 5b 79 2c 78 5d 2c 27 75 69 6e 74	g';..img.=.fread(fid,[y,x],'uint
23600	38 27 29 3b 0a 69 6d 67 20 3d 20 69 6d 67 27 3b 0a 66 63 6c 6f 73 65 28 66 69 64 29 3b 0a 0a 2e	8');.img.=.img';.fclose(fid);...
23620	6d 00 6e 74 00 00 05 f0 00 02 36 a6 00 18 00 09 74 65 73 74 5f 33 64 2e 6d 00 61 72 00 00 06 00	m.nt......6.....test_3d.m.ar....
23640	00 02 33 c0 00 14 00 06 69 73 33 44 2e 6d 00 09 00 00 06 1c 00 02 36 a7 00 20 00 11 75 6e 64 69	..3.....is3D.m........6.....undi
23660	73 74 6f 72 74 5f 69 6d 61 67 65 2e 6d 00 00 09 00 00 06 34 00 02 36 a8 00 1c 00 0d 55 6e 57 61	stort_image.m......4..6.....UnWa
23680	72 70 50 6c 61 6e 65 2e 6d 00 65 2e 00 00 06 48 00 02 36 a9 00 18 00 0a 77 72 69 74 65 72 61 73	rpPlane.m.e....H..6.....writeras
236a0	2e 6d 00 6c 00 00 06 64 00 02 36 aa 00 20 00 10 65 72 72 6f 72 5f 61 6e 61 6c 79 73 69 73 2e 6d	.m.l...d..6.....error_analysis.m
236c0	00 6d 00 6c 00 00 06 78 00 02 36 ab 00 18 00 09 6c 6f 61 64 69 6e 72 2e 6d 00 79 73 00 00 06 8c	.m.l...x..6.....loadinr.m.ys....
236e0	00 02 36 ac 00 18 00 09 6c 6f 61 64 70 67 6d 2e 6d 00 61 64 00 00 06 a0 00 02 36 ad 00 18 00 09	..6.....loadpgm.m.ad......6.....
23700	6c 6f 61 64 70 70 6d 2e 6d 00 61 64 00 00 06 b4 00 02 36 ae 00 18 00 09 73 61 76 65 69 6e 72 2e	loadppm.m.ad......6.....saveinr.
23720	6d 00 61 64 00 00 06 c8 00 02 36 af 00 18 00 09 73 61 76 65 70 67 6d 2e 6d 00 76 65 00 00 06 dc	m.ad......6.....savepgm.m.ve....
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23760	69 6e 69 74 5f 69 6e 74 72 69 6e 73 69 63 5f 70 61 72 61 6d 2e 6d 00 fc 00 00 07 18 00 02 36 b2	init_intrinsic_param.m........6.
23780	00 20 00 11 6d 65 61 6e 5f 73 74 64 5f 72 6f 62 75 73 74 2e 6d 00 00 fc 00 00 07 38 00 02 36 b3	....mean_std_robust.m......8..6.
237a0	00 24 00 14 72 75 6e 5f 65 72 72 6f 72 5f 61 6e 61 6c 79 73 69 73 2e 6d 00 00 07 38 00 00 07 54	.$..run_error_analysis.m...8...T
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237e0	00 02 36 b5 00 20 00 11 63 68 65 63 6b 5f 70 6c 61 6e 61 72 69 74 79 2e 6d 00 6d 00 00 00 07 88	..6.....check_planarity.m.m.....
23800	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 70 72 6f 6a 65 63 74 32 5f 6f 75 6c 75 2e 6d 00 00 00	TOOLBOX_calib/project2_oulu.m...
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23840	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
23860	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
23880	20 20 20 32 30 32 33 20 20 37 30 32 34 30 33 37 33 34 32 20 20 31 31 33 36 36 00 20 00 00 00 00	...2023..7024037342..11366......
238a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
238c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
238e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
23900	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
23920	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
23940	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
23960	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
23980	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
239a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
239c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
239e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
23a00	66 75 6e 63 74 69 6f 6e 20 5b 78 5d 20 3d 20 70 72 6f 6a 65 63 74 32 5f 6f 75 6c 75 28 58 2c 52	function.[x].=.project2_oulu(X,R
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23a40	79 20 74 6f 20 63 61 6c 69 62 0a 0a 25 20 20 20 20 20 20 20 20 20 28 63 29 20 50 69 65 74 72 6f	y.to.calib..%.........(c).Pietro
23a60	20 50 65 72 6f 6e 61 20 2d 2d 20 4d 61 72 63 68 20 32 34 2c 20 31 39 39 34 0a 25 20 20 20 20 20	.Perona.--.March.24,.1994.%.....
23a80	20 20 20 20 43 61 6c 69 66 6f 72 6e 69 61 20 49 6e 73 74 69 74 75 74 65 20 6f 66 20 54 65 63 68	....California.Institute.of.Tech
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23ac0	20 20 20 20 20 20 20 20 0a 25 20 20 20 20 20 20 20 20 20 52 65 6e 61 6d 65 64 20 62 65 63 61 75	.........%.........Renamed.becau
23ae0	73 65 20 70 72 6f 6a 65 63 74 20 65 78 69 73 74 73 20 69 6e 20 6d 61 74 6c 61 62 20 35 2e 32 21	se.project.exists.in.matlab.5.2!
23b00	21 21 0a 25 20 20 20 20 20 20 20 20 20 4e 6f 77 20 75 73 65 73 20 74 68 65 20 6d 6f 72 65 20 65	!!.%.........Now.uses.the.more.e
23b20	6c 61 62 6f 72 61 74 65 20 69 6e 74 72 69 6e 73 69 63 20 6d 6f 64 65 6c 20 66 72 6f 6d 20 4f 75	laborate.intrinsic.model.from.Ou
23b40	6c 75 0a 0a 0a 0a 5b 6d 2c 6e 5d 20 3d 20 73 69 7a 65 28 58 29 3b 0a 0a 59 20 3d 20 52 2a 58 20	lu....[m,n].=.size(X);..Y.=.R*X.
23b60	2b 20 54 2a 6f 6e 65 73 28 31 2c 6e 29 3b 0a 5a 20 3d 20 59 28 33 2c 3a 29 3b 0a 0a 66 20 3d 20	+.T*ones(1,n);.Z.=.Y(3,:);..f.=.
23b80	66 28 3a 29 3b 20 25 25 20 6d 61 6b 65 20 61 20 63 6f 6c 75 6d 6e 20 76 65 63 74 6f 72 0a 69 66	f(:);.%%.make.a.column.vector.if
23ba0	20 6c 65 6e 67 74 68 28 66 29 3d 3d 31 2c 0a 20 20 20 66 20 3d 20 5b 66 20 66 5d 27 3b 0a 65 6e	.length(f)==1,....f.=.[f.f]';.en
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23be0	2a 20 5a 29 29 20 3b 0a 0a 0a 72 61 64 69 75 73 5f 32 20 3d 20 78 28 31 2c 3a 29 2e 5e 32 20 2b	*.Z)).;...radius_2.=.x(1,:).^2.+
23c00	20 78 28 32 2c 3a 29 2e 5e 32 3b 0a 0a 69 66 20 6c 65 6e 67 74 68 28 6b 29 20 3e 20 31 2c 0a 0a	.x(2,:).^2;..if.length(k).>.1,..
23c20	20 20 20 72 61 64 69 61 6c 5f 64 69 73 74 6f 72 74 69 6f 6e 20 3d 20 31 20 2b 20 6f 6e 65 73 28	...radial_distortion.=.1.+.ones(
23c40	32 2c 31 29 20 2a 20 28 28 6b 28 31 29 20 2a 20 72 61 64 69 75 73 5f 32 29 20 2b 20 28 6b 28 32	2,1)..((k(1)..radius_2).+.(k(2
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23c80	67 74 68 28 6b 29 20 3c 20 34 2c 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 64 65 6c 74 61 5f 78	gth(k).<.4,..............delta_x
23ca0	20 3d 20 7a 65 72 6f 73 28 32 2c 6e 29 3b 20 0a 20 20 20 20 20 20 0a 20 20 20 65 6c 73 65 0a 20	.=.zeros(2,n);............else..
23cc0	20 20 0a 20 20 20 20 20 20 64 65 6c 74 61 5f 78 20 3d 20 5b 32 2a 6b 28 33 29 2a 78 28 31 2c 3a	.........delta_x.=.[2k(3)x(1,:
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23d00	28 31 2c 3a 29 2e 5e 32 29 20 3b 0a 09 20 20 20 20 6b 28 33 29 20 2a 20 28 72 61 64 69 75 73 5f	(1,:).^2).;......k(3).*.(radius_
23d20	32 20 2b 20 32 2a 78 28 32 2c 3a 29 2e 5e 32 29 2b 32 2a 6b 28 34 29 2a 78 28 31 2c 3a 29 2e 2a	2.+.2x(2,:).^2)+2k(4)x(1,:).
23d40	78 28 32 2c 3a 29 5d 3b 0a 20 20 20 20 20 20 0a 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 0a 0a	x(2,:)];...........end;.........
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23d80	31 20 2b 20 6f 6e 65 73 28 32 2c 31 29 20 2a 20 28 28 6b 28 31 29 20 2a 20 72 61 64 69 75 73 5f	1.+.ones(2,1)..((k(1)..radius_
23da0	32 29 29 3b 0a 0a 20 20 20 64 65 6c 74 61 5f 78 20 3d 20 7a 65 72 6f 73 28 32 2c 6e 29 3b 0a 20	2));.....delta_x.=.zeros(2,n);..
23dc0	20 20 0a 65 6e 64 3b 0a 0a 0a 78 20 3d 20 28 78 20 2e 2a 20 72 61 64 69 61 6c 5f 64 69 73 74 6f	...end;...x.=.(x..*.radial_disto
23de0	72 74 69 6f 6e 20 2b 20 64 65 6c 74 61 5f 78 29 2e 2a 20 28 66 20 2a 20 6f 6e 65 73 28 31 2c 6e	rtion.+.delta_x)..(f..ones(1,n
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23e20	00 1c 00 0e 72 69 67 69 64 5f 6d 6f 74 69 6f 6e 2e 6d 00 00 00 00 07 d8 00 02 36 b9 00 28 00 18	....rigid_motion.m........6..(..
23e40	63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 5f 69 6e 69 74 2e 6d 00 00 00 00 00 00 08 00	compute_extrinsic_init.m........
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23e80	2e 6d 00 27 00 00 0a 00 00 02 36 bb 00 24 00 15 67 6f 5f 63 61 6c 69 62 5f 6f 70 74 69 6d 5f 69	.m.'......6..$..go_calib_optim_i
23ea0	74 65 72 2e 6d 00 0a 63 67 6f 5f 63 61 6c 69 62 5f 6f 70 74 69 6d 5f 69 74 65 72 2e 6d 00 0a 00	ter.m..cgo_calib_optim_iter.m...
23ec0	00 02 36 bb 00 24 00 15 67 6f 5f 63 61 6c 69 62 5f 6f 70 74 69 6d 5f 69 74 65 72 2e 6d 00 0a 00	..6..$..go_calib_optim_iter.m...
23ee0	00 02 36 bb 00 24 00 15 67 6f 5f 63 61 6c 69 62 5f 6f 70 74 69 6d 5f 69 74 65 72 2e 6d 00 36 bb	..6..$..go_calib_optim_iter.m.6.
23f00	00 24 00 15 67 6f 5f 63 61 6c 69 62 5f 6f 70 74 69 6d 5f 69 74 65 72 2e 6d 00 0a 00 6c 6c 65 64	.$..go_calib_optim_iter.m...lled
23f20	20 77 69 74 68 69 6e 20 74 68 61 74 20 70 72 6f 67 72 61 6d 3a 0a 25 0a 25 63 6f 6d 70 75 74 65	.within.that.program:.%.%compute
23f40	5f 68 6f 6d 6f 67 72 61 70 68 79 2e 6d 3a 20 43 6f 6d 70 75 74 65 73 20 74 68 65 20 70 6c 61 6e	_homography.m:.Computes.the.plan
23f60	61 72 20 68 6f 6d 6f 67 72 61 70 68 79 20 62 65 74 77 65 65 6e 20 70 6f 69 6e 74 73 20 6f 6e 20	ar.homography.between.points.on.
23f80	74 68 65 20 67 72 69 64 20 69 6e 20 33 44 2c 20 61 6e 64 20 74 68 65 20 69 6d 61 67 65 20 70 6c	the.grid.in.3D,.and.the.image.pl
23fa0	61 6e 65 2e 0a 25 0a 25 63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 2e 6d 3a 20 43 6f 6d	ane..%.%compute_extrinsic.m:.Com
23fc0	70 75 74 65 73 20 74 68 65 20 6c 6f 63 61 74 69 6f 6e 20 6f 66 20 61 20 67 72 69 64 20 61 73 73	putes.the.location.of.a.grid.ass
23fe0	75 6d 69 6e 67 20 6b 6e 6f 77 6e 20 69 6e 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73	uming.known.intrinsic.parameters
24000	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 70 72 6f 6a 65 63 74 65 64 47 72 69 64 2e 6d 00 00 00	TOOLBOX_calib/projectedGrid.m...
24020	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
24040	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
24060	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
24080	20 20 20 20 37 31 34 20 20 37 30 32 34 30 33 37 33 34 33 20 20 31 31 33 34 35 00 20 00 00 00 00	....714..7024037343..11345......
240a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
240c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
240e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
24100	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
24120	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
24140	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
24160	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
24180	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
241a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
241c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
241e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
24200	66 75 6e 63 74 69 6f 6e 20 5b 58 58 2c 48 5d 20 3d 20 70 72 6f 6a 65 63 74 65 64 47 72 69 64 20	function.[XX,H].=.projectedGrid.
24220	28 20 50 31 2c 20 50 32 2c 20 50 33 2c 20 50 34 20 2c 20 6e 78 2c 20 6e 79 29 3b 0a 0a 25 20 6e	(.P1,.P2,.P3,.P4.,.nx,.ny);..%.n
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24260	0a 61 30 30 20 3d 20 5b 50 31 3b 31 5d 3b 0a 61 31 30 20 3d 20 5b 50 32 3b 31 5d 3b 0a 61 31 31	.a00.=.[P1;1];.a10.=.[P2;1];.a11
24280	20 3d 20 5b 50 33 3b 31 5d 3b 0a 61 30 31 20 3d 20 5b 50 34 3b 31 5d 3b 0a 0a 25 20 43 6f 6d 70	.=.[P3;1];.a01.=.[P4;1];..%.Comp
242a0	75 74 65 20 74 68 65 20 70 6c 61 6e 61 72 74 20 63 6f 6c 6c 69 6e 65 61 74 69 6f 6e 3a 0a 0a 5b	ute.the.planart.collineation:..[
242c0	48 5d 20 3d 20 63 6f 6d 70 75 74 65 5f 63 6f 6c 6c 69 6e 65 61 74 69 6f 6e 20 28 61 30 30 2c 20	H].=.compute_collineation.(a00,.
242e0	61 31 30 2c 20 61 31 31 2c 20 61 30 31 29 3b 0a 0a 0a 25 20 42 75 69 6c 64 20 74 68 65 20 67 72	a10,.a11,.a01);...%.Build.the.gr
24300	69 64 20 75 73 69 6e 67 20 74 68 65 20 70 6c 61 6e 61 72 20 63 6f 6c 6c 69 6e 65 61 74 69 6f 6e	id.using.the.planar.collineation
24320	3a 0a 0a 78 5f 6c 20 3d 20 28 28 30 3a 28 6e 78 2d 31 29 29 27 2a 6f 6e 65 73 28 31 2c 6e 79 29	:..x_l.=.((0:(nx-1))'*ones(1,ny)
24340	29 2f 28 6e 78 2d 31 29 3b 0a 79 5f 6c 20 3d 20 28 6f 6e 65 73 28 6e 78 2c 31 29 2a 28 30 3a 28	)/(nx-1);.y_l.=.(ones(nx,1)*(0:(
24360	6e 79 2d 31 29 29 29 2f 28 6e 79 2d 31 29 3b 0a 0a 70 74 73 20 3d 20 5b 78 5f 6c 28 3a 29 20 79	ny-1)))/(ny-1);..pts.=.[x_l(:).y
24380	5f 6c 28 3a 29 20 6f 6e 65 73 28 6e 78 2a 6e 79 2c 31 29 5d 27 3b 0a 0a 58 58 20 3d 20 48 2a 70	_l(:).ones(nxny,1)]';..XX.=.Hp
243a0	74 73 3b 0a 0a 58 58 20 3d 20 58 58 28 31 3a 32 2c 3a 29 20 2e 2f 20 28 6f 6e 65 73 28 32 2c 31	ts;..XX.=.XX(1:2,:)../.(ones(2,1
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243e0	00 18 00 09 73 74 61 72 74 75 70 2e 6d 00 33 44 00 00 05 f0 00 02 36 a6 00 18 00 09 74 65 73 74	....startup.m.3D......6.....test
24400	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 70 72 6f 6a 65 63 74 5f 70 6f 69 6e 74 73 2e 6d 00 00	TOOLBOX_calib/project_points.m..
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24440	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
24460	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
24480	20 20 31 35 33 34 33 20 20 37 30 32 34 30 33 37 33 34 33 20 20 31 31 36 36 36 00 20 00 00 00 00	..15343..7024037343..11666......
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244c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
244e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
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24520	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
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245c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
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24600	66 75 6e 63 74 69 6f 6e 20 5b 78 70 2c 64 78 70 64 6f 6d 2c 64 78 70 64 54 2c 64 78 70 64 66 2c	function.[xp,dxpdom,dxpdT,dxpdf,
24620	64 78 70 64 63 2c 64 78 70 64 6b 5d 20 3d 20 70 72 6f 6a 65 63 74 5f 70 6f 69 6e 74 73 28 58 2c	dxpdc,dxpdk].=.project_points(X,
24640	6f 6d 2c 54 2c 66 2c 63 2c 6b 29 0a 0a 25 70 72 6f 6a 65 63 74 5f 70 6f 69 6e 74 73 2e 6d 0a 25	om,T,f,c,k)..%project_points.m.%
24660	0a 25 5b 78 70 2c 64 78 70 64 6f 6d 2c 64 78 70 64 54 2c 64 78 70 64 66 2c 64 78 70 64 63 2c 64	.%[xp,dxpdom,dxpdT,dxpdf,dxpdc,d
24680	78 70 64 6b 5d 20 3d 20 70 72 6f 6a 65 63 74 5f 70 6f 69 6e 74 73 28 58 2c 6f 6d 2c 54 2c 66 2c	xpdk].=.project_points(X,om,T,f,
246a0	63 2c 6b 29 0a 25 0a 25 50 72 6f 6a 65 63 74 73 20 61 20 33 44 20 73 74 72 75 63 74 75 72 65 20	c,k).%.%Projects.a.3D.structure.
246c0	6f 6e 74 6f 20 74 68 65 20 69 6d 61 67 65 20 70 6c 61 6e 65 2e 0a 25 0a 25 49 4e 50 55 54 3a 20	onto.the.image.plane..%.%INPUT:.
246e0	58 3a 20 33 44 20 73 74 72 75 63 74 75 72 65 20 69 6e 20 74 68 65 20 77 6f 72 6c 64 20 63 6f 6f	X:.3D.structure.in.the.world.coo
24700	72 64 69 6e 61 74 65 20 66 72 61 6d 65 20 28 33 78 4e 20 6d 61 74 72 69 78 20 66 6f 72 20 4e 20	rdinate.frame.(3xN.matrix.for.N.
24720	70 6f 69 6e 74 73 29 0a 25 20 20 20 20 20 20 20 28 6f 6d 2c 54 29 3a 20 52 69 67 69 64 20 6d 6f	points).%.......(om,T):.Rigid.mo
24740	74 69 6f 6e 20 70 61 72 61 6d 65 74 65 72 73 20 62 65 74 77 65 65 6e 20 77 6f 72 6c 64 20 63 6f	tion.parameters.between.world.co
24760	6f 72 64 69 6e 61 74 65 20 66 72 61 6d 65 20 61 6e 64 20 63 61 6d 65 72 61 20 72 65 66 65 72 65	ordinate.frame.and.camera.refere
24780	6e 63 65 20 66 72 61 6d 65 0a 25 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 6f 6d 3a 20 72 6f	nce.frame.%...............om:.ro
247a0	74 61 74 69 6f 6e 20 76 65 63 74 6f 72 20 28 33 78 31 20 76 65 63 74 6f 72 29 3b 20 54 3a 20 74	tation.vector.(3x1.vector);.T:.t
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247e0	20 20 20 20 20 20 20 66 3a 20 63 61 6d 65 72 61 20 66 6f 63 61 6c 20 6c 65 6e 67 74 68 20 69 6e	.......f:.camera.focal.length.in
24800	20 75 6e 69 74 73 20 6f 66 20 68 6f 72 69 7a 6f 6e 74 61 6c 20 61 6e 64 20 76 65 72 74 69 63 61	.units.of.horizontal.and.vertica
24820	6c 20 70 69 78 65 6c 20 75 6e 69 74 73 20 28 32 78 31 20 76 65 63 74 6f 72 29 0a 25 20 20 20 20	l.pixel.units.(2x1.vector).%....
24840	20 20 20 63 3a 20 70 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 20 6c 6f 63 61 74 69 6f 6e 20 69	...c:.principal.point.location.i
24860	6e 20 70 69 78 65 6c 20 75 6e 69 74 73 20 28 32 78 31 20 76 65 63 74 6f 72 29 0a 25 20 20 20 20	n.pixel.units.(2x1.vector).%....
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249c0	20 66 20 28 28 32 4e 29 78 32 20 6d 61 74 72 69 78 29 0a 25 20 20 20 20 20 20 20 20 64 78 70 64	.f.((2N)x2.matrix).%........dxpd
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24a00	20 74 6f 20 63 20 28 28 32 4e 29 78 32 20 6d 61 74 72 69 78 29 0a 25 20 20 20 20 20 20 20 20 64	.to.c.((2N)x2.matrix).%........d
24a20	78 70 64 6b 3a 20 44 65 72 69 76 61 74 69 76 65 20 6f 66 20 78 70 20 77 69 74 68 20 72 65 73 70	xpdk:.Derivative.of.xp.with.resp
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24a80	20 6f 66 20 63 6f 6f 72 64 69 6e 61 74 65 73 20 58 20 69 6e 20 74 68 65 20 77 6f 72 6c 64 20 72	.of.coordinates.X.in.the.world.r
24aa0	65 66 65 72 65 6e 63 65 20 66 72 61 6d 65 20 28 73 74 6f 72 65 64 20 69 6e 20 74 68 65 20 6d 61	eference.frame.(stored.in.the.ma
24ac0	74 72 69 78 20 58 29 0a 25 54 68 65 20 63 6f 6f 72 64 69 6e 61 74 65 20 76 65 63 74 6f 72 20 6f	trix.X).%The.coordinate.vector.o
24ae0	66 20 50 20 69 6e 20 74 68 65 20 63 61 6d 65 72 61 20 72 65 66 65 72 65 6e 63 65 20 66 72 61 6d	f.P.in.the.camera.reference.fram
24b00	65 20 69 73 3a 20 58 63 20 3d 20 52 2a 58 20 2b 20 54 0a 25 77 68 65 72 65 20 52 20 69 73 20 74	e.is:.Xc.=.R*X.+.T.%where.R.is.t
24b20	68 65 20 72 6f 74 61 74 69 6f 6e 20 6d 61 74 72 69 78 20 63 6f 72 72 65 73 70 6f 6e 64 69 6e 67	he.rotation.matrix.corresponding
24b40	20 74 6f 20 74 68 65 20 72 6f 74 61 74 69 6f 6e 20 76 65 63 74 6f 72 20 6f 6d 3a 20 52 20 3d 20	.to.the.rotation.vector.om:.R.=.
24b60	72 6f 64 72 69 67 75 65 73 28 6f 6d 29 3b 0a 25 63 61 6c 6c 20 78 2c 20 79 20 61 6e 64 20 7a 20	rodrigues(om);.%call.x,.y.and.z.
24b80	74 68 65 20 33 20 63 6f 6f 72 64 69 6e 61 74 65 73 20 6f 66 20 58 63 3a 20 78 20 3d 20 58 63 28	the.3.coordinates.of.Xc:.x.=.Xc(
24ba0	31 29 3b 20 79 20 3d 20 58 63 28 32 29 3b 20 7a 20 3d 20 58 63 28 33 29 3b 0a 25 54 68 65 20 70	1);.y.=.Xc(2);.z.=.Xc(3);.%The.p
24bc0	69 6e 65 68 6f 6c 65 20 70 72 6f 6a 65 63 74 69 6f 6e 20 63 6f 6f 72 64 69 6e 61 74 65 73 20 6f	inehole.projection.coordinates.o
24be0	66 20 50 20 69 73 20 5b 61 3b 62 5d 20 77 68 65 72 65 20 61 3d 78 2f 7a 20 61 6e 64 20 62 3d 79	f.P.is.[a;b].where.a=x/z.and.b=y
24c00	2f 7a 2e 0a 25 63 61 6c 6c 20 72 5e 32 20 3d 20 61 5e 32 20 2b 20 62 5e 32 2e 0a 25 54 68 65 20	/z..%call.r^2.=.a^2.+.b^2..%The.
24c20	64 69 73 74 6f 72 74 65 64 20 70 6f 69 6e 74 20 63 6f 6f 72 64 69 6e 61 74 65 73 20 61 72 65 3a	distorted.point.coordinates.are:
24c40	20 78 64 20 3d 20 5b 78 78 3b 79 79 5d 20 77 68 65 72 65 3a 0a 25 0a 25 78 78 20 3d 20 61 20 2a	.xd.=.[xx;yy].where:.%.%xx.=.a.*
24c60	20 28 31 20 2b 20 6b 63 28 31 29 2a 72 5e 32 20 2b 20 6b 63 28 32 29 2a 72 5e 34 29 20 20 20 20	.(1.+.kc(1)r^2.+.kc(2)r^4)....
24c80	20 20 2b 20 20 20 20 20 20 32 2a 6b 63 28 33 29 2a 61 2a 62 20 2b 20 6b 63 28 34 29 2a 28 72 5e	..+......2kc(3)ab.+.kc(4)(r^
24ca0	32 20 2b 20 32 2a 61 5e 32 29 3b 0a 25 79 79 20 3d 20 62 20 2a 20 28 31 20 2b 20 6b 63 28 31 29	2.+.2a^2);.%yy.=.b..(1.+.kc(1)
24cc0	2a 72 5e 32 20 2b 20 6b 63 28 32 29 2a 72 5e 34 29 20 20 20 20 20 20 2b 20 20 20 20 20 20 6b 63	r^2.+.kc(2)r^4)......+......kc
24ce0	28 33 29 2a 28 72 5e 32 20 2b 20 32 2a 62 5e 32 29 20 2b 20 32 2a 6b 63 28 34 29 2a 61 2a 62 3b	(3)(r^2.+.2b^2).+.2kc(4)a*b;
24d00	0a 25 0a 25 54 68 65 20 6c 65 66 74 20 74 65 72 6d 73 20 63 6f 72 72 65 73 70 6f 6e 64 20 74 6f	.%.%The.left.terms.correspond.to
24d20	20 72 61 64 69 61 6c 20 64 69 73 74 6f 72 74 69 6f 6e 2c 20 74 68 65 20 72 69 67 68 74 20 74 65	.radial.distortion,.the.right.te
24d40	72 6d 73 20 63 6f 72 72 65 73 70 6f 6e 64 20 74 6f 20 74 61 6e 67 65 6e 74 69 61 6c 20 64 69 73	rms.correspond.to.tangential.dis
24d60	74 6f 72 74 69 6f 6e 0a 25 0a 25 46 69 61 6e 6c 6c 79 2c 20 63 6f 6e 76 65 72 74 69 6f 6e 20 69	tortion.%.%Fianlly,.convertion.i
24d80	6e 74 6f 20 70 69 78 65 6c 20 63 6f 6f 72 64 69 6e 61 74 65 73 3a 20 54 68 65 20 66 69 6e 61 6c	nto.pixel.coordinates:.The.final
24da0	20 70 69 78 65 6c 20 63 6f 6f 72 64 69 6e 61 74 65 73 20 76 65 63 74 6f 72 20 78 70 3d 5b 78 78	.pixel.coordinates.vector.xp=[xx
24dc0	70 3b 79 79 70 5d 20 77 68 65 72 65 3a 0a 25 0a 25 78 78 70 20 3d 20 66 28 31 29 2a 78 78 20 2b	p;yyp].where:.%.%xxp.=.f(1)*xx.+
24de0	20 63 28 31 29 0a 25 79 79 70 20 3d 20 66 28 32 29 2a 79 79 20 2b 20 63 28 32 29 0a 25 0a 25 0a	.c(1).%yyp.=.f(2)*yy.+.c(2).%.%.
24e00	25 4e 4f 54 45 3a 20 41 62 6f 75 74 20 39 30 20 70 65 72 63 65 6e 74 20 6f 66 20 74 68 65 20 63	%NOTE:.About.90.percent.of.the.c
24e20	6f 64 65 20 74 61 6b 65 73 20 63 61 72 65 20 66 6f 20 63 6f 6d 70 75 74 69 6e 67 20 74 68 65 20	ode.takes.care.fo.computing.the.
24e40	4a 61 63 6f 62 69 61 6e 20 6d 61 74 72 69 63 65 73 0a 25 0a 25 0a 25 49 6d 70 6f 72 74 61 6e 74	Jacobian.matrices.%.%.%Important
24e60	20 66 75 6e 63 74 69 6f 6e 20 63 61 6c 6c 65 64 20 77 69 74 68 69 6e 20 74 68 61 74 20 70 72 6f	.function.called.within.that.pro
24e80	67 72 61 6d 3a 0a 25 0a 25 72 6f 64 72 69 67 75 65 73 2e 6d 3a 20 43 6f 6d 70 75 74 65 73 20 74	gram:.%.%rodrigues.m:.Computes.t
24ea0	68 65 20 72 6f 74 61 74 69 6f 6e 20 6d 61 74 72 69 78 20 63 6f 72 72 65 73 70 6f 6e 64 69 6e 67	he.rotation.matrix.corresponding
24ec0	20 74 6f 20 61 20 72 6f 74 61 74 69 6f 6e 20 76 65 63 74 6f 72 0a 25 0a 25 72 69 67 69 64 5f 6d	.to.a.rotation.vector.%.%rigid_m
24ee0	6f 74 69 6f 6e 2e 6d 3a 20 43 6f 6d 70 75 74 65 73 20 74 68 65 20 72 69 67 69 64 20 6d 6f 74 69	otion.m:.Computes.the.rigid.moti
24f00	6f 6e 20 74 72 61 6e 73 66 6f 72 6d 61 74 69 6f 6e 20 6f 66 20 61 20 67 69 76 65 6e 20 73 74 72	on.transformation.of.a.given.str
24f20	75 63 74 75 72 65 0a 0a 0a 0a 69 66 20 6e 61 72 67 69 6e 20 3c 20 36 2c 0a 20 20 20 6b 20 3d 20	ucture....if.nargin.<.6,....k.=.
24f40	7a 65 72 6f 73 28 34 2c 31 29 3b 0a 20 20 20 69 66 20 6e 61 72 67 69 6e 20 3c 20 35 2c 0a 20 20	zeros(4,1);....if.nargin.<.5,...
24f60	20 20 20 20 63 20 3d 20 7a 65 72 6f 73 28 32 2c 31 29 3b 0a 20 20 20 20 20 20 69 66 20 6e 61 72	....c.=.zeros(2,1);.......if.nar
24f80	67 69 6e 20 3c 20 34 2c 0a 20 20 20 20 20 20 20 20 20 66 20 3d 20 6f 6e 65 73 28 32 2c 31 29 3b	gin.<.4,..........f.=.ones(2,1);
24fa0	0a 20 20 20 20 20 20 20 20 20 69 66 20 6e 61 72 67 69 6e 20 3c 20 33 2c 0a 20 20 20 20 20 20 20	..........if.nargin.<.3,........
24fc0	20 20 20 20 20 54 20 3d 20 7a 65 72 6f 73 28 33 2c 31 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20	.....T.=.zeros(3,1);............
24fe0	20 69 66 20 6e 61 72 67 69 6e 20 3c 20 32 2c 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 6f	.if.nargin.<.2,................o
25000	6d 20 3d 20 7a 65 72 6f 73 28 33 2c 31 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 69	m.=.zeros(3,1);................i
25020	66 20 6e 61 72 67 69 6e 20 3c 20 31 2c 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20	f.nargin.<.1,...................
25040	65 72 72 6f 72 28 27 4e 65 65 64 20 61 74 20 6c 65 61 73 74 20 61 20 33 44 20 73 74 72 75 63 74	error('Need.at.least.a.3D.struct
25060	75 72 65 20 74 6f 20 70 72 6f 6a 65 63 74 20 28 69 6e 20 70 72 6f 6a 65 63 74 5f 70 6f 69 6e 74	ure.to.project.(in.project_point
25080	73 2e 6d 29 27 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 72 65 74 75 72 6e	s.m)');...................return
250a0	3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 20 20 20 20	;................end;...........
250c0	20 20 65 6e 64 3b 0a 20 20 20 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 65 6e 64 3b 0a	..end;..........end;.......end;.
250e0	20 20 20 65 6e 64 3b 0a 65 6e 64 3b 0a 0a 0a 5b 6d 2c 6e 5d 20 3d 20 73 69 7a 65 28 58 29 3b 0a	...end;.end;...[m,n].=.size(X);.
25100	0a 5b 59 2c 64 59 64 6f 6d 2c 64 59 64 54 5d 20 3d 20 72 69 67 69 64 5f 6d 6f 74 69 6f 6e 28 58	.[Y,dYdom,dYdT].=.rigid_motion(X
25120	2c 6f 6d 2c 54 29 3b 0a 0a 0a 69 6e 76 5f 5a 20 3d 20 31 2e 2f 59 28 33 2c 3a 29 3b 0a 0a 78 20	,om,T);...inv_Z.=.1./Y(3,:);..x.
25140	3d 20 28 59 28 31 3a 32 2c 3a 29 20 2e 2a 20 28 6f 6e 65 73 28 32 2c 31 29 20 2a 20 69 6e 76 5f	=.(Y(1:2,:)...(ones(2,1)..inv_
25160	5a 29 29 20 3b 0a 0a 0a 62 62 20 3d 20 28 2d 78 28 31 2c 3a 29 20 2e 2a 20 69 6e 76 5f 5a 29 27	Z)).;...bb.=.(-x(1,:)..*.inv_Z)'
25180	2a 6f 6e 65 73 28 31 2c 33 29 3b 0a 63 63 20 3d 20 28 2d 78 28 32 2c 3a 29 20 2e 2a 20 69 6e 76	ones(1,3);.cc.=.(-x(2,:)...inv
251a0	5f 5a 29 27 2a 6f 6e 65 73 28 31 2c 33 29 3b 0a 0a 0a 64 78 64 6f 6d 20 3d 20 7a 65 72 6f 73 28	_Z)'*ones(1,3);...dxdom.=.zeros(
251c0	32 2a 6e 2c 33 29 3b 0a 64 78 64 6f 6d 28 31 3a 32 3a 65 6e 64 2c 3a 29 20 3d 20 28 28 69 6e 76	2*n,3);.dxdom(1:2:end,:).=.((inv
251e0	5f 5a 27 29 2a 6f 6e 65 73 28 31 2c 33 29 29 20 2e 2a 20 64 59 64 6f 6d 28 31 3a 33 3a 65 6e 64	_Z')ones(1,3))...dYdom(1:3:end
25200	2c 3a 29 20 2b 20 62 62 20 2e 2a 20 64 59 64 6f 6d 28 33 3a 33 3a 65 6e 64 2c 3a 29 3b 0a 64 78	,:).+.bb..*.dYdom(3:3:end,:);.dx
25220	64 6f 6d 28 32 3a 32 3a 65 6e 64 2c 3a 29 20 3d 20 28 28 69 6e 76 5f 5a 27 29 2a 6f 6e 65 73 28	dom(2:2:end,:).=.((inv_Z')*ones(
25240	31 2c 33 29 29 20 2e 2a 20 64 59 64 6f 6d 28 32 3a 33 3a 65 6e 64 2c 3a 29 20 2b 20 63 63 20 2e	1,3))..*.dYdom(2:3:end,:).+.cc..
25260	2a 20 64 59 64 6f 6d 28 33 3a 33 3a 65 6e 64 2c 3a 29 3b 0a 0a 64 78 64 54 20 3d 20 7a 65 72 6f	*.dYdom(3:3:end,:);..dxdT.=.zero
25280	73 28 32 2a 6e 2c 33 29 3b 0a 64 78 64 54 28 31 3a 32 3a 65 6e 64 2c 3a 29 20 3d 20 28 28 69 6e	s(2*n,3);.dxdT(1:2:end,:).=.((in
252a0	76 5f 5a 27 29 2a 6f 6e 65 73 28 31 2c 33 29 29 20 2e 2a 20 64 59 64 54 28 31 3a 33 3a 65 6e 64	v_Z')ones(1,3))...dYdT(1:3:end
252c0	2c 3a 29 20 2b 20 62 62 20 2e 2a 20 64 59 64 54 28 33 3a 33 3a 65 6e 64 2c 3a 29 3b 0a 64 78 64	,:).+.bb..*.dYdT(3:3:end,:);.dxd
252e0	54 28 32 3a 32 3a 65 6e 64 2c 3a 29 20 3d 20 28 28 69 6e 76 5f 5a 27 29 2a 6f 6e 65 73 28 31 2c	T(2:2:end,:).=.((inv_Z')*ones(1,
25300	33 29 29 20 2e 2a 20 64 59 64 54 28 32 3a 33 3a 65 6e 64 2c 3a 29 20 2b 20 63 63 20 2e 2a 20 64	3))...dYdT(2:3:end,:).+.cc...d
25320	59 64 54 28 33 3a 33 3a 65 6e 64 2c 3a 29 3b 0a 0a 0a 25 20 41 64 64 20 64 69 73 74 6f 72 74 69	YdT(3:3:end,:);...%.Add.distorti
25340	6f 6e 3a 0a 0a 72 32 20 3d 20 78 28 31 2c 3a 29 2e 5e 32 20 2b 20 78 28 32 2c 3a 29 2e 5e 32 3b	on:..r2.=.x(1,:).^2.+.x(2,:).^2;
25360	0a 0a 0a 0a 64 72 32 64 6f 6d 20 3d 20 32 2a 28 28 78 28 31 2c 3a 29 27 29 2a 6f 6e 65 73 28 31	....dr2dom.=.2((x(1,:)')ones(1
25380	2c 33 29 29 20 2e 2a 20 64 78 64 6f 6d 28 31 3a 32 3a 65 6e 64 2c 3a 29 20 2b 20 32 2a 28 28 78	,3))...dxdom(1:2:end,:).+.2((x
253a0	28 32 2c 3a 29 27 29 2a 6f 6e 65 73 28 31 2c 33 29 29 20 2e 2a 20 64 78 64 6f 6d 28 32 3a 32 3a	(2,:)')ones(1,3))...dxdom(2:2:
253c0	65 6e 64 2c 3a 29 3b 0a 64 72 32 64 54 20 3d 20 32 2a 28 28 78 28 31 2c 3a 29 27 29 2a 6f 6e 65	end,:);.dr2dT.=.2((x(1,:)')one
253e0	73 28 31 2c 33 29 29 20 2e 2a 20 64 78 64 54 28 31 3a 32 3a 65 6e 64 2c 3a 29 20 2b 20 32 2a 28	s(1,3))...dxdT(1:2:end,:).+.2(
25400	28 78 28 32 2c 3a 29 27 29 2a 6f 6e 65 73 28 31 2c 33 29 29 20 2e 2a 20 64 78 64 54 28 32 3a 32	(x(2,:)')ones(1,3))...dxdT(2:2
25420	3a 65 6e 64 2c 3a 29 3b 0a 0a 0a 72 34 20 3d 20 72 32 2e 5e 32 3b 0a 0a 64 72 34 64 6f 6d 20 3d	:end,:);...r4.=.r2.^2;..dr4dom.=
25440	20 32 2a 28 28 72 32 27 29 2a 6f 6e 65 73 28 31 2c 33 29 29 20 2e 2a 20 64 72 32 64 6f 6d 3b 0a	.2((r2')ones(1,3))..*.dr2dom;.
25460	64 72 34 64 54 20 3d 20 32 2a 28 28 72 32 27 29 2a 6f 6e 65 73 28 31 2c 33 29 29 20 2e 2a 20 64	dr4dT.=.2((r2')ones(1,3))..*.d
25480	72 32 64 54 3b 0a 0a 0a 25 20 52 61 64 69 61 6c 20 64 69 73 74 6f 72 74 69 6f 6e 3a 0a 0a 63 64	r2dT;...%.Radial.distortion:..cd
254a0	69 73 74 20 3d 20 31 20 2b 20 6b 28 31 29 20 2a 20 72 32 20 2b 20 6b 28 32 29 20 2a 20 72 34 3b	ist.=.1.+.k(1)..r2.+.k(2)..r4;
254c0	0a 0a 64 63 64 69 73 74 64 6f 6d 20 3d 20 6b 28 31 29 20 2a 20 64 72 32 64 6f 6d 20 2b 20 6b 28	..dcdistdom.=.k(1).*.dr2dom.+.k(
254e0	32 29 20 2a 20 64 72 34 64 6f 6d 3b 0a 64 63 64 69 73 74 64 54 20 3d 20 6b 28 31 29 20 2a 20 64	2)..dr4dom;.dcdistdT.=.k(1)..d
25500	72 32 64 54 2b 20 6b 28 32 29 20 2a 20 64 72 34 64 54 3b 0a 64 63 64 69 73 74 64 6b 20 3d 20 5b	r2dT+.k(2).*.dr4dT;.dcdistdk.=.[
25520	20 72 32 27 20 72 34 27 20 7a 65 72 6f 73 28 6e 2c 32 29 5d 3b 0a 0a 0a 78 64 31 20 3d 20 78 20	.r2'.r4'.zeros(n,2)];...xd1.=.x.
25540	2e 2a 20 28 6f 6e 65 73 28 32 2c 31 29 2a 63 64 69 73 74 29 3b 0a 0a 64 78 64 31 64 6f 6d 20 3d	..(ones(2,1)cdist);..dxd1dom.=
25560	20 7a 65 72 6f 73 28 32 2a 6e 2c 33 29 3b 0a 64 78 64 31 64 6f 6d 28 31 3a 32 3a 65 6e 64 2c 3a	.zeros(2*n,3);.dxd1dom(1:2:end,:
25580	29 20 3d 20 28 78 28 31 2c 3a 29 27 2a 6f 6e 65 73 28 31 2c 33 29 29 20 2e 2a 20 64 63 64 69 73	).=.(x(1,:)'ones(1,3))...dcdis
255a0	74 64 6f 6d 3b 0a 64 78 64 31 64 6f 6d 28 32 3a 32 3a 65 6e 64 2c 3a 29 20 3d 20 28 78 28 32 2c	tdom;.dxd1dom(2:2:end,:).=.(x(2,
255c0	3a 29 27 2a 6f 6e 65 73 28 31 2c 33 29 29 20 2e 2a 20 64 63 64 69 73 74 64 6f 6d 3b 0a 63 6f 65	:)'ones(1,3))...dcdistdom;.coe
255e0	66 66 20 3d 20 28 72 65 73 68 61 70 65 28 5b 63 64 69 73 74 3b 63 64 69 73 74 5d 2c 32 2a 6e 2c	ff.=.(reshape([cdist;cdist],2*n,
25600	31 29 2a 6f 6e 65 73 28 31 2c 33 29 29 3b 0a 64 78 64 31 64 6f 6d 20 3d 20 64 78 64 31 64 6f 6d	1)*ones(1,3));.dxd1dom.=.dxd1dom
25620	20 2b 20 63 6f 65 66 66 2e 2a 20 64 78 64 6f 6d 3b 0a 0a 64 78 64 31 64 54 20 3d 20 7a 65 72 6f	.+.coeff.*.dxdom;..dxd1dT.=.zero
25640	73 28 32 2a 6e 2c 33 29 3b 0a 64 78 64 31 64 54 28 31 3a 32 3a 65 6e 64 2c 3a 29 20 3d 20 28 78	s(2*n,3);.dxd1dT(1:2:end,:).=.(x
25660	28 31 2c 3a 29 27 2a 6f 6e 65 73 28 31 2c 33 29 29 20 2e 2a 20 64 63 64 69 73 74 64 54 3b 0a 64	(1,:)'ones(1,3))...dcdistdT;.d
25680	78 64 31 64 54 28 32 3a 32 3a 65 6e 64 2c 3a 29 20 3d 20 28 78 28 32 2c 3a 29 27 2a 6f 6e 65 73	xd1dT(2:2:end,:).=.(x(2,:)'*ones
256a0	28 31 2c 33 29 29 20 2e 2a 20 64 63 64 69 73 74 64 54 3b 0a 64 78 64 31 64 54 20 3d 20 64 78 64	(1,3))..*.dcdistdT;.dxd1dT.=.dxd
256c0	31 64 54 20 2b 20 63 6f 65 66 66 2e 2a 20 64 78 64 54 3b 0a 0a 64 78 64 31 64 6b 20 3d 20 7a 65	1dT.+.coeff.*.dxdT;..dxd1dk.=.ze
256e0	72 6f 73 28 32 2a 6e 2c 34 29 3b 0a 64 78 64 31 64 6b 28 31 3a 32 3a 65 6e 64 2c 3a 29 20 3d 20	ros(2*n,4);.dxd1dk(1:2:end,:).=.
25700	28 78 28 31 2c 3a 29 27 2a 6f 6e 65 73 28 31 2c 34 29 29 20 2e 2a 20 64 63 64 69 73 74 64 6b 3b	(x(1,:)'ones(1,4))...dcdistdk;
25720	0a 64 78 64 31 64 6b 28 32 3a 32 3a 65 6e 64 2c 3a 29 20 3d 20 28 78 28 32 2c 3a 29 27 2a 6f 6e	.dxd1dk(2:2:end,:).=.(x(2,:)'*on
25740	65 73 28 31 2c 34 29 29 20 2e 2a 20 64 63 64 69 73 74 64 6b 3b 0a 0a 0a 0a 25 20 74 61 6e 67 65	es(1,4))..*.dcdistdk;....%.tange
25760	6e 74 69 61 6c 20 64 69 73 74 6f 72 74 69 6f 6e 3a 0a 0a 61 31 20 3d 20 32 2e 2a 78 28 31 2c 3a	ntial.distortion:..a1.=.2.*x(1,:
25780	29 2e 2a 78 28 32 2c 3a 29 3b 0a 61 32 20 3d 20 72 32 20 2b 20 32 2a 78 28 31 2c 3a 29 2e 5e 32	).x(2,:);.a2.=.r2.+.2x(1,:).^2
257a0	3b 0a 61 33 20 3d 20 72 32 20 2b 20 32 2a 78 28 32 2c 3a 29 2e 5e 32 3b 0a 0a 64 65 6c 74 61 5f	;.a3.=.r2.+.2*x(2,:).^2;..delta_
257c0	78 20 3d 20 5b 6b 28 33 29 2a 61 31 20 2b 20 6b 28 34 29 2a 61 32 20 3b 0a 20 20 20 6b 28 33 29	x.=.[k(3)a1.+.k(4)a2.;....k(3)
257e0	20 2a 20 61 33 20 2b 20 6b 28 34 29 2a 61 31 5d 3b 0a 0a 0a 64 64 65 6c 74 61 5f 78 64 78 20 3d	..a3.+.k(4)a1];...ddelta_xdx.=
25800	20 7a 65 72 6f 73 28 32 2a 6e 2c 32 2a 6e 29 3b 0a 61 61 20 3d 20 28 32 2a 6b 28 33 29 2a 78 28	.zeros(2n,2n);.aa.=.(2k(3)x(
25820	32 2c 3a 29 2b 36 2a 6b 28 34 29 2a 78 28 31 2c 3a 29 29 27 2a 6f 6e 65 73 28 31 2c 33 29 3b 0a	2,:)+6k(4)x(1,:))'*ones(1,3);.
25840	62 62 20 3d 20 28 32 2a 6b 28 33 29 2a 78 28 31 2c 3a 29 2b 32 2a 6b 28 34 29 2a 78 28 32 2c 3a	bb.=.(2k(3)x(1,:)+2k(4)x(2,:
25860	29 29 27 2a 6f 6e 65 73 28 31 2c 33 29 3b 0a 63 63 20 3d 20 28 36 2a 6b 28 33 29 2a 78 28 32 2c	))'ones(1,3);.cc.=.(6k(3)*x(2,
25880	3a 29 2b 32 2a 6b 28 34 29 2a 78 28 31 2c 3a 29 29 27 2a 6f 6e 65 73 28 31 2c 33 29 3b 0a 0a 64	:)+2k(4)x(1,:))'*ones(1,3);..d
258a0	64 65 6c 74 61 5f 78 64 6f 6d 20 3d 20 7a 65 72 6f 73 28 32 2a 6e 2c 33 29 3b 0a 64 64 65 6c 74	delta_xdom.=.zeros(2*n,3);.ddelt
258c0	61 5f 78 64 6f 6d 28 31 3a 32 3a 65 6e 64 2c 3a 29 20 3d 20 61 61 20 2e 2a 20 64 78 64 6f 6d 28	a_xdom(1:2:end,:).=.aa..*.dxdom(
258e0	31 3a 32 3a 65 6e 64 2c 3a 29 20 2b 20 62 62 20 2e 2a 20 64 78 64 6f 6d 28 32 3a 32 3a 65 6e 64	1:2:end,:).+.bb..*.dxdom(2:2:end
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25920	20 2e 2a 20 64 78 64 6f 6d 28 31 3a 32 3a 65 6e 64 2c 3a 29 20 2b 20 63 63 20 2e 2a 20 64 78 64	...dxdom(1:2:end,:).+.cc...dxd
25940	6f 6d 28 32 3a 32 3a 65 6e 64 2c 3a 29 3b 0a 0a 64 64 65 6c 74 61 5f 78 64 54 20 3d 20 7a 65 72	om(2:2:end,:);..ddelta_xdT.=.zer
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25980	20 3d 20 61 61 20 2e 2a 20 64 78 64 54 28 31 3a 32 3a 65 6e 64 2c 3a 29 20 2b 20 62 62 20 2e 2a	.=.aa...dxdT(1:2:end,:).+.bb..
259a0	20 64 78 64 54 28 32 3a 32 3a 65 6e 64 2c 3a 29 3b 0a 64 64 65 6c 74 61 5f 78 64 54 28 32 3a 32	.dxdT(2:2:end,:);.ddelta_xdT(2:2
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25a00	5f 78 64 6b 20 3d 20 7a 65 72 6f 73 28 32 2a 6e 2c 34 29 3b 0a 64 64 65 6c 74 61 5f 78 64 6b 28	_xdk.=.zeros(2*n,4);.ddelta_xdk(
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25ac0	6d 20 3b 0a 64 78 64 32 64 54 20 3d 20 64 78 64 31 64 54 20 2b 20 64 64 65 6c 74 61 5f 78 64 54	m.;.dxd2dT.=.dxd1dT.+.ddelta_xdT
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25c20	32 29 20 3d 20 78 64 32 28 32 2c 3a 29 27 3b 0a 0a 64 78 70 64 63 20 3d 20 7a 65 72 6f 73 28 32	2).=.xd2(2,:)';..dxpdc.=.zeros(2
25c40	2a 6e 2c 32 29 3b 0a 64 78 70 64 63 28 31 3a 32 3a 65 6e 64 2c 31 29 20 3d 20 6f 6e 65 73 28 6e	*n,2);.dxpdc(1:2:end,1).=.ones(n
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25ca0	62 69 61 6e 73 3a 0a 0a 6e 20 3d 20 31 30 3b 0a 0a 58 20 3d 20 31 30 2a 72 61 6e 64 6e 28 33 2c	bians:..n.=.10;..X.=.10*randn(3,
25cc0	6e 29 3b 0a 6f 6d 20 3d 20 72 61 6e 64 6e 28 33 2c 31 29 3b 0a 54 20 3d 20 5b 31 30 2a 72 61 6e	n);.om.=.randn(3,1);.T.=.[10*ran
25ce0	64 6e 28 32 2c 31 29 3b 34 30 5d 3b 0a 66 20 3d 20 31 30 30 30 2a 72 61 6e 64 28 32 2c 31 29 3b	dn(2,1);40];.f.=.1000*rand(2,1);
25d00	0a 63 20 3d 20 31 30 30 30 2a 72 61 6e 64 6e 28 32 2c 31 29 3b 0a 6b 20 3d 20 30 2e 35 2a 72 61	.c.=.1000randn(2,1);.k.=.0.5ra
25d20	6e 64 6e 28 34 2c 31 29 3b 0a 0a 0a 5b 78 2c 64 78 64 6f 6d 2c 64 78 64 54 2c 64 78 64 66 2c 64	ndn(4,1);...[x,dxdom,dxdT,dxdf,d
25d40	78 64 63 2c 64 78 64 6b 5d 20 3d 20 70 72 6f 6a 65 63 74 5f 70 6f 69 6e 74 73 28 58 2c 6f 6d 2c	xdc,dxdk].=.project_points(X,om,
25d60	54 2c 66 2c 63 2c 6b 29 3b 0a 0a 0a 25 20 54 65 73 74 20 6f 6e 20 6f 6d 3a 20 4e 4f 54 20 4f 4b	T,f,c,k);...%.Test.on.om:.NOT.OK
25d80	0a 0a 64 6f 6d 20 3d 20 30 2e 30 30 30 30 30 30 30 30 31 20 2a 20 6e 6f 72 6d 28 6f 6d 29 2a 72	..dom.=.0.000000001..norm(om)r
25da0	61 6e 64 6e 28 33 2c 31 29 3b 0a 6f 6d 32 20 3d 20 6f 6d 20 2b 20 64 6f 6d 3b 0a 0a 5b 78 32 5d	andn(3,1);.om2.=.om.+.dom;..[x2]
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25de0	3b 0a 0a 78 5f 70 72 65 64 20 3d 20 78 20 2b 20 72 65 73 68 61 70 65 28 64 78 64 6f 6d 20 2a 20	;..x_pred.=.x.+.reshape(dxdom.*.
25e00	64 6f 6d 2c 32 2c 6e 29 3b 0a 0a 0a 6e 6f 72 6d 28 78 32 2d 78 29 2f 6e 6f 72 6d 28 78 32 20 2d	dom,2,n);...norm(x2-x)/norm(x2.-
25e20	20 78 5f 70 72 65 64 29 0a 0a 0a 25 20 54 65 73 74 20 6f 6e 20 54 3a 20 4f 4b 21 21 0a 0a 64 54	.x_pred)...%.Test.on.T:.OK!!..dT
25e40	20 3d 20 30 2e 30 30 30 31 20 2a 20 6e 6f 72 6d 28 54 29 2a 72 61 6e 64 6e 28 33 2c 31 29 3b 0a	.=.0.0001..norm(T)randn(3,1);.
25e60	54 32 20 3d 20 54 20 2b 20 64 54 3b 0a 0a 5b 78 32 5d 20 3d 20 70 72 6f 6a 65 63 74 5f 70 6f 69	T2.=.T.+.dT;..[x2].=.project_poi
25e80	6e 74 73 28 58 2c 6f 6d 2c 54 32 2c 66 2c 63 2c 6b 29 3b 0a 0a 78 5f 70 72 65 64 20 3d 20 78 20	nts(X,om,T2,f,c,k);..x_pred.=.x.
25ea0	2b 20 72 65 73 68 61 70 65 28 64 78 64 54 20 2a 20 64 54 2c 32 2c 6e 29 3b 0a 0a 0a 6e 6f 72 6d	+.reshape(dxdT.*.dT,2,n);...norm
25ec0	28 78 32 2d 78 29 2f 6e 6f 72 6d 28 78 32 20 2d 20 78 5f 70 72 65 64 29 0a 0a 0a 0a 25 20 54 65	(x2-x)/norm(x2.-.x_pred)....%.Te
25ee0	73 74 20 6f 6e 20 66 3a 20 4f 4b 21 21 0a 0a 64 66 20 3d 20 30 2e 30 30 31 20 2a 20 6e 6f 72 6d	st.on.f:.OK!!..df.=.0.001.*.norm
25f00	28 66 29 2a 72 61 6e 64 6e 28 32 2c 31 29 3b 0a 66 32 20 3d 20 66 20 2b 20 64 66 3b 0a 0a 5b 78	(f)*randn(2,1);.f2.=.f.+.df;..[x
25f20	32 5d 20 3d 20 70 72 6f 6a 65 63 74 5f 70 6f 69 6e 74 73 28 58 2c 6f 6d 2c 54 2c 66 32 2c 63 2c	2].=.project_points(X,om,T,f2,c,
25f40	6b 29 3b 0a 0a 78 5f 70 72 65 64 20 3d 20 78 20 2b 20 72 65 73 68 61 70 65 28 64 78 64 66 20 2a	k);..x_pred.=.x.+.reshape(dxdf.*
25f60	20 64 66 2c 32 2c 6e 29 3b 0a 0a 0a 6e 6f 72 6d 28 78 32 2d 78 29 2f 6e 6f 72 6d 28 78 32 20 2d	.df,2,n);...norm(x2-x)/norm(x2.-
25f80	20 78 5f 70 72 65 64 29 0a 0a 0a 25 20 54 65 73 74 20 6f 6e 20 63 3a 20 4f 4b 21 21 0a 0a 64 63	.x_pred)...%.Test.on.c:.OK!!..dc
25fa0	20 3d 20 30 2e 30 31 20 2a 20 6e 6f 72 6d 28 63 29 2a 72 61 6e 64 6e 28 32 2c 31 29 3b 0a 63 32	.=.0.01..norm(c)randn(2,1);.c2
25fc0	20 3d 20 63 20 2b 20 64 63 3b 0a 0a 5b 78 32 5d 20 3d 20 70 72 6f 6a 65 63 74 5f 70 6f 69 6e 74	.=.c.+.dc;..[x2].=.project_point
25fe0	73 28 58 2c 6f 6d 2c 54 2c 66 2c 63 32 2c 6b 29 3b 0a 0a 78 5f 70 72 65 64 20 3d 20 78 20 2b 20	s(X,om,T,f,c2,k);..x_pred.=.x.+.
26000	72 65 73 68 61 70 65 28 64 78 64 63 20 2a 20 64 63 2c 32 2c 6e 29 3b 0a 0a 6e 6f 72 6d 28 78 32	reshape(dxdc.*.dc,2,n);..norm(x2
26020	2d 78 29 2f 6e 6f 72 6d 28 78 32 20 2d 20 78 5f 70 72 65 64 29 0a 0a 25 20 54 65 73 74 20 6f 6e	-x)/norm(x2.-.x_pred)..%.Test.on
26040	20 6b 3a 20 4f 4b 21 21 0a 0a 64 6b 20 3d 20 30 2e 30 30 31 20 2a 20 6e 6f 72 6d 28 34 29 2a 72	.k:.OK!!..dk.=.0.001..norm(4)r
26060	61 6e 64 6e 28 34 2c 31 29 3b 0a 6b 32 20 3d 20 6b 20 2b 20 64 6b 3b 0a 0a 5b 78 32 5d 20 3d 20	andn(4,1);.k2.=.k.+.dk;..[x2].=.
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260a0	78 5f 70 72 65 64 20 3d 20 78 20 2b 20 72 65 73 68 61 70 65 28 64 78 64 6b 20 2a 20 64 6b 2c 32	x_pred.=.x.+.reshape(dxdk.*.dk,2
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260e0	64 29 0a 33 44 20 73 74 72 75 63 74 75 72 65 20 69 6e 20 74 68 65 20 77 6f 72 6c 64 20 63 6f 6f	d).3D.structure.in.the.world.coo
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26400	66 75 6e 63 74 69 6f 6e 20 5b 58 2c 20 6d 61 70 5d 20 3d 20 72 65 61 64 72 61 73 28 66 69 6c 65	function.[X,.map].=.readras(file
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26780	25 0a 09 66 70 20 3d 20 66 6f 70 65 6e 28 66 69 6c 65 6e 61 6d 65 2c 20 27 72 62 27 29 3b 0a 09	%..fp.=.fopen(filename,.'rb');..
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26840	65 61 64 28 66 70 2c 20 31 2c 20 27 75 63 68 61 72 27 29 20 2b 20 32 5e 38 20 2a 20 66 72 65 61	ead(fp,.1,.'uchar').+.2^8.*.frea
26860	64 28 66 70 2c 20 31 2c 20 27 75 63 68 61 72 27 29 20 2b 20 66 72 65 61 64 28 66 70 2c 20 31 2c	d(fp,.1,.'uchar').+.fread(fp,.1,
26880	20 27 75 63 68 61 72 27 29 3b 0a 0a 09 68 65 69 67 68 74 20 09 3d 20 32 5e 32 34 20 2a 20 66 72	.'uchar');...height..=.2^24.*.fr
268a0	65 61 64 28 66 70 2c 20 31 2c 20 27 75 63 68 61 72 27 29 20 2b 20 32 5e 31 36 20 2a 20 66 72 65	ead(fp,.1,.'uchar').+.2^16.*.fre
268c0	61 64 28 66 70 2c 20 31 2c 20 27 75 63 68 61 72 27 29 20 2b 20 32 5e 38 20 2a 20 66 72 65 61 64	ad(fp,.1,.'uchar').+.2^8.*.fread
268e0	28 66 70 2c 20 31 2c 20 27 75 63 68 61 72 27 29 20 2b 20 66 72 65 61 64 28 66 70 2c 20 31 2c 20	(fp,.1,.'uchar').+.fread(fp,.1,.
26900	27 75 63 68 61 72 27 29 3b 0a 0a 09 64 65 70 74 68 20 20 09 3d 20 32 5e 32 34 20 2a 20 66 72 65	'uchar');...depth...=.2^24.*.fre
26920	61 64 28 66 70 2c 20 31 2c 20 27 75 63 68 61 72 27 29 20 2b 20 32 5e 31 36 20 2a 20 66 72 65 61	ad(fp,.1,.'uchar').+.2^16.*.frea
26940	64 28 66 70 2c 20 31 2c 20 27 75 63 68 61 72 27 29 20 2b 20 32 5e 38 20 2a 20 66 72 65 61 64 28	d(fp,.1,.'uchar').+.2^8.*.fread(
26960	66 70 2c 20 31 2c 20 27 75 63 68 61 72 27 29 20 2b 20 66 72 65 61 64 28 66 70 2c 20 31 2c 20 27	fp,.1,.'uchar').+.fread(fp,.1,.'
26980	75 63 68 61 72 27 29 3b 0a 0a 09 6c 65 6e 67 74 68 20 09 3d 20 32 5e 32 34 20 2a 20 66 72 65 61	uchar');...length..=.2^24.*.frea
269a0	64 28 66 70 2c 20 31 2c 20 27 75 63 68 61 72 27 29 20 2b 20 32 5e 31 36 20 2a 20 66 72 65 61 64	d(fp,.1,.'uchar').+.2^16.*.fread
269c0	28 66 70 2c 20 31 2c 20 27 75 63 68 61 72 27 29 20 2b 20 32 5e 38 20 2a 20 66 72 65 61 64 28 66	(fp,.1,.'uchar').+.2^8.*.fread(f
269e0	70 2c 20 31 2c 20 27 75 63 68 61 72 27 29 20 2b 20 66 72 65 61 64 28 66 70 2c 20 31 2c 20 27 75	p,.1,.'uchar').+.fread(fp,.1,.'u
26a00	63 68 61 72 27 29 3b 0a 0a 09 74 79 70 65 20 20 20 09 3d 20 32 5e 32 34 20 2a 20 66 72 65 61 64	char');...type....=.2^24.*.fread
26a20	28 66 70 2c 20 31 2c 20 27 75 63 68 61 72 27 29 20 2b 20 32 5e 31 36 20 2a 20 66 72 65 61 64 28	(fp,.1,.'uchar').+.2^16.*.fread(
26a40	66 70 2c 20 31 2c 20 27 75 63 68 61 72 27 29 20 2b 20 32 5e 38 20 2a 20 66 72 65 61 64 28 66 70	fp,.1,.'uchar').+.2^8.*.fread(fp
26a60	2c 20 31 2c 20 27 75 63 68 61 72 27 29 20 2b 20 66 72 65 61 64 28 66 70 2c 20 31 2c 20 27 75 63	,.1,.'uchar').+.fread(fp,.1,.'uc
26a80	68 61 72 27 29 3b 0a 0a 09 6d 61 70 74 79 70 65 20 3d 20 32 5e 32 34 20 2a 20 66 72 65 61 64 28	har');...maptype.=.2^24.*.fread(
26aa0	66 70 2c 20 31 2c 20 27 75 63 68 61 72 27 29 20 2b 20 32 5e 31 36 20 2a 20 66 72 65 61 64 28 66	fp,.1,.'uchar').+.2^16.*.fread(f
26ac0	70 2c 20 31 2c 20 27 75 63 68 61 72 27 29 20 2b 20 32 5e 38 20 2a 20 66 72 65 61 64 28 66 70 2c	p,.1,.'uchar').+.2^8.*.fread(fp,
26ae0	20 31 2c 20 27 75 63 68 61 72 27 29 20 2b 20 66 72 65 61 64 28 66 70 2c 20 31 2c 20 27 75 63 68	.1,.'uchar').+.fread(fp,.1,.'uch
26b00	61 72 27 29 3b 0a 0a 09 6d 61 70 6c 65 6e 20 20 3d 20 32 5e 32 34 20 2a 20 66 72 65 61 64 28 66	ar');...maplen..=.2^24.*.fread(f
26b20	70 2c 20 31 2c 20 27 75 63 68 61 72 27 29 20 2b 20 32 5e 31 36 20 2a 20 66 72 65 61 64 28 66 70	p,.1,.'uchar').+.2^16.*.fread(fp
26b40	2c 20 31 2c 20 27 75 63 68 61 72 27 29 20 2b 20 32 5e 38 20 2a 20 66 72 65 61 64 28 66 70 2c 20	,.1,.'uchar').+.2^8.*.fread(fp,.
26b60	31 2c 20 27 75 63 68 61 72 27 29 20 2b 20 66 72 65 61 64 28 66 70 2c 20 31 2c 20 27 75 63 68 61	1,.'uchar').+.fread(fp,.1,.'ucha
26b80	72 27 29 3b 0a 0a 09 6d 61 70 6c 65 6e 20 3d 20 6d 61 70 6c 65 6e 20 2f 20 33 3b 0a 0a 09 69 66	r');...maplen.=.maplen./.3;...if
26ba0	20 6d 61 70 74 79 70 65 20 3d 3d 20 32 09 09 09 09 09 25 20 52 4d 54 5f 52 41 57 0a 09 09 6d 61	.maptype.==.2.....%.RMT_RAW...ma
26bc0	70 20 3d 20 66 72 65 61 64 28 66 70 2c 20 5b 6d 61 70 6c 65 6e 2c 20 33 5d 2c 20 27 75 63 68 61	p.=.fread(fp,.[maplen,.3],.'ucha
26be0	72 27 29 2f 32 35 35 3b 0a 25 09 09 69 66 20 6d 61 70 6c 65 6e 3c 36 34 2c 20 6d 61 70 3d 5b 6d	r')/255;.%..if.maplen<64,.map=[m
26c00	61 70 27 2c 7a 65 72 6f 73 28 33 2c 36 34 2d 6d 61 70 6c 65 6e 29 5d 27 3b 6d 61 70 6c 65 6e 3d	ap',zeros(3,64-maplen)]';maplen=
26c20	36 34 3b 20 65 6e 64 3b 0a 09 65 6c 73 65 69 66 20 6d 61 70 74 79 70 65 20 3d 3d 20 31 09 09 09	64;.end;..elseif.maptype.==.1...
26c40	09 25 20 52 4d 54 5f 45 51 55 41 4c 5f 52 47 42 0a 09 09 6d 61 70 28 3a 2c 31 29 20 3d 20 66 72	.%.RMT_EQUAL_RGB...map(:,1).=.fr
26c60	65 61 64 28 66 70 2c 20 5b 6d 61 70 6c 65 6e 5d 2c 20 27 75 63 68 61 72 27 29 3b 0a 09 09 6d 61	ead(fp,.[maplen],.'uchar');...ma
26c80	70 28 3a 2c 32 29 20 3d 20 66 72 65 61 64 28 66 70 2c 20 5b 6d 61 70 6c 65 6e 5d 2c 20 27 75 63	p(:,2).=.fread(fp,.[maplen],.'uc
26ca0	68 61 72 27 29 3b 0a 09 09 6d 61 70 28 3a 2c 33 29 20 3d 20 66 72 65 61 64 28 66 70 2c 20 5b 6d	har');...map(:,3).=.fread(fp,.[m
26cc0	61 70 6c 65 6e 5d 2c 20 27 75 63 68 61 72 27 29 3b 0a 09 09 25 6d 61 78 6d 61 70 20 3d 20 6d 61	aplen],.'uchar');...%maxmap.=.ma
26ce0	78 28 6d 61 78 28 6d 61 70 29 29 3b 0a 09 09 6d 61 70 20 3d 20 6d 61 70 2f 32 35 35 3b 0a 09 20	x(max(map));...map.=.map/255;...
26d00	20 20 20 20 20 20 20 69 66 20 6d 61 70 6c 65 6e 3c 36 34 2c 20 6d 61 70 3d 5b 6d 61 70 27 2c 7a	.......if.maplen<64,.map=[map',z
26d20	65 72 6f 73 28 33 2c 36 34 2d 6d 61 70 6c 65 6e 29 5d 27 3b 20 6d 61 70 6c 65 6e 3d 36 34 3b 20	eros(3,64-maplen)]';.maplen=64;.
26d40	65 6e 64 3b 0a 09 65 6c 73 65 20 09 09 09 09 09 09 25 20 52 4d 54 5f 4e 4f 4e 45 0a 09 09 6d 61	end;..else.......%.RMT_NONE...ma
26d60	70 20 3d 20 5b 5d 3b 0a 09 65 6e 64 0a 25 09 69 66 20 6d 61 70 6c 65 6e 3e 36 34 2c 0a 25 20 20	p.=.[];..end.%.if.maplen>64,.%..
26d80	20 20 20 20 20 20 20 20 20 20 6d 61 70 3d 5b 6d 61 70 27 2c 7a 65 72 6f 73 28 33 2c 32 35 36 2d	..........map=[map',zeros(3,256-
26da0	6d 61 70 6c 65 6e 29 5d 27 3b 0a 25 09 65 6e 64 3b 0a 0a 09 25 20 52 65 61 64 20 74 68 65 20 69	maplen)]';.%.end;...%.Read.the.i
26dc0	6d 61 67 65 0a 0a 09 69 66 20 72 65 6d 28 77 69 64 74 68 2c 32 29 20 3d 3d 20 31 0a 09 09 58 74	mage...if.rem(width,2).==.1...Xt
26de0	20 3d 20 66 72 65 61 64 28 66 70 2c 20 5b 77 69 64 74 68 2b 31 2c 20 68 65 69 67 68 74 5d 2c 20	.=.fread(fp,.[width+1,.height],.
26e00	27 75 63 68 61 72 27 29 3b 0a 09 09 58 20 3d 20 58 74 28 31 3a 77 69 64 74 68 2c 20 3a 29 27 3b	'uchar');...X.=.Xt(1:width,.:)';
26e20	0a 09 65 6c 73 65 0a 09 09 58 74 20 3d 20 66 72 65 61 64 28 66 70 2c 20 5b 77 69 64 74 68 2c 20	..else...Xt.=.fread(fp,.[width,.
26e40	68 65 69 67 68 74 5d 2c 20 27 75 63 68 61 72 27 29 3b 0a 09 09 58 20 3d 20 58 74 27 3b 0a 09 65	height],.'uchar');...X.=.Xt';..e
26e60	6e 64 0a 09 58 20 3d 20 58 20 2b 20 31 3b 0a 09 66 63 6c 6f 73 65 28 66 70 29 3b 0a 65 6c 73 65	nd..X.=.X.+.1;..fclose(fp);.else
26e80	0a 09 65 72 72 6f 72 28 27 49 6d 61 67 65 20 66 69 6c 65 20 6e 61 6d 65 20 6d 75 73 74 20 65 6e	..error('Image.file.name.must.en
26ea0	64 20 69 6e 20 65 69 74 68 65 72 20 27 27 72 61 73 27 27 20 6f 72 20 27 27 72 61 73 74 27 27 2e	d.in.either.''ras''.or.''rast''.
26ec0	27 29 3b 0a 65 6e 64 0a 0a 0a 69 66 20 6e 61 72 67 69 6e 20 3d 3d 20 35 0a 0a 09 58 20 3d 20 58	');.end...if.nargin.==.5...X.=.X
26ee0	28 79 73 3a 79 65 2c 20 78 73 3a 78 65 29 3b 0a 0a 65 6e 64 20 3d 20 73 69 7a 65 28 58 29 3b 0a	(ys:ye,.xs:xe);..end.=.size(X);.
26f00	0a 5b 59 2c 64 59 64 6f 6d 2c 64 59 64 54 5d 20 3d 20 72 69 67 69 64 5f 6d 6f 74 69 6f 6e 28 58	.[Y,dYdom,dYdT].=.rigid_motion(X
26f20	2c 6f 6d 2c 54 29 3b 0a 0a 0a 69 6e 76 5f 5a 20 3d 20 31 2e 2f 59 28 33 2c 3a 29 3b 0a 0a 78 20	,om,T);...inv_Z.=.1./Y(3,:);..x.
26f40	3d 20 28 59 28 31 3a 32 2c 3a 29 20 2e 2a 20 28 6f 6e 65 73 28 32 2c 31 29 20 2a 20 69 6e 76 5f	=.(Y(1:2,:)...(ones(2,1)..inv_
26f60	5a 29 29 20 3b 0a 0a 0a 62 62 20 3d 20 28 2d 78 28 31 2c 3a 29 20 2e 2a 20 69 6e 76 5f 5a 29 27	Z)).;...bb.=.(-x(1,:)..*.inv_Z)'
26f80	2a 6f 6e 65 73 28 31 2c 33 29 3b 0a 63 63 20 3d 20 28 2d 78 28 32 2c 3a 29 20 2e 2a 20 69 6e 76	ones(1,3);.cc.=.(-x(2,:)...inv
26fa0	5f 5a 29 27 2a 6f 6e 65 73 28 31 2c 33 29 3b 0a 0a 0a 64 78 64 6f 6d 20 3d 20 7a 65 72 6f 73 28	_Z)'*ones(1,3);...dxdom.=.zeros(
26fc0	32 2a 6e 2c 33 29 3b 0a 64 78 64 6f 6d 28 31 3a 32 3a 65 6e 64 2c 3a 29 20 3d 20 28 28 69 6e 76	2*n,3);.dxdom(1:2:end,:).=.((inv
26fe0	5f 5a 27 29 2a 6f 6e 65 73 28 31 2c 33 29 29 20 2e 2a 20 64 59 64 6f 6d 28 31 3a 33 3a 65 6e 64	_Z')ones(1,3))...dYdom(1:3:end
27000	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 72 65 63 6f 6d 70 5f 63 6f 72 6e 65 72 5f 63 61 6c 69	TOOLBOX_calib/recomp_corner_cali
27020	62 2e 6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	b.m.............................
27040	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
27060	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
27080	20 20 20 34 31 37 37 20 20 37 30 32 34 30 33 37 33 34 35 20 20 31 32 36 30 30 00 20 00 00 00 00	...4177..7024037345..12600......
270a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
270c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
270e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
27100	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
27120	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
27140	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
27160	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
27180	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
271a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
271c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
271e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
27200	25 20 52 65 2d 73 65 6c 65 63 74 20 74 65 20 63 6f 72 6e 65 72 73 20 61 66 74 65 72 20 63 61 6c	%.Re-select.te.corners.after.cal
27220	69 62 72 61 74 69 6f 6e 0a 0a 63 68 65 63 6b 5f 61 63 74 69 76 65 5f 69 6d 61 67 65 73 3b 0a 0a	ibration..check_active_images;..
27240	69 66 20 7e 65 78 69 73 74 28 5b 27 79 5f 27 20 6e 75 6d 32 73 74 72 28 69 6e 64 5f 61 63 74 69	if.~exist(['y_'.num2str(ind_acti
27260	76 65 28 31 29 29 5d 29 2c 0a 20 20 20 66 70 72 69 6e 74 66 28 31 2c 27 4e 65 65 64 20 74 6f 20	ve(1))]),....fprintf(1,'Need.to.
27280	63 61 6c 69 62 72 61 74 65 20 6f 6e 63 65 20 62 65 66 6f 72 65 20 62 65 66 6f 72 65 20 72 65 63	calibrate.once.before.before.rec
272a0	6f 6d 70 75 74 69 6e 67 20 69 6d 61 67 65 20 63 6f 72 6e 65 72 73 2e 20 4d 61 79 62 65 20 6e 65	omputing.image.corners..Maybe.ne
272c0	65 64 20 74 6f 20 6c 6f 61 64 20 43 61 6c 69 62 5f 52 65 73 75 6c 74 73 2e 6d 61 74 20 66 69 6c	ed.to.load.Calib_Results.mat.fil
272e0	65 2e 5c 6e 27 29 3b 0a 20 20 20 72 65 74 75 72 6e 3b 0a 65 6e 64 3b 0a 0a 69 66 20 7e 65 78 69	e.\n');....return;.end;..if.~exi
27300	73 74 28 5b 27 49 5f 27 20 6e 75 6d 32 73 74 72 28 69 6e 64 5f 61 63 74 69 76 65 28 31 29 29 5d	st(['I_'.num2str(ind_active(1))]
27320	29 2c 0a 20 20 20 69 6d 61 5f 72 65 61 64 5f 63 61 6c 69 62 3b 0a 20 20 20 69 66 20 6e 6f 5f 69	),....ima_read_calib;....if.no_i
27340	6d 61 67 65 5f 66 69 6c 65 2c 0a 20 20 20 20 20 20 64 69 73 70 28 27 43 61 6e 6e 6f 74 20 65 78	mage_file,.......disp('Cannot.ex
27360	74 72 61 63 74 20 63 6f 72 6e 65 72 73 20 77 69 74 68 6f 75 74 20 69 6d 61 67 65 73 27 29 3b 0a	tract.corners.without.images');.
27380	20 20 20 20 20 20 72 65 74 75 72 6e 3b 0a 20 20 20 65 6e 64 3b 0a 65 6e 64 3b 0a 0a 66 70 72 69	......return;....end;.end;..fpri
273a0	6e 74 66 28 31 2c 27 5c 6e 52 65 2d 65 78 74 72 61 63 74 69 6f 6e 20 6f 66 20 74 68 65 20 67 72	ntf(1,'\nRe-extraction.of.the.gr
273c0	69 64 20 63 6f 72 6e 65 72 73 20 6f 6e 20 74 68 65 20 69 6d 61 67 65 73 20 28 61 66 74 65 72 20	id.corners.on.the.images.(after.
273e0	66 69 72 73 74 20 63 61 6c 69 62 72 61 74 69 6f 6e 29 5c 6e 27 29 3b 0a 0a 64 69 73 70 28 27 57	first.calibration)\n');..disp('W
27400	69 6e 64 6f 77 20 73 69 7a 65 20 66 6f 72 20 63 6f 72 6e 65 72 20 66 69 6e 64 65 72 20 28 77 69	indow.size.for.corner.finder.(wi
27420	6e 74 78 20 61 6e 64 20 77 69 6e 74 79 29 3a 27 29 3b 0a 77 69 6e 74 78 20 3d 20 69 6e 70 75 74	ntx.and.winty):');.wintx.=.input
27440	28 27 77 69 6e 74 78 20 28 5b 5d 20 3d 20 35 29 20 3d 20 27 29 3b 0a 69 66 20 69 73 65 6d 70 74	('wintx.([].=.5).=.');.if.isempt
27460	79 28 77 69 6e 74 78 29 2c 20 77 69 6e 74 78 20 3d 20 35 3b 20 65 6e 64 3b 0a 77 69 6e 74 78 20	y(wintx),.wintx.=.5;.end;.wintx.
27480	3d 20 72 6f 75 6e 64 28 77 69 6e 74 78 29 3b 0a 77 69 6e 74 79 20 3d 20 69 6e 70 75 74 28 27 77	=.round(wintx);.winty.=.input('w
274a0	69 6e 74 79 20 28 5b 5d 20 3d 20 35 29 20 3d 20 27 29 3b 0a 69 66 20 69 73 65 6d 70 74 79 28 77	inty.([].=.5).=.');.if.isempty(w
274c0	69 6e 74 79 29 2c 20 77 69 6e 74 79 20 3d 20 35 3b 20 65 6e 64 3b 0a 77 69 6e 74 79 20 3d 20 72	inty),.winty.=.5;.end;.winty.=.r
274e0	6f 75 6e 64 28 77 69 6e 74 79 29 3b 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 57 69 6e 64 6f 77 20	ound(winty);..fprintf(1,'Window.
27500	73 69 7a 65 20 3d 20 25 64 78 25 64 5c 6e 27 2c 32 2a 77 69 6e 74 78 2b 31 2c 32 2a 77 69 6e 74	size.=.%dx%d\n',2wintx+1,2wint
27520	79 2b 31 29 3b 0a 0a 69 6d 61 5f 6e 75 6d 62 65 72 73 20 3d 20 69 6e 70 75 74 28 27 4e 75 6d 62	y+1);..ima_numbers.=.input('Numb
27540	65 72 28 73 29 20 6f 66 20 69 6d 61 67 65 28 73 29 20 74 6f 20 70 72 6f 63 65 73 73 20 28 5b 5d	er(s).of.image(s).to.process.([]
27560	20 3d 20 61 6c 6c 20 69 6d 61 67 65 73 29 20 3d 20 27 29 3b 0a 0a 69 66 20 69 73 65 6d 70 74 79	.=.all.images).=.');..if.isempty
27580	28 69 6d 61 5f 6e 75 6d 62 65 72 73 29 2c 0a 20 20 20 69 6d 61 5f 70 72 6f 63 20 3d 20 31 3a 6e	(ima_numbers),....ima_proc.=.1:n
275a0	5f 69 6d 61 3b 0a 65 6c 73 65 0a 20 20 20 69 6d 61 5f 70 72 6f 63 20 3d 20 69 6d 61 5f 6e 75 6d	_ima;.else....ima_proc.=.ima_num
275c0	62 65 72 73 3b 0a 65 6e 64 3b 0a 0a 71 5f 61 75 74 6f 20 3d 20 69 6e 70 75 74 28 27 55 73 65 20	bers;.end;..q_auto.=.input('Use.
275e0	74 68 65 20 70 72 6f 6a 65 63 74 69 6f 6e 20 6f 66 20 33 44 20 67 72 69 64 20 6f 72 20 6d 61 6e	the.projection.of.3D.grid.or.man
27600	75 61 6c 20 63 6c 69 63 6b 20 28 5b 5d 3d 61 75 74 6f 2c 20 6f 74 68 65 72 3d 6d 61 6e 75 61 6c	ual.click.([]=auto,.other=manual
27620	29 3a 20 27 29 3b 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 50 72 6f 63 65 73 73 69 6e 67 20 69 6d	):.');..fprintf(1,'Processing.im
27640	61 67 65 20 27 29 3b 0a 0a 66 6f 72 20 6b 6b 20 3d 20 69 6d 61 5f 70 72 6f 63 3b 0a 20 20 20 0a	age.');..for.kk.=.ima_proc;.....
27660	20 20 20 69 66 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 6b 6b 29 2c 0a 20 20 20 0a 09 09 66	...if.active_images(kk),.......f
27680	70 72 69 6e 74 66 28 31 2c 27 25 64 2e 2e 2e 27 2c 6b 6b 29 3b 0a 20 20 20 0a 20 20 20 09 69 66	printf(1,'%d...',kk);.........if
276a0	20 69 73 65 6d 70 74 79 28 71 5f 61 75 74 6f 29 2c 0a 20 20 20 0a 20 20 09 09 09 65 76 61 6c 28	.isempty(q_auto),..........eval(
276c0	5b 27 49 20 3d 20 49 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20	['I.=.I_'.num2str(kk).';']);....
276e0	0a 20 20 20 09 09 65 76 61 6c 28 5b 27 79 20 3d 20 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29	......eval(['y.=.y_'.num2str(kk)
27700	20 27 3b 27 5d 29 3b 0a 20 20 20 0a 20 20 20 09 09 78 63 20 3d 20 63 6f 72 6e 65 72 66 69 6e 64	.';']);..........xc.=.cornerfind
27720	65 72 28 79 2b 31 2c 49 2c 77 69 6e 74 79 2c 77 69 6e 74 78 29 3b 20 25 20 74 68 65 20 66 6f 75	er(y+1,I,winty,wintx);.%.the.fou
27740	72 20 63 6f 72 6e 65 72 73 0a 20 20 20 0a 20 20 20 20 20 20 09 65 76 61 6c 28 5b 27 77 69 6e 74	r.corners............eval(['wint
27760	78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 77 69 6e 74 78 3b 27 5d 29 3b 0a 20	x_'.num2str(kk).'.=.wintx;']);..
27780	20 20 20 20 20 09 65 76 61 6c 28 5b 27 77 69 6e 74 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29	......eval(['winty_'.num2str(kk)
277a0	20 27 20 3d 20 77 69 6e 74 79 3b 27 5d 29 3b 0a 20 20 20 20 20 20 09 0a 20 20 20 09 09 65 76 61	.'.=.winty;']);..............eva
277c0	6c 28 5b 27 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3d 20 78 63 20 2d 20 31 3b 27 5d	l(['x_'.num2str(kk).'=.xc.-.1;']
277e0	29 3b 0a 20 20 20 09 0a 20 20 20 09 65 6c 73 65 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 09 66	);..........else...............f
27800	70 72 69 6e 74 66 28 31 2c 27 5c 6e 27 29 3b 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 09 63 6c	printf(1,'\n');...............cl
27820	69 63 6b 5f 69 6d 61 5f 63 61 6c 69 62 3b 0a 20 20 20 20 20 20 0a 20 20 20 09 65 6e 64 3b 0a 20	ick_ima_calib;............end;..
27840	20 20 20 20 20 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 69 66 20 7e 65	.........else..............if.~e
27860	78 69 73 74 28 5b 27 6f 6d 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 5d 29 2c 0a 20 20 20 20	xist(['omc_'.num2str(kk)]),.....
27880	20 20 20 20 20 0a 20 20 20 20 20 20 20 20 20 65 76 61 6c 28 5b 27 64 58 5f 27 20 6e 75 6d 32 73	...............eval(['dX_'.num2s
278a0	74 72 28 6b 6b 29 20 27 20 3d 20 4e 61 4e 3b 27 5d 29 3b 0a 20 20 20 09 09 65 76 61 6c 28 5b 27	tr(kk).'.=.NaN;']);......eval(['
278c0	64 59 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 4e 61 4e 3b 27 5d 29 3b 20 20 0a	dY_'.num2str(kk).'.=.NaN;']);...
278e0	20 20 09 09 09 0a 20 20 20 09 09 65 76 61 6c 28 5b 27 77 69 6e 74 78 5f 27 20 6e 75 6d 32 73 74	...........eval(['wintx_'.num2st
27900	72 28 6b 6b 29 20 27 20 3d 20 4e 61 4e 3b 27 5d 29 3b 0a 20 20 20 09 09 65 76 61 6c 28 5b 27 77	r(kk).'.=.NaN;']);......eval(['w
27920	69 6e 74 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 4e 61 4e 3b 27 5d 29 3b 0a	inty_'.num2str(kk).'.=.NaN;']);.
27940	09 09 09 0a 09 20 20 20 09 65 76 61 6c 28 5b 27 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20	.........eval(['x_'.num2str(kk).
27960	27 20 3d 20 4e 61 4e 2a 6f 6e 65 73 28 32 2c 31 29 3b 27 5d 29 3b 0a 20 20 20 09 09 65 76 61 6c	'.=.NaN*ones(2,1);']);......eval
27980	28 5b 27 58 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 4e 61 4e 2a 6f 6e 65 73 28	(['X_'.num2str(kk).'.=.NaN*ones(
279a0	33 2c 31 29 3b 27 5d 29 3b 0a 20 20 20 09 09 0a 20 20 20 09 09 65 76 61 6c 28 5b 27 6e 5f 73 71	3,1);']);............eval(['n_sq
279c0	5f 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 4e 61 4e 3b 27 5d 29 3b 0a 20 20	_x_'.num2str(kk).'.=.NaN;']);...
279e0	20 09 09 65 76 61 6c 28 5b 27 6e 5f 73 71 5f 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27	...eval(['n_sq_y_'.num2str(kk).'
27a00	20 3d 20 4e 61 4e 3b 27 5d 29 3b 0a 20 20 20 20 20 20 20 20 20 0a 20 20 20 20 20 20 65 6e 64 3b	.=.NaN;']);.................end;
27a20	0a 20 20 20 20 20 20 0a 20 20 20 65 6e 64 3b 0a 20 20 20 0a 20 20 20 0a 65 6e 64 3b 0a 0a 25 20	...........end;.........end;..%.
27a40	52 65 63 6f 6d 70 75 74 65 20 74 68 65 20 65 72 72 6f 72 3a 0a 0a 63 6f 6d 70 5f 65 72 72 6f 72	Recompute.the.error:..comp_error
27a60	5f 63 61 6c 69 62 3b 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 64 6f 6e 65 5c 6e 27 29 3b 61	_calib;..fprintf(1,'\ndone\n');a
27a80	70 28 3a 2c 32 29 20 3d 20 66 72 65 61 64 28 66 70 2c 20 5b 6d 61 70 6c 65 6e 5d 2c 20 27 75 63	p(:,2).=.fread(fp,.[maplen],.'uc
27aa0	68 61 72 27 29 3b 0a 09 09 6d 61 70 28 3a 2c 33 29 20 3d 20 66 72 65 61 64 28 66 70 2c 20 5b 6d	har');...map(:,3).=.fread(fp,.[m
27ac0	61 70 6c 65 6e 5d 2c 20 27 75 63 68 61 72 27 29 3b 0a 09 09 25 6d 61 78 6d 61 70 20 3d 20 6d 61	aplen],.'uchar');...%maxmap.=.ma
27ae0	78 28 6d 61 78 28 6d 61 70 29 29 3b 0a 09 09 6d 61 70 20 3d 20 6d 61 70 2f 32 35 35 3b 0a 09 20	x(max(map));...map.=.map/255;...
27b00	20 20 20 20 20 20 20 69 66 20 6d 61 70 6c 65 6e 3c 36 34 2c 20 6d 61 70 3d 5b 6d 61 70 27 2c 7a	.......if.maplen<64,.map=[map',z
27b20	65 72 6f 73 28 33 2c 36 34 2d 6d 61 70 6c 65 6e 29 5d 27 3b 20 6d 61 70 6c 65 6e 3d 36 34 3b 20	eros(3,64-maplen)]';.maplen=64;.
27b40	65 6e 64 3b 0a 09 65 6c 73 65 20 09 09 09 09 09 09 25 20 52 4d 54 5f 4e 4f 4e 45 0a 09 09 6d 61	end;..else.......%.RMT_NONE...ma
27b60	70 20 3d 20 5b 5d 3b 0a 09 65 6e 64 0a 25 09 69 66 20 6d 61 70 6c 65 6e 3e 36 34 2c 0a 25 20 20	p.=.[];..end.%.if.maplen>64,.%..
27b80	20 20 20 20 20 20 20 20 20 20 6d 61 70 3d 5b 6d 61 70 27 2c 7a 65 72 6f 73 28 33 2c 32 35 36 2d	..........map=[map',zeros(3,256-
27ba0	6d 61 70 6c 65 6e 29 5d 27 3b 0a 25 09 65 6e 64 3b 0a 0a 09 25 20 52 65 61 64 20 74 68 65 20 69	maplen)]';.%.end;...%.Read.the.i
27bc0	6d 61 67 65 0a 0a 09 69 66 20 72 65 6d 28 77 69 64 74 68 2c 32 29 20 3d 3d 20 31 0a 09 09 58 74	mage...if.rem(width,2).==.1...Xt
27be0	20 3d 20 66 72 65 61 64 28 66 70 2c 20 5b 77 69 64 74 68 2b 31 2c 20 68 65 69 67 68 74 5d 2c 20	.=.fread(fp,.[width+1,.height],.
27c00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 72 65 63 74 2e 6d 00 00 00 00 00 00 00 00 00 00 00 00	TOOLBOX_calib/rect.m............
27c20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
27c40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
27c60	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
27c80	20 20 20 33 36 33 35 20 20 37 30 32 34 30 33 37 33 34 36 20 20 20 37 35 34 35 00 20 00 00 00 00	...3635..7024037346...7545......
27ca0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
27cc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
27ce0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
27d00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
27d20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
27d40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
27d60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
27d80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
27da0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
27dc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
27de0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
27e00	66 75 6e 63 74 69 6f 6e 20 5b 49 72 65 63 5d 20 3d 20 72 65 63 74 28 49 2c 52 2c 66 2c 63 2c 6b	function.[Irec].=.rect(I,R,f,c,k
27e20	2c 4b 4b 5f 6e 65 77 29 3b 0a 0a 0a 25 20 4e 6f 74 65 3a 20 52 20 69 73 20 74 68 65 20 6d 6f 74	,KK_new);...%.Note:.R.is.the.mot
27e40	69 6f 6e 20 6f 66 20 74 68 65 20 70 6f 69 6e 74 73 20 69 6e 20 73 70 61 63 65 0a 25 20 53 6f 3a	ion.of.the.points.in.space.%.So:
27e60	20 58 32 20 3d 20 52 2a 58 20 77 68 65 72 65 20 58 3a 20 63 6f 6f 72 64 20 69 6e 20 74 68 65 20	.X2.=.R*X.where.X:.coord.in.the.
27e80	6f 6c 64 20 72 65 66 65 72 65 6e 63 65 20 66 72 61 6d 65 2c 20 58 32 3a 20 63 6f 6f 72 64 20 69	old.reference.frame,.X2:.coord.i
27ea0	6e 20 74 68 65 20 6e 65 77 20 72 65 66 20 66 72 61 6d 65 2e 0a 0a 5b 6e 72 2c 6e 63 5d 20 3d 20	n.the.new.ref.frame...[nr,nc].=.
27ec0	73 69 7a 65 28 49 29 3b 0a 0a 49 72 65 63 20 3d 20 32 35 35 2a 6f 6e 65 73 28 6e 72 2c 6e 63 29	size(I);..Irec.=.255*ones(nr,nc)
27ee0	3b 0a 0a 5b 6d 78 2c 6d 79 5d 20 3d 20 6d 65 73 68 67 72 69 64 28 31 3a 6e 63 2c 20 31 3a 6e 72	;..[mx,my].=.meshgrid(1:nc,.1:nr
27f00	29 3b 0a 70 78 20 3d 20 72 65 73 68 61 70 65 28 6d 78 27 2c 6e 63 2a 6e 72 2c 31 29 3b 0a 70 79	);.px.=.reshape(mx',nc*nr,1);.py
27f20	20 3d 20 72 65 73 68 61 70 65 28 6d 79 27 2c 6e 63 2a 6e 72 2c 31 29 3b 0a 0a 72 61 79 73 20 3d	.=.reshape(my',nc*nr,1);..rays.=
27f40	20 69 6e 76 28 4b 4b 5f 6e 65 77 29 2a 5b 28 70 78 20 2d 20 31 29 27 3b 28 70 79 20 2d 20 31 29	.inv(KK_new)*[(px.-.1)';(py.-.1)
27f60	27 3b 6f 6e 65 73 28 31 2c 6c 65 6e 67 74 68 28 70 78 29 29 5d 3b 0a 0a 0a 25 20 52 6f 74 61 74	';ones(1,length(px))];...%.Rotat
27f80	69 6f 6e 3a 20 28 6f 72 20 61 66 66 69 6e 65 20 74 72 61 6e 73 66 6f 72 6d 61 74 69 6f 6e 29 3a	ion:.(or.affine.transformation):
27fa0	0a 0a 72 61 79 73 32 20 3d 20 52 27 2a 72 61 79 73 3b 0a 0a 0a 78 20 3d 20 5b 72 61 79 73 32 28	..rays2.=.R'*rays;...x.=.[rays2(
27fc0	31 2c 3a 29 2e 2f 72 61 79 73 32 28 33 2c 3a 29 3b 72 61 79 73 32 28 32 2c 3a 29 2e 2f 72 61 79	1,:)./rays2(3,:);rays2(2,:)./ray
27fe0	73 32 28 33 2c 3a 29 5d 3b 0a 0a 25 20 41 64 64 20 64 69 73 74 6f 72 74 69 6f 6e 3a 0a 0a 6b 31	s2(3,:)];..%.Add.distortion:..k1
28000	20 3d 20 6b 28 31 29 3b 0a 6b 32 20 3d 20 6b 28 32 29 3b 0a 0a 70 31 20 3d 20 6b 28 33 29 3b 0a	.=.k(1);.k2.=.k(2);..p1.=.k(3);.
28020	70 32 20 3d 20 6b 28 34 29 3b 0a 0a 72 5f 32 20 3d 20 73 75 6d 28 78 2e 5e 32 29 3b 0a 0a 64 65	p2.=.k(4);..r_2.=.sum(x.^2);..de
28040	6c 74 61 5f 78 20 3d 20 5b 32 2a 70 31 2a 78 28 31 2c 3a 29 2e 2a 78 28 32 2c 3a 29 20 2b 20 70	lta_x.=.[2p1x(1,:).*x(2,:).+.p
28060	32 2a 28 72 5f 32 20 2b 20 32 2a 78 28 31 2c 3a 29 2e 5e 32 29 20 3b 0a 20 20 20 20 20 20 20 20	2(r_2.+.2x(1,:).^2).;.........
28080	20 20 20 70 31 20 2a 20 28 72 5f 32 20 2b 20 32 2a 78 28 32 2c 3a 29 2e 5e 32 29 2b 32 2a 70 32	...p1..(r_2.+.2x(2,:).^2)+2*p2
280a0	2a 78 28 31 2c 3a 29 2e 2a 78 28 32 2c 3a 29 5d 3b 0a 0a 78 64 20 3d 20 28 6f 6e 65 73 28 32 2c	x(1,:).x(2,:)];..xd.=.(ones(2,
280c0	31 29 2a 28 20 31 20 2b 20 6b 31 20 2a 20 72 5f 32 20 2b 20 6b 32 20 2a 20 72 5f 32 2e 5e 32 29	1)(.1.+.k1..r_2.+.k2.*.r_2.^2)
280e0	29 20 2e 2a 20 78 20 2b 20 64 65 6c 74 61 5f 78 3b 0a 0a 0a 25 20 52 65 63 6f 6e 76 65 72 74 20	)..*.x.+.delta_x;...%.Reconvert.
28100	69 6e 20 70 69 78 65 6c 73 3a 0a 0a 70 78 32 20 3d 20 66 28 31 29 2a 78 64 28 31 2c 3a 29 2b 63	in.pixels:..px2.=.f(1)*xd(1,:)+c
28120	28 31 29 3b 0a 70 79 32 20 3d 20 66 28 32 29 2a 78 64 28 32 2c 3a 29 2b 63 28 32 29 3b 0a 0a 0a	(1);.py2.=.f(2)*xd(2,:)+c(2);...
28140	25 20 49 6e 74 65 72 70 6f 6c 61 74 65 20 62 65 74 77 65 65 6e 20 74 68 65 20 63 6c 6f 73 65 73	%.Interpolate.between.the.closes
28160	74 20 70 69 78 65 6c 73 3a 0a 0a 0a 70 78 5f 30 20 3d 20 66 6c 6f 6f 72 28 70 78 32 29 3b 0a 70	t.pixels:...px_0.=.floor(px2);.p
28180	78 5f 31 20 3d 20 70 78 5f 30 20 2b 20 31 3b 0a 61 6c 70 68 61 5f 78 20 3d 20 70 78 32 20 2d 20	x_1.=.px_0.+.1;.alpha_x.=.px2.-.
281a0	70 78 5f 30 3b 0a 0a 70 79 5f 30 20 3d 20 66 6c 6f 6f 72 28 70 79 32 29 3b 0a 70 79 5f 31 20 3d	px_0;..py_0.=.floor(py2);.py_1.=
281c0	20 70 79 5f 30 20 2b 20 31 3b 0a 61 6c 70 68 61 5f 79 20 3d 20 70 79 32 20 2d 20 70 79 5f 30 3b	.py_0.+.1;.alpha_y.=.py2.-.py_0;
281e0	0a 0a 67 6f 6f 64 5f 70 6f 69 6e 74 73 20 3d 20 66 69 6e 64 28 28 70 78 5f 30 20 3e 3d 20 30 29	..good_points.=.find((px_0.>=.0)
28200	20 26 20 28 70 78 5f 31 20 3c 3d 20 28 6e 63 2d 31 29 29 20 26 20 28 70 79 5f 30 20 3e 3d 20 30	.&.(px_1.<=.(nc-1)).&.(py_0.>=.0
28220	29 20 26 20 28 70 79 5f 31 20 3c 3d 20 28 6e 72 2d 31 29 29 29 3b 0a 0a 49 5f 6c 75 20 3d 20 49	).&.(py_1.<=.(nr-1)));..I_lu.=.I
28240	28 70 78 5f 30 28 67 6f 6f 64 5f 70 6f 69 6e 74 73 29 20 2a 20 6e 72 20 2b 20 70 79 5f 30 28 67	(px_0(good_points).*.nr.+.py_0(g
28260	6f 6f 64 5f 70 6f 69 6e 74 73 29 20 2b 20 31 29 3b 0a 49 5f 72 75 20 3d 20 49 28 70 78 5f 31 28	ood_points).+.1);.I_ru.=.I(px_1(
28280	67 6f 6f 64 5f 70 6f 69 6e 74 73 29 20 2a 20 6e 72 20 2b 20 70 79 5f 30 28 67 6f 6f 64 5f 70 6f	good_points).*.nr.+.py_0(good_po
282a0	69 6e 74 73 29 20 2b 20 31 29 3b 0a 49 5f 6c 64 20 3d 20 49 28 70 78 5f 30 28 67 6f 6f 64 5f 70	ints).+.1);.I_ld.=.I(px_0(good_p
282c0	6f 69 6e 74 73 29 20 2a 20 6e 72 20 2b 20 70 79 5f 31 28 67 6f 6f 64 5f 70 6f 69 6e 74 73 29 20	oints).*.nr.+.py_1(good_points).
282e0	2b 20 31 29 3b 0a 49 5f 72 64 20 3d 20 49 28 70 78 5f 31 28 67 6f 6f 64 5f 70 6f 69 6e 74 73 29	+.1);.I_rd.=.I(px_1(good_points)
28300	20 2a 20 6e 72 20 2b 20 70 79 5f 31 28 67 6f 6f 64 5f 70 6f 69 6e 74 73 29 20 2b 20 31 29 3b 0a	.*.nr.+.py_1(good_points).+.1);.
28320	0a 0a 49 5f 69 6e 74 65 72 70 20 3d 20 28 31 20 2d 20 61 6c 70 68 61 5f 79 28 67 6f 6f 64 5f 70	..I_interp.=.(1.-.alpha_y(good_p
28340	6f 69 6e 74 73 29 29 2e 2a 28 28 31 20 2d 20 61 6c 70 68 61 5f 78 28 67 6f 6f 64 5f 70 6f 69 6e	oints)).*((1.-.alpha_x(good_poin
28360	74 73 29 29 2e 2a 20 49 5f 6c 75 20 2b 20 61 6c 70 68 61 5f 78 28 67 6f 6f 64 5f 70 6f 69 6e 74	ts)).*.I_lu.+.alpha_x(good_point
28380	73 29 20 2e 2a 20 49 5f 72 75 29 20 2b 20 61 6c 70 68 61 5f 79 28 67 6f 6f 64 5f 70 6f 69 6e 74	s)..*.I_ru).+.alpha_y(good_point
283a0	73 29 20 2e 2a 20 28 28 31 20 2d 20 61 6c 70 68 61 5f 78 28 67 6f 6f 64 5f 70 6f 69 6e 74 73 29	s)..*.((1.-.alpha_x(good_points)
283c0	29 2e 2a 20 49 5f 6c 64 20 2b 20 61 6c 70 68 61 5f 78 28 67 6f 6f 64 5f 70 6f 69 6e 74 73 29 20	).*.I_ld.+.alpha_x(good_points).
283e0	2e 2a 20 49 5f 72 64 29 3b 0a 0a 0a 49 72 65 63 28 28 70 78 28 67 6f 6f 64 5f 70 6f 69 6e 74 73	.*.I_rd);...Irec((px(good_points
28400	29 2d 31 29 2a 6e 72 20 2b 20 70 79 28 67 6f 6f 64 5f 70 6f 69 6e 74 73 29 29 20 3d 20 49 5f 69	)-1)*nr.+.py(good_points)).=.I_i
28420	6e 74 65 72 70 3b 0a 0a 0a 0a 72 65 74 75 72 6e 3b 0a 0a 0a 25 20 43 6f 6e 76 65 72 74 20 69 6e	nterp;....return;...%.Convert.in
28440	20 69 6e 64 69 63 65 73 3a 0a 0a 66 61 63 74 20 3d 20 33 3b 0a 0a 5b 58 58 2c 59 59 5d 3d 20 6d	.indices:..fact.=.3;..[XX,YY]=.m
28460	65 73 68 67 72 69 64 28 31 3a 6e 63 2c 31 3a 6e 72 29 3b 0a 5b 58 58 69 2c 59 59 69 5d 3d 20 6d	eshgrid(1:nc,1:nr);.[XXi,YYi]=.m
28480	65 73 68 67 72 69 64 28 31 3a 31 2f 66 61 63 74 3a 6e 63 2c 31 3a 31 2f 66 61 63 74 3a 6e 72 29	eshgrid(1:1/fact:nc,1:1/fact:nr)
284a0	3b 0a 0a 25 74 69 63 3b 0a 49 69 6e 74 65 72 70 20 3d 20 69 6e 74 65 72 70 32 28 58 58 2c 59 59	;..%tic;.Iinterp.=.interp2(XX,YY
284c0	2c 49 2c 58 58 69 2c 59 59 69 29 3b 20 0a 25 74 6f 63 0a 0a 5b 6e 72 69 2c 6e 63 69 5d 20 3d 20	,I,XXi,YYi);..%toc..[nri,nci].=.
284e0	73 69 7a 65 28 49 69 6e 74 65 72 70 29 3b 0a 0a 0a 69 6e 64 5f 63 6f 6c 20 3d 20 72 6f 75 6e 64	size(Iinterp);...ind_col.=.round
28500	28 66 61 63 74 2a 28 66 28 31 29 2a 78 64 28 31 2c 3a 29 2b 63 28 31 29 29 29 2b 31 3b 0a 69 6e	(fact(f(1)xd(1,:)+c(1)))+1;.in
28520	64 5f 72 6f 77 20 3d 20 72 6f 75 6e 64 28 66 61 63 74 2a 28 66 28 32 29 2a 78 64 28 32 2c 3a 29	d_row.=.round(fact(f(2)xd(2,:)
28540	2b 63 28 32 29 29 29 2b 31 3b 0a 0a 67 6f 6f 64 5f 70 6f 69 6e 74 73 20 3d 20 66 69 6e 64 28 28	+c(2)))+1;..good_points.=.find((
28560	69 6e 64 5f 63 6f 6c 20 3e 3d 31 29 26 28 69 6e 64 5f 63 6f 6c 3c 3d 6e 63 69 29 26 28 69 6e 64	ind_col.>=1)&(ind_col<=nci)&(ind
28580	5f 72 6f 77 20 3e 3d 31 29 26 20 28 69 6e 64 5f 72 6f 77 20 3c 3d 6e 72 69 29 29 3b 0a 6b 6b 29	_row.>=1)&.(ind_row.<=nri));.kk)
285a0	20 27 20 3d 20 77 69 6e 74 79 3b 27 5d 29 3b 0a 20 20 20 20 20 20 09 0a 20 20 20 09 09 65 76 61	.'.=.winty;']);..............eva
285c0	6c 28 5b 27 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3d 20 78 63 20 2d 20 31 3b 27 5d	l(['x_'.num2str(kk).'=.xc.-.1;']
285e0	29 3b 0a 20 20 20 09 0a 20 20 20 09 65 6c 73 65 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 09 66	);..........else...............f
28600	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 52 65 63 74 61 6e 67 6c 65 32 53 71 75 61 72 65 2e 6d	TOOLBOX_calib/Rectangle2Square.m
28620	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
28640	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
28660	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
28680	20 20 20 20 36 36 35 20 20 37 30 32 34 30 33 37 33 34 37 20 20 31 31 37 34 30 00 20 00 00 00 00	....665..7024037347..11740......
286a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
286c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
286e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
28700	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
28720	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
28740	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
28760	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
28780	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
287a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
287c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
287e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
28800	66 75 6e 63 74 69 6f 6e 20 5b 73 71 75 61 72 65 5d 20 3d 20 52 65 63 74 61 6e 67 6c 65 32 53 71	function.[square].=.Rectangle2Sq
28820	75 61 72 65 28 72 65 63 74 61 6e 67 6c 65 2c 4c 2c 57 29 3b 0a 0a 25 20 47 65 6e 65 72 61 74 65	uare(rectangle,L,W);..%.Generate
28840	20 74 68 65 20 73 71 75 61 72 65 20 66 72 6f 6d 20 61 20 72 65 63 74 61 6e 67 6c 65 20 6f 66 20	.the.square.from.a.rectangle.of.
28860	6b 6e 6f 77 6e 20 73 65 67 6d 65 6e 74 20 6c 65 6e 67 74 68 73 0a 25 20 66 72 6f 6d 20 70 74 31	known.segment.lengths.%.from.pt1
28880	20 74 6f 20 70 74 32 20 3a 20 4c 0a 25 20 66 72 6f 6d 20 70 74 32 20 74 6f 20 70 74 33 20 3a 20	.to.pt2.:.L.%.from.pt2.to.pt3.:.
288a0	57 0a 0a 5b 75 5f 68 6f 72 69 2c 75 5f 76 65 72 74 5d 20 3d 20 55 6e 57 61 72 70 50 6c 61 6e 65	W..[u_hori,u_vert].=.UnWarpPlane
288c0	28 72 65 63 74 61 6e 67 6c 65 29 3b 0a 0a 63 6f 65 66 66 5f 78 20 3d 20 73 71 72 74 28 57 2f 4c	(rectangle);..coeff_x.=.sqrt(W/L
288e0	29 3b 0a 63 6f 65 66 66 5f 79 20 3d 20 31 2f 63 6f 65 66 66 5f 78 3b 0a 0a 78 5f 63 6f 6f 72 64	);.coeff_y.=.1/coeff_x;..x_coord
28900	20 3d 20 5b 20 30 20 63 6f 65 66 66 5f 78 20 20 63 6f 65 66 66 5f 78 20 30 5d 3b 0a 79 5f 63 6f	.=.[.0.coeff_x..coeff_x.0];.y_co
28920	6f 72 64 20 3d 20 5b 20 30 20 30 20 63 6f 65 66 66 5f 79 20 63 6f 65 66 66 5f 79 5d 3b 0a 0a 0a	ord.=.[.0.0.coeff_y.coeff_y];...
28940	73 71 75 61 72 65 20 3d 20 72 65 63 74 61 6e 67 6c 65 28 3a 2c 31 29 20 2a 20 6f 6e 65 73 28 31	square.=.rectangle(:,1).*.ones(1
28960	2c 34 29 20 2b 20 75 5f 68 6f 72 69 2a 78 5f 63 6f 6f 72 64 20 2b 20 75 5f 76 65 72 74 2a 79 5f	,4).+.u_horix_coord.+.u_verty_
28980	63 6f 6f 72 64 3b 0a 73 71 75 61 72 65 20 3d 20 73 71 75 61 72 65 20 2e 2f 20 28 6f 6e 65 73 28	coord;.square.=.square../.(ones(
289a0	33 2c 31 29 2a 73 71 75 61 72 65 28 33 2c 3a 29 29 3b 0a 0a 0a 02 36 a8 00 1c 00 0d 55 6e 57 61	3,1)*square(3,:));....6.....UnWa
289c0	72 70 50 6c 61 6e 65 2e 6d 00 36 a8 00 00 06 48 00 02 36 a9 00 18 00 0a 77 72 69 74 65 72 61 73	rpPlane.m.6....H..6.....writeras
289e0	2e 6d 00 48 00 00 06 64 00 02 36 aa 00 20 00 10 65 72 72 6f 72 5f 61 6e 61 6c 79 73 69 73 2e 6d	.m.H...d..6.....error_analysis.m
28a00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 72 65 70 72 6f 6a 65 63 74 5f 63 61 6c 69 62 2e 6d 00	TOOLBOX_calib/reproject_calib.m.
28a20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
28a40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
28a60	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
28a80	20 20 20 33 37 33 37 20 20 37 30 32 34 30 33 37 33 34 37 20 20 31 31 37 34 33 00 20 00 00 00 00	...3737..7024037347..11743......
28aa0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
28ac0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
28ae0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
28b00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
28b20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
28b40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
28b60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
28b80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
28ba0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
28bc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
28be0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
28c00	25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 20 52 45 50 52 4f 4a 45 43 54 20 4f	%%%%%%%%%%%%%%%%%%%%.REPROJECT.O
28c20	4e 20 54 48 45 20 49 4d 41 47 45 53 20 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25	N.THE.IMAGES.%%%%%%%%%%%%%%%%%%%
28c40	25 25 25 25 25 0a 0a 69 66 20 7e 65 78 69 73 74 28 27 6e 6f 5f 69 6d 61 67 65 27 29 2c 0a 20 20	%%%%%..if.~exist('no_image'),...
28c60	20 6e 6f 5f 69 6d 61 67 65 20 3d 20 30 3b 0a 65 6e 64 3b 0a 0a 63 68 65 63 6b 5f 61 63 74 69 76	.no_image.=.0;.end;..check_activ
28c80	65 5f 69 6d 61 67 65 73 3b 0a 0a 0a 25 20 43 6f 6c 6f 72 20 63 6f 64 65 20 66 6f 72 20 65 61 63	e_images;...%.Color.code.for.eac
28ca0	68 20 69 6d 61 67 65 3a 0a 0a 63 6f 6c 6f 72 73 20 3d 20 27 62 72 67 6b 63 6d 27 3b 0a 0a 25 20	h.image:..colors.=.'brgkcm';..%.
28cc0	52 65 70 72 6f 6a 65 63 74 20 74 68 65 20 70 61 74 74 65 72 6e 73 20 6f 6e 20 74 68 65 20 69 6d	Reproject.the.patterns.on.the.im
28ce0	61 67 65 73 2c 20 61 6e 64 20 63 6f 6d 70 75 74 65 20 74 68 65 20 70 69 78 65 6c 20 65 72 72 6f	ages,.and.compute.the.pixel.erro
28d00	72 73 3a 0a 0a 25 20 52 65 6c 6f 61 64 20 74 68 65 20 69 6d 61 67 65 73 20 69 66 20 6e 65 63 65	rs:..%.Reload.the.images.if.nece
28d20	73 73 61 72 79 0a 0a 69 66 20 7e 65 78 69 73 74 28 5b 27 6f 6d 63 5f 27 20 6e 75 6d 32 73 74 72	ssary..if.~exist(['omc_'.num2str
28d40	28 69 6e 64 5f 61 63 74 69 76 65 28 31 29 29 20 5d 29 2c 0a 20 20 20 66 70 72 69 6e 74 66 28 31	(ind_active(1)).]),....fprintf(1
28d60	2c 27 4e 65 65 64 20 74 6f 20 63 61 6c 69 62 72 61 74 65 20 62 65 66 6f 72 65 20 73 68 6f 77 69	,'Need.to.calibrate.before.showi
28d80	6e 67 20 69 6d 61 67 65 20 72 65 70 72 6f 6a 65 63 74 69 6f 6e 2e 20 4d 61 79 62 65 20 6e 65 65	ng.image.reprojection..Maybe.nee
28da0	64 20 74 6f 20 6c 6f 61 64 20 43 61 6c 69 62 5f 52 65 73 75 6c 74 73 2e 6d 61 74 20 66 69 6c 65	d.to.load.Calib_Results.mat.file
28dc0	2e 5c 6e 27 29 3b 0a 20 20 20 72 65 74 75 72 6e 3b 0a 65 6e 64 3b 0a 0a 69 66 20 7e 6e 6f 5f 69	.\n');....return;.end;..if.~no_i
28de0	6d 61 67 65 2c 0a 09 69 66 20 7e 65 78 69 73 74 28 5b 27 49 5f 27 20 6e 75 6d 32 73 74 72 28 69	mage,..if.~exist(['I_'.num2str(i
28e00	6e 64 5f 61 63 74 69 76 65 28 31 29 29 20 5d 27 29 2c 0a 20 20 20 09 69 6d 61 5f 72 65 61 64 5f	nd_active(1)).]'),.....ima_read_
28e20	63 61 6c 69 62 3b 0a 20 20 20 09 69 66 20 6e 6f 5f 69 6d 61 67 65 5f 66 69 6c 65 2c 0a 20 20 20	calib;.....if.no_image_file,....
28e40	20 20 20 09 66 70 72 69 6e 74 66 28 31 2c 27 57 41 52 4e 49 4e 47 3a 20 44 6f 20 6e 6f 74 20 73	....fprintf(1,'WARNING:.Do.not.s
28e60	68 6f 77 20 74 68 65 20 6f 72 69 67 69 6e 61 6c 20 69 6d 61 67 65 73 5c 6e 27 29 3b 20 25 72 65	how.the.original.images\n');.%re
28e80	74 75 72 6e 3b 0a 20 20 20 09 65 6e 64 3b 0a 20 20 20 65 6e 64 3b 0a 65 6c 73 65 0a 20 20 20 6e	turn;.....end;....end;.else....n
28ea0	6f 5f 69 6d 61 67 65 5f 66 69 6c 65 20 3d 20 31 3b 0a 65 6e 64 3b 0a 0a 0a 0a 69 6d 61 5f 6e 75	o_image_file.=.1;.end;....ima_nu
28ec0	6d 62 65 72 73 20 3d 20 69 6e 70 75 74 28 27 4e 75 6d 62 65 72 28 73 29 20 6f 66 20 69 6d 61 67	mbers.=.input('Number(s).of.imag
28ee0	65 28 73 29 20 74 6f 20 73 68 6f 77 20 28 5b 5d 20 3d 20 61 6c 6c 20 69 6d 61 67 65 73 29 20 3d	e(s).to.show.([].=.all.images).=
28f00	20 27 29 3b 0a 0a 69 66 20 69 73 65 6d 70 74 79 28 69 6d 61 5f 6e 75 6d 62 65 72 73 29 2c 0a 20	.');..if.isempty(ima_numbers),..
28f20	20 20 69 6d 61 5f 70 72 6f 63 20 3d 20 31 3a 6e 5f 69 6d 61 3b 0a 65 6c 73 65 0a 20 20 20 69 6d	..ima_proc.=.1:n_ima;.else....im
28f40	61 5f 70 72 6f 63 20 3d 20 69 6d 61 5f 6e 75 6d 62 65 72 73 3b 0a 65 6e 64 3b 0a 0a 0a 66 69 67	a_proc.=.ima_numbers;.end;...fig
28f60	75 72 65 28 35 29 3b 0a 66 6f 72 20 6b 6b 20 3d 20 69 6d 61 5f 70 72 6f 63 2c 20 25 31 3a 6e 5f	ure(5);.for.kk.=.ima_proc,.%1:n_
28f80	69 6d 61 2c 0a 20 20 20 69 66 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 6b 6b 29 20 26 20 65	ima,....if.active_images(kk).&.e
28fa0	76 61 6c 28 5b 27 7e 69 73 6e 61 6e 28 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 28 31	val(['~isnan(y_'.num2str(kk).'(1
28fc0	2c 31 29 29 27 5d 29 2c 0a 09 20 20 20 65 76 61 6c 28 5b 27 70 6c 6f 74 28 65 78 5f 27 20 6e 75	,1))']),.....eval(['plot(ex_'.nu
28fe0	6d 32 73 74 72 28 6b 6b 29 20 27 28 31 2c 3a 29 2c 65 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b	m2str(kk).'(1,:),ex_'.num2str(kk
29000	29 20 27 28 32 2c 3a 29 2c 27 27 27 20 63 6f 6c 6f 72 73 28 72 65 6d 28 6b 6b 2d 31 2c 36 29 2b	).'(2,:),'''.colors(rem(kk-1,6)+
29020	31 29 20 27 2b 27 27 29 3b 27 5d 29 3b 0a 20 20 20 20 20 20 68 6f 6c 64 20 6f 6e 3b 0a 20 20 20	1).'+'');']);.......hold.on;....
29040	65 6e 64 3b 0a 65 6e 64 3b 0a 68 6f 6c 64 20 6f 66 66 3b 0a 61 78 69 73 28 27 65 71 75 61 6c 27	end;.end;.hold.off;.axis('equal'
29060	29 3b 0a 74 69 74 6c 65 28 27 52 65 70 72 6f 6a 65 63 74 69 6f 6e 20 65 72 72 6f 72 20 28 69 6e	);.title('Reprojection.error.(in
29080	20 70 69 78 65 6c 29 27 29 3b 0a 78 6c 61 62 65 6c 28 27 78 27 29 3b 0a 79 6c 61 62 65 6c 28 27	.pixel)');.xlabel('x');.ylabel('
290a0	79 27 29 3b 0a 64 72 61 77 6e 6f 77 3b 0a 0a 73 65 74 28 35 2c 27 4e 61 6d 65 27 2c 27 65 72 72	y');.drawnow;..set(5,'Name','err
290c0	6f 72 27 2c 27 4e 75 6d 62 65 72 54 69 74 6c 65 27 2c 27 6f 66 66 27 29 3b 0a 0a 0a 0a 66 6f 72	or','NumberTitle','off');....for
290e0	20 6b 6b 20 3d 20 69 6d 61 5f 70 72 6f 63 2c 0a 20 20 20 0a 20 20 20 69 66 20 61 63 74 69 76 65	.kk.=.ima_proc,........if.active
29100	5f 69 6d 61 67 65 73 28 6b 6b 29 20 26 20 65 76 61 6c 28 5b 27 7e 69 73 6e 61 6e 28 79 5f 27 20	_images(kk).&.eval(['~isnan(y_'.
29120	6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 28 31 2c 31 29 29 27 5d 29 2c 0a 20 20 20 0a 20 20 20 09	num2str(kk).'(1,1))']),.........
29140	69 66 20 65 78 69 73 74 28 5b 27 49 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 5d 29 2c 0a 20 20	if.exist(['I_'.num2str(kk)]),...
29160	20 20 20 20 09 65 76 61 6c 28 5b 27 49 20 3d 20 49 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20	.....eval(['I.=.I_'.num2str(kk).
29180	27 3b 27 5d 29 3b 0a 20 20 20 09 65 6c 73 65 0a 20 20 20 20 20 20 09 49 20 3d 20 32 35 35 2a 6f	';']);.....else........I.=.255*o
291a0	6e 65 73 28 6e 79 2c 6e 78 29 3b 0a 20 20 20 09 65 6e 64 3b 0a 20 20 20 0a 20 20 20 09 66 69 67	nes(ny,nx);.....end;.........fig
291c0	75 72 65 28 35 2b 6b 6b 29 3b 0a 20 20 20 09 69 6d 61 67 65 28 49 29 3b 20 68 6f 6c 64 20 6f 6e	ure(5+kk);.....image(I);.hold.on
291e0	3b 0a 20 20 20 09 63 6f 6c 6f 72 6d 61 70 28 67 72 61 79 28 32 35 36 29 29 3b 0a 20 20 20 09 74	;.....colormap(gray(256));.....t
29200	69 74 6c 65 28 5b 27 49 6d 61 67 65 20 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 2d 20 49	itle(['Image.'.num2str(kk).'.-.I
29220	6d 61 67 65 20 70 6f 69 6e 74 73 20 28 2b 29 20 61 6e 64 20 72 65 70 72 6f 6a 65 63 74 65 64 20	mage.points.(+).and.reprojected.
29240	67 72 69 64 20 70 6f 69 6e 74 73 20 28 6f 29 27 5d 29 3b 0a 20 20 20 09 65 76 61 6c 28 5b 27 70	grid.points.(o)']);.....eval(['p
29260	6c 6f 74 28 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 28 31 2c 3a 29 2b 31 2c 78 5f 27	lot(x_'.num2str(kk).'(1,:)+1,x_'
29280	20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 28 32 2c 3a 29 2b 31 2c 27 27 72 2b 27 27 29 3b 27 5d	.num2str(kk).'(2,:)+1,''r+'');']
292a0	29 3b 0a 20 20 20 09 65 76 61 6c 28 5b 27 70 6c 6f 74 28 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b	);.....eval(['plot(y_'.num2str(k
292c0	6b 29 20 27 28 31 2c 3a 29 2b 31 2c 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 28 32 2c	k).'(1,:)+1,y_'.num2str(kk).'(2,
292e0	3a 29 2b 31 2c 27 27 27 20 63 6f 6c 6f 72 73 28 72 65 6d 28 6b 6b 2d 31 2c 36 29 2b 31 29 20 27	:)+1,'''.colors(rem(kk-1,6)+1).'
29300	6f 27 27 29 3b 27 5d 29 3b 0a 20 20 20 09 7a 6f 6f 6d 20 6f 6e 3b 0a 20 20 20 09 68 6f 6c 64 20	o'');']);.....zoom.on;.....hold.
29320	6f 66 66 3b 0a 20 20 20 09 64 72 61 77 6e 6f 77 3b 0a 0a 20 20 20 20 20 20 73 65 74 28 35 2b 6b	off;.....drawnow;........set(5+k
29340	6b 2c 27 4e 61 6d 65 27 2c 6e 75 6d 32 73 74 72 28 6b 6b 29 2c 27 4e 75 6d 62 65 72 54 69 74 6c	k,'Name',num2str(kk),'NumberTitl
29360	65 27 2c 27 6f 66 66 27 29 3b 0a 20 20 20 20 20 20 0a 20 20 20 65 6e 64 3b 0a 20 20 20 0a 65 6e	e','off');...........end;.....en
29380	64 3b 0a 0a 0a 65 72 72 5f 73 74 64 20 3d 20 73 74 64 28 65 78 27 29 27 3b 0a 0a 66 70 72 69 6e	d;...err_std.=.std(ex')';..fprin
293a0	74 66 28 31 2c 27 50 69 78 65 6c 20 65 72 72 6f 72 3a 20 20 20 20 20 20 65 72 72 20 3d 20 5b 20	tf(1,'Pixel.error:......err.=.[.
293c0	25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 5c 6e 27 2c 65 72 72 5f 73 74 64 29 3b 20 0a 20	%3.5f...%3.5f]\n\n',err_std);...
293e0	20 09 09 65 76 61 6c 28 5b 27 6e 5f 73 71 5f 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27	...eval(['n_sq_y_'.num2str(kk).'
29400	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 72 6f 64 72 69 67 75 65 73 2e 6d 00 00 00 00 00 00 00	TOOLBOX_calib/rodrigues.m.......
29420	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
29440	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
29460	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
29480	20 20 31 30 36 32 36 20 20 37 30 32 34 30 33 37 33 35 31 20 20 31 30 36 32 35 00 20 00 00 00 00	..10626..7024037351..10625......
294a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
294c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
294e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
29500	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
29520	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
29540	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
29560	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
29580	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
295a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
295c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
295e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
29600	66 75 6e 63 74 69 6f 6e 09 5b 6f 75 74 2c 64 6f 75 74 5d 3d 72 6f 64 72 69 67 75 65 73 28 69 6e	function.[out,dout]=rodrigues(in
29620	29 0a 0a 25 20 52 4f 44 52 49 47 55 45 53 09 54 72 61 6e 73 66 6f 72 6d 20 72 6f 74 61 74 69 6f	)..%.RODRIGUES.Transform.rotatio
29640	6e 20 6d 61 74 72 69 78 20 69 6e 74 6f 20 72 6f 74 61 74 69 6f 6e 20 76 65 63 74 6f 72 20 61 6e	n.matrix.into.rotation.vector.an
29660	64 20 76 69 63 65 76 65 72 73 61 2e 0a 25 09 09 0a 25 09 09 53 69 6e 74 61 78 3a 20 20 5b 4f 55	d.viceversa..%...%..Sintax:..[OU
29680	54 5d 3d 52 4f 44 52 49 47 55 45 53 28 49 4e 29 0a 25 20 09 09 49 66 20 49 4e 20 69 73 20 61 20	T]=RODRIGUES(IN).%...If.IN.is.a.
296a0	33 78 33 20 72 6f 74 61 74 69 6f 6e 20 6d 61 74 72 69 78 20 74 68 65 6e 20 4f 55 54 20 69 73 20	3x3.rotation.matrix.then.OUT.is.
296c0	74 68 65 0a 25 09 09 63 6f 72 72 65 73 70 6f 6e 64 69 6e 67 20 33 78 31 20 72 6f 74 61 74 69 6f	the.%..corresponding.3x1.rotatio
296e0	6e 20 76 65 63 74 6f 72 0a 25 20 09 09 69 66 20 49 4e 20 69 73 20 61 20 72 6f 74 61 74 69 6f 6e	n.vector.%...if.IN.is.a.rotation
29700	20 33 2d 76 65 63 74 6f 72 20 74 68 65 6e 20 4f 55 54 20 69 73 20 74 68 65 20 0a 25 09 09 63 6f	.3-vector.then.OUT.is.the..%..co
29720	72 72 65 73 70 6f 6e 64 69 6e 67 20 33 78 33 20 72 6f 74 61 74 69 6f 6e 20 6d 61 74 72 69 78 0a	rresponding.3x3.rotation.matrix.
29740	25 0a 0a 25 25 0a 25 25 09 09 43 6f 70 79 72 69 67 68 74 20 28 63 29 20 4d 61 72 63 68 20 31 39	%..%%.%%..Copyright.(c).March.19
29760	39 33 20 2d 2d 20 50 69 65 74 72 6f 20 50 65 72 6f 6e 61 0a 25 25 09 09 43 61 6c 69 66 6f 72 6e	93.--.Pietro.Perona.%%..Californ
29780	69 61 20 49 6e 73 74 69 74 75 74 65 20 6f 66 20 54 65 63 68 6e 6f 6c 6f 67 79 0a 25 25 0a 0a 25	ia.Institute.of.Technology.%%..%
297a0	25 20 41 4c 4c 20 43 48 45 43 4b 45 44 20 42 59 20 4a 45 41 4e 2d 59 56 45 53 20 42 4f 55 47 55	%.ALL.CHECKED.BY.JEAN-YVES.BOUGU
297c0	45 54 2c 20 4f 63 74 6f 62 65 72 20 31 39 39 35 2e 0a 25 25 20 46 4f 52 20 41 4c 4c 20 4a 41 43	ET,.October.1995..%%.FOR.ALL.JAC
297e0	4f 42 49 41 4e 20 4d 41 54 52 49 43 45 53 20 21 21 21 20 4c 4f 4f 4b 20 41 54 20 54 48 45 20 54	OBIAN.MATRICES.!!!.LOOK.AT.THE.T
29800	45 53 54 20 41 54 20 54 48 45 20 45 4e 44 20 21 21 0a 0a 25 25 20 42 55 47 20 77 68 65 6e 20 6e	EST.AT.THE.END.!!..%%.BUG.when.n
29820	6f 72 6d 28 6f 6d 29 3d 70 69 20 66 69 78 65 64 20 2d 2d 20 41 70 72 69 6c 20 36 74 68 2c 20 31	orm(om)=pi.fixed.--.April.6th,.1
29840	39 39 37 3b 0a 25 25 20 4a 65 61 6e 2d 59 76 65 73 20 42 6f 75 67 75 65 74 0a 0a 0a 5b 6d 2c 6e	997;.%%.Jean-Yves.Bouguet...[m,n
29860	5d 20 3d 20 73 69 7a 65 28 69 6e 29 3b 0a 25 62 69 67 65 70 73 20 3d 20 31 30 65 2b 34 2a 65 70	].=.size(in);.%bigeps.=.10e+4*ep
29880	73 3b 0a 62 69 67 65 70 73 20 3d 20 31 30 65 2b 32 30 2a 65 70 73 3b 0a 0a 69 66 20 28 28 6d 3d	s;.bigeps.=.10e+20*eps;..if.((m=
298a0	3d 31 29 20 26 20 28 6e 3d 3d 33 29 29 20 7c 20 28 28 6d 3d 3d 33 29 20 26 20 28 6e 3d 3d 31 29	=1).&.(n==3)).\|.((m==3).&.(n==1)
298c0	29 20 25 25 20 69 74 20 69 73 20 61 20 72 6f 74 61 74 69 6f 6e 20 76 65 63 74 6f 72 0a 20 20 20	).%%.it.is.a.rotation.vector....
298e0	74 68 65 74 61 20 3d 20 6e 6f 72 6d 28 69 6e 29 3b 0a 20 20 20 69 66 20 74 68 65 74 61 20 3c 20	theta.=.norm(in);....if.theta.<.
29900	65 70 73 0a 20 20 20 20 20 20 52 20 3d 20 65 79 65 28 33 29 3b 0a 20 20 20 20 20 20 0a 20 20 20	eps.......R.=.eye(3);...........
29920	20 20 20 25 69 66 20 6e 61 72 67 6f 75 74 20 3e 20 31 2c 0a 20 20 20 20 20 20 0a 20 20 20 20 20	...%if.nargout.>.1,.............
29940	20 64 52 64 69 6e 20 3d 20 5b 30 20 30 20 30 3b 0a 09 20 20 20 20 20 20 20 30 20 30 20 31 3b 0a	.dRdin.=.[0.0.0;.........0.0.1;.
29960	09 20 20 20 20 20 20 20 30 20 2d 31 20 30 3b 0a 09 20 20 20 20 20 20 20 30 20 30 20 2d 31 3b 0a	........0.-1.0;.........0.0.-1;.
29980	09 20 20 20 20 20 20 20 30 20 30 20 30 3b 0a 09 20 20 20 20 20 20 20 31 20 30 20 30 3b 0a 09 20	........0.0.0;.........1.0.0;...
299a0	20 20 20 20 20 20 30 20 31 20 30 3b 0a 09 20 20 20 20 20 20 20 2d 31 20 30 20 30 3b 0a 20 20 20	......0.1.0;.........-1.0.0;....
299c0	20 20 20 20 20 20 20 30 20 30 20 30 5d 3b 0a 20 20 20 20 20 20 20 0a 20 20 20 20 20 20 20 25 65	.......0.0.0];................%e
299e0	6e 64 3b 0a 09 20 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 69 66 20 6e 3d 3d 6c 65 6e 67 74	nd;.......else.......if.n==lengt
29a00	68 28 69 6e 29 20 20 69 6e 3d 69 6e 27 3b 20 65 6e 64 3b 20 09 25 25 20 6d 61 6b 65 20 69 74 20	h(in)..in=in';.end;..%%.make.it.
29a20	61 20 63 6f 6c 75 6d 6e 20 76 65 63 2e 20 69 66 20 6e 65 63 65 73 73 2e 0a 09 20 0a 09 20 25 6d	a.column.vec..if.necess.......%m
29a40	33 20 3d 20 5b 69 6e 2c 74 68 65 74 61 5d 0a 0a 09 20 64 6d 33 64 69 6e 20 3d 20 5b 65 79 65 28	3.=.[in,theta]....dm3din.=.[eye(
29a60	33 29 3b 69 6e 27 2f 74 68 65 74 61 5d 3b 0a 0a 09 20 6f 6d 65 67 61 20 3d 20 69 6e 2f 74 68 65	3);in'/theta];....omega.=.in/the
29a80	74 61 3b 0a 09 20 0a 09 20 25 6d 32 20 3d 20 5b 6f 6d 65 67 61 3b 74 68 65 74 61 5d 0a 09 20 0a	ta;......%m2.=.[omega;theta]....
29aa0	09 20 64 6d 32 64 6d 33 20 3d 20 5b 65 79 65 28 33 29 2f 74 68 65 74 61 20 2d 69 6e 2f 74 68 65	..dm2dm3.=.[eye(3)/theta.-in/the
29ac0	74 61 5e 32 3b 20 7a 65 72 6f 73 28 31 2c 33 29 20 31 5d 3b 0a 09 20 0a 09 20 61 6c 70 68 61 20	ta^2;.zeros(1,3).1];......alpha.
29ae0	3d 20 63 6f 73 28 74 68 65 74 61 29 3b 0a 09 20 62 65 74 61 20 3d 20 73 69 6e 28 74 68 65 74 61	=.cos(theta);...beta.=.sin(theta
29b00	29 3b 0a 09 20 67 61 6d 6d 61 20 3d 20 31 2d 63 6f 73 28 74 68 65 74 61 29 3b 0a 09 20 6f 6d 65	);...gamma.=.1-cos(theta);...ome
29b20	67 61 76 3d 5b 5b 30 20 2d 6f 6d 65 67 61 28 33 29 20 6f 6d 65 67 61 28 32 29 5d 3b 5b 6f 6d 65	gav=[[0.-omega(3).omega(2)];[ome
29b40	67 61 28 33 29 20 30 20 2d 6f 6d 65 67 61 28 31 29 5d 3b 5b 2d 6f 6d 65 67 61 28 32 29 20 6f 6d	ga(3).0.-omega(1)];[-omega(2).om
29b60	65 67 61 28 31 29 20 30 20 5d 5d 3b 0a 09 20 41 20 3d 20 6f 6d 65 67 61 2a 6f 6d 65 67 61 27 3b	ega(1).0.]];...A.=.omega*omega';
29b80	0a 09 20 0a 09 20 25 6d 31 20 3d 20 5b 61 6c 70 68 61 3b 62 65 74 61 3b 67 61 6d 6d 61 3b 6f 6d	......%m1.=.[alpha;beta;gamma;om
29ba0	65 67 61 76 3b 41 5d 3b 0a 09 20 0a 09 20 64 6d 31 64 6d 32 20 3d 20 7a 65 72 6f 73 28 32 31 2c	egav;A];......dm1dm2.=.zeros(21,
29bc0	34 29 3b 0a 09 20 64 6d 31 64 6d 32 28 31 2c 34 29 20 3d 20 2d 73 69 6e 28 74 68 65 74 61 29 3b	4);...dm1dm2(1,4).=.-sin(theta);
29be0	0a 09 20 64 6d 31 64 6d 32 28 32 2c 34 29 20 3d 20 63 6f 73 28 74 68 65 74 61 29 3b 0a 09 20 64	...dm1dm2(2,4).=.cos(theta);...d
29c00	6d 31 64 6d 32 28 33 2c 34 29 20 3d 20 73 69 6e 28 74 68 65 74 61 29 3b 0a 09 20 64 6d 31 64 6d	m1dm2(3,4).=.sin(theta);...dm1dm
29c20	32 28 34 3a 31 32 2c 31 3a 33 29 20 3d 20 5b 30 20 30 20 30 20 30 20 30 20 31 20 30 20 2d 31 20	2(4:12,1:3).=.[0.0.0.0.0.1.0.-1.
29c40	30 3b 0a 09 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 30 20 30 20 2d 31 20	0;.......................0.0.-1.
29c60	30 20 30 20 30 20 31 20 30 20 30 3b 0a 09 09 09 20 20 20 20 20 30 20 31 20 30 20 2d 31 20 30 20	0.0.0.1.0.0;.........0.1.0.-1.0.
29c80	30 20 30 20 30 20 30 5d 27 3b 0a 09 09 20 20 20 20 20 20 20 0a 20 20 20 20 20 20 20 20 20 77 31	0.0.0.0]';....................w1
29ca0	20 3d 20 6f 6d 65 67 61 28 31 29 3b 0a 09 20 77 32 20 3d 20 6f 6d 65 67 61 28 32 29 3b 0a 09 20	.=.omega(1);...w2.=.omega(2);...
29cc0	77 33 20 3d 20 6f 6d 65 67 61 28 33 29 3b 0a 09 20 0a 09 20 64 6d 31 64 6d 32 28 31 33 3a 32 31	w3.=.omega(3);......dm1dm2(13:21
29ce0	2c 31 29 20 3d 20 5b 32 2a 77 31 3b 77 32 3b 77 33 3b 77 32 3b 30 3b 30 3b 77 33 3b 30 3b 30 5d	,1).=.[2*w1;w2;w3;w2;0;0;w3;0;0]
29d00	3b 0a 09 20 64 6d 31 64 6d 32 28 31 33 3a 20 32 31 2c 32 29 20 3d 20 5b 30 3b 77 31 3b 30 3b 77	;...dm1dm2(13:.21,2).=.[0;w1;0;w
29d20	31 3b 32 2a 77 32 3b 77 33 3b 30 3b 77 33 3b 30 5d 3b 0a 09 20 64 6d 31 64 6d 32 28 31 33 3a 32	1;2*w2;w3;0;w3;0];...dm1dm2(13:2
29d40	31 2c 33 29 20 3d 20 5b 30 3b 30 3b 77 31 3b 30 3b 30 3b 77 32 3b 77 31 3b 77 32 3b 32 2a 77 33	1,3).=.[0;0;w1;0;0;w2;w1;w2;2*w3
29d60	5d 3b 0a 09 20 0a 09 20 52 20 3d 20 65 79 65 28 33 29 2a 61 6c 70 68 61 20 2b 20 6f 6d 65 67 61	];......R.=.eye(3)*alpha.+.omega
29d80	76 2a 62 65 74 61 20 2b 20 41 2a 67 61 6d 6d 61 3b 0a 09 20 0a 09 20 64 52 64 6d 31 20 3d 20 7a	vbeta.+.Agamma;......dRdm1.=.z
29da0	65 72 6f 73 28 39 2c 32 31 29 3b 0a 09 20 0a 09 20 64 52 64 6d 31 28 5b 31 20 35 20 39 5d 2c 31	eros(9,21);......dRdm1([1.5.9],1
29dc0	29 20 3d 20 6f 6e 65 73 28 33 2c 31 29 3b 0a 09 20 64 52 64 6d 31 28 3a 2c 32 29 20 3d 20 6f 6d	).=.ones(3,1);...dRdm1(:,2).=.om
29de0	65 67 61 76 28 3a 29 3b 0a 09 20 64 52 64 6d 31 28 3a 2c 34 3a 31 32 29 20 3d 20 62 65 74 61 2a	egav(:);...dRdm1(:,4:12).=.beta*
29e00	65 79 65 28 39 29 3b 0a 09 20 64 52 64 6d 31 28 3a 2c 33 29 20 3d 20 41 28 3a 29 3b 0a 09 20 64	eye(9);...dRdm1(:,3).=.A(:);...d
29e20	52 64 6d 31 28 3a 2c 31 33 3a 32 31 29 20 3d 20 67 61 6d 6d 61 2a 65 79 65 28 39 29 3b 0a 09 20	Rdm1(:,13:21).=.gamma*eye(9);...
29e40	0a 09 20 64 52 64 69 6e 20 3d 20 64 52 64 6d 31 20 2a 20 64 6d 31 64 6d 32 20 2a 20 64 6d 32 64	...dRdin.=.dRdm1..dm1dm2..dm2d
29e60	6d 33 20 2a 20 64 6d 33 64 69 6e 3b 0a 09 20 0a 09 20 0a 20 20 20 20 20 20 65 6e 64 3b 0a 20 20	m3.*.dm3din;.............end;...
29e80	20 20 20 20 6f 75 74 20 3d 20 52 3b 0a 20 20 20 20 20 20 64 6f 75 74 20 3d 20 64 52 64 69 6e 3b	....out.=.R;.......dout.=.dRdin;
29ea0	0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 25 25 20 69 74 20 69 73 20 70 72 6f 62 2e 20 61 20 72	..............%%.it.is.prob..a.r
29ec0	6f 74 20 6d 61 74 72 2e 0a 20 20 20 65 6c 73 65 69 66 20 28 28 6d 3d 3d 6e 29 20 26 20 28 6d 3d	ot.matr.....elseif.((m==n).&.(m=
29ee0	3d 33 29 20 26 20 28 6e 6f 72 6d 28 69 6e 27 20 2a 20 69 6e 20 2d 20 65 79 65 28 33 29 29 20 3c	=3).&.(norm(in'.*.in.-.eye(3)).<
29f00	20 62 69 67 65 70 73 29 2e 2e 2e 0a 09 20 20 20 20 26 20 28 61 62 73 28 64 65 74 28 69 6e 29 2d	.bigeps).........&.(abs(det(in)-
29f20	31 29 20 3c 20 62 69 67 65 70 73 29 29 0a 20 20 20 20 20 20 52 20 3d 20 69 6e 3b 0a 20 20 20 20	1).<.bigeps)).......R.=.in;.....
29f40	20 20 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 74 72 20 3d 20 28 74 72 61	.......................tr.=.(tra
29f60	63 65 28 52 29 2d 31 29 2f 32 3b 0a 20 20 20 20 20 20 64 74 72 64 52 20 3d 20 5b 31 20 30 20 30	ce(R)-1)/2;.......dtrdR.=.[1.0.0
29f80	20 30 20 31 20 30 20 30 20 30 20 31 5d 2f 32 3b 0a 20 20 20 20 20 20 74 68 65 74 61 20 3d 20 72	.0.1.0.0.0.1]/2;.......theta.=.r
29fa0	65 61 6c 28 61 63 6f 73 28 74 72 29 29 3b 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 0a 20 20 20	eal(acos(tr));..................
29fc0	20 20 20 69 66 20 73 69 6e 28 74 68 65 74 61 29 20 3e 3d 20 31 65 2d 35 2c 0a 09 20 0a 09 20 64	...if.sin(theta).>=.1e-5,......d
29fe0	74 68 65 74 61 64 74 72 20 3d 20 2d 31 2f 73 71 72 74 28 31 2d 74 72 5e 32 29 3b 0a 09 20 0a 09	thetadtr.=.-1/sqrt(1-tr^2);.....
2a000	20 64 74 68 65 74 61 64 52 20 3d 20 64 74 68 65 74 61 64 74 72 20 2a 20 64 74 72 64 52 3b 0a 09	.dthetadR.=.dthetadtr.*.dtrdR;..
2a020	20 25 20 76 61 72 31 20 3d 20 5b 76 74 68 3b 74 68 65 74 61 5d 3b 0a 09 20 76 74 68 20 3d 20 31	.%.var1.=.[vth;theta];...vth.=.1
2a040	2f 28 32 2a 73 69 6e 28 74 68 65 74 61 29 29 3b 0a 09 20 64 76 74 68 64 74 68 65 74 61 20 3d 20	/(2*sin(theta));...dvthdtheta.=.
2a060	2d 76 74 68 2a 63 6f 73 28 74 68 65 74 61 29 2f 73 69 6e 28 74 68 65 74 61 29 3b 0a 09 20 64 76	-vth*cos(theta)/sin(theta);...dv
2a080	61 72 31 64 74 68 65 74 61 20 3d 20 5b 64 76 74 68 64 74 68 65 74 61 3b 31 5d 3b 0a 09 20 0a 09	ar1dtheta.=.[dvthdtheta;1];.....
2a0a0	20 64 76 61 72 31 64 52 20 3d 20 20 64 76 61 72 31 64 74 68 65 74 61 20 2a 20 64 74 68 65 74 61	.dvar1dR.=..dvar1dtheta.*.dtheta
2a0c0	64 52 3b 0a 09 20 0a 09 20 0a 09 20 6f 6d 31 20 3d 20 5b 52 28 33 2c 32 29 2d 52 28 32 2c 33 29	dR;.........om1.=.[R(3,2)-R(2,3)
2a0e0	2c 20 52 28 31 2c 33 29 2d 52 28 33 2c 31 29 2c 20 52 28 32 2c 31 29 2d 52 28 31 2c 32 29 5d 27	,.R(1,3)-R(3,1),.R(2,1)-R(1,2)]'
2a100	3b 0a 09 20 0a 09 20 64 6f 6d 31 64 52 20 3d 20 5b 30 20 30 20 30 20 30 20 30 20 31 20 30 20 2d	;......dom1dR.=.[0.0.0.0.0.1.0.-
2a120	31 20 30 3b 0a 09 20 20 20 20 20 20 20 30 20 30 20 2d 31 20 30 20 30 20 30 20 31 20 30 20 30 3b	1.0;.........0.0.-1.0.0.0.1.0.0;
2a140	0a 09 20 20 20 20 20 20 20 30 20 31 20 30 20 2d 31 20 30 20 30 20 30 20 30 20 30 5d 3b 0a 09 20	.........0.1.0.-1.0.0.0.0.0];...
2a160	0a 09 20 25 20 76 61 72 20 3d 20 5b 6f 6d 31 3b 76 74 68 3b 74 68 65 74 61 5d 3b 0a 09 20 64 76	...%.var.=.[om1;vth;theta];...dv
2a180	61 72 64 52 20 3d 20 5b 64 6f 6d 31 64 52 3b 64 76 61 72 31 64 52 5d 3b 0a 09 20 0a 09 20 25 20	ardR.=.[dom1dR;dvar1dR];......%.
2a1a0	76 61 72 32 20 3d 20 5b 6f 6d 3b 74 68 65 74 61 5d 3b 0a 09 20 6f 6d 20 3d 20 76 74 68 2a 6f 6d	var2.=.[om;theta];...om.=.vth*om
2a1c0	31 3b 0a 09 20 64 6f 6d 64 76 61 72 20 3d 20 5b 76 74 68 2a 65 79 65 28 33 29 20 6f 6d 31 20 7a	1;...domdvar.=.[vth*eye(3).om1.z
2a1e0	65 72 6f 73 28 33 2c 31 29 5d 3b 0a 09 20 64 74 68 65 74 61 64 76 61 72 20 3d 20 5b 30 20 30 20	eros(3,1)];...dthetadvar.=.[0.0.
2a200	30 20 30 20 31 5d 3b 0a 09 20 64 76 61 72 32 64 76 61 72 20 3d 20 5b 64 6f 6d 64 76 61 72 3b 64	0.0.1];...dvar2dvar.=.[domdvar;d
2a220	74 68 65 74 61 64 76 61 72 5d 3b 0a 09 20 0a 09 20 0a 09 20 6f 75 74 20 3d 20 6f 6d 2a 74 68 65	thetadvar];.........out.=.om*the
2a240	74 61 3b 0a 09 20 64 6f 6d 65 67 61 64 76 61 72 32 20 3d 20 5b 74 68 65 74 61 2a 65 79 65 28 33	ta;...domegadvar2.=.[theta*eye(3
2a260	29 20 6f 6d 5d 3b 0a 09 20 0a 09 20 64 6f 75 74 20 3d 20 64 6f 6d 65 67 61 64 76 61 72 32 20 2a	).om];......dout.=.domegadvar2.*
2a280	20 64 76 61 72 32 64 76 61 72 20 2a 20 64 76 61 72 64 52 3b 0a 09 20 0a 09 20 0a 20 20 20 20 20	.dvar2dvar.*.dvardR;............
2a2a0	20 65 6c 73 65 0a 09 20 69 66 20 74 72 20 3e 20 30 3b 20 09 09 09 25 20 63 61 73 65 20 6e 6f 72	.else...if.tr.>.0;....%.case.nor
2a2c0	6d 28 6f 6d 29 3d 30 3b 0a 09 20 20 20 20 0a 09 20 20 20 20 6f 75 74 20 3d 20 5b 30 20 30 20 30	m(om)=0;............out.=.[0.0.0
2a2e0	5d 27 3b 0a 09 20 20 20 20 0a 09 20 20 20 20 64 6f 75 74 20 3d 20 5b 30 20 30 20 30 20 30 20 30	]';............dout.=.[0.0.0.0.0
2a300	20 31 2f 32 20 30 20 2d 31 2f 32 20 30 3b 0a 09 09 20 20 30 20 30 20 2d 31 2f 32 20 30 20 30 20	.1/2.0.-1/2.0;.....0.0.-1/2.0.0.
2a320	30 20 31 2f 32 20 30 20 30 3b 0a 09 09 20 20 30 20 31 2f 32 20 30 20 2d 31 2f 32 20 30 20 30 20	0.1/2.0.0;.....0.1/2.0.-1/2.0.0.
2a340	30 20 30 20 30 5d 3b 0a 09 20 65 6c 73 65 20 09 09 09 09 25 20 63 61 73 65 20 6e 6f 72 6d 28 6f	0.0.0];...else.....%.case.norm(o
2a360	6d 29 3d 70 69 3b 20 25 25 20 66 69 78 65 64 20 41 70 72 69 6c 20 36 74 68 0a 09 20 20 20 20 0a	m)=pi;.%%.fixed.April.6th.......
2a380	09 20 20 20 20 0a 09 20 20 20 20 6f 75 74 20 3d 20 74 68 65 74 61 20 2a 20 28 73 71 72 74 28 28	...........out.=.theta.*.(sqrt((
2a3a0	64 69 61 67 28 52 29 2b 31 29 2f 32 29 2e 2a 5b 31 3b 32 2a 28 52 28 31 2c 32 3a 33 29 3e 3d 30	diag(R)+1)/2).[1;2(R(1,2:3)>=0
2a3c0	29 27 2d 31 5d 29 3b 0a 09 20 20 20 20 25 6b 65 79 62 6f 61 72 64 3b 0a 09 20 20 20 20 0a 09 20	)'-1]);......%keyboard;.........
2a3e0	20 20 20 69 66 20 6e 61 72 67 6f 75 74 20 3e 20 31 2c 0a 09 20 20 20 20 20 20 20 66 70 72 69 6e	...if.nargout.>.1,.........fprin
2a400	74 66 28 31 2c 27 57 41 52 4e 49 4e 47 21 21 21 21 20 4a 61 63 6f 62 69 61 6e 20 64 6f 6d 64 52	tf(1,'WARNING!!!!.Jacobian.domdR
2a420	20 75 6e 64 65 66 69 6e 65 64 21 21 21 5c 6e 27 29 3b 0a 09 09 20 09 64 6f 75 74 20 3d 20 4e 61	.undefined!!!\n');.....dout.=.Na
2a440	4e 2a 6f 6e 65 73 28 33 2c 39 29 3b 0a 09 20 20 20 20 65 6e 64 3b 0a 09 20 65 6e 64 3b 20 0a 20	N*ones(3,9);......end;...end;...
2a460	20 20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 65	.....end;...........else.......e
2a480	72 72 6f 72 28 27 4e 65 69 74 68 65 72 20 61 20 72 6f 74 61 74 69 6f 6e 20 6d 61 74 72 69 78 20	rror('Neither.a.rotation.matrix.
2a4a0	6e 6f 72 20 61 20 72 6f 74 61 74 69 6f 6e 20 76 65 63 74 6f 72 20 77 65 72 65 20 70 72 6f 76 69	nor.a.rotation.vector.were.provi
2a4c0	64 65 64 27 29 3b 0a 20 20 20 65 6e 64 3b 0a 0a 72 65 74 75 72 6e 3b 0a 0a 25 25 20 74 65 73 74	ded');....end;..return;..%%.test
2a4e0	20 6f 66 20 74 68 65 20 4a 61 63 6f 62 69 61 6e 73 3a 0a 0a 25 25 25 25 20 54 45 53 54 20 4f 46	.of.the.Jacobians:..%%%%.TEST.OF
2a500	20 64 52 64 6f 6d 3a 0a 6f 6d 20 3d 20 72 61 6e 64 6e 28 33 2c 31 29 3b 0a 64 6f 6d 20 3d 20 72	.dRdom:.om.=.randn(3,1);.dom.=.r
2a520	61 6e 64 6e 28 33 2c 31 29 2f 31 30 30 30 30 30 30 3b 0a 0a 5b 52 31 2c 64 52 31 5d 20 3d 20 72	andn(3,1)/1000000;..[R1,dR1].=.r
2a540	6f 64 72 69 67 75 65 73 28 6f 6d 29 3b 0a 52 32 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 2b	odrigues(om);.R2.=.rodrigues(om+
2a560	64 6f 6d 29 3b 0a 0a 52 32 61 20 3d 20 52 31 20 2b 20 72 65 73 68 61 70 65 28 64 52 31 20 2a 20	dom);..R2a.=.R1.+.reshape(dR1.*.
2a580	64 6f 6d 2c 33 2c 33 29 3b 0a 0a 67 61 69 6e 20 3d 20 6e 6f 72 6d 28 52 32 20 2d 20 52 31 29 2f	dom,3,3);..gain.=.norm(R2.-.R1)/
2a5a0	6e 6f 72 6d 28 52 32 20 2d 20 52 32 61 29 0a 0a 25 25 25 20 54 45 53 54 20 4f 46 20 64 4f 6d 64	norm(R2.-.R2a)..%%%.TEST.OF.dOmd
2a5c0	52 3a 0a 6f 6d 20 3d 20 72 61 6e 64 6e 28 33 2c 31 29 3b 0a 52 20 3d 20 72 6f 64 72 69 67 75 65	R:.om.=.randn(3,1);.R.=.rodrigue
2a5e0	73 28 6f 6d 29 3b 0a 64 6f 6d 20 3d 20 72 61 6e 64 6e 28 33 2c 31 29 2f 31 30 30 30 30 3b 0a 64	s(om);.dom.=.randn(3,1)/10000;.d
2a600	52 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 2b 64 6f 6d 29 20 2d 20 52 3b 0a 0a 5b 6f 6d 63	R.=.rodrigues(om+dom).-.R;..[omc
2a620	2c 64 6f 6d 64 52 5d 20 3d 20 72 6f 64 72 69 67 75 65 73 28 52 29 3b 0a 5b 6f 6d 32 5d 20 3d 20	,domdR].=.rodrigues(R);.[om2].=.
2a640	72 6f 64 72 69 67 75 65 73 28 52 2b 64 52 29 3b 0a 0a 6f 6d 5f 61 70 70 20 3d 20 6f 6d 63 20 2b	rodrigues(R+dR);..om_app.=.omc.+
2a660	20 64 6f 6d 64 52 2a 64 52 28 3a 29 3b 0a 0a 67 61 69 6e 20 3d 20 6e 6f 72 6d 28 6f 6d 32 20 2d	.domdR*dR(:);..gain.=.norm(om2.-
2a680	20 6f 6d 63 29 2f 6e 6f 72 6d 28 6f 6d 32 20 2d 20 6f 6d 5f 61 70 70 29 0a 0a 0a 25 25 25 20 4f	.omc)/norm(om2.-.om_app)...%%%.O
2a6a0	54 48 45 52 20 42 55 47 3a 20 28 46 49 58 45 44 20 4e 4f 57 21 21 21 29 0a 0a 6f 6d 75 20 3d 20	THER.BUG:.(FIXED.NOW!!!)..omu.=.
2a6c0	72 61 6e 64 6e 28 33 2c 31 29 3b 20 20 20 0a 6f 6d 75 20 3d 20 6f 6d 75 2f 6e 6f 72 6d 28 6f 6d	randn(3,1);....omu.=.omu/norm(om
2a6e0	75 29 0a 6f 6d 20 3d 20 70 69 2a 6f 6d 75 3b 20 20 20 20 20 20 20 20 0a 5b 52 2c 64 52 5d 3d 20	u).om.=.pi*omu;.........[R,dR]=.
2a700	72 6f 64 72 69 67 75 65 73 28 6f 6d 29 3b 0a 5b 6f 6d 32 5d 20 3d 20 72 6f 64 72 69 67 75 65 73	rodrigues(om);.[om2].=.rodrigues
2a720	28 52 29 3b 0a 5b 6f 6d 20 6f 6d 32 5d 0a 0a 25 25 25 20 4e 4f 52 4d 41 4c 20 4f 50 45 52 41 54	(R);.[om.om2]..%%%.NORMAL.OPERAT
2a740	49 4f 4e 0a 0a 6f 6d 20 3d 20 72 61 6e 64 6e 28 33 2c 31 29 3b 20 20 20 20 20 20 20 20 20 0a 5b	ION..om.=.randn(3,1);..........[
2a760	52 2c 64 52 5d 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 29 3b 0a 5b 6f 6d 32 5d 20 3d 20 72 6f	R,dR]=.rodrigues(om);.[om2].=.ro
2a780	64 72 69 67 75 65 73 28 52 29 3b 0a 5b 6f 6d 20 6f 6d 32 5d 0a 0a 20 64 52 64 6d 31 20 3d 20 7a	drigues(R);.[om.om2]...dRdm1.=.z
2a7a0	65 72 6f 73 28 39 2c 32 31 29 3b 0a 09 20 0a 09 20 64 52 64 6d 31 28 5b 31 20 35 20 39 5d 2c 31	eros(9,21);......dRdm1([1.5.9],1
2a7c0	29 20 3d 20 6f 6e 65 73 28 33 2c 31 29 3b 0a 09 20 64 52 64 6d 31 28 3a 2c 32 29 20 3d 20 6f 6d	).=.ones(3,1);...dRdm1(:,2).=.om
2a7e0	65 67 61 76 28 3a 29 3b 0a 09 20 64 52 64 6d 31 28 3a 2c 34 3a 31 32 29 20 3d 20 62 65 74 61 2a	egav(:);...dRdm1(:,4:12).=.beta*
2a800	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 72 6f 74 61 74 69 6f 6e 2e 6d 00 00 00 00 00 00 00 00	TOOLBOX_calib/rotation.m........
2a820	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2a840	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2a860	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
2a880	20 20 20 20 33 34 36 20 20 37 30 32 34 30 33 37 33 35 32 20 20 31 30 34 32 30 00 20 00 00 00 00	....346..7024037352..10420......
2a8a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2a8c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2a8e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2a900	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2a920	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2a940	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2a960	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2a980	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2a9a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2a9c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2a9e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2aa00	66 75 6e 63 74 69 6f 6e 20 5b 5d 20 3d 20 72 6f 74 61 74 69 6f 6e 28 73 74 29 3b 0a 0a 69 66 20	function.[].=.rotation(st);..if.
2aa20	6e 61 72 67 69 6e 20 3c 20 31 2c 0a 20 20 20 73 74 3d 20 31 3b 0a 65 6e 64 3b 0a 0a 0a 66 69 67	nargin.<.1,....st=.1;.end;...fig
2aa40	20 3d 20 67 63 66 3b 0a 0a 61 78 20 3d 20 67 63 61 3b 0a 0a 76 76 20 3d 20 67 65 74 28 61 78 2c	.=.gcf;..ax.=.gca;..vv.=.get(ax,
2aa60	27 76 69 65 77 27 29 3b 0a 0a 61 7a 20 3d 20 76 76 28 31 29 3b 0a 65 6c 20 3d 20 76 76 28 32 29	'view');..az.=.vv(1);.el.=.vv(2)
2aa80	3b 0a 0a 66 6f 72 20 61 7a 69 20 3d 20 61 7a 3a 2d 61 62 73 28 73 74 29 3a 61 7a 2d 33 36 30 2c	;..for.azi.=.az:-abs(st):az-360,
2aaa0	0a 20 20 20 0a 20 20 20 73 65 74 28 61 78 2c 27 76 69 65 77 27 2c 5b 61 7a 69 20 65 6c 5d 29 3b	........set(ax,'view',[azi.el]);
2aac0	0a 20 20 20 66 69 67 75 72 65 28 66 69 67 29 3b 0a 20 20 20 64 72 61 77 6e 6f 77 3b 0a 20 20 20	....figure(fig);....drawnow;....
2aae0	0a 65 6e 64 3b 0a 68 5f 63 65 6e 74 65 72 33 44 2e 6d 00 65 00 00 05 dc 00 02 36 a5 00 18 00 09	.end;.h_center3D.m.e......6.....
2ab00	73 74 61 72 74 75 70 2e 6d 00 00 a4 00 00 05 f0 00 02 36 a6 00 18 00 09 74 65 73 74 5f 33 64 2e	startup.m.........6.....test_3d.
2ab20	6d 00 6e 74 00 00 06 00 00 02 33 c0 00 14 00 06 69 73 33 44 2e 6d 00 2e 00 00 06 1c 00 02 36 a7	m.nt......3.....is3D.m........6.
2ab40	00 20 00 11 75 6e 64 69 73 74 6f 72 74 5f 69 6d 61 67 65 2e 6d 00 36 a7 00 00 06 34 00 02 36 a8	....undistort_image.m.6....4..6.
2ab60	00 1c 00 0d 55 6e 57 61 72 70 50 6c 61 6e 65 2e 6d 00 06 34 00 00 06 48 00 02 36 a9 00 18 00 0a	....UnWarpPlane.m..4...H..6.....
2ab80	77 72 69 74 65 72 61 73 2e 6d 00 2e 00 00 06 64 00 02 36 aa 00 20 00 10 65 72 72 6f 72 5f 61 6e	writeras.m.....d..6.....error_an
2aba0	61 6c 79 73 69 73 2e 6d 00 02 36 aa 00 00 06 78 00 02 36 ab 00 18 00 09 6c 6f 61 64 69 6e 72 2e	alysis.m..6....x..6.....loadinr.
2abc0	6d 00 00 6c 00 00 06 8c 00 02 36 ac 00 18 00 09 6c 6f 61 64 70 67 6d 2e 6d 00 79 73 00 00 06 a0	m..l......6.....loadpgm.m.ys....
2abe0	00 02 36 ad 00 18 00 09 6c 6f 61 64 70 70 6d 2e 6d 00 61 64 00 00 06 b4 00 02 36 ae 00 18 00 09	..6.....loadppm.m.ad......6.....
2ac00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 73 61 76 69 6e 67 5f 63 61 6c 69 62 2e 6d 00 00 00 00	TOOLBOX_calib/saving_calib.m....
2ac20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2ac40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2ac60	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
2ac80	20 20 20 32 31 30 33 20 20 37 30 32 34 30 33 37 33 35 36 20 20 31 31 32 31 37 00 20 00 00 00 00	...2103..7024037356..11217......
2aca0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2acc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2ace0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2ad00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2ad20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2ad40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2ad60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2ad80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2ada0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2adc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2ade0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2ae00	66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 53 61 76 69 6e 67 20 63 61 6c 69 62 72 61 74 69 6f 6e 20	fprintf(1,'\nSaving.calibration.
2ae20	72 65 73 75 6c 74 73 20 75 6e 64 65 72 20 43 61 6c 69 62 5f 52 65 73 75 6c 74 73 2e 6d 61 74 5c	results.under.Calib_Results.mat\
2ae40	6e 27 29 3b 0a 0a 63 68 65 63 6b 5f 61 63 74 69 76 65 5f 69 6d 61 67 65 73 3b 0a 0a 69 66 20 7e	n');..check_active_images;..if.~
2ae60	65 78 69 73 74 28 27 73 6f 6c 75 74 69 6f 6e 5f 69 6e 69 74 27 29 2c 20 73 6f 6c 75 74 69 6f 6e	exist('solution_init'),.solution
2ae80	5f 69 6e 69 74 20 3d 20 5b 5d 3b 20 65 6e 64 3b 0a 0a 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f 69	_init.=.[];.end;..for.kk.=.1:n_i
2aea0	6d 61 2c 0a 20 20 20 69 66 20 7e 65 78 69 73 74 28 5b 27 64 58 5f 27 20 6e 75 6d 32 73 74 72 28	ma,....if.~exist(['dX_'.num2str(
2aec0	6b 6b 29 5d 29 2c 20 65 76 61 6c 28 5b 27 64 58 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27	kk)]),.eval(['dX_'.num2str(kk).'
2aee0	3d 20 64 58 3b 27 5d 29 3b 20 65 6e 64 3b 0a 20 20 20 69 66 20 7e 65 78 69 73 74 28 5b 27 64 59	=.dX;']);.end;....if.~exist(['dY
2af00	5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 5d 29 2c 20 65 76 61 6c 28 5b 27 64 59 5f 27 20 6e 75	_'.num2str(kk)]),.eval(['dY_'.nu
2af20	6d 32 73 74 72 28 6b 6b 29 20 27 3d 20 64 59 3b 27 5d 29 3b 20 65 6e 64 3b 0a 65 6e 64 3b 0a 0a	m2str(kk).'=.dY;']);.end;.end;..
2af40	69 66 20 7e 65 78 69 73 74 28 27 70 61 72 61 6d 5f 6c 69 73 74 27 29 2c 0a 20 20 20 70 61 72 61	if.~exist('param_list'),....para
2af60	6d 5f 6c 69 73 74 20 3d 20 73 6f 6c 75 74 69 6f 6e 3b 0a 65 6e 64 3b 0a 0a 0a 73 74 72 69 6e 67	m_list.=.solution;.end;...string
2af80	5f 73 61 76 65 20 3d 20 27 73 61 76 65 20 43 61 6c 69 62 5f 52 65 73 75 6c 74 73 20 70 61 72 61	_save.=.'save.Calib_Results.para
2afa0	6d 5f 6c 69 73 74 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 20 69 6e 64 5f 61 63 74 69 76 65 20	m_list.active_images.ind_active.
2afc0	66 63 20 6b 63 20 63 63 20 65 78 20 78 20 79 20 73 6f 6c 75 74 69 6f 6e 20 73 6f 6c 5f 77 69 74	fc.kc.cc.ex.x.y.solution.sol_wit
2afe0	68 5f 63 65 6e 74 65 72 20 73 6f 6c 75 74 69 6f 6e 5f 69 6e 69 74 20 77 69 6e 74 78 20 77 69 6e	h_center.solution_init.wintx.win
2b000	74 79 20 6e 5f 69 6d 61 20 74 79 70 65 5f 6e 75 6d 62 65 72 69 6e 67 20 4e 5f 73 6c 6f 74 73 20	ty.n_ima.type_numbering.N_slots.
2b020	73 6d 61 6c 6c 5f 63 61 6c 69 62 5f 69 6d 61 67 65 20 66 69 72 73 74 5f 6e 75 6d 20 69 6d 61 67	small_calib_image.first_num.imag
2b040	65 5f 6e 75 6d 62 65 72 73 20 66 6f 72 6d 61 74 5f 69 6d 61 67 65 20 63 61 6c 69 62 5f 6e 61 6d	e_numbers.format_image.calib_nam
2b060	65 20 48 63 61 6c 20 57 63 61 6c 20 6e 78 20 6e 79 20 6d 61 70 20 64 58 5f 64 65 66 61 75 6c 74	e.Hcal.Wcal.nx.ny.map.dX_default
2b080	20 64 59 5f 64 65 66 61 75 6c 74 20 4b 4b 20 69 6e 76 5f 4b 4b 20 64 58 20 64 59 27 3b 0a 0a 66	.dY_default.KK.inv_KK.dX.dY';..f
2b0a0	6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a 20 20 20 73 74 72 69 6e 67 5f 73 61 76 65 20	or.kk.=.1:n_ima,....string_save.
2b0c0	3d 20 5b 73 74 72 69 6e 67 5f 73 61 76 65 20 27 20 58 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29	=.[string_save.'.X_'.num2str(kk)
2b0e0	20 27 20 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 79 5f 27 20 6e 75 6d 32 73 74 72	.'.x_'.num2str(kk).'.y_'.num2str
2b100	28 6b 6b 29 20 27 20 65 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 6f 6d 63 5f 27 20	(kk).'.ex_'.num2str(kk).'.omc_'.
2b120	6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 52 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27	num2str(kk).'.Rc_'.num2str(kk).'
2b140	20 54 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 48 5f 27 20 6e 75 6d 32 73 74 72 28	.Tc_'.num2str(kk).'.H_'.num2str(
2b160	6b 6b 29 20 27 20 6e 5f 73 71 5f 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 6e 5f 73	kk).'.n_sq_x_'.num2str(kk).'.n_s
2b180	71 5f 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 77 69 6e 74 78 5f 27 20 6e 75 6d 32	q_y_'.num2str(kk).'.wintx_'.num2
2b1a0	73 74 72 28 6b 6b 29 20 27 20 77 69 6e 74 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20	str(kk).'.winty_'.num2str(kk).'.
2b1c0	64 58 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 64 59 5f 27 20 6e 75 6d 32 73 74 72 28	dX_'.num2str(kk).'.dY_'.num2str(
2b1e0	6b 6b 29 5d 3b 0a 65 6e 64 3b 0a 0a 25 66 70 72 69 6e 74 66 28 31 2c 27 54 6f 20 6c 6f 61 64 20	kk)];.end;..%fprintf(1,'To.load.
2b200	6c 61 74 65 72 20 63 6c 69 63 6b 20 6f 6e 20 4c 6f 61 64 5c 6e 27 29 3b 0a 0a 66 70 72 69 6e 74	later.click.on.Load\n');..fprint
2b220	66 28 31 2c 27 64 6f 6e 65 5c 6e 27 29 3b 0a 0a 65 76 61 6c 28 73 74 72 69 6e 67 5f 73 61 76 65	f(1,'done\n');..eval(string_save
2b240	29 3b 0a 6e 65 73 28 33 2c 39 29 3b 0a 09 20 20 20 20 65 6e 64 3b 0a 09 20 65 6e 64 3b 20 0a 20	);.nes(3,9);......end;...end;...
2b260	20 20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 65	.....end;...........else.......e
2b280	72 72 6f 72 28 27 4e 65 69 74 68 65 72 20 61 20 72 6f 74 61 74 69 6f 6e 20 6d 61 74 72 69 78 20	rror('Neither.a.rotation.matrix.
2b2a0	6e 6f 72 20 61 20 72 6f 74 61 74 69 6f 6e 20 76 65 63 74 6f 72 20 77 65 72 65 20 70 72 6f 76 69	nor.a.rotation.vector.were.provi
2b2c0	64 65 64 27 29 3b 0a 20 20 20 65 6e 64 3b 0a 0a 72 65 74 75 72 6e 3b 0a 0a 25 25 20 74 65 73 74	ded');....end;..return;..%%.test
2b2e0	20 6f 66 20 74 68 65 20 4a 61 63 6f 62 69 61 6e 73 3a 0a 0a 25 25 25 25 20 54 45 53 54 20 4f 46	.of.the.Jacobians:..%%%%.TEST.OF
2b300	20 64 52 64 6f 6d 3a 0a 6f 6d 20 3d 20 72 61 6e 64 6e 28 33 2c 31 29 3b 0a 64 6f 6d 20 3d 20 72	.dRdom:.om.=.randn(3,1);.dom.=.r
2b320	61 6e 64 6e 28 33 2c 31 29 2f 31 30 30 30 30 30 30 3b 0a 0a 5b 52 31 2c 64 52 31 5d 20 3d 20 72	andn(3,1)/1000000;..[R1,dR1].=.r
2b340	6f 64 72 69 67 75 65 73 28 6f 6d 29 3b 0a 52 32 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 2b	odrigues(om);.R2.=.rodrigues(om+
2b360	64 6f 6d 29 3b 0a 0a 52 32 61 20 3d 20 52 31 20 2b 20 72 65 73 68 61 70 65 28 64 52 31 20 2a 20	dom);..R2a.=.R1.+.reshape(dR1.*.
2b380	64 6f 6d 2c 33 2c 33 29 3b 0a 0a 67 61 69 6e 20 3d 20 6e 6f 72 6d 28 52 32 20 2d 20 52 31 29 2f	dom,3,3);..gain.=.norm(R2.-.R1)/
2b3a0	6e 6f 72 6d 28 52 32 20 2d 20 52 32 61 29 0a 0a 25 25 25 20 54 45 53 54 20 4f 46 20 64 4f 6d 64	norm(R2.-.R2a)..%%%.TEST.OF.dOmd
2b3c0	52 3a 0a 6f 6d 20 3d 20 72 61 6e 64 6e 28 33 2c 31 29 3b 0a 52 20 3d 20 72 6f 64 72 69 67 75 65	R:.om.=.randn(3,1);.R.=.rodrigue
2b3e0	73 28 6f 6d 29 3b 0a 64 6f 6d 20 3d 20 72 61 6e 64 6e 28 33 2c 31 29 2f 31 30 30 30 30 3b 0a 64	s(om);.dom.=.randn(3,1)/10000;.d
2b400	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 73 63 72 69 70 74 5f 66 69 74 5f 64 69 73 74 6f 72 74	TOOLBOX_calib/script_fit_distort
2b420	69 6f 6e 2e 6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	ion.m...........................
2b440	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2b460	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
2b480	20 20 20 31 37 32 35 20 20 37 30 32 34 30 33 37 33 35 37 20 20 31 33 32 33 34 00 20 00 00 00 00	...1725..7024037357..13234......
2b4a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2b4c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2b4e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2b500	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2b520	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2b540	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2b560	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2b580	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2b5a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2b5c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2b5e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2b600	0a 20 20 20 20 20 20 73 61 74 69 73 5f 64 69 73 74 6f 72 74 20 3d 20 30 3b 0a 20 20 20 20 20 20	.......satis_distort.=.0;.......
2b620	0a 20 20 20 20 20 20 64 69 73 70 28 5b 27 45 73 74 69 6d 61 74 65 64 20 66 6f 63 61 6c 3a 20 27	.......disp(['Estimated.focal:.'
2b640	20 6e 75 6d 32 73 74 72 28 66 5f 67 29 20 27 20 70 69 78 65 6c 73 27 5d 29 3b 0a 20 20 20 20 20	.num2str(f_g).'.pixels']);......
2b660	20 0a 20 20 20 20 20 20 77 68 69 6c 65 20 7e 73 61 74 69 73 5f 64 69 73 74 6f 72 74 2c 0a 0a 09	........while.~satis_distort,...
2b680	20 6b 5f 67 20 3d 20 69 6e 70 75 74 28 27 47 75 65 73 73 20 66 6f 72 20 64 69 73 74 6f 72 74 69	.k_g.=.input('Guess.for.distorti
2b6a0	6f 6e 20 66 61 63 74 6f 72 20 6b 63 20 28 5b 5d 3d 30 29 3a 20 27 29 3b 0a 09 20 0a 09 20 69 66	on.factor.kc.([]=0):.');......if
2b6c0	20 69 73 65 6d 70 74 79 28 6b 5f 67 29 2c 20 6b 5f 67 20 3d 20 30 3b 20 65 6e 64 3b 0a 20 20 20	.isempty(k_g),.k_g.=.0;.end;....
2b6e0	20 20 20 0a 09 20 78 79 5f 63 6f 72 6e 65 72 73 5f 75 6e 64 69 73 74 20 3d 20 63 6f 6d 70 5f 64	......xy_corners_undist.=.comp_d
2b700	69 73 74 6f 72 74 69 6f 6e 32 28 5b 78 27 20 2d 20 63 5f 67 28 31 29 3b 79 27 2d 63 5f 67 28 32	istortion2([x'.-.c_g(1);y'-c_g(2
2b720	29 5d 2f 66 5f 67 2c 6b 5f 67 29 3b 0a 09 20 0a 09 20 78 75 20 3d 20 78 79 5f 63 6f 72 6e 65 72	)]/f_g,k_g);......xu.=.xy_corner
2b740	73 5f 75 6e 64 69 73 74 28 31 2c 3a 29 27 3b 0a 09 20 79 75 20 3d 20 78 79 5f 63 6f 72 6e 65 72	s_undist(1,:)';...yu.=.xy_corner
2b760	73 5f 75 6e 64 69 73 74 28 32 2c 3a 29 27 3b 0a 09 20 0a 09 20 5b 58 58 75 5d 20 3d 20 70 72 6f	s_undist(2,:)';......[XXu].=.pro
2b780	6a 65 63 74 65 64 47 72 69 64 20 28 20 5b 78 75 28 31 29 3b 79 75 28 31 29 5d 2c 20 5b 78 75 28	jectedGrid.(.[xu(1);yu(1)],.[xu(
2b7a0	32 29 3b 79 75 28 32 29 5d 2c 5b 78 75 28 33 29 3b 79 75 28 33 29 5d 2c 20 5b 78 75 28 34 29 3b	2);yu(2)],[xu(3);yu(3)],.[xu(4);
2b7c0	79 75 28 34 29 5d 2c 6e 5f 73 71 5f 78 2b 31 2c 6e 5f 73 71 5f 79 2b 31 29 3b 20 25 20 54 68 65	yu(4)],n_sq_x+1,n_sq_y+1);.%.The
2b7e0	20 66 75 6c 6c 20 67 72 69 64 0a 09 20 0a 09 20 58 58 20 3d 20 28 6f 6e 65 73 28 32 2c 31 29 2a	.full.grid......XX.=.(ones(2,1)*
2b800	28 31 20 2b 20 6b 5f 67 20 2a 20 73 75 6d 28 58 58 75 2e 5e 32 29 29 29 20 2e 2a 20 58 58 75 3b	(1.+.k_g..sum(XXu.^2)))...XXu;
2b820	0a 09 20 58 58 28 31 2c 3a 29 20 3d 20 66 5f 67 2a 58 58 28 31 2c 3a 29 2b 63 5f 67 28 31 29 3b	...XX(1,:).=.f_g*XX(1,:)+c_g(1);
2b840	0a 09 20 58 58 28 32 2c 3a 29 20 3d 20 66 5f 67 2a 58 58 28 32 2c 3a 29 2b 63 5f 67 28 32 29 3b	...XX(2,:).=.f_g*XX(2,:)+c_g(2);
2b860	0a 09 20 0a 09 20 66 69 67 75 72 65 28 32 29 3b 0a 09 20 69 6d 61 67 65 28 49 29 3b 0a 09 20 63	......figure(2);...image(I);...c
2b880	6f 6c 6f 72 6d 61 70 28 6d 61 70 29 3b 0a 09 20 7a 6f 6f 6d 20 6f 6e 3b 0a 09 20 68 6f 6c 64 20	olormap(map);...zoom.on;...hold.
2b8a0	6f 6e 3b 0a 09 20 25 70 6c 6f 74 28 66 5f 67 2a 58 58 75 28 31 2c 3a 29 2b 63 5f 67 28 31 29 2c	on;...%plot(f_g*XXu(1,:)+c_g(1),
2b8c0	66 5f 67 2a 58 58 75 28 32 2c 3a 29 2b 63 5f 67 28 32 29 2c 27 72 6f 27 29 3b 0a 09 20 70 6c 6f	f_g*XXu(2,:)+c_g(2),'ro');...plo
2b8e0	74 28 58 58 28 31 2c 3a 29 2c 58 58 28 32 2c 3a 29 2c 27 72 2b 27 29 3b 0a 09 20 74 69 74 6c 65	t(XX(1,:),XX(2,:),'r+');...title
2b900	28 27 54 68 65 20 72 65 64 20 63 72 6f 73 73 65 73 20 73 68 6f 75 6c 64 20 62 65 20 6f 6e 20 74	('The.red.crosses.should.be.on.t
2b920	68 65 20 67 72 69 64 20 63 6f 72 6e 65 72 73 2e 2e 2e 27 29 3b 0a 09 20 68 6f 6c 64 20 6f 66 66	he.grid.corners...');...hold.off
2b940	3b 0a 09 20 0a 09 20 73 61 74 69 73 5f 64 69 73 74 6f 72 74 20 3d 20 69 6e 70 75 74 28 27 53 61	;......satis_distort.=.input('Sa
2b960	74 69 73 66 69 65 64 20 77 69 74 68 20 64 69 73 74 6f 72 74 69 6f 6e 3f 20 28 5b 5d 3d 6e 6f 2c	tisfied.with.distortion?.([]=no,
2b980	20 6f 74 68 65 72 3d 79 65 73 29 20 27 29 3b 0a 09 20 0a 09 20 73 61 74 69 73 5f 64 69 73 74 6f	.other=yes).');......satis_disto
2b9a0	72 74 20 3d 20 7e 69 73 65 6d 70 74 79 28 73 61 74 69 73 5f 64 69 73 74 6f 72 74 29 3b 0a 09 20	rt.=.~isempty(satis_distort);...
2b9c0	0a 09 20 0a 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 5f 27 20 6e 75 6d 32 73 74 72 28	..........end;......._'.num2str(
2b9e0	6b 6b 29 5d 3b 0a 65 6e 64 3b 0a 0a 25 66 70 72 69 6e 74 66 28 31 2c 27 54 6f 20 6c 6f 61 64 20	kk)];.end;..%fprintf(1,'To.load.
2ba00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 73 65 6c 65 63 74 5f 73 6f 6c 5f 6e 6f 5f 63 65 6e 74	TOOLBOX_calib/select_sol_no_cent
2ba20	65 72 2e 6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	er.m............................
2ba40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2ba60	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
2ba80	20 20 20 31 33 30 32 20 20 37 30 32 34 30 33 37 33 36 30 20 20 31 32 37 36 31 00 20 00 00 00 00	...1302..7024037360..12761......
2baa0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2bac0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2bae0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2bb00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2bb20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2bb40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2bb60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2bb80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2bba0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2bbc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2bbe0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2bc00	25 25 25 20 53 65 6c 65 63 74 69 6f 6e 20 6f 66 20 74 68 65 20 63 61 6c 69 62 72 61 74 69 6f 6e	%%%.Selection.of.the.calibration
2bc20	20 73 6f 6c 75 74 69 6f 6e 20 77 69 74 68 20 63 65 6e 74 65 72 20 65 73 74 69 6d 61 74 69 6f 6e	.solution.with.center.estimation
2bc40	0a 0a 69 66 20 7e 65 78 69 73 74 28 27 73 6f 6c 5f 6e 6f 5f 63 65 6e 74 65 72 27 29 2c 0a 20 20	..if.~exist('sol_no_center'),...
2bc60	20 66 70 72 69 6e 74 66 28 31 2c 27 4e 65 65 64 20 74 6f 20 63 61 6c 69 62 72 61 74 65 20 62 65	.fprintf(1,'Need.to.calibrate.be
2bc80	66 6f 72 65 20 73 65 6c 65 63 74 69 6e 67 20 73 6f 6c 75 74 69 6f 6e 20 77 69 74 68 6f 75 74 20	fore.selecting.solution.without.
2bca0	63 65 6e 74 65 72 2e 20 4d 61 79 62 65 20 6e 65 65 64 20 74 6f 20 6c 6f 61 64 20 43 61 6c 69 62	center..Maybe.need.to.load.Calib
2bcc0	5f 52 65 73 75 6c 74 73 2e 6d 61 74 20 66 69 6c 65 2e 5c 6e 27 29 3b 0a 20 20 20 72 65 74 75 72	_Results.mat.file.\n');....retur
2bce0	6e 3b 0a 65 6e 64 3b 0a 0a 73 6f 6c 75 74 69 6f 6e 20 3d 20 73 6f 6c 5f 6e 6f 5f 63 65 6e 74 65	n;.end;..solution.=.sol_no_cente
2bd00	72 3b 0a 0a 25 25 25 20 45 78 74 72 61 63 74 69 6f 6e 20 6f 66 20 74 68 65 20 66 69 6e 61 6c 20	r;..%%%.Extraction.of.the.final.
2bd20	69 6e 74 72 69 6e 73 69 63 20 61 6e 64 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 61 74 65	intrinsic.and.extrinsic.paramate
2bd40	72 73 3a 0a 0a 65 78 74 72 61 63 74 5f 70 61 72 61 6d 65 74 65 72 73 3b 0a 63 6f 6d 70 5f 65 72	rs:..extract_parameters;.comp_er
2bd60	72 6f 72 5f 63 61 6c 69 62 3b 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 5c 6e 43 61 6c 69 62	ror_calib;..fprintf(1,'\n\nCalib
2bd80	72 61 74 69 6f 6e 20 72 65 73 75 6c 74 73 20 77 69 74 68 6f 75 74 20 70 72 69 6e 63 69 70 61 6c	ration.results.without.principal
2bda0	20 70 6f 69 6e 74 20 65 73 74 69 6d 61 74 69 6f 6e 3a 5c 6e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74	.point.estimation:\n\n');.fprint
2bdc0	66 28 31 2c 27 46 6f 63 61 6c 20 4c 65 6e 67 74 68 3a 20 20 20 20 20 66 63 20 3d 20 5b 20 25 33	f(1,'Focal.Length:.....fc.=.[.%3
2bde0	2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 66 63 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27	.5f...%3.5f]\n',fc);.fprintf(1,'
2be00	50 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 3a 20 20 63 63 20 3d 20 5b 20 25 33 2e 35 66 20 20	Principal.point:..cc.=.[.%3.5f..
2be20	20 25 33 2e 35 66 5d 5c 6e 27 2c 63 63 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 44 69 73 74 6f	.%3.5f]\n',cc);.fprintf(1,'Disto
2be40	72 74 69 6f 6e 3a 20 20 20 20 20 20 20 6b 63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35	rtion:.......kc.=.[.%3.5f...%3.5
2be60	66 20 20 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 6b 63 29 3b 20 20 20 0a 66 70	f...%3.5f...%3.5f]\n',kc);....fp
2be80	72 69 6e 74 66 28 31 2c 27 50 69 78 65 6c 20 65 72 72 6f 72 3a 20 20 20 20 20 20 65 72 72 20 3d	rintf(1,'Pixel.error:......err.=
2bea0	20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 5c 6e 27 2c 65 72 72 5f 73 74 64 29 3b	.[.%3.5f...%3.5f]\n\n',err_std);
2bec0	20 0a 07 b4 00 02 36 b8 00 1c 00 0e 72 69 67 69 64 5f 6d 6f 74 69 6f 6e 2e 6d 00 6d 00 00 07 d8	......6.....rigid_motion.m.m....
2bee0	00 02 36 b9 00 28 00 18 63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 5f 69 6e 69 74 2e 6d	..6..(..compute_extrinsic_init.m
2bf00	00 00 07 d8 00 00 08 00 00 02 36 ba 00 28 00 1a 63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69	..........6..(..compute_extrinsi
2bf20	63 5f 72 65 66 69 6e 65 2e 6d 00 00 00 00 0a 00 00 02 36 bb 00 24 00 15 67 6f 5f 63 61 6c 69 62	c_refine.m........6..$..go_calib
2bf40	5f 6f 70 74 69 6d 5f 69 74 65 72 2e 6d 00 00 1a 74 6f 72 74 20 3d 20 69 6e 70 75 74 28 27 53 61	_optim_iter.m...tort.=.input('Sa
2bf60	74 69 73 66 69 65 64 20 77 69 74 68 20 64 69 73 74 6f 72 74 69 6f 6e 3f 20 28 5b 5d 3d 6e 6f 2c	tisfied.with.distortion?.([]=no,
2bf80	20 6f 74 68 65 72 3d 79 65 73 29 20 27 29 3b 0a 09 20 0a 09 20 73 61 74 69 73 5f 64 69 73 74 6f	.other=yes).');......satis_disto
2bfa0	72 74 20 3d 20 7e 69 73 65 6d 70 74 79 28 73 61 74 69 73 5f 64 69 73 74 6f 72 74 29 3b 0a 09 20	rt.=.~isempty(satis_distort);...
2bfc0	0a 09 20 0a 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 5f 27 20 6e 75 6d 32 73 74 72 28	..........end;......._'.num2str(
2bfe0	6b 6b 29 5d 3b 0a 65 6e 64 3b 0a 0a 25 66 70 72 69 6e 74 66 28 31 2c 27 54 6f 20 6c 6f 61 64 20	kk)];.end;..%fprintf(1,'To.load.
2c000	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 73 65 6c 65 63 74 5f 73 6f 6c 5f 6e 6f 5f 63 65 6e 74	TOOLBOX_calib/select_sol_no_cent
2c020	65 72 33 44 2e 6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	er3D.m..........................
2c040	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2c060	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
2c080	20 20 20 31 30 33 36 20 20 37 30 32 34 30 33 37 33 36 31 20 20 31 33 31 35 35 00 20 00 00 00 00	...1036..7024037361..13155......
2c0a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2c0c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2c0e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2c100	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2c120	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2c140	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2c160	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2c180	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2c1a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2c1c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2c1e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2c200	25 25 25 20 53 65 6c 65 63 74 69 6f 6e 20 6f 66 20 74 68 65 20 63 61 6c 69 62 72 61 74 69 6f 6e	%%%.Selection.of.the.calibration
2c220	20 73 6f 6c 75 74 69 6f 6e 20 77 69 74 68 20 63 65 6e 74 65 72 20 65 73 74 69 6d 61 74 69 6f 6e	.solution.with.center.estimation
2c240	0a 0a 73 6f 6c 75 74 69 6f 6e 20 3d 20 73 6f 6c 5f 6e 6f 5f 63 65 6e 74 65 72 3b 0a 0a 25 25 25	..solution.=.sol_no_center;..%%%
2c260	20 45 78 74 72 61 63 74 69 6f 6e 20 6f 66 20 74 68 65 20 66 69 6e 61 6c 20 69 6e 74 72 69 6e 73	.Extraction.of.the.final.intrins
2c280	69 63 20 61 6e 64 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 61 74 65 72 73 3a 0a 0a 65 78	ic.and.extrinsic.paramaters:..ex
2c2a0	74 72 61 63 74 5f 70 61 72 61 6d 65 74 65 72 73 33 44 3b 0a 0a 0a 66 70 72 69 6e 74 66 28 31 2c	tract_parameters3D;...fprintf(1,
2c2c0	27 5c 6e 5c 6e 43 61 6c 69 62 72 61 74 69 6f 6e 20 72 65 73 75 6c 74 73 20 77 69 74 68 6f 75 74	'\n\nCalibration.results.without
2c2e0	20 70 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 20 65 73 74 69 6d 61 74 69 6f 6e 3a 5c 6e 5c 6e	.principal.point.estimation:\n\n
2c300	27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 46 6f 63 61 6c 20 4c 65 6e 67 74 68 3a 20 20 20 20	');.fprintf(1,'Focal.Length:....
2c320	20 66 63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 66 63 29 3b 0a 66	.fc.=.[.%3.5f...%3.5f]\n',fc);.f
2c340	70 72 69 6e 74 66 28 31 2c 27 50 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 3a 20 20 63 63 20 3d	printf(1,'Principal.point:..cc.=
2c360	20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 63 63 29 3b 0a 66 70 72 69 6e 74	.[.%3.5f...%3.5f]\n',cc);.fprint
2c380	66 28 31 2c 27 44 69 73 74 6f 72 74 69 6f 6e 3a 20 20 20 20 20 20 20 6b 63 20 3d 20 5b 20 25 33	f(1,'Distortion:.......kc.=.[.%3
2c3a0	2e 35 66 20 20 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c	.5f...%3.5f...%3.5f...%3.5f]\n',
2c3c0	6b 63 29 3b 20 20 20 0a 0a 0a 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 20 47	kc);......%%%%%%%%%%%%%%%%%%%%.G
2c3e0	52 41 50 48 49 43 41 4c 20 4f 55 54 50 55 54 20 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25	RAPHICAL.OUTPUT.%%%%%%%%%%%%%%%%
2c400	25 25 25 25 25 25 25 25 0a 0a 67 72 61 70 68 6f 75 74 5f 63 61 6c 69 62 33 44 3b 0a 0a 0a 79 73	%%%%%%%%..graphout_calib3D;...ys
2c420	69 73 2e 6d 00 00 61 6d 00 00 07 54 00 02 36 b4 00 20 00 13 63 68 65 63 6b 5f 63 6f 6e 76 65 72	is.m..am...T..6.....check_conver
2c440	67 65 6e 63 65 2e 6d 00 00 00 07 70 00 02 36 b5 00 20 00 11 63 68 65 63 6b 5f 70 6c 61 6e 61 72	gence.m....p..6.....check_planar
2c460	69 74 79 2e 6d 00 6e 63 00 00 07 88 00 02 36 b6 00 1c 00 0e 63 6f 6e 76 65 72 74 5f 6f 75 6c 75	ity.m.nc......6.....convert_oulu
2c480	2e 6d 00 72 00 00 07 9c 00 02 36 b7 00 18 00 0b 6e 6f 72 6d 61 6c 69 7a 65 2e 6d 00 00 00 07 b4	.m.r......6.....normalize.m.....
2c4a0	00 02 36 b8 00 1c 00 0e 72 69 67 69 64 5f 6d 6f 74 69 6f 6e 2e 6d 00 6d 00 00 07 d8 00 02 36 b9	..6.....rigid_motion.m.m......6.
2c4c0	00 28 00 18 63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 5f 69 6e 69 74 2e 6d 00 00 07 d8	.(..compute_extrinsic_init.m....
2c4e0	00 00 08 00 00 02 36 ba 00 28 00 1a 63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 5f 72 65	......6..(..compute_extrinsic_re
2c500	66 69 6e 65 2e 6d 00 00 00 00 0a 00 00 02 36 bb 00 24 00 15 67 6f 5f 63 61 6c 69 62 5f 6f 70 74	fine.m........6..$..go_calib_opt
2c520	69 6d 5f 69 74 65 72 2e 6d 00 00 00 00 00 0a 00 00 02 36 bb 00 24 00 15 67 6f 5f 63 61 6c 69 62	im_iter.m.........6..$..go_calib
2c540	5f 6f 70 74 69 6d 5f 69 74 65 72 2e 6d 00 00 1a 74 6f 72 74 20 3d 20 69 6e 70 75 74 28 27 53 61	_optim_iter.m...tort.=.input('Sa
2c560	74 69 73 66 69 65 64 20 77 69 74 68 20 64 69 73 74 6f 72 74 69 6f 6e 3f 20 28 5b 5d 3d 6e 6f 2c	tisfied.with.distortion?.([]=no,
2c580	20 6f 74 68 65 72 3d 79 65 73 29 20 27 29 3b 0a 09 20 0a 09 20 73 61 74 69 73 5f 64 69 73 74 6f	.other=yes).');......satis_disto
2c5a0	72 74 20 3d 20 7e 69 73 65 6d 70 74 79 28 73 61 74 69 73 5f 64 69 73 74 6f 72 74 29 3b 0a 09 20	rt.=.~isempty(satis_distort);...
2c5c0	0a 09 20 0a 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 5f 27 20 6e 75 6d 32 73 74 72 28	..........end;......._'.num2str(
2c5e0	6b 6b 29 5d 3b 0a 65 6e 64 3b 0a 0a 25 66 70 72 69 6e 74 66 28 31 2c 27 54 6f 20 6c 6f 61 64 20	kk)];.end;..%fprintf(1,'To.load.
2c600	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 73 65 6c 65 63 74 5f 73 6f 6c 5f 77 69 74 68 5f 63 65	TOOLBOX_calib/select_sol_with_ce
2c620	6e 74 65 72 2e 6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	nter.m..........................
2c640	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2c660	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
2c680	20 20 20 31 33 30 30 20 20 37 30 32 34 30 33 37 33 36 32 20 20 31 33 33 32 30 00 20 00 00 00 00	...1300..7024037362..13320......
2c6a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2c6c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2c6e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2c700	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2c720	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2c740	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2c760	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2c780	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2c7a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2c7c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2c7e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2c800	25 25 25 20 53 65 6c 65 63 74 69 6f 6e 20 6f 66 20 74 68 65 20 63 61 6c 69 62 72 61 74 69 6f 6e	%%%.Selection.of.the.calibration
2c820	20 73 6f 6c 75 74 69 6f 6e 20 77 69 74 68 20 63 65 6e 74 65 72 20 65 73 74 69 6d 61 74 69 6f 6e	.solution.with.center.estimation
2c840	0a 0a 69 66 20 7e 65 78 69 73 74 28 27 73 6f 6c 5f 77 69 74 68 5f 63 65 6e 74 65 72 27 29 2c 0a	..if.~exist('sol_with_center'),.
2c860	20 20 20 66 70 72 69 6e 74 66 28 31 2c 27 4e 65 65 64 20 74 6f 20 63 61 6c 69 62 72 61 74 65 20	...fprintf(1,'Need.to.calibrate.
2c880	62 65 66 6f 72 65 20 73 65 6c 65 63 74 69 6e 67 20 73 6f 6c 75 74 69 6f 6e 20 77 69 74 68 20 63	before.selecting.solution.with.c
2c8a0	65 6e 74 65 72 2e 20 4d 61 79 62 65 20 6e 65 65 64 20 74 6f 20 6c 6f 61 64 20 43 61 6c 69 62 5f	enter..Maybe.need.to.load.Calib_
2c8c0	52 65 73 75 6c 74 73 2e 6d 61 74 20 66 69 6c 65 2e 5c 6e 27 29 3b 0a 20 20 20 72 65 74 75 72 6e	Results.mat.file.\n');....return
2c8e0	3b 0a 65 6e 64 3b 0a 0a 73 6f 6c 75 74 69 6f 6e 20 3d 20 73 6f 6c 5f 77 69 74 68 5f 63 65 6e 74	;.end;..solution.=.sol_with_cent
2c900	65 72 3b 0a 0a 25 25 25 20 45 78 74 72 61 63 74 69 6f 6e 20 6f 66 20 74 68 65 20 66 69 6e 61 6c	er;..%%%.Extraction.of.the.final
2c920	20 69 6e 74 72 69 6e 73 69 63 20 61 6e 64 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 61 74	.intrinsic.and.extrinsic.paramat
2c940	65 72 73 3a 0a 0a 65 78 74 72 61 63 74 5f 70 61 72 61 6d 65 74 65 72 73 3b 0a 63 6f 6d 70 5f 65	ers:..extract_parameters;.comp_e
2c960	72 72 6f 72 5f 63 61 6c 69 62 3b 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 5c 6e 43 61 6c 69	rror_calib;..fprintf(1,'\n\nCali
2c980	62 72 61 74 69 6f 6e 20 72 65 73 75 6c 74 73 20 77 69 74 68 20 70 72 69 6e 63 69 70 61 6c 20 70	bration.results.with.principal.p
2c9a0	6f 69 6e 74 20 65 73 74 69 6d 61 74 69 6f 6e 3a 5c 6e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28	oint.estimation:\n\n');.fprintf(
2c9c0	31 2c 27 46 6f 63 61 6c 20 4c 65 6e 67 74 68 3a 20 20 20 20 20 66 63 20 3d 20 5b 20 25 33 2e 35	1,'Focal.Length:.....fc.=.[.%3.5
2c9e0	66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 66 63 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 50 72	f...%3.5f]\n',fc);.fprintf(1,'Pr
2ca00	69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 3a 20 20 63 63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25	incipal.point:..cc.=.[.%3.5f...%
2ca20	33 2e 35 66 5d 5c 6e 27 2c 63 63 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 44 69 73 74 6f 72 74	3.5f]\n',cc);.fprintf(1,'Distort
2ca40	69 6f 6e 3a 20 20 20 20 20 20 20 6b 63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 20	ion:.......kc.=.[.%3.5f...%3.5f.
2ca60	20 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 6b 63 29 3b 20 20 20 0a 66 70 72 69	..%3.5f...%3.5f]\n',kc);....fpri
2ca80	6e 74 66 28 31 2c 27 50 69 78 65 6c 20 65 72 72 6f 72 3a 20 20 20 20 20 20 65 72 72 20 3d 20 5b	ntf(1,'Pixel.error:......err.=.[
2caa0	20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 5c 6e 27 2c 65 72 72 5f 73 74 64 29 3b 20 0a	.%3.5f...%3.5f]\n\n',err_std);..
2cac0	00 28 00 1a 63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 5f 72 65 66 69 6e 65 2e 6d 00 d8	.(..compute_extrinsic_refine.m..
2cae0	00 00 0a 00 00 02 36 bb 00 24 00 15 67 6f 5f 63 61 6c 69 62 5f 6f 70 74 69 6d 5f 69 74 65 72 2e	......6..$..go_calib_optim_iter.
2cb00	6d 00 6e 65 2e 6d 00 00 00 00 0a 00 00 02 36 bb 00 24 00 15 67 6f 5f 63 61 6c 69 62 5f 6f 70 74	m.ne.m........6..$..go_calib_opt
2cb20	69 6d 5f 69 74 65 72 2e 6d 00 00 00 00 00 0a 00 00 02 36 bb 00 24 00 15 67 6f 5f 63 61 6c 69 62	im_iter.m.........6..$..go_calib
2cb40	5f 6f 70 74 69 6d 5f 69 74 65 72 2e 6d 00 00 1a 74 6f 72 74 20 3d 20 69 6e 70 75 74 28 27 53 61	_optim_iter.m...tort.=.input('Sa
2cb60	74 69 73 66 69 65 64 20 77 69 74 68 20 64 69 73 74 6f 72 74 69 6f 6e 3f 20 28 5b 5d 3d 6e 6f 2c	tisfied.with.distortion?.([]=no,
2cb80	20 6f 74 68 65 72 3d 79 65 73 29 20 27 29 3b 0a 09 20 0a 09 20 73 61 74 69 73 5f 64 69 73 74 6f	.other=yes).');......satis_disto
2cba0	72 74 20 3d 20 7e 69 73 65 6d 70 74 79 28 73 61 74 69 73 5f 64 69 73 74 6f 72 74 29 3b 0a 09 20	rt.=.~isempty(satis_distort);...
2cbc0	0a 09 20 0a 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 5f 27 20 6e 75 6d 32 73 74 72 28	..........end;......._'.num2str(
2cbe0	6b 6b 29 5d 3b 0a 65 6e 64 3b 0a 0a 25 66 70 72 69 6e 74 66 28 31 2c 27 54 6f 20 6c 6f 61 64 20	kk)];.end;..%fprintf(1,'To.load.
2cc00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 73 65 6c 65 63 74 5f 73 6f 6c 5f 77 69 74 68 5f 63 65	TOOLBOX_calib/select_sol_with_ce
2cc20	6e 74 65 72 33 44 2e 6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	nter3D.m........................
2cc40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2cc60	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
2cc80	20 20 20 31 30 33 35 20 20 37 30 32 34 30 33 37 33 36 33 20 20 31 33 35 31 35 00 20 00 00 00 00	...1035..7024037363..13515......
2cca0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2ccc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2cce0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2cd00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2cd20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2cd40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2cd60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2cd80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2cda0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2cdc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2cde0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2ce00	25 25 25 20 53 65 6c 65 63 74 69 6f 6e 20 6f 66 20 74 68 65 20 63 61 6c 69 62 72 61 74 69 6f 6e	%%%.Selection.of.the.calibration
2ce20	20 73 6f 6c 75 74 69 6f 6e 20 77 69 74 68 20 63 65 6e 74 65 72 20 65 73 74 69 6d 61 74 69 6f 6e	.solution.with.center.estimation
2ce40	0a 0a 73 6f 6c 75 74 69 6f 6e 20 3d 20 73 6f 6c 5f 77 69 74 68 5f 63 65 6e 74 65 72 3b 0a 0a 25	..solution.=.sol_with_center;..%
2ce60	25 25 20 45 78 74 72 61 63 74 69 6f 6e 20 6f 66 20 74 68 65 20 66 69 6e 61 6c 20 69 6e 74 72 69	%%.Extraction.of.the.final.intri
2ce80	6e 73 69 63 20 61 6e 64 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 61 74 65 72 73 3a 0a 0a	nsic.and.extrinsic.paramaters:..
2cea0	65 78 74 72 61 63 74 5f 70 61 72 61 6d 65 74 65 72 73 33 44 3b 0a 0a 0a 66 70 72 69 6e 74 66 28	extract_parameters3D;...fprintf(
2cec0	31 2c 27 5c 6e 5c 6e 43 61 6c 69 62 72 61 74 69 6f 6e 20 72 65 73 75 6c 74 73 20 77 69 74 68 20	1,'\n\nCalibration.results.with.
2cee0	70 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 20 65 73 74 69 6d 61 74 69 6f 6e 3a 5c 6e 5c 6e 27	principal.point.estimation:\n\n'
2cf00	29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 46 6f 63 61 6c 20 4c 65 6e 67 74 68 3a 20 20 20 20 20	);.fprintf(1,'Focal.Length:.....
2cf20	66 63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 66 63 29 3b 0a 66 70	fc.=.[.%3.5f...%3.5f]\n',fc);.fp
2cf40	72 69 6e 74 66 28 31 2c 27 50 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 3a 20 20 63 63 20 3d 20	rintf(1,'Principal.point:..cc.=.
2cf60	5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 63 63 29 3b 0a 66 70 72 69 6e 74 66	[.%3.5f...%3.5f]\n',cc);.fprintf
2cf80	28 31 2c 27 44 69 73 74 6f 72 74 69 6f 6e 3a 20 20 20 20 20 20 20 6b 63 20 3d 20 5b 20 25 33 2e	(1,'Distortion:.......kc.=.[.%3.
2cfa0	35 66 20 20 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 6b	5f...%3.5f...%3.5f...%3.5f]\n',k
2cfc0	63 29 3b 20 20 20 0a 0a 0a 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 20 47 52	c);......%%%%%%%%%%%%%%%%%%%%.GR
2cfe0	41 50 48 49 43 41 4c 20 4f 55 54 50 55 54 20 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25 25	APHICAL.OUTPUT.%%%%%%%%%%%%%%%%%
2d000	25 25 25 25 25 25 25 0a 0a 67 72 61 70 68 6f 75 74 5f 63 61 6c 69 62 33 44 3b 0a 0a 0a 02 36 b6	%%%%%%%..graphout_calib3D;....6.
2d020	00 1c 00 0e 63 6f 6e 76 65 72 74 5f 6f 75 6c 75 2e 6d 00 6c 00 00 07 9c 00 02 36 b7 00 18 00 0b	....convert_oulu.m.l......6.....
2d040	6e 6f 72 6d 61 6c 69 7a 65 2e 6d 00 00 00 07 b4 00 02 36 b8 00 1c 00 0e 72 69 67 69 64 5f 6d 6f	normalize.m.......6.....rigid_mo
2d060	74 69 6f 6e 2e 6d 00 0b 00 00 07 d8 00 02 36 b9 00 28 00 18 63 6f 6d 70 75 74 65 5f 65 78 74 72	tion.m........6..(..compute_extr
2d080	69 6e 73 69 63 5f 69 6e 69 74 2e 6d 00 6d 00 0b 00 00 08 00 00 02 36 ba 00 28 00 1a 63 6f 6d 70	insic_init.m.m........6..(..comp
2d0a0	75 74 65 5f 65 78 74 72 69 6e 73 69 63 5f 72 65 66 69 6e 65 2e 6d 00 6d 00 00 0a 00 00 02 36 bb	ute_extrinsic_refine.m.m......6.
2d0c0	00 24 00 15 67 6f 5f 63 61 6c 69 62 5f 6f 70 74 69 6d 5f 69 74 65 72 2e 6d 00 6e 65 2e 6d 00 d8	.$..go_calib_optim_iter.m.ne.m..
2d0e0	00 00 0a 00 00 02 36 bb 00 24 00 15 67 6f 5f 63 61 6c 69 62 5f 6f 70 74 69 6d 5f 69 74 65 72 2e	......6..$..go_calib_optim_iter.
2d100	6d 00 6e 65 2e 6d 00 00 00 00 0a 00 00 02 36 bb 00 24 00 15 67 6f 5f 63 61 6c 69 62 5f 6f 70 74	m.ne.m........6..$..go_calib_opt
2d120	69 6d 5f 69 74 65 72 2e 6d 00 00 00 00 00 0a 00 00 02 36 bb 00 24 00 15 67 6f 5f 63 61 6c 69 62	im_iter.m.........6..$..go_calib
2d140	5f 6f 70 74 69 6d 5f 69 74 65 72 2e 6d 00 00 1a 74 6f 72 74 20 3d 20 69 6e 70 75 74 28 27 53 61	_optim_iter.m...tort.=.input('Sa
2d160	74 69 73 66 69 65 64 20 77 69 74 68 20 64 69 73 74 6f 72 74 69 6f 6e 3f 20 28 5b 5d 3d 6e 6f 2c	tisfied.with.distortion?.([]=no,
2d180	20 6f 74 68 65 72 3d 79 65 73 29 20 27 29 3b 0a 09 20 0a 09 20 73 61 74 69 73 5f 64 69 73 74 6f	.other=yes).');......satis_disto
2d1a0	72 74 20 3d 20 7e 69 73 65 6d 70 74 79 28 73 61 74 69 73 5f 64 69 73 74 6f 72 74 29 3b 0a 09 20	rt.=.~isempty(satis_distort);...
2d1c0	0a 09 20 0a 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 5f 27 20 6e 75 6d 32 73 74 72 28	..........end;......._'.num2str(
2d1e0	6b 6b 29 5d 3b 0a 65 6e 64 3b 0a 0a 25 66 70 72 69 6e 74 66 28 31 2c 27 54 6f 20 6c 6f 61 64 20	kk)];.end;..%fprintf(1,'To.load.
2d200	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 73 74 61 72 74 75 70 2e 6d 00 00 00 00 00 00 00 00 00	TOOLBOX_calib/startup.m.........
2d220	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d240	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d260	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
2d280	20 20 20 20 31 33 35 20 20 37 30 32 34 30 33 37 33 36 34 20 20 31 30 32 36 32 00 20 00 00 00 00	....135..7024037364..10262......
2d2a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d2c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d2e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d300	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d320	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d340	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d360	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d380	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d3a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d3c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d3e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d400	25 20 4d 61 69 6e 20 63 61 6d 65 72 61 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 74 6f 6f 6c 62 6f	%.Main.camera.calibration.toolbo
2d420	78 3a 0a 0a 63 61 6c 69 62 5f 67 75 69 3b 0a 0a 25 63 61 6c 69 62 5f 67 75 69 3b 0a 0a 70 61 74	x:..calib_gui;..%calib_gui;..pat
2d440	68 28 70 77 64 2c 70 61 74 68 29 3b 0a 0a 66 6f 72 6d 61 74 20 63 6f 6d 70 61 63 74 0a 67 65 2e	h(pwd,path);..format.compact.ge.
2d460	6d 00 00 06 00 00 06 34 00 02 36 a8 00 1c 00 0d 55 6e 57 61 72 70 50 6c 61 6e 65 2e 6d 00 6f 72	m......4..6.....UnWarpPlane.m.or
2d480	00 00 06 48 00 02 36 a9 00 18 00 0a 77 72 69 74 65 72 61 73 2e 6d 00 0d 00 00 06 64 00 02 36 aa	...H..6.....writeras.m.....d..6.
2d4a0	00 20 00 10 65 72 72 6f 72 5f 61 6e 61 6c 79 73 69 73 2e 6d 00 72 69 74 00 00 06 78 00 02 36 ab	....error_analysis.m.rit...x..6.
2d4c0	00 18 00 09 6c 6f 61 64 69 6e 72 2e 6d 00 72 6f 00 00 06 8c 00 02 36 ac 00 18 00 09 6c 6f 61 64	....loadinr.m.ro......6.....load
2d4e0	70 67 6d 2e 6d 00 36 ab 00 00 06 a0 00 02 36 ad 00 18 00 09 6c 6f 61 64 70 70 6d 2e 6d 00 36 ac	pgm.m.6.......6.....loadppm.m.6.
2d500	00 00 06 b4 00 02 36 ae 00 18 00 09 73 61 76 65 69 6e 72 2e 6d 00 36 ad 00 00 06 c8 00 02 36 af	......6.....saveinr.m.6.......6.
2d520	00 18 00 09 73 61 76 65 70 67 6d 2e 6d 00 36 ae 00 00 06 dc 00 02 36 b0 00 18 00 09 73 61 76 65	....savepgm.m.6.......6.....save
2d540	70 70 6d 2e 6d 00 36 af 00 00 06 fc 00 02 36 b1 00 24 00 16 69 6e 69 74 5f 69 6e 74 72 69 6e 73	ppm.m.6.......6..$..init_intrins
2d560	69 63 5f 70 61 72 61 6d 2e 6d 00 2e 00 00 07 18 00 02 36 b2 00 20 00 11 6d 65 61 6e 5f 73 74 64	ic_param.m........6.....mean_std
2d580	5f 72 6f 62 75 73 74 2e 6d 00 5f 70 00 00 07 38 00 02 36 b3 00 24 00 14 72 75 6e 5f 65 72 72 6f	_robust.m._p...8..6..$..run_erro
2d5a0	72 5f 61 6e 61 6c 79 73 69 73 2e 6d 00 73 74 2e 00 00 07 54 00 02 36 b4 00 20 00 13 63 68 65 63	r_analysis.m.st....T..6.....chec
2d5c0	6b 5f 63 6f 6e 76 65 72 67 65 6e 63 65 2e 6d 00 00 00 07 70 00 02 36 b5 00 20 00 11 63 68 65 63	k_convergence.m....p..6.....chec
2d5e0	6b 5f 70 6c 61 6e 61 72 69 74 79 2e 6d 00 65 72 00 00 07 88 00 02 36 b6 00 1c 00 0e 63 6f 6e 76	k_planarity.m.er......6.....conv
2d600	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 74 65 73 74 5f 33 64 2e 6d 00 00 00 00 00 00 00 00 00	TOOLBOX_calib/test_3d.m.........
2d620	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d640	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d660	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
2d680	20 20 20 34 33 36 31 20 20 37 30 32 34 30 33 37 33 36 35 20 20 31 30 31 35 33 00 20 00 00 00 00	...4361..7024037365..10153......
2d6a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d6c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d6e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d700	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d720	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d740	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d760	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d780	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d7a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d7c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d7e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2d800	52 63 5f 31 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63 5f 31 29 3b 0a 52 63 5f 32 20 3d 20	Rc_1.=.rodrigues(omc_1);.Rc_2.=.
2d820	72 6f 64 72 69 67 75 65 73 28 6f 6d 63 5f 32 29 3b 0a 52 63 5f 33 20 3d 20 72 6f 64 72 69 67 75	rodrigues(omc_2);.Rc_3.=.rodrigu
2d840	65 73 28 6f 6d 63 5f 33 29 3b 0a 52 63 5f 34 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63 5f	es(omc_3);.Rc_4.=.rodrigues(omc_
2d860	34 29 3b 0a 52 63 5f 35 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63 5f 35 29 3b 0a 52 63 5f	4);.Rc_5.=.rodrigues(omc_5);.Rc_
2d880	36 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63 5f 36 29 3b 0a 52 63 5f 37 20 3d 20 72 6f 64	6.=.rodrigues(omc_6);.Rc_7.=.rod
2d8a0	72 69 67 75 65 73 28 6f 6d 63 5f 37 29 3b 0a 52 63 5f 38 20 3d 20 72 6f 64 72 69 67 75 65 73 28	rigues(omc_7);.Rc_8.=.rodrigues(
2d8c0	6f 6d 63 5f 38 29 3b 0a 52 63 5f 39 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63 5f 39 29 3b	omc_8);.Rc_9.=.rodrigues(omc_9);
2d8e0	0a 0a 52 63 5f 31 30 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63 5f 31 30 29 3b 0a 52 63 5f	..Rc_10.=.rodrigues(omc_10);.Rc_
2d900	31 31 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63 5f 31 31 29 3b 0a 52 63 5f 31 32 20 3d 20	11.=.rodrigues(omc_11);.Rc_12.=.
2d920	72 6f 64 72 69 67 75 65 73 28 6f 6d 63 5f 31 32 29 3b 0a 52 63 5f 31 33 20 3d 20 72 6f 64 72 69	rodrigues(omc_12);.Rc_13.=.rodri
2d940	67 75 65 73 28 6f 6d 63 5f 31 33 29 3b 0a 52 63 5f 31 34 20 3d 20 72 6f 64 72 69 67 75 65 73 28	gues(omc_13);.Rc_14.=.rodrigues(
2d960	6f 6d 63 5f 31 34 29 3b 0a 52 63 5f 31 35 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63 5f 31	omc_14);.Rc_15.=.rodrigues(omc_1
2d980	35 29 3b 0a 52 63 5f 31 36 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63 5f 31 36 29 3b 0a 52	5);.Rc_16.=.rodrigues(omc_16);.R
2d9a0	63 5f 31 37 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63 5f 31 37 29 3b 0a 52 63 5f 31 38 20	c_17.=.rodrigues(omc_17);.Rc_18.
2d9c0	3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63 5f 31 38 29 3b 0a 0a 0a 0a 52 52 31 20 3d 20 52 63	=.rodrigues(omc_18);....RR1.=.Rc
2d9e0	5f 31 27 2a 52 63 5f 31 30 3b 20 25 20 73 68 6f 75 6c 64 20 62 65 20 72 6f 64 72 69 67 75 65 73	_1'*Rc_10;.%.should.be.rodrigues
2da00	28 5b 30 3b 70 69 2f 32 3b 30 5d 29 0a 54 54 31 20 3d 20 52 63 5f 31 27 2a 28 54 63 5f 31 30 2d	([0;pi/2;0]).TT1.=.Rc_1'*(Tc_10-
2da20	54 63 5f 31 29 3b 20 25 20 73 68 6f 75 6c 64 20 62 65 20 5b 64 58 2a 6e 5f 73 71 5f 78 5f 31 3b	Tc_1);.%.should.be.[dX*n_sq_x_1;
2da40	30 3b 30 5d 0a 0a 58 72 5f 31 20 3d 20 52 52 31 20 2a 20 58 5f 31 30 20 20 2b 20 54 54 31 2a 6f	0;0]..Xr_1.=.RR1..X_10..+.TT1o
2da60	6e 65 73 28 31 2c 6c 65 6e 67 74 68 28 58 5f 31 30 29 29 3b 0a 0a 66 69 67 75 72 65 28 31 29 3b	nes(1,length(X_10));..figure(1);
2da80	0a 70 6c 6f 74 33 28 58 5f 31 28 31 2c 3a 29 2c 58 5f 31 28 32 2c 3a 29 2c 58 5f 31 28 33 2c 3a	.plot3(X_1(1,:),X_1(2,:),X_1(3,:
2daa0	29 2c 27 72 2b 27 29 3b 20 68 6f 6c 64 20 6f 6e 3b 0a 70 6c 6f 74 33 28 58 72 5f 31 28 31 2c 3a	),'r+');.hold.on;.plot3(Xr_1(1,:
2dac0	29 2c 58 72 5f 31 28 32 2c 3a 29 2c 58 72 5f 31 28 33 2c 3a 29 2c 27 67 2b 27 29 3b 0a 68 6f 6c	),Xr_1(2,:),Xr_1(3,:),'g+');.hol
2dae0	64 20 6f 66 66 3b 0a 61 78 69 73 28 27 65 71 75 61 6c 27 29 3b 0a 72 6f 74 61 74 65 33 64 20 6f	d.off;.axis('equal');.rotate3d.o
2db00	6e 3b 0a 76 69 65 77 28 30 2c 30 29 3b 0a 78 6c 61 62 65 6c 28 27 78 27 29 3b 0a 79 6c 61 62 65	n;.view(0,0);.xlabel('x');.ylabe
2db20	6c 28 27 79 27 29 3b 0a 7a 6c 61 62 65 6c 28 27 7a 27 29 3b 0a 0a 61 61 61 20 3d 20 5b 5d 3b 0a	l('y');.zlabel('z');..aaa.=.[];.
2db40	0a 52 52 31 20 3d 20 52 63 5f 31 27 2a 52 63 5f 31 30 3b 20 25 20 73 68 6f 75 6c 64 20 62 65 20	.RR1.=.Rc_1'*Rc_10;.%.should.be.
2db60	72 6f 64 72 69 67 75 65 73 28 5b 30 3b 70 69 2f 32 3b 30 5d 29 0a 54 54 31 20 3d 20 52 63 5f 31	rodrigues([0;pi/2;0]).TT1.=.Rc_1
2db80	27 2a 28 54 63 5f 31 30 2d 54 63 5f 31 29 3b 20 25 20 73 68 6f 75 6c 64 20 62 65 20 5b 64 58 2a	'(Tc_10-Tc_1);.%.should.be.[dX
2dba0	6e 5f 73 71 5f 78 5f 31 3b 30 3b 30 5d 0a 65 72 72 20 3d 20 72 6f 64 72 69 67 75 65 73 28 52 52	n_sq_x_1;0;0].err.=.rodrigues(RR
2dbc0	31 29 20 2d 20 5b 30 3b 70 69 2f 32 3b 30 5d 0a 61 61 61 20 3d 20 5b 61 61 61 20 32 2a 73 69 6e	1).-.[0;pi/2;0].aaa.=.[aaa.2*sin
2dbe0	28 65 72 72 28 32 29 2f 32 29 2a 2e 33 33 2a 31 30 30 30 5d 3b 0a 0a 52 52 32 20 3d 20 52 63 5f	(err(2)/2).331000];..RR2.=.Rc_
2dc00	32 27 2a 52 63 5f 31 31 3b 20 25 20 73 68 6f 75 6c 64 20 62 65 20 72 6f 64 72 69 67 75 65 73 28	2'*Rc_11;.%.should.be.rodrigues(
2dc20	5b 30 3b 70 69 2f 32 3b 30 5d 29 0a 54 54 32 20 3d 20 52 63 5f 32 27 2a 28 54 63 5f 31 31 2d 54	[0;pi/2;0]).TT2.=.Rc_2'*(Tc_11-T
2dc40	63 5f 32 29 3b 20 25 20 73 68 6f 75 6c 64 20 62 65 20 5b 64 58 2a 6e 5f 73 71 5f 78 5f 31 3b 30	c_2);.%.should.be.[dX*n_sq_x_1;0
2dc60	3b 30 5d 0a 65 72 72 20 3d 20 72 6f 64 72 69 67 75 65 73 28 52 52 32 29 20 2d 20 5b 30 3b 70 69	;0].err.=.rodrigues(RR2).-.[0;pi
2dc80	2f 32 3b 30 5d 0a 61 61 61 20 3d 20 5b 61 61 61 20 32 2a 73 69 6e 28 65 72 72 28 32 29 2f 32 29	/2;0].aaa.=.[aaa.2*sin(err(2)/2)
2dca0	2a 2e 33 33 2a 31 30 30 30 5d 3b 0a 0a 52 52 33 20 3d 20 52 63 5f 33 27 2a 52 63 5f 31 32 3b 20	.331000];..RR3.=.Rc_3'*Rc_12;.
2dcc0	25 20 73 68 6f 75 6c 64 20 62 65 20 72 6f 64 72 69 67 75 65 73 28 5b 30 3b 70 69 2f 32 3b 30 5d	%.should.be.rodrigues([0;pi/2;0]
2dce0	29 0a 54 54 33 20 3d 20 52 63 5f 33 27 2a 28 54 63 5f 31 32 2d 54 63 5f 33 29 3b 20 25 20 73 68	).TT3.=.Rc_3'*(Tc_12-Tc_3);.%.sh
2dd00	6f 75 6c 64 20 62 65 20 5b 64 58 2a 6e 5f 73 71 5f 78 5f 31 3b 30 3b 30 5d 0a 65 72 72 20 3d 20	ould.be.[dX*n_sq_x_1;0;0].err.=.
2dd20	72 6f 64 72 69 67 75 65 73 28 52 52 33 29 20 2d 20 5b 30 3b 70 69 2f 32 3b 30 5d 0a 61 61 61 20	rodrigues(RR3).-.[0;pi/2;0].aaa.
2dd40	3d 20 5b 61 61 61 20 32 2a 73 69 6e 28 65 72 72 28 32 29 2f 32 29 2a 2e 33 33 2a 31 30 30 30 5d	=.[aaa.2sin(err(2)/2).33*1000]
2dd60	3b 0a 0a 52 52 34 20 3d 20 52 63 5f 34 27 2a 52 63 5f 31 33 3b 20 25 20 73 68 6f 75 6c 64 20 62	;..RR4.=.Rc_4'*Rc_13;.%.should.b
2dd80	65 20 72 6f 64 72 69 67 75 65 73 28 5b 30 3b 70 69 2f 32 3b 30 5d 29 0a 54 54 34 20 3d 20 52 63	e.rodrigues([0;pi/2;0]).TT4.=.Rc
2dda0	5f 34 27 2a 28 54 63 5f 31 33 2d 54 63 5f 34 29 3b 20 25 20 73 68 6f 75 6c 64 20 62 65 20 5b 64	_4'*(Tc_13-Tc_4);.%.should.be.[d
2ddc0	58 2a 6e 5f 73 71 5f 78 5f 31 3b 30 3b 30 5d 0a 65 72 72 20 3d 20 72 6f 64 72 69 67 75 65 73 28	X*n_sq_x_1;0;0].err.=.rodrigues(
2dde0	52 52 34 29 20 2d 20 5b 30 3b 70 69 2f 32 3b 30 5d 0a 61 61 61 20 3d 20 5b 61 61 61 20 32 2a 73	RR4).-.[0;pi/2;0].aaa.=.[aaa.2*s
2de00	69 6e 28 65 72 72 28 32 29 2f 32 29 2a 2e 33 33 2a 31 30 30 30 5d 3b 0a 0a 52 52 35 20 3d 20 52	in(err(2)/2).331000];..RR5.=.R
2de20	63 5f 35 27 2a 52 63 5f 31 34 3b 20 25 20 73 68 6f 75 6c 64 20 62 65 20 72 6f 64 72 69 67 75 65	c_5'*Rc_14;.%.should.be.rodrigue
2de40	73 28 5b 30 3b 70 69 2f 32 3b 30 5d 29 0a 54 54 35 20 3d 20 52 63 5f 35 27 2a 28 54 63 5f 31 34	s([0;pi/2;0]).TT5.=.Rc_5'*(Tc_14
2de60	2d 54 63 5f 35 29 3b 20 25 20 73 68 6f 75 6c 64 20 62 65 20 5b 64 58 2a 6e 5f 73 71 5f 78 5f 31	-Tc_5);.%.should.be.[dX*n_sq_x_1
2de80	3b 30 3b 30 5d 0a 65 72 72 20 3d 20 72 6f 64 72 69 67 75 65 73 28 52 52 35 29 20 2d 20 5b 30 3b	;0;0].err.=.rodrigues(RR5).-.[0;
2dea0	70 69 2f 32 3b 30 5d 0a 61 61 61 20 3d 20 5b 61 61 61 20 32 2a 73 69 6e 28 65 72 72 28 32 29 2f	pi/2;0].aaa.=.[aaa.2*sin(err(2)/
2dec0	32 29 2a 2e 33 33 2a 31 30 30 30 5d 3b 0a 0a 52 52 36 20 3d 20 52 63 5f 36 27 2a 52 63 5f 31 35	2).331000];..RR6.=.Rc_6'*Rc_15
2dee0	3b 20 25 20 73 68 6f 75 6c 64 20 62 65 20 72 6f 64 72 69 67 75 65 73 28 5b 30 3b 70 69 2f 32 3b	;.%.should.be.rodrigues([0;pi/2;
2df00	30 5d 29 0a 54 54 36 20 3d 20 52 63 5f 36 27 2a 28 54 63 5f 31 35 2d 54 63 5f 36 29 3b 20 25 20	0]).TT6.=.Rc_6'*(Tc_15-Tc_6);.%.
2df20	73 68 6f 75 6c 64 20 62 65 20 5b 64 58 2a 6e 5f 73 71 5f 78 5f 31 3b 30 3b 30 5d 0a 65 72 72 20	should.be.[dX*n_sq_x_1;0;0].err.
2df40	3d 20 72 6f 64 72 69 67 75 65 73 28 52 52 36 29 20 2d 20 5b 30 3b 70 69 2f 32 3b 30 5d 0a 61 61	=.rodrigues(RR6).-.[0;pi/2;0].aa
2df60	61 20 3d 20 5b 61 61 61 20 32 2a 73 69 6e 28 65 72 72 28 32 29 2f 32 29 2a 2e 33 33 2a 31 30 30	a.=.[aaa.2sin(err(2)/2).33*100
2df80	30 5d 3b 0a 0a 52 52 37 20 3d 20 52 63 5f 37 27 2a 52 63 5f 31 36 3b 20 25 20 73 68 6f 75 6c 64	0];..RR7.=.Rc_7'*Rc_16;.%.should
2dfa0	20 62 65 20 72 6f 64 72 69 67 75 65 73 28 5b 30 3b 70 69 2f 32 3b 30 5d 29 0a 54 54 37 20 3d 20	.be.rodrigues([0;pi/2;0]).TT7.=.
2dfc0	52 63 5f 37 27 2a 28 54 63 5f 31 36 2d 54 63 5f 37 29 3b 20 25 20 73 68 6f 75 6c 64 20 62 65 20	Rc_7'*(Tc_16-Tc_7);.%.should.be.
2dfe0	5b 64 58 2a 6e 5f 73 71 5f 78 5f 31 3b 30 3b 30 5d 0a 65 72 72 20 3d 20 72 6f 64 72 69 67 75 65	[dX*n_sq_x_1;0;0].err.=.rodrigue
2e000	73 28 52 52 37 29 20 2d 20 5b 30 3b 70 69 2f 32 3b 30 5d 0a 61 61 61 20 3d 20 5b 61 61 61 20 32	s(RR7).-.[0;pi/2;0].aaa.=.[aaa.2
2e020	2a 73 69 6e 28 65 72 72 28 32 29 2f 32 29 2a 2e 33 33 2a 31 30 30 30 5d 3b 0a 0a 52 52 38 20 3d	sin(err(2)/2).33*1000];..RR8.=
2e040	20 52 63 5f 38 27 2a 52 63 5f 31 37 3b 20 25 20 73 68 6f 75 6c 64 20 62 65 20 72 6f 64 72 69 67	.Rc_8'*Rc_17;.%.should.be.rodrig
2e060	75 65 73 28 5b 30 3b 70 69 2f 32 3b 30 5d 29 0a 54 54 38 20 3d 20 52 63 5f 38 27 2a 28 54 63 5f	ues([0;pi/2;0]).TT8.=.Rc_8'*(Tc_
2e080	31 37 2d 54 63 5f 38 29 3b 20 25 20 73 68 6f 75 6c 64 20 62 65 20 5b 64 58 2a 6e 5f 73 71 5f 78	17-Tc_8);.%.should.be.[dX*n_sq_x
2e0a0	5f 31 3b 30 3b 30 5d 0a 65 72 72 20 3d 20 72 6f 64 72 69 67 75 65 73 28 52 52 38 29 20 2d 20 5b	_1;0;0].err.=.rodrigues(RR8).-.[
2e0c0	30 3b 70 69 2f 32 3b 30 5d 0a 61 61 61 20 3d 20 5b 61 61 61 20 32 2a 73 69 6e 28 65 72 72 28 32	0;pi/2;0].aaa.=.[aaa.2*sin(err(2
2e0e0	29 2f 32 29 2a 2e 33 33 2a 31 30 30 30 5d 3b 0a 0a 65 73 28 6f 6d 63 5f 31 30 29 3b 0a 52 63 5f	)/2).331000];..es(omc_10);.Rc_
2e100	31 31 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63 5f 31 31 29 3b 0a 52 63 5f 31 32 20 3d 20	11.=.rodrigues(omc_11);.Rc_12.=.
2e120	72 6f 64 72 69 67 75 65 73 28 6f 6d 63 5f 31 32 29 3b 0a 52 63 5f 31 33 20 3d 20 72 6f 64 72 69	rodrigues(omc_12);.Rc_13.=.rodri
2e140	67 75 65 73 28 6f 6d 63 5f 31 33 29 3b 0a 52 63 5f 31 34 20 3d 20 72 6f 64 72 69 67 75 65 73 28	gues(omc_13);.Rc_14.=.rodrigues(
2e160	6f 6d 63 5f 31 34 29 3b 0a 52 63 5f 31 35 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63 5f 31	omc_14);.Rc_15.=.rodrigues(omc_1
2e180	35 29 3b 0a 52 63 5f 31 36 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63 5f 31 36 29 3b 0a 52	5);.Rc_16.=.rodrigues(omc_16);.R
2e1a0	63 5f 31 37 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63 5f 31 37 29 3b 0a 52 63 5f 31 38 20	c_17.=.rodrigues(omc_17);.Rc_18.
2e1c0	3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63 5f 31 38 29 3b 0a 0a 0a 0a 52 52 31 20 3d 20 52 63	=.rodrigues(omc_18);....RR1.=.Rc
2e1e0	5f 31 27 2a 52 63 5f 31 30 3b 20 25 20 73 68 6f 75 6c 64 20 62 65 20 72 6f 64 72 69 67 75 65 73	_1'*Rc_10;.%.should.be.rodrigues
2e200	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 69 73 33 44 2e 6d 00 00 00 00 00 00 00 00 00 00 00 00	TOOLBOX_calib/is3D.m............
2e220	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e240	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e260	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
2e280	20 20 20 20 33 32 31 20 20 37 30 32 34 30 33 37 33 33 34 20 20 20 37 33 35 34 00 20 00 00 00 00	....321..7024037334...7354......
2e2a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e2c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e2e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e300	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e320	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e340	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e360	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e380	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e3a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e3c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e3e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e400	66 75 6e 63 74 69 6f 6e 20 74 65 73 74 20 3d 20 69 73 33 44 28 58 29 2c 0a 0a 0a 4e 70 20 3d 20	function.test.=.is3D(X),...Np.=.
2e420	73 69 7a 65 28 58 2c 32 29 3b 0a 0a 25 25 20 43 68 65 63 6b 20 66 6f 72 20 70 6c 61 6e 61 72 69	size(X,2);..%%.Check.for.planari
2e440	74 79 20 6f 66 20 74 68 65 20 73 74 72 75 63 74 75 72 65 3a 0a 0a 58 5f 6d 65 61 6e 20 3d 20 6d	ty.of.the.structure:..X_mean.=.m
2e460	65 61 6e 28 58 27 29 27 3b 0a 0a 59 20 3d 20 58 20 2d 20 28 58 5f 6d 65 61 6e 2a 6f 6e 65 73 28	ean(X')';..Y.=.X.-.(X_mean*ones(
2e480	31 2c 4e 70 29 29 3b 0a 0a 59 59 20 3d 20 59 2a 59 27 3b 0a 0a 5b 55 2c 53 2c 56 5d 20 3d 20 73	1,Np));..YY.=.Y*Y';..[U,S,V].=.s
2e4a0	76 64 28 59 59 29 3b 0a 0a 72 20 3d 20 53 28 33 2c 33 29 2f 53 28 32 2c 32 29 3b 0a 0a 74 65 73	vd(YY);..r.=.S(3,3)/S(2,2);..tes
2e4c0	74 20 3d 20 28 72 20 3e 20 31 65 2d 33 29 3b 0a 0a 00 06 b4 00 02 36 ae 00 18 00 09 73 61 76 65	t.=.(r.>.1e-3);.......6.....save
2e4e0	69 6e 72 2e 6d 00 36 ab 00 00 06 c8 00 02 36 af 00 18 00 09 73 61 76 65 70 67 6d 2e 6d 00 36 ac	inr.m.6.......6.....savepgm.m.6.
2e500	00 00 06 dc 00 02 36 b0 00 18 00 09 73 61 76 65 70 70 6d 2e 6d 00 36 ad 00 00 06 fc 00 02 36 b1	......6.....saveppm.m.6.......6.
2e520	00 24 00 16 69 6e 69 74 5f 69 6e 74 72 69 6e 73 69 63 5f 70 61 72 61 6d 2e 6d 00 16 00 00 07 18	.$..init_intrinsic_param.m......
2e540	00 02 36 b2 00 20 00 11 6d 65 61 6e 5f 73 74 64 5f 72 6f 62 75 73 74 2e 6d 00 36 b2 00 00 07 38	..6.....mean_std_robust.m.6....8
2e560	00 02 36 b3 00 24 00 14 72 75 6e 5f 65 72 72 6f 72 5f 61 6e 61 6c 79 73 69 73 2e 6d 00 24 00 14	..6..$..run_error_analysis.m.$..
2e580	00 00 07 54 00 02 36 b4 00 20 00 13 63 68 65 63 6b 5f 63 6f 6e 76 65 72 67 65 6e 63 65 2e 6d 00	...T..6.....check_convergence.m.
2e5a0	00 00 07 70 00 02 36 b5 00 20 00 11 63 68 65 63 6b 5f 70 6c 61 6e 61 72 69 74 79 2e 6d 00 36 b5	...p..6.....check_planarity.m.6.
2e5c0	00 00 07 88 00 02 36 b6 00 1c 00 0e 63 6f 6e 76 65 72 74 5f 6f 75 6c 75 2e 6d 00 88 00 00 07 9c	......6.....convert_oulu.m......
2e5e0	00 02 36 b7 00 18 00 0b 6e 6f 72 6d 61 6c 69 7a 65 2e 6d 00 00 00 07 b4 00 02 36 b8 00 1c 00 0e	..6.....normalize.m.......6.....
2e600	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 75 6e 64 69 73 74 6f 72 74 5f 69 6d 61 67 65 2e 6d 00	TOOLBOX_calib/undistort_image.m.
2e620	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e640	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e660	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
2e680	20 20 20 33 34 30 36 20 20 37 30 32 34 30 33 37 33 36 36 20 20 31 32 30 30 33 00 20 00 00 00 00	...3406..7024037366..12003......
2e6a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e6c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e6e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e700	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e720	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e740	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e760	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e780	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e7a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e7c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e7e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2e800	25 25 25 20 49 4e 50 55 54 20 54 48 45 20 49 4d 41 47 45 20 46 49 4c 45 20 4e 41 4d 45 3a 0a 0a	%%%.INPUT.THE.IMAGE.FILE.NAME:..
2e820	64 69 72 3b 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 27 29 3b 0a 64 69 73 70 28 27 50 72 6f	dir;..fprintf(1,'\n');.disp('Pro
2e840	67 72 61 6d 20 74 68 61 74 20 75 6e 64 69 73 74 6f 72 74 20 61 6e 20 69 6d 61 67 65 27 29 3b 0a	gram.that.undistort.an.image');.
2e860	64 69 73 70 28 27 54 68 65 20 69 6e 74 72 69 6e 73 69 63 20 63 61 6d 65 72 61 20 70 61 72 61 6d	disp('The.intrinsic.camera.param
2e880	65 74 65 72 73 20 61 72 65 20 61 73 73 75 6d 65 64 20 74 6f 20 62 65 20 6b 6e 6f 77 6e 20 28 70	eters.are.assumed.to.be.known.(p
2e8a0	72 65 76 69 6f 75 73 6c 79 20 63 6f 6d 70 75 74 65 64 29 27 29 3b 0a 0a 66 70 72 69 6e 74 66 28	reviously.computed)');..fprintf(
2e8c0	31 2c 27 5c 6e 27 29 3b 0a 69 6d 61 67 65 5f 6e 61 6d 65 20 3d 20 69 6e 70 75 74 28 27 49 6d 61	1,'\n');.image_name.=.input('Ima
2e8e0	67 65 20 6e 61 6d 65 20 28 66 75 6c 6c 20 6e 61 6d 65 20 77 69 74 68 6f 75 74 20 65 78 74 65 6e	ge.name.(full.name.without.exten
2e900	73 69 6f 6e 29 3a 20 27 2c 27 73 27 29 3b 0a 0a 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32 20 3d 20	sion):.','s');..format_image2.=.
2e920	27 30 27 3b 0a 0a 77 68 69 6c 65 20 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32 20 3d 3d 20 27 30 27	'0';..while.format_image2.==.'0'
2e940	2c 0a 20 20 20 0a 20 20 20 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32 20 3d 20 20 69 6e 70 75 74 28	,........format_image2.=..input(
2e960	27 49 6d 61 67 65 20 66 6f 72 6d 61 74 3a 20 28 5b 5d 3d 27 27 72 27 27 3d 27 27 72 61 73 27 27	'Image.format:.([]=''r''=''ras''
2e980	2c 20 27 27 62 27 27 3d 27 27 62 6d 70 27 27 2c 20 27 27 74 27 27 3d 27 27 74 69 66 27 27 2c 20	,.''b''=''bmp'',.''t''=''tif'',.
2e9a0	27 27 70 27 27 3d 27 27 70 67 6d 27 27 2c 20 27 27 6a 27 27 3d 27 27 6a 70 67 27 27 29 20 27 2c	''p''=''pgm'',.''j''=''jpg'').',
2e9c0	27 73 27 29 3b 0a 0a 09 69 66 20 69 73 65 6d 70 74 79 28 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32	's');...if.isempty(format_image2
2e9e0	29 2c 0a 20 20 20 09 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32 20 3d 20 27 72 61 73 27 3b 0a 09 65	),.....format_image2.=.'ras';..e
2ea00	6e 64 3b 0a 0a 09 69 66 20 6c 6f 77 65 72 28 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32 28 31 29 29	nd;...if.lower(format_image2(1))
2ea20	20 3d 3d 20 27 62 27 2c 0a 20 20 20 09 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32 20 3d 20 27 62 6d	.==.'b',.....format_image2.=.'bm
2ea40	70 27 3b 0a 09 65 6c 73 65 0a 20 20 20 09 69 66 20 6c 6f 77 65 72 28 66 6f 72 6d 61 74 5f 69 6d	p';..else.....if.lower(format_im
2ea60	61 67 65 32 28 31 29 29 20 3d 3d 20 27 74 27 2c 0a 20 20 20 20 20 20 09 66 6f 72 6d 61 74 5f 69	age2(1)).==.'t',........format_i
2ea80	6d 61 67 65 32 20 3d 20 27 74 69 66 27 3b 0a 20 20 20 09 65 6c 73 65 0a 20 20 20 20 20 20 09 69	mage2.=.'tif';.....else........i
2eaa0	66 20 6c 6f 77 65 72 28 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32 28 31 29 29 20 3d 3d 20 27 70 27	f.lower(format_image2(1)).==.'p'
2eac0	2c 0a 20 20 20 20 20 20 20 20 20 09 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32 20 3d 20 27 70 67 6d	,...........format_image2.=.'pgm
2eae0	27 3b 0a 09 20 20 20 20 20 20 65 6c 73 65 0a 20 20 20 09 20 20 20 20 20 20 69 66 20 6c 6f 77 65	';........else...........if.lowe
2eb00	72 28 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32 28 31 29 29 20 3d 3d 20 27 6a 27 2c 0a 20 20 20 20	r(format_image2(1)).==.'j',.....
2eb20	20 20 09 20 20 20 20 20 20 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32 20 3d 20 27 6a 70 67 27 3b 0a	.........format_image2.=.'jpg';.
2eb40	20 20 20 20 20 20 20 20 20 09 65 6c 73 65 0a 20 20 20 20 20 20 20 20 20 20 20 20 09 69 66 20 6c	..........else..............if.l
2eb60	6f 77 65 72 28 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32 28 31 29 29 20 3d 3d 20 27 72 27 2c 0a 09	ower(format_image2(1)).==.'r',..
2eb80	20 20 20 20 20 20 20 20 20 20 20 20 20 20 09 66 6f 72 6d 61 74 5f 69 6d 61 67 65 32 20 3d 20 27	...............format_image2.=.'
2eba0	72 61 73 27 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20	ras';................else.......
2ebc0	20 20 20 20 20 20 20 09 09 64 69 73 70 28 27 49 6e 76 61 6c 69 64 20 69 6d 61 67 65 20 66 6f 72	.........disp('Invalid.image.for
2ebe0	6d 61 74 27 29 3b 20 20 20 20 20 20 20 0a 20 20 20 20 20 20 09 20 20 20 20 20 20 20 20 20 66 6f	mat');........................fo
2ec00	72 6d 61 74 5f 69 6d 61 67 65 32 20 3d 20 27 30 27 3b 20 25 20 41 73 6b 20 66 6f 72 20 66 6f 72	rmat_image2.=.'0';.%.Ask.for.for
2ec20	6d 61 74 20 6f 6e 63 65 20 61 67 61 69 6e 0a 20 20 20 20 20 20 20 20 20 09 20 20 20 65 6e 64 3b	mat.once.again..............end;
2ec40	0a 20 20 20 20 20 20 09 20 20 20 65 6e 64 3b 0a 09 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 09	...........end;........end;.....
2ec60	65 6e 64 3b 0a 09 65 6e 64 3b 0a 65 6e 64 3b 0a 0a 69 6d 61 5f 6e 61 6d 65 20 3d 20 5b 69 6d 61	end;..end;.end;..ima_name.=.[ima
2ec80	67 65 5f 6e 61 6d 65 20 27 2e 27 20 66 6f 72 6d 61 74 5f 69 6d 61 67 65 5d 3b 0a 0a 0a 0a 25 25	ge_name.'.'.format_image];....%%
2eca0	25 20 52 45 41 44 20 49 4e 20 49 4d 41 47 45 3a 0a 0a 69 66 20 66 6f 72 6d 61 74 5f 69 6d 61 67	%.READ.IN.IMAGE:..if.format_imag
2ecc0	65 28 31 29 20 3d 3d 20 27 70 27 2c 0a 20 20 20 49 20 3d 20 64 6f 75 62 6c 65 28 70 67 6d 72 65	e(1).==.'p',....I.=.double(pgmre
2ece0	61 64 28 69 6d 61 5f 6e 61 6d 65 29 29 3b 0a 65 6c 73 65 0a 20 20 20 69 66 20 66 6f 72 6d 61 74	ad(ima_name));.else....if.format
2ed00	5f 69 6d 61 67 65 28 31 29 20 3d 3d 20 27 72 27 2c 0a 20 20 20 20 20 20 49 20 3d 20 72 65 61 64	_image(1).==.'r',.......I.=.read
2ed20	72 61 73 28 69 6d 61 5f 6e 61 6d 65 29 3b 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 49 20 3d	ras(ima_name);....else.......I.=
2ed40	20 64 6f 75 62 6c 65 28 69 6d 72 65 61 64 28 69 6d 61 5f 6e 61 6d 65 29 29 3b 0a 20 20 20 65 6e	.double(imread(ima_name));....en
2ed60	64 3b 0a 65 6e 64 3b 0a 20 20 20 20 20 0a 69 66 20 73 69 7a 65 28 49 2c 33 29 3e 31 2c 0a 20 20	d;.end;.......if.size(I,3)>1,...
2ed80	20 49 20 3d 20 49 28 3a 2c 3a 2c 32 29 3b 0a 65 6e 64 3b 0a 20 20 20 0a 20 20 20 0a 25 25 20 53	.I.=.I(:,:,2);.end;.........%%.S
2eda0	48 4f 57 20 54 48 45 20 4f 52 49 47 49 4e 41 4c 20 49 4d 41 47 45 3a 0a 0a 66 69 67 75 72 65 28	HOW.THE.ORIGINAL.IMAGE:..figure(
2edc0	32 29 3b 0a 69 6d 61 67 65 28 49 29 3b 0a 63 6f 6c 6f 72 6d 61 70 28 67 72 61 79 28 32 35 36 29	2);.image(I);.colormap(gray(256)
2ede0	29 3b 0a 74 69 74 6c 65 28 27 4f 72 69 67 69 6e 61 6c 20 69 6d 61 67 65 20 28 77 69 74 68 20 64	);.title('Original.image.(with.d
2ee00	69 73 74 6f 72 74 69 6f 6e 29 20 2d 20 53 74 6f 72 65 64 20 69 6e 20 61 72 72 61 79 20 49 27 29	istortion).-.Stored.in.array.I')
2ee20	3b 0a 64 72 61 77 6e 6f 77 3b 0a 0a 0a 25 25 20 55 4e 44 49 53 54 4f 52 54 20 54 48 45 20 49 4d	;.drawnow;...%%.UNDISTORT.THE.IM
2ee40	41 47 45 3a 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 43 6f 6d 70 75 74 75 74 69 6e 67 20 74 68 65	AGE:..fprintf(1,'Compututing.the
2ee60	20 75 6e 64 69 73 74 6f 72 74 65 64 20 69 6d 61 67 65 2e 2e 2e 5c 6e 27 29 0a 0a 5b 49 32 5d 20	.undistorted.image...\n')..[I2].
2ee80	3d 20 72 65 63 74 28 49 2c 65 79 65 28 33 29 2c 66 63 2c 63 63 2c 6b 63 2c 4b 4b 29 3b 0a 0a 0a	=.rect(I,eye(3),fc,cc,kc,KK);...
2eea0	66 69 67 75 72 65 28 33 29 3b 0a 69 6d 61 67 65 28 49 32 29 3b 0a 63 6f 6c 6f 72 6d 61 70 28 67	figure(3);.image(I2);.colormap(g
2eec0	72 61 79 28 32 35 36 29 29 3b 0a 74 69 74 6c 65 28 27 55 6e 64 69 73 74 6f 72 74 65 64 20 69 6d	ray(256));.title('Undistorted.im
2eee0	61 67 65 20 2d 20 53 74 6f 72 65 64 20 69 6e 20 61 72 72 61 79 20 49 32 27 29 3b 0a 64 72 61 77	age.-.Stored.in.array.I2');.draw
2ef00	6e 6f 77 3b 0a 0a 36 20 3d 20 52 63 5f 36 27 2a 28 54 63 5f 31 35 2d 54 63 5f 36 29 3b 20 25 20	now;..6.=.Rc_6'*(Tc_15-Tc_6);.%.
2ef20	73 68 6f 75 6c 64 20 62 65 20 5b 64 58 2a 6e 5f 73 71 5f 78 5f 31 3b 30 3b 30 5d 0a 65 72 72 20	should.be.[dX*n_sq_x_1;0;0].err.
2ef40	3d 20 72 6f 64 72 69 67 75 65 73 28 52 52 36 29 20 2d 20 5b 30 3b 70 69 2f 32 3b 30 5d 0a 61 61	=.rodrigues(RR6).-.[0;pi/2;0].aa
2ef60	61 20 3d 20 5b 61 61 61 20 32 2a 73 69 6e 28 65 72 72 28 32 29 2f 32 29 2a 2e 33 33 2a 31 30 30	a.=.[aaa.2sin(err(2)/2).33*100
2ef80	30 5d 3b 0a 0a 52 52 37 20 3d 20 52 63 5f 37 27 2a 52 63 5f 31 36 3b 20 25 20 73 68 6f 75 6c 64	0];..RR7.=.Rc_7'*Rc_16;.%.should
2efa0	20 62 65 20 72 6f 64 72 69 67 75 65 73 28 5b 30 3b 70 69 2f 32 3b 30 5d 29 0a 54 54 37 20 3d 20	.be.rodrigues([0;pi/2;0]).TT7.=.
2efc0	52 63 5f 37 27 2a 28 54 63 5f 31 36 2d 54 63 5f 37 29 3b 20 25 20 73 68 6f 75 6c 64 20 62 65 20	Rc_7'*(Tc_16-Tc_7);.%.should.be.
2efe0	5b 64 58 2a 6e 5f 73 71 5f 78 5f 31 3b 30 3b 30 5d 0a 65 72 72 20 3d 20 72 6f 64 72 69 67 75 65	[dX*n_sq_x_1;0;0].err.=.rodrigue
2f000	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 55 6e 57 61 72 70 50 6c 61 6e 65 2e 6d 00 00 00 00 00	TOOLBOX_calib/UnWarpPlane.m.....
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2f320	0a 25 20 4e 6f 74 65 3a 20 75 5f 68 6f 72 69 20 61 6e 64 20 75 5f 76 65 72 74 20 61 72 65 20 61	.%.Note:.u_hori.and.u_vert.are.a
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2f420	3b 0a 0a 25 20 56 61 6e 69 73 68 69 6e 67 20 70 6f 69 6e 74 3a 0a 56 31 20 3d 20 63 72 6f 73 73	;..%.Vanishing.point:.V1.=.cross
2f440	28 4c 31 2c 4c 32 29 3b 0a 56 32 20 3d 20 63 72 6f 73 73 28 4c 33 2c 4c 34 29 3b 0a 0a 25 20 48	(L1,L2);.V2.=.cross(L3,L4);..%.H
2f460	6f 72 69 7a 6f 6e 20 6c 69 6e 65 3a 0a 48 20 3d 20 63 72 6f 73 73 28 56 31 2c 56 32 29 3b 0a 0a	orizon.line:.H.=.cross(V1,V2);..
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2f5c0	20 20 20 20 20 20 20 09 09 64 69 73 70 28 27 49 6e 76 61 6c 69 64 20 69 6d 61 67 65 20 66 6f 72	.........disp('Invalid.image.for
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2f600	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 77 72 69 74 65 72 61 73 2e 6d 00 00 00 00 00 00 00 00	TOOLBOX_calib/writeras.m........
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2f6c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
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2f7e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
2f800	66 75 6e 63 74 69 6f 6e 20 77 72 69 74 65 72 61 73 28 66 69 6c 65 6e 61 6d 65 2c 20 69 6d 61 67	function.writeras(filename,.imag
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2f840	65 20 66 69 6c 65 20 69 6e 20 73 75 6e 20 72 61 73 74 65 72 20 66 6f 72 6d 61 74 2e 0a 25 20 09	e.file.in.sun.raster.format..%..
2f860	20 20 57 52 49 54 45 52 41 53 28 27 69 6d 61 67 65 66 69 6c 65 2e 72 61 73 27 2c 20 69 6d 61 67	..WRITERAS('imagefile.ras',.imag
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2fa80	65 28 6d 61 70 2c 32 29 3b 0a 09 25 66 77 72 69 74 65 28 66 70 2c 20 2e 2e 2e 0a 09 25 20 20 20	e(map,2);..%fwrite(fp,......%...
2faa0	20 20 20 20 5b 31 35 30 34 30 37 38 34 38 35 2c 20 77 69 64 74 68 2c 20 68 65 69 67 68 74 2c 20	....[1504078485,.width,.height,.
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2fae0	20 2e 2e 2e 0a 20 20 20 25 20 20 20 20 20 20 20 27 6c 6f 6e 67 27 29 3b 0a 20 20 20 0a 20 20 20	........%.......'long');........
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2fb20	20 20 25 20 4d 41 47 49 43 20 4e 55 4d 42 45 52 3a 0a 20 20 20 0a 0a 09 66 77 72 69 74 65 28 66	..%.MAGIC.NUMBER:.......fwrite(f
2fb40	70 2c 38 39 2c 27 75 63 68 61 72 27 29 3b 0a 20 20 20 66 77 72 69 74 65 28 66 70 2c 31 36 36 2c	p,89,'uchar');....fwrite(fp,166,
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2fba0	0a 20 20 20 77 69 64 74 68 5f 73 74 72 20 3d 20 64 65 63 32 68 65 78 28 77 69 64 74 68 29 3b 0a	....width_str.=.dec2hex(width);.
2fbc0	09 77 69 64 74 68 5f 73 74 72 20 3d 20 5b 7a 65 72 6f 5f 73 74 72 28 31 3a 38 2d 6c 65 6e 67 74	.width_str.=.[zero_str(1:8-lengt
2fbe0	68 28 77 69 64 74 68 5f 73 74 72 29 29 20 77 69 64 74 68 5f 73 74 72 5d 3b 0a 20 20 20 0a 20 20	h(width_str)).width_str];.......
2fc00	20 66 6f 72 20 69 69 20 3d 20 31 3a 32 3a 37 2c 0a 20 20 20 09 66 77 72 69 74 65 28 66 70 2c 68	.for.ii.=.1:2:7,.....fwrite(fp,h
2fc20	65 78 32 64 65 63 28 77 69 64 74 68 5f 73 74 72 28 69 69 3a 69 69 2b 31 29 29 2c 27 75 63 68 61	ex2dec(width_str(ii:ii+1)),'ucha
2fc40	72 27 29 3b 0a 09 65 6e 64 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 68 65 69 67 68 74 5f 73 74 72	r');..end;............height_str
2fc60	20 3d 20 64 65 63 32 68 65 78 28 68 65 69 67 68 74 29 3b 0a 09 68 65 69 67 68 74 5f 73 74 72 20	.=.dec2hex(height);..height_str.
2fc80	3d 20 5b 7a 65 72 6f 5f 73 74 72 28 31 3a 38 2d 6c 65 6e 67 74 68 28 68 65 69 67 68 74 5f 73 74	=.[zero_str(1:8-length(height_st
2fca0	72 29 29 20 68 65 69 67 68 74 5f 73 74 72 5d 3b 0a 20 20 20 0a 20 20 20 66 6f 72 20 69 69 20 3d	r)).height_str];........for.ii.=
2fcc0	20 31 3a 32 3a 37 2c 0a 20 20 20 09 66 77 72 69 74 65 28 66 70 2c 68 65 78 32 64 65 63 28 68 65	.1:2:7,.....fwrite(fp,hex2dec(he
2fce0	69 67 68 74 5f 73 74 72 28 69 69 3a 69 69 2b 31 29 29 2c 27 75 63 68 61 72 27 29 3b 0a 20 20 20	ight_str(ii:ii+1)),'uchar');....
2fd00	65 6e 64 3b 0a 20 20 20 0a 20 20 20 66 77 72 69 74 65 28 66 70 2c 30 2c 27 75 63 68 61 72 27 29	end;........fwrite(fp,0,'uchar')
2fd20	3b 0a 20 20 20 66 77 72 69 74 65 28 66 70 2c 30 2c 27 75 63 68 61 72 27 29 3b 0a 20 20 20 66 77	;....fwrite(fp,0,'uchar');....fw
2fd40	72 69 74 65 28 66 70 2c 30 2c 27 75 63 68 61 72 27 29 3b 0a 20 20 20 66 77 72 69 74 65 28 66 70	rite(fp,0,'uchar');....fwrite(fp
2fd60	2c 38 2c 27 75 63 68 61 72 27 29 3b 0a 20 20 20 0a 20 20 20 6c 6c 20 3d 20 68 65 69 67 68 74 2a	,8,'uchar');........ll.=.height*
2fd80	77 69 64 74 68 3b 0a 20 20 20 6c 6c 5f 73 74 72 20 3d 20 64 65 63 32 68 65 78 28 6c 6c 29 3b 0a	width;....ll_str.=.dec2hex(ll);.
2fda0	20 20 20 6c 6c 5f 73 74 72 20 3d 20 5b 7a 65 72 6f 5f 73 74 72 28 31 3a 38 2d 6c 65 6e 67 74 68	...ll_str.=.[zero_str(1:8-length
2fdc0	28 6c 6c 5f 73 74 72 29 29 20 6c 6c 5f 73 74 72 5d 3b 0a 20 20 20 0a 20 20 20 66 6f 72 20 69 69	(ll_str)).ll_str];........for.ii
2fde0	20 3d 20 31 3a 32 3a 37 2c 0a 20 20 20 09 66 77 72 69 74 65 28 66 70 2c 68 65 78 32 64 65 63 28	.=.1:2:7,.....fwrite(fp,hex2dec(
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2fe20	0a 20 20 0a 20 20 20 66 77 72 69 74 65 28 66 70 2c 30 2c 27 75 63 68 61 72 27 29 3b 0a 20 20 20	.......fwrite(fp,0,'uchar');....
2fe40	66 77 72 69 74 65 28 66 70 2c 30 2c 27 75 63 68 61 72 27 29 3b 0a 20 20 20 66 77 72 69 74 65 28	fwrite(fp,0,'uchar');....fwrite(
2fe60	66 70 2c 30 2c 27 75 63 68 61 72 27 29 3b 0a 20 20 20 66 77 72 69 74 65 28 66 70 2c 31 2c 27 75	fp,0,'uchar');....fwrite(fp,1,'u
2fe80	63 68 61 72 27 29 3b 0a 20 20 20 66 77 72 69 74 65 28 66 70 2c 30 2c 27 75 63 68 61 72 27 29 3b	char');....fwrite(fp,0,'uchar');
2fea0	0a 20 20 20 66 77 72 69 74 65 28 66 70 2c 30 2c 27 75 63 68 61 72 27 29 3b 0a 20 20 20 66 77 72	....fwrite(fp,0,'uchar');....fwr
2fec0	69 74 65 28 66 70 2c 30 2c 27 75 63 68 61 72 27 29 3b 0a 20 20 20 66 77 72 69 74 65 28 66 70 2c	ite(fp,0,'uchar');....fwrite(fp,
2fee0	7e 7e 6d 61 70 73 69 7a 65 2c 27 75 63 68 61 72 27 29 3b 0a 0a 20 20 20 6d 61 70 73 69 7a 65 5f	~~mapsize,'uchar');.....mapsize_
2ff00	73 74 72 20 3d 20 64 65 63 32 68 65 78 28 6d 61 70 73 69 7a 65 29 3b 0a 20 20 20 6d 61 70 73 69	str.=.dec2hex(mapsize);....mapsi
2ff20	7a 65 5f 73 74 72 20 3d 20 5b 7a 65 72 6f 5f 73 74 72 28 31 3a 38 2d 6c 65 6e 67 74 68 28 6d 61	ze_str.=.[zero_str(1:8-length(ma
2ff40	70 73 69 7a 65 5f 73 74 72 29 29 20 6d 61 70 73 69 7a 65 5f 73 74 72 5d 3b 0a 20 20 20 0a 20 20	psize_str)).mapsize_str];.......
2ff60	20 25 6b 65 79 62 6f 61 72 64 3b 0a 20 20 20 0a 20 20 20 66 6f 72 20 69 69 20 3d 20 31 3a 32 3a	.%keyboard;........for.ii.=.1:2:
2ff80	37 2c 0a 20 20 20 09 66 77 72 69 74 65 28 66 70 2c 68 65 78 32 64 65 63 28 6d 61 70 73 69 7a 65	7,.....fwrite(fp,hex2dec(mapsize
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2ffc0	0a 20 20 20 0a 09 69 66 20 6d 61 70 73 69 7a 65 20 7e 3d 20 30 0a 09 09 6d 61 70 20 3d 20 6d 69	......if.mapsize.~=.0...map.=.mi
2ffe0	6e 28 32 35 35 2c 20 66 69 78 28 32 35 35 2a 6d 61 70 29 29 3b 0a 09 09 66 77 72 69 74 65 28 66	n(255,.fix(255*map));...fwrite(f
30000	70 2c 20 6d 61 70 2c 20 27 75 63 68 61 72 27 29 3b 0a 09 65 6e 64 0a 09 69 66 20 72 65 6d 28 77	p,.map,.'uchar');..end..if.rem(w
30020	69 64 74 68 2c 32 29 20 3d 3d 20 31 0a 09 09 69 6d 61 67 65 20 3d 20 5b 69 6d 61 67 65 27 3b 20	idth,2).==.1...image.=.[image';.
30040	7a 65 72 6f 73 28 31 2c 20 68 65 69 67 68 74 29 5d 27 3b 0a 09 09 74 6f 70 20 3d 20 32 35 35 20	zeros(1,.height)]';...top.=.255.
30060	2a 20 6f 6e 65 73 28 73 69 7a 65 28 69 6d 61 67 65 29 29 3b 0a 09 09 66 77 72 69 74 65 28 66 70	*.ones(size(image));...fwrite(fp
30080	2c 20 6d 69 6e 28 74 6f 70 2c 69 6d 61 67 65 29 27 2c 20 27 75 63 68 61 72 27 29 3b 0a 09 65 6c	,.min(top,image)',.'uchar');..el
300a0	73 65 0a 09 09 74 6f 70 20 3d 20 32 35 35 20 2a 20 6f 6e 65 73 28 73 69 7a 65 28 69 6d 61 67 65	se...top.=.255.*.ones(size(image
300c0	29 29 3b 0a 09 09 66 77 72 69 74 65 28 66 70 2c 20 6d 69 6e 28 74 6f 70 2c 69 6d 61 67 65 29 27	));...fwrite(fp,.min(top,image)'
300e0	2c 20 27 75 63 68 61 72 27 29 3b 0a 09 65 6e 64 0a 09 66 63 6c 6f 73 65 28 66 70 29 3b 0a 65 6c	,.'uchar');..end..fclose(fp);.el
30100	73 65 0a 09 65 72 72 6f 72 28 27 49 6d 61 67 65 20 66 69 6c 65 20 6e 61 6d 65 20 6d 75 73 74 20	se..error('Image.file.name.must.
30120	65 6e 64 20 69 6e 20 65 69 74 68 65 72 20 27 27 72 61 73 27 27 20 6f 72 20 27 27 72 61 73 74 27	end.in.either.''ras''.or.''rast'
30140	27 2e 27 29 3b 0a 65 6e 64 0a 39 38 0a 0a 64 6f 74 20 3d 20 6d 61 78 28 66 69 6e 64 28 66 69 6c	'.');.end.98..dot.=.max(find(fil
30160	65 6e 61 6d 65 20 3d 3d 20 27 2e 27 29 29 3b 0a 73 75 66 66 69 78 20 3d 20 66 69 6c 65 6e 61 6d	ename.==.'.'));.suffix.=.filenam
30180	65 28 64 6f 74 2b 31 3a 64 6f 74 2b 33 29 3b 0a 0a 69 66 20 6e 61 72 67 69 6e 20 3c 20 33 2c 0a	e(dot+1:dot+3);..if.nargin.<.3,.
301a0	20 20 20 6d 61 70 20 3d 20 5b 5d 3b 0a 65 6e 64 3b 0a 0a 69 66 28 73 74 72 63 6d 70 28 73 75 66	...map.=.[];.end;..if(strcmp(suf
301c0	66 69 78 2c 20 27 72 61 73 27 29 29 0a 09 25 57 72 69 74 65 20 68 65 61 64 65 72 0a 0a 09 66 70	fix,.'ras'))..%Write.header...fp
301e0	20 3d 20 66 6f 70 65 6e 28 66 69 6c 65 6e 61 6d 65 2c 20 27 77 62 27 29 3b 0a 09 69 66 28 66 70	.=.fopen(filename,.'wb');..if(fp
30200	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 65 72 72 6f 72 5f 61 6e 61 6c 79 73 69 73 2e 6d 00 00	TOOLBOX_calib/error_analysis.m..
30220	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
30240	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
30260	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
30280	20 20 20 36 34 35 37 20 20 37 30 32 34 30 33 37 33 32 30 20 20 31 31 36 34 31 00 20 00 00 00 00	...6457..7024037320..11641......
302a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
302c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
302e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
30300	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
30320	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
30340	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
30360	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
30380	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
303a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
303c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
303e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
30400	25 25 25 20 45 52 52 4f 52 5f 41 4e 41 4c 59 53 49 53 0a 25 25 25 20 54 68 69 73 20 73 69 6d 75	%%%.ERROR_ANALYSIS.%%%.This.simu
30420	6c 61 74 69 6f 6e 20 68 65 6c 70 73 20 63 6f 70 75 74 69 6e 67 20 74 68 65 20 61 63 74 75 72 61	lation.helps.coputing.the.actura
30440	63 69 65 73 20 6f 66 20 63 61 6c 69 62 72 61 74 69 6f 6e 0a 25 25 25 20 52 75 6e 20 69 74 20 61	cies.of.calibration.%%%.Run.it.a
30460	66 74 65 72 20 74 68 65 20 6d 61 69 6e 20 63 61 6c 69 62 72 61 74 69 6f 6e 0a 0a 0a 0a 4e 5f 72	fter.the.main.calibration....N_r
30480	75 6e 73 20 3d 20 32 30 30 3b 0a 0a 25 4e 5f 69 6d 61 5f 61 63 74 69 76 65 20 3d 20 34 3b 0a 0a	uns.=.200;..%N_ima_active.=.4;..
304a0	73 61 76 69 6e 67 20 3d 20 31 3b 0a 0a 69 66 20 31 2c 20 25 7e 65 78 69 73 74 28 27 66 63 5f 6c	saving.=.1;..if.1,.%~exist('fc_l
304c0	69 73 74 27 29 2c 20 25 20 69 6e 69 74 69 61 6c 69 7a 61 74 69 6f 6e 0a 20 20 20 0a 20 20 20 25	ist'),.%.initialization........%
304e0	20 49 6e 69 74 69 61 6c 69 7a 61 74 69 6f 6e 3a 0a 20 20 20 0a 20 20 20 6c 6f 61 64 20 43 61 6c	.Initialization:........load.Cal
30500	69 62 5f 52 65 73 75 6c 74 73 3b 0a 20 20 20 63 68 65 63 6b 5f 61 63 74 69 76 65 5f 69 6d 61 67	ib_Results;....check_active_imag
30520	65 73 3b 0a 20 20 20 0a 09 66 63 5f 6c 69 73 74 20 3d 20 5b 5d 3b 0a 09 63 63 5f 6c 69 73 74 20	es;......fc_list.=.[];..cc_list.
30540	3d 20 5b 5d 3b 0a 09 6b 63 5f 6c 69 73 74 20 3d 20 5b 5d 3b 0a 20 20 20 61 63 74 69 76 65 5f 69	=.[];..kc_list.=.[];....active_i
30560	6d 61 67 65 73 5f 6c 69 73 74 20 3d 20 5b 5d 3b 0a 20 20 20 0a 20 20 20 0a 09 66 6f 72 20 6b 6b	mages_list.=.[];..........for.kk
30580	3d 31 3a 6e 5f 69 6d 61 2c 0a 20 20 20 09 0a 20 20 20 09 65 76 61 6c 28 5b 27 6f 6d 63 5f 6c 69	=1:n_ima,..........eval(['omc_li
305a0	73 74 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 5b 5d 3b 27 5d 29 3b 0a 20 20 20	st_'.num2str(kk).'.=.[];']);....
305c0	09 65 76 61 6c 28 5b 27 54 63 5f 6c 69 73 74 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20	.eval(['Tc_list_'.num2str(kk).'.
305e0	3d 20 5b 5d 3b 27 5d 29 3b 0a 20 20 20 20 20 20 0a 20 20 20 65 6e 64 3b 0a 09 0a 09 25 73 78 20	=.[];']);...........end;....%sx.
30600	3d 20 6d 65 64 69 61 6e 28 61 62 73 28 65 78 28 31 2c 3a 29 29 29 2a 31 2e 34 38 33 36 3b 0a 09	=.median(abs(ex(1,:)))*1.4836;..
30620	25 73 79 20 3d 20 6d 65 64 69 61 6e 28 61 62 73 28 65 78 28 32 2c 3a 29 29 29 2a 31 2e 34 38 33	%sy.=.median(abs(ex(2,:)))*1.483
30640	36 3b 0a 09 0a 09 73 78 20 3d 20 73 74 64 28 65 78 28 31 2c 3a 29 29 3b 0a 09 73 79 20 3d 20 73	6;....sx.=.std(ex(1,:));..sy.=.s
30660	74 64 28 65 78 28 32 2c 3a 29 29 3b 0a 20 20 20 0a 09 25 20 53 61 76 69 6e 67 20 74 68 65 20 66	td(ex(2,:));......%.Saving.the.f
30680	65 61 74 75 72 65 20 6c 6f 63 61 74 69 6f 6e 73 3a 0a 0a 09 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e	eature.locations:...for.kk.=.1:n
306a0	5f 69 6d 61 2c 0a 20 20 20 09 0a 20 20 20 09 65 76 61 6c 28 5b 27 78 5f 73 61 76 65 5f 27 20 6e	_ima,..........eval(['x_save_'.n
306c0	75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27	um2str(kk).'.=.x_'.num2str(kk).'
306e0	3b 27 5d 29 3b 0a 20 20 20 09 65 76 61 6c 28 5b 27 79 5f 73 61 76 65 5f 27 20 6e 75 6d 32 73 74	;']);.....eval(['y_save_'.num2st
30700	72 28 6b 6b 29 20 27 20 3d 20 79 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b	r(kk).'.=.y_'.num2str(kk).';']);
30720	0a 0a 09 65 6e 64 3b 0a 20 20 20 0a 20 20 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 5f 73 61 76	...end;........active_images_sav
30740	65 20 3d 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 3b 0a 20 20 20 69 6e 64 5f 61 63 74 69 76 65	e.=.active_images;....ind_active
30760	5f 73 61 76 65 20 3d 20 69 6e 64 5f 61 63 74 69 76 65 3b 0a 20 20 20 0a 20 20 20 66 63 5f 73 61	_save.=.ind_active;........fc_sa
30780	76 65 20 3d 20 66 63 3b 0a 20 20 20 63 63 5f 73 61 76 65 20 3d 20 63 63 3b 0a 20 20 20 6b 63 5f	ve.=.fc;....cc_save.=.cc;....kc_
307a0	73 61 76 65 20 3d 20 6b 63 3b 0a 20 20 20 4b 4b 5f 73 61 76 65 20 3d 20 4b 4b 3b 0a 20 20 20 0a	save.=.kc;....KK_save.=.KK;.....
307c0	0a 65 6e 64 3b 0a 0a 0a 0a 0a 25 25 25 20 54 68 65 20 6d 61 69 6e 20 6c 6f 6f 70 3a 0a 0a 0a 66	.end;.....%%%.The.main.loop:...f
307e0	6f 72 20 6e 74 72 69 61 6c 20 3d 20 31 3a 4e 5f 72 75 6e 73 2c 0a 20 20 20 0a 20 20 20 66 70 72	or.ntrial.=.1:N_runs,........fpr
30800	69 6e 74 66 28 31 2c 27 5c 6e 52 75 6e 20 6e 75 6d 62 65 72 3a 20 25 64 5c 6e 27 2c 6e 74 72 69	intf(1,'\nRun.number:.%d\n',ntri
30820	61 6c 29 3b 0a 20 20 20 66 70 72 69 6e 74 66 28 31 2c 20 20 27 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 5c	al);....fprintf(1,..'----------\
30840	6e 27 29 3b 0a 20 20 20 0a 20 20 20 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a 20 20	n');........for.kk.=.1:n_ima,...
30860	20 20 20 20 0a 20 20 20 20 20 20 65 76 61 6c 28 5b 27 79 5f 6b 6b 20 3d 20 79 5f 73 61 76 65 5f	...........eval(['y_kk.=.y_save_
30880	27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 0a 20 20 20 20 20 20 0a 20 20 20 20 20	'.num2str(kk).';']).............
308a0	20 69 66 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 6b 6b 29 20 26 20 7e 69 73 6e 61 6e 28 79	.if.active_images(kk).&.~isnan(y
308c0	5f 6b 6b 28 31 2c 31 29 29 2c 0a 20 20 20 20 20 20 20 20 20 0a 20 20 20 20 20 20 20 20 20 4e 6b	_kk(1,1)),....................Nk
308e0	6b 20 3d 20 73 69 7a 65 28 79 5f 6b 6b 2c 32 29 3b 0a 20 20 20 20 20 20 20 20 20 0a 20 20 20 20	k.=.size(y_kk,2);...............
30900	20 20 20 20 20 78 5f 6b 6b 5f 6e 65 77 20 3d 20 79 5f 6b 6b 20 2b 20 5b 73 78 20 2a 20 72 61 6e	.....x_kk_new.=.y_kk.+.[sx.*.ran
30920	64 6e 28 31 2c 4e 6b 6b 29 3b 73 79 2a 72 61 6e 64 6e 28 31 2c 4e 6b 6b 29 5d 3b 0a 20 20 20 20	dn(1,Nkk);sy*randn(1,Nkk)];.....
30940	20 20 20 20 20 0a 20 20 20 20 20 20 20 20 20 65 76 61 6c 28 5b 27 78 5f 27 20 6e 75 6d 32 73 74	...............eval(['x_'.num2st
30960	72 28 6b 6b 29 20 27 20 3d 20 78 5f 6b 6b 5f 6e 65 77 3b 27 5d 29 3b 0a 20 20 20 20 20 20 20 20	r(kk).'.=.x_kk_new;']);.........
30980	20 0a 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 0a 20 20 20 65 6e 64 3b 0a 20 20 20 0a	........end;...........end;.....
309a0	20 20 20 4e 5f 61 63 74 69 76 65 20 3d 20 6c 65 6e 67 74 68 28 69 6e 64 5f 61 63 74 69 76 65 5f	...N_active.=.length(ind_active_
309c0	73 61 76 65 29 3b 0a 20 20 20 6a 75 6e 6b 20 3d 20 72 61 6e 64 6e 28 31 2c 4e 5f 61 63 74 69 76	save);....junk.=.randn(1,N_activ
309e0	65 29 3b 0a 20 20 20 5b 6a 75 6e 6b 2c 6a 75 6e 6b 32 5d 20 3d 20 73 6f 72 74 28 6a 75 6e 6b 29	e);....[junk,junk2].=.sort(junk)
30a00	3b 0a 20 20 20 0a 20 20 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 20 3d 20 7a 65 72 6f 73 28 31	;........active_images.=.zeros(1
30a20	2c 6e 5f 69 6d 61 29 3b 0a 20 20 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 69 6e 64 5f 61 63	,n_ima);....active_images(ind_ac
30a40	74 69 76 65 5f 73 61 76 65 28 6a 75 6e 6b 32 28 31 3a 4e 5f 69 6d 61 5f 61 63 74 69 76 65 29 29	tive_save(junk2(1:N_ima_active))
30a60	29 20 3d 20 6f 6e 65 73 28 31 2c 4e 5f 69 6d 61 5f 61 63 74 69 76 65 29 3b 0a 20 20 20 0a 20 20	).=.ones(1,N_ima_active);.......
30a80	20 66 63 20 3d 20 66 63 5f 73 61 76 65 3b 0a 20 20 20 63 63 20 3d 20 63 63 5f 73 61 76 65 3b 0a	.fc.=.fc_save;....cc.=.cc_save;.
30aa0	20 20 20 6b 63 20 3d 20 6b 63 5f 73 61 76 65 3b 0a 20 20 20 4b 4b 20 3d 20 4b 4b 5f 73 61 76 65	...kc.=.kc_save;....KK.=.KK_save
30ac0	3b 0a 20 20 20 0a 20 20 20 67 6f 5f 63 61 6c 69 62 5f 6f 70 74 69 6d 3b 0a 20 20 20 0a 20 20 20	;........go_calib_optim;........
30ae0	66 63 5f 6c 69 73 74 20 3d 20 5b 66 63 5f 6c 69 73 74 20 66 63 5d 3b 0a 20 20 20 63 63 5f 6c 69	fc_list.=.[fc_list.fc];....cc_li
30b00	73 74 20 3d 20 5b 63 63 5f 6c 69 73 74 20 63 63 5d 3b 0a 20 20 20 6b 63 5f 6c 69 73 74 20 3d 20	st.=.[cc_list.cc];....kc_list.=.
30b20	5b 6b 63 5f 6c 69 73 74 20 6b 63 5d 3b 0a 20 20 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 5f 6c	[kc_list.kc];....active_images_l
30b40	69 73 74 20 3d 20 5b 61 63 74 69 76 65 5f 69 6d 61 67 65 73 5f 6c 69 73 74 20 61 63 74 69 76 65	ist.=.[active_images_list.active
30b60	5f 69 6d 61 67 65 73 27 5d 3b 0a 20 20 20 0a 20 20 20 66 6f 72 20 6b 6b 3d 31 3a 6e 5f 69 6d 61	_images'];........for.kk=1:n_ima
30b80	2c 0a 20 20 20 0a 20 20 20 09 65 76 61 6c 28 5b 27 6f 6d 63 5f 6c 69 73 74 5f 27 20 6e 75 6d 32	,.........eval(['omc_list_'.num2
30ba0	73 74 72 28 6b 6b 29 20 27 20 3d 20 5b 20 6f 6d 63 5f 6c 69 73 74 5f 27 20 6e 75 6d 32 73 74 72	str(kk).'.=.[.omc_list_'.num2str
30bc0	28 6b 6b 29 20 27 20 6f 6d 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 5d 3b 27 5d 29	(kk).'.omc_'.num2str(kk).'.];'])
30be0	3b 0a 20 20 20 09 65 76 61 6c 28 5b 27 54 63 5f 6c 69 73 74 5f 27 20 6e 75 6d 32 73 74 72 28 6b	;.....eval(['Tc_list_'.num2str(k
30c00	6b 29 20 27 20 3d 20 5b 20 54 63 5f 6c 69 73 74 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27	k).'.=.[.Tc_list_'.num2str(kk).'
30c20	20 54 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 5d 3b 27 5d 29 3b 0a 20 20 20 0a 09	.Tc_'.num2str(kk).'.];']);......
30c40	65 6e 64 3b 0a 0a 65 6e 64 3b 0a 0a 0a 0a 0a 69 66 20 30 2c 0a 0a 25 20 52 65 73 74 6f 72 69 6e	end;..end;.....if.0,..%.Restorin
30c60	67 20 74 68 65 20 66 65 61 74 75 72 65 20 6c 6f 63 61 74 69 6f 6e 73 3a 0a 0a 66 6f 72 20 6b 6b	g.the.feature.locations:..for.kk
30c80	20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 78 5f 27 20 6e 75	.=.1:n_ima,........eval(['x_'.nu
30ca0	6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 78 5f 73 61 76 65 5f 27 20 6e 75 6d 32 73 74 72 28 6b	m2str(kk).'.=.x_save_'.num2str(k
30cc0	6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 0a 65 6e 64 3b 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c	k).';']);.....end;..fprintf(1,'\
30ce0	6e 46 69 6e 61 6c 20 72 75 6e 20 28 77 69 74 68 20 74 68 65 20 72 65 61 6c 20 64 61 74 61 29 5c	nFinal.run.(with.the.real.data)\
30d00	6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 20 20 27 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d	n');.fprintf(1,..'--------------
30d20	2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 5c 6e 27 29 3b 0a 0a 61 63 74 69 76 65 5f 69 6d	----------------\n');..active_im
30d40	61 67 65 73 20 3d 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 5f 73 61 76 65 3b 0a 69 6e 64 5f 61	ages.=.active_images_save;.ind_a
30d60	63 74 69 76 65 20 3d 20 69 6e 64 5f 61 63 74 69 76 65 5f 73 61 76 65 3b 0a 0a 67 6f 5f 63 61 6c	ctive.=.ind_active_save;..go_cal
30d80	69 62 5f 6f 70 74 69 6d 3b 0a 20 20 20 0a 66 63 5f 6c 69 73 74 20 3d 20 5b 66 63 5f 6c 69 73 74	ib_optim;.....fc_list.=.[fc_list
30da0	20 66 63 5d 3b 0a 63 63 5f 6c 69 73 74 20 3d 20 5b 63 63 5f 6c 69 73 74 20 63 63 5d 3b 0a 6b 63	.fc];.cc_list.=.[cc_list.cc];.kc
30dc0	5f 6c 69 73 74 20 3d 20 5b 6b 63 5f 6c 69 73 74 20 6b 63 5d 3b 0a 61 63 74 69 76 65 5f 69 6d 61	_list.=.[kc_list.kc];.active_ima
30de0	67 65 73 5f 6c 69 73 74 20 3d 20 5b 61 63 74 69 76 65 5f 69 6d 61 67 65 73 5f 6c 69 73 74 20 61	ges_list.=.[active_images_list.a
30e00	63 74 69 76 65 5f 69 6d 61 67 65 73 27 5d 3b 0a 0a 66 6f 72 20 6b 6b 3d 31 3a 6e 5f 69 6d 61 2c	ctive_images'];..for.kk=1:n_ima,
30e20	0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 6f 6d 63 5f 6c 69 73 74 5f 27 20 6e 75 6d 32 73 74	........eval(['omc_list_'.num2st
30e40	72 28 6b 6b 29 20 27 20 3d 20 5b 20 6f 6d 63 5f 6c 69 73 74 5f 27 20 6e 75 6d 32 73 74 72 28 6b	r(kk).'.=.[.omc_list_'.num2str(k
30e60	6b 29 20 27 20 6f 6d 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 5d 3b 27 5d 29 3b 0a	k).'.omc_'.num2str(kk).'.];']);.
30e80	20 20 20 65 76 61 6c 28 5b 27 54 63 5f 6c 69 73 74 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20	...eval(['Tc_list_'.num2str(kk).
30ea0	27 20 3d 20 5b 20 54 63 5f 6c 69 73 74 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 54 63	'.=.[.Tc_list_'.num2str(kk).'.Tc
30ec0	5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 5d 3b 27 5d 29 3b 0a 20 20 20 0a 65 6e 64 3b	_'.num2str(kk).'.];']);.....end;
30ee0	0a 0a 65 6e 64 3b 0a 0a 0a 0a 0a 0a 69 66 20 73 61 76 69 6e 67 2c 0a 20 20 20 0a 64 69 73 70 28	..end;......if.saving,.....disp(
30f00	5b 27 53 61 76 65 20 43 61 6c 69 62 72 61 74 69 6f 6e 20 61 63 63 75 72 61 63 79 20 72 65 73 75	['Save.Calibration.accuracy.resu
30f20	6c 74 73 20 75 6e 64 65 72 20 43 61 6c 69 62 5f 41 63 63 75 72 61 63 69 65 73 5f 27 20 6e 75 6d	lts.under.Calib_Accuracies_'.num
30f40	32 73 74 72 28 4e 5f 69 6d 61 5f 61 63 74 69 76 65 29 20 27 2e 6d 61 74 27 5d 29 3b 0a 0a 73 74	2str(N_ima_active).'.mat']);..st
30f60	72 69 6e 67 5f 73 61 76 65 20 3d 20 5b 27 73 61 76 65 20 43 61 6c 69 62 5f 41 63 63 75 72 61 63	ring_save.=.['save.Calib_Accurac
30f80	69 65 73 5f 27 20 6e 75 6d 32 73 74 72 28 4e 5f 69 6d 61 5f 61 63 74 69 76 65 29 20 27 20 61 63	ies_'.num2str(N_ima_active).'.ac
30fa0	74 69 76 65 5f 69 6d 61 67 65 73 20 6e 5f 69 6d 61 20 4e 5f 69 6d 61 5f 61 63 74 69 76 65 20 4e	tive_images.n_ima.N_ima_active.N
30fc0	5f 72 75 6e 73 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 5f 6c 69 73 74 20 66 63 20 63 63 20 6b	_runs.active_images_list.fc.cc.k
30fe0	63 20 66 63 5f 6c 69 73 74 20 63 63 5f 6c 69 73 74 20 6b 63 5f 6c 69 73 74 27 5d 3b 0a 0a 66 6f	c.fc_list.cc_list.kc_list'];..fo
31000	72 20 6b 6b 20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a 20 20 20 73 74 72 69 6e 67 5f 73 61 76 65 20 3d	r.kk.=.1:n_ima,....string_save.=
31020	20 5b 73 74 72 69 6e 67 5f 73 61 76 65 20 27 20 54 63 5f 6c 69 73 74 5f 27 20 6e 75 6d 32 73 74	.[string_save.'.Tc_list_'.num2st
31040	72 28 6b 6b 29 20 27 20 6f 6d 63 5f 6c 69 73 74 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 20	r(kk).'.omc_list_'.num2str(kk)..
31060	27 20 54 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 6f 6d 63 5f 27 20 6e 75 6d 32 73	'.Tc_'.num2str(kk).'.omc_'.num2s
31080	74 72 28 6b 6b 29 20 5d 3b 0a 65 6e 64 3b 0a 0a 65 76 61 6c 28 73 74 72 69 6e 67 5f 73 61 76 65	tr(kk).];.end;..eval(string_save
310a0	29 3b 0a 0a 65 6e 64 3b 0a 0a 0a 72 65 74 75 72 6e 3b 0a 0a 73 74 64 28 66 63 5f 6c 69 73 74 27	);..end;...return;..std(fc_list'
310c0	29 0a 0a 73 74 64 28 63 63 5f 6c 69 73 74 27 29 0a 0a 73 74 64 28 6b 63 5f 6c 69 73 74 27 29 0a	)..std(cc_list')..std(kc_list').
310e0	0a 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b	.for.kk.=.1:n_ima,........eval([
31100	27 73 74 64 28 54 63 5f 6c 69 73 74 5f 27 20 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 27 27 29	'std(Tc_list_'..num2str(kk).''')
31120	27 5d 29 0a 20 20 20 0a 65 6e 64 3b 0a 0a 0a 0a 0a 0a 25 20 41 64 64 20 64 69 73 74 6f 72 74 69	']).....end;......%.Add.distorti
31140	6f 6e 3a 0a 0a 72 32 20 3d 20 78 28 31 2c 3a 29 2e 5e 32 20 2b 20 78 28 32 2c 3a 29 2e 5e 32 3b	on:..r2.=.x(1,:).^2.+.x(2,:).^2;
31160	0a 0a 0a 0a 64 72 32 64 6f 6d 20 3d 20 32 2a 28 28 78 28 31 2c 3a 29 27 29 2a 6f 6e 65 73 28 31	....dr2dom.=.2((x(1,:)')ones(1
31180	2c 33 29 29 20 2e 2a 20 64 78 64 6f 6d 28 31 3a 32 3a 65 6e 64 2c 3a 29 20 2b 20 32 2a 28 28 78	,3))...dxdom(1:2:end,:).+.2((x
311a0	28 32 2c 3a 29 27 29 2a 6f 6e 65 73 28 31 2c 33 29 29 20 2e 2a 20 64 78 64 6f 6d 28 32 3a 32 3a	(2,:)')ones(1,3))...dxdom(2:2:
311c0	65 6e 64 2c 3a 29 3b 0a 64 72 32 64 54 20 3d 20 32 2a 28 28 78 28 31 2c 3a 29 27 29 2a 6f 6e 65	end,:);.dr2dT.=.2((x(1,:)')one
311e0	73 28 31 2c 33 29 29 20 2e 2a 20 64 78 64 54 28 31 3a 32 3a 65 6e 64 2c 3a 29 20 2b 20 32 2a 28	s(1,3))...dxdT(1:2:end,:).+.2(
31200	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 6c 6f 61 64 69 6e 72 2e 6d 00 00 00 00 00 00 00 00 00	TOOLBOX_calib/loadinr.m.........
31220	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
31240	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
31260	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
31280	20 20 20 32 30 30 35 20 20 37 30 32 34 30 33 37 33 33 35 20 20 31 30 32 32 34 00 20 00 00 00 00	...2005..7024037335..10224......
312a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
312c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
312e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
31300	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
31320	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
31340	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
31360	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
31380	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
313a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
313c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
313e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
31400	25 4c 4f 41 44 49 4e 52 09 4c 6f 61 64 20 61 6e 20 49 4e 52 49 4d 41 47 45 20 66 6f 72 6d 61 74	%LOADINR.Load.an.INRIMAGE.format
31420	20 66 69 6c 65 0a 25 0a 25 09 4c 4f 41 44 49 4e 52 28 66 69 6c 65 6e 61 6d 65 2c 20 69 6d 29 0a	.file.%.%.LOADINR(filename,.im).
31440	25 0a 25 09 4c 6f 61 64 20 61 6e 20 49 4e 52 49 41 20 69 6d 61 67 65 20 66 6f 72 6d 61 74 20 66	%.%.Load.an.INRIA.image.format.f
31460	69 6c 65 20 61 6e 64 20 72 65 74 75 72 6e 20 69 74 20 61 73 20 61 20 6d 61 74 72 69 78 0a 25 0a	ile.and.return.it.as.a.matrix.%.
31480	25 20 53 45 45 20 41 4c 53 4f 3a 09 73 61 76 65 69 6e 72 0a 25 0a 25 09 43 6f 70 79 72 69 67 68	%.SEE.ALSO:.saveinr.%.%.Copyrigh
314a0	74 20 28 63 29 20 50 65 74 65 72 20 43 6f 72 6b 65 2c 20 31 39 39 39 20 20 4d 61 63 68 69 6e 65	t.(c).Peter.Corke,.1999..Machine
314c0	20 56 69 73 69 6f 6e 20 54 6f 6f 6c 62 6f 78 20 66 6f 72 20 4d 61 74 6c 61 62 0a 0a 0a 25 20 50	.Vision.Toolbox.for.Matlab...%.P
314e0	65 74 65 72 20 43 6f 72 6b 65 20 31 39 39 36 0a 0a 66 75 6e 63 74 69 6f 6e 20 69 6d 20 3d 20 6c	eter.Corke.1996..function.im.=.l
31500	6f 61 64 69 6e 72 28 66 6e 61 6d 65 2c 20 69 6d 29 0a 0a 09 66 69 64 20 3d 20 66 6f 70 65 6e 28	oadinr(fname,.im)...fid.=.fopen(
31520	66 6e 61 6d 65 2c 20 27 72 27 29 3b 0a 0a 09 73 20 3d 20 66 67 65 74 73 28 66 69 64 29 3b 0a 09	fname,.'r');...s.=.fgets(fid);..
31540	69 66 20 73 74 72 63 6d 70 28 73 28 31 3a 31 32 29 2c 20 27 23 49 4e 52 49 4d 41 47 45 2d 34 23	if.strcmp(s(1:12),.'#INRIMAGE-4#
31560	27 29 20 3d 3d 20 30 2c 0a 09 09 65 72 72 6f 72 28 27 6e 6f 74 20 49 4e 52 49 4d 41 47 45 20 66	').==.0,...error('not.INRIMAGE.f
31580	6f 72 6d 61 74 27 29 3b 0a 09 65 6e 64 0a 0a 09 25 20 6e 6f 74 20 76 65 72 79 20 63 6f 6d 70 6c	ormat');..end...%.not.very.compl
315a0	65 74 65 2c 20 6f 6e 6c 79 20 6c 6f 6f 6b 73 20 66 6f 72 20 74 68 65 20 58 2f 59 44 49 4d 20 6b	ete,.only.looks.for.the.X/YDIM.k
315c0	65 79 73 0a 09 77 68 69 6c 65 20 31 2c 0a 09 09 73 20 3d 20 66 67 65 74 73 28 66 69 64 29 3b 0a	eys..while.1,...s.=.fgets(fid);.
315e0	09 09 6e 20 3d 20 6c 65 6e 67 74 68 28 73 29 20 2d 20 31 3b 0a 09 09 69 66 20 73 28 31 29 20 3d	..n.=.length(s).-.1;...if.s(1).=
31600	3d 20 27 23 27 2c 0a 09 09 09 62 72 65 61 6b 0a 09 09 65 6e 64 0a 09 09 69 66 20 73 74 72 63 6d	=.'#',....break...end...if.strcm
31620	70 28 73 28 31 3a 35 29 2c 20 27 58 44 49 4d 3d 27 29 2c 0a 09 09 09 63 6f 6c 73 20 3d 20 73 74	p(s(1:5),.'XDIM='),....cols.=.st
31640	72 32 6e 75 6d 28 73 28 36 3a 6e 29 29 3b 0a 09 09 65 6e 64 0a 09 09 69 66 20 73 74 72 63 6d 70	r2num(s(6:n));...end...if.strcmp
31660	28 73 28 31 3a 35 29 2c 20 27 59 44 49 4d 3d 27 29 2c 0a 09 09 09 72 6f 77 73 20 3d 20 73 74 72	(s(1:5),.'YDIM='),....rows.=.str
31680	32 6e 75 6d 28 73 28 36 3a 6e 29 29 3b 0a 09 09 65 6e 64 0a 09 09 69 66 20 73 74 72 63 6d 70 28	2num(s(6:n));...end...if.strcmp(
316a0	73 28 31 3a 34 29 2c 20 27 43 50 55 3d 27 29 2c 0a 09 09 09 69 66 20 73 74 72 63 6d 70 28 73 28	s(1:4),.'CPU='),....if.strcmp(s(
316c0	35 3a 6e 29 2c 20 27 73 75 6e 27 29 20 3d 3d 20 30 2c 0a 09 09 09 09 65 72 72 6f 72 28 27 6e 6f	5:n),.'sun').==.0,.....error('no
316e0	74 20 73 75 6e 20 64 61 74 61 20 6f 72 64 65 72 69 6e 67 27 29 3b 0a 09 09 09 65 6e 64 0a 09 09	t.sun.data.ordering');....end...
31700	65 6e 64 0a 09 09 0a 09 65 6e 64 0a 09 64 69 73 70 28 5b 27 49 4e 52 49 4d 41 47 45 20 66 6f 72	end.....end..disp(['INRIMAGE.for
31720	6d 61 74 20 66 69 6c 65 20 27 20 6e 75 6d 32 73 74 72 28 72 6f 77 73 29 20 27 20 78 20 27 20 6e	mat.file.'.num2str(rows).'.x.'.n
31740	75 6d 32 73 74 72 28 63 6f 6c 73 29 5d 29 0a 0a 09 25 20 6e 6f 77 20 74 68 65 20 62 69 6e 61 72	um2str(cols)])...%.now.the.binar
31760	79 20 64 61 74 61 0a 09 66 73 65 65 6b 28 66 69 64 2c 20 32 35 36 2c 20 27 62 6f 66 27 29 3b 0a	y.data..fseek(fid,.256,.'bof');.
31780	09 5b 69 6d 20 63 6f 75 6e 74 5d 20 3d 20 66 72 65 61 64 28 66 69 64 2c 20 5b 63 6f 6c 73 20 72	.[im.count].=.fread(fid,.[cols.r
317a0	6f 77 73 5d 2c 20 27 66 6c 6f 61 74 33 32 27 29 3b 0a 09 69 6d 20 3d 20 69 6d 27 3b 0a 09 69 66	ows],.'float32');..im.=.im';..if
317c0	20 63 6f 75 6e 74 20 7e 3d 20 28 72 6f 77 73 2a 63 6f 6c 73 29 2c 0a 09 09 65 72 72 6f 72 28 27	.count.~=.(rows*cols),...error('
317e0	66 69 6c 65 20 74 6f 6f 20 73 68 6f 72 74 27 29 3b 0a 09 65 6e 64 0a 09 66 63 6c 6f 73 65 28 66	file.too.short');..end..fclose(f
31800	69 64 29 3b 0a 31 2c 27 5c 6e 52 75 6e 20 6e 75 6d 62 65 72 3a 20 25 64 5c 6e 27 2c 6e 74 72 69	id);.1,'\nRun.number:.%d\n',ntri
31820	61 6c 29 3b 0a 20 20 20 66 70 72 69 6e 74 66 28 31 2c 20 20 27 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 5c	al);....fprintf(1,..'----------\
31840	6e 27 29 3b 0a 20 20 20 0a 20 20 20 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a 20 20	n');........for.kk.=.1:n_ima,...
31860	20 20 20 20 0a 20 20 20 20 20 20 65 76 61 6c 28 5b 27 79 5f 6b 6b 20 3d 20 79 5f 73 61 76 65 5f	...........eval(['y_kk.=.y_save_
31880	27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 0a 20 20 20 20 20 20 0a 20 20 20 20 20	'.num2str(kk).';']).............
318a0	20 69 66 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 6b 6b 29 20 26 20 7e 69 73 6e 61 6e 28 79	.if.active_images(kk).&.~isnan(y
318c0	5f 6b 6b 28 31 2c 31 29 29 2c 0a 20 20 20 20 20 20 20 20 20 0a 20 20 20 20 20 20 20 20 20 4e 6b	_kk(1,1)),....................Nk
318e0	6b 20 3d 20 73 69 7a 65 28 79 5f 6b 6b 2c 32 29 3b 0a 20 20 20 20 20 20 20 20 20 0a 20 20 20 20	k.=.size(y_kk,2);...............
31900	20 20 20 20 20 78 5f 6b 6b 5f 6e 65 77 20 3d 20 79 5f 6b 6b 20 2b 20 5b 73 78 20 2a 20 72 61 6e	.....x_kk_new.=.y_kk.+.[sx.*.ran
31920	64 6e 28 31 2c 4e 6b 6b 29 3b 73 79 2a 72 61 6e 64 6e 28 31 2c 4e 6b 6b 29 5d 3b 0a 20 20 20 20	dn(1,Nkk);sy*randn(1,Nkk)];.....
31940	20 20 20 20 20 0a 20 20 20 20 20 20 20 20 20 65 76 61 6c 28 5b 27 78 5f 27 20 6e 75 6d 32 73 74	...............eval(['x_'.num2st
31960	72 28 6b 6b 29 20 27 20 3d 20 78 5f 6b 6b 5f 6e 65 77 3b 27 5d 29 3b 0a 20 20 20 20 20 20 20 20	r(kk).'.=.x_kk_new;']);.........
31980	20 0a 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 0a 20 20 20 65 6e 64 3b 0a 20 20 20 0a	........end;...........end;.....
319a0	20 20 20 4e 5f 61 63 74 69 76 65 20 3d 20 6c 65 6e 67 74 68 28 69 6e 64 5f 61 63 74 69 76 65 5f	...N_active.=.length(ind_active_
319c0	73 61 76 65 29 3b 0a 20 20 20 6a 75 6e 6b 20 3d 20 72 61 6e 64 6e 28 31 2c 4e 5f 61 63 74 69 76	save);....junk.=.randn(1,N_activ
319e0	65 29 3b 0a 20 20 20 5b 6a 75 6e 6b 2c 6a 75 6e 6b 32 5d 20 3d 20 73 6f 72 74 28 6a 75 6e 6b 29	e);....[junk,junk2].=.sort(junk)
31a00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 6c 6f 61 64 70 67 6d 2e 6d 00 00 00 00 00 00 00 00 00	TOOLBOX_calib/loadpgm.m.........
31a20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
31a40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
31a60	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
31a80	20 20 20 33 34 35 34 20 20 37 30 32 34 30 33 37 33 33 36 20 20 31 30 32 33 31 00 20 00 00 00 00	...3454..7024037336..10231......
31aa0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
31ac0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
31ae0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
31b00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
31b20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
31b40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
31b60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
31b80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
31ba0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
31bc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
31be0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
31c00	25 4c 4f 41 44 50 47 4d 09 4c 6f 61 64 20 61 20 50 47 4d 20 69 6d 61 67 65 0a 25 0a 25 09 49 20	%LOADPGM.Load.a.PGM.image.%.%.I.
31c20	3d 20 6c 6f 61 64 70 67 6d 28 66 69 6c 65 6e 61 6d 65 29 0a 25 0a 25 09 52 65 74 75 72 6e 73 20	=.loadpgm(filename).%.%.Returns.
31c40	61 20 6d 61 74 72 69 78 20 63 6f 6e 74 61 69 6e 69 6e 67 20 74 68 65 20 69 6d 61 67 65 20 6c 6f	a.matrix.containing.the.image.lo
31c60	61 64 65 64 20 66 72 6f 6d 20 74 68 65 20 50 47 4d 20 66 6f 72 6d 61 74 0a 25 09 66 69 6c 65 20	aded.from.the.PGM.format.%.file.
31c80	66 69 6c 65 6e 61 6d 65 2e 20 20 48 61 6e 64 6c 65 73 20 41 53 43 49 49 20 28 50 32 29 20 61 6e	filename...Handles.ASCII.(P2).an
31ca0	64 20 62 69 6e 61 72 79 20 28 50 35 29 20 50 47 4d 20 66 69 6c 65 20 66 6f 72 6d 61 74 73 2e 0a	d.binary.(P5).PGM.file.formats..
31cc0	25 0a 25 09 49 66 20 74 68 65 20 66 69 6c 65 6e 61 6d 65 20 68 61 73 20 6e 6f 20 65 78 74 65 6e	%.%.If.the.filename.has.no.exten
31ce0	73 69 6f 6e 2c 20 61 6e 64 20 6f 70 65 6e 20 66 61 69 6c 73 2c 20 61 20 27 2e 70 67 6d 27 20 77	sion,.and.open.fails,.a.'.pgm'.w
31d00	69 6c 6c 0a 25 09 62 65 20 61 70 70 65 6e 64 65 64 2e 0a 25 0a 25 0a 25 09 43 6f 70 79 72 69 67	ill.%.be.appended..%.%.%.Copyrig
31d20	68 74 20 28 63 29 20 50 65 74 65 72 20 43 6f 72 6b 65 2c 20 31 39 39 39 20 20 4d 61 63 68 69 6e	ht.(c).Peter.Corke,.1999..Machin
31d40	65 20 56 69 73 69 6f 6e 20 54 6f 6f 6c 62 6f 78 20 66 6f 72 20 4d 61 74 6c 61 62 0a 0a 0a 25 20	e.Vision.Toolbox.for.Matlab...%.
31d60	50 65 74 65 72 20 43 6f 72 6b 65 20 31 39 39 34 0a 0a 66 75 6e 63 74 69 6f 6e 20 49 20 3d 20 6c	Peter.Corke.1994..function.I.=.l
31d80	6f 61 64 70 67 6d 28 66 69 6c 65 29 0a 09 77 68 69 74 65 20 3d 20 5b 27 20 27 20 39 20 31 30 20	oadpgm(file)..white.=.['.'.9.10.
31da0	31 33 5d 3b 09 25 20 73 70 61 63 65 2c 20 74 61 62 2c 20 6c 66 2c 20 63 72 0a 09 77 68 69 74 65	13];.%.space,.tab,.lf,.cr..white
31dc0	20 3d 20 73 65 74 73 74 72 28 77 68 69 74 65 29 3b 0a 0a 09 66 69 64 20 3d 20 66 6f 70 65 6e 28	.=.setstr(white);...fid.=.fopen(
31de0	66 69 6c 65 2c 20 27 72 27 29 3b 0a 09 69 66 20 66 69 64 20 3c 20 30 2c 0a 09 09 66 69 64 20 3d	file,.'r');..if.fid.<.0,...fid.=
31e00	20 66 6f 70 65 6e 28 5b 66 69 6c 65 20 27 2e 70 67 6d 27 5d 2c 20 27 72 27 29 3b 0a 09 65 6e 64	.fopen([file.'.pgm'],.'r');..end
31e20	0a 09 69 66 20 66 69 64 20 3c 20 30 2c 0a 09 09 65 72 72 6f 72 28 27 43 6f 75 6c 64 6e 27 27 74	..if.fid.<.0,...error('Couldn''t
31e40	20 6f 70 65 6e 20 66 69 6c 65 27 29 3b 0a 09 65 6e 64 0a 09 09 0a 09 6d 61 67 69 63 20 3d 20 66	.open.file');..end.....magic.=.f
31e60	72 65 61 64 28 66 69 64 2c 20 32 2c 20 27 63 68 61 72 27 29 3b 0a 09 77 68 69 6c 65 20 31 0a 09	read(fid,.2,.'char');..while.1..
31e80	09 63 20 3d 20 66 72 65 61 64 28 66 69 64 2c 31 2c 27 63 68 61 72 27 29 3b 0a 09 09 69 66 20 63	.c.=.fread(fid,1,'char');...if.c
31ea0	20 3d 3d 20 27 23 27 2c 0a 09 09 09 66 67 65 74 6c 28 66 69 64 29 3b 0a 09 09 65 6c 73 65 69 66	.==.'#',....fgetl(fid);...elseif
31ec0	20 7e 61 6e 79 28 63 20 3d 3d 20 77 68 69 74 65 29 0a 09 09 09 66 73 65 65 6b 28 66 69 64 2c 20	.~any(c.==.white)....fseek(fid,.
31ee0	2d 31 2c 20 27 63 6f 66 27 29 3b 09 25 20 75 6e 70 75 74 63 28 29 0a 09 09 09 62 72 65 61 6b 3b	-1,.'cof');.%.unputc()....break;
31f00	0a 09 09 65 6e 64 0a 09 65 6e 64 0a 09 63 6f 6c 73 20 3d 20 66 73 63 61 6e 66 28 66 69 64 2c 20	...end..end..cols.=.fscanf(fid,.
31f20	27 25 64 27 2c 20 31 29 3b 0a 09 77 68 69 6c 65 20 31 0a 09 09 63 20 3d 20 66 72 65 61 64 28 66	'%d',.1);..while.1...c.=.fread(f
31f40	69 64 2c 31 2c 27 63 68 61 72 27 29 3b 0a 09 09 69 66 20 63 20 3d 3d 20 27 23 27 2c 0a 09 09 09	id,1,'char');...if.c.==.'#',....
31f60	66 67 65 74 6c 28 66 69 64 29 3b 0a 09 09 65 6c 73 65 69 66 20 7e 61 6e 79 28 63 20 3d 3d 20 77	fgetl(fid);...elseif.~any(c.==.w
31f80	68 69 74 65 29 0a 09 09 09 66 73 65 65 6b 28 66 69 64 2c 20 2d 31 2c 20 27 63 6f 66 27 29 3b 09	hite)....fseek(fid,.-1,.'cof');.
31fa0	25 20 75 6e 70 75 74 63 28 29 0a 09 09 09 62 72 65 61 6b 3b 0a 09 09 65 6e 64 0a 09 65 6e 64 0a	%.unputc()....break;...end..end.
31fc0	09 72 6f 77 73 20 3d 20 66 73 63 61 6e 66 28 66 69 64 2c 20 27 25 64 27 2c 20 31 29 3b 0a 09 77	.rows.=.fscanf(fid,.'%d',.1);..w
31fe0	68 69 6c 65 20 31 0a 09 09 63 20 3d 20 66 72 65 61 64 28 66 69 64 2c 31 2c 27 63 68 61 72 27 29	hile.1...c.=.fread(fid,1,'char')
32000	3b 0a 09 09 69 66 20 63 20 3d 3d 20 27 23 27 2c 0a 09 09 09 66 67 65 74 6c 28 66 69 64 29 3b 0a	;...if.c.==.'#',....fgetl(fid);.
32020	09 09 65 6c 73 65 69 66 20 7e 61 6e 79 28 63 20 3d 3d 20 77 68 69 74 65 29 0a 09 09 09 66 73 65	..elseif.~any(c.==.white)....fse
32040	65 6b 28 66 69 64 2c 20 2d 31 2c 20 27 63 6f 66 27 29 3b 09 25 20 75 6e 70 75 74 63 28 29 0a 09	ek(fid,.-1,.'cof');.%.unputc()..
32060	09 09 62 72 65 61 6b 3b 0a 09 09 65 6e 64 0a 09 65 6e 64 0a 09 6d 61 78 76 61 6c 20 3d 20 66 73	..break;...end..end..maxval.=.fs
32080	63 61 6e 66 28 66 69 64 2c 20 27 25 64 27 2c 20 31 29 3b 0a 09 77 68 69 6c 65 20 31 0a 09 09 63	canf(fid,.'%d',.1);..while.1...c
320a0	20 3d 20 66 72 65 61 64 28 66 69 64 2c 31 2c 27 63 68 61 72 27 29 3b 0a 09 09 69 66 20 63 20 3d	.=.fread(fid,1,'char');...if.c.=
320c0	3d 20 27 23 27 2c 0a 09 09 09 66 67 65 74 6c 28 66 69 64 29 3b 0a 09 09 65 6c 73 65 69 66 20 7e	=.'#',....fgetl(fid);...elseif.~
320e0	61 6e 79 28 63 20 3d 3d 20 77 68 69 74 65 29 0a 09 09 09 66 73 65 65 6b 28 66 69 64 2c 20 2d 31	any(c.==.white)....fseek(fid,.-1
32100	2c 20 27 63 6f 66 27 29 3b 09 25 20 75 6e 70 75 74 63 28 29 0a 09 09 09 62 72 65 61 6b 3b 0a 09	,.'cof');.%.unputc()....break;..
32120	09 65 6e 64 0a 09 65 6e 64 0a 09 69 66 20 6d 61 67 69 63 28 31 29 20 3d 3d 20 27 50 27 2c 0a 09	.end..end..if.magic(1).==.'P',..
32140	09 69 66 20 6d 61 67 69 63 28 32 29 20 3d 3d 20 27 32 27 2c 0a 09 09 09 64 69 73 70 28 5b 27 41	.if.magic(2).==.'2',....disp(['A
32160	53 43 49 49 20 50 47 4d 20 66 69 6c 65 20 27 20 6e 75 6d 32 73 74 72 28 72 6f 77 73 29 20 27 20	SCII.PGM.file.'.num2str(rows).'.
32180	78 20 27 20 6e 75 6d 32 73 74 72 28 63 6f 6c 73 29 5d 29 0a 09 09 09 49 20 3d 20 66 73 63 61 6e	x.'.num2str(cols)])....I.=.fscan
321a0	66 28 66 69 64 2c 20 27 25 64 27 2c 20 5b 63 6f 6c 73 20 72 6f 77 73 5d 29 27 3b 0a 09 09 65 6c	f(fid,.'%d',.[cols.rows])';...el
321c0	73 65 69 66 20 6d 61 67 69 63 28 32 29 20 3d 3d 20 27 35 27 2c 0a 09 09 09 64 69 73 70 28 5b 27	seif.magic(2).==.'5',....disp(['
321e0	42 69 6e 61 72 79 20 50 47 4d 20 66 69 6c 65 20 27 20 6e 75 6d 32 73 74 72 28 72 6f 77 73 29 20	Binary.PGM.file.'.num2str(rows).
32200	27 20 78 20 27 20 6e 75 6d 32 73 74 72 28 63 6f 6c 73 29 5d 29 0a 09 09 09 69 66 20 6d 61 78 76	'.x.'.num2str(cols)])....if.maxv
32220	61 6c 20 3d 3d 20 31 2c 0a 09 09 09 09 66 6d 74 20 3d 20 27 75 6e 69 6e 74 31 27 3b 0a 09 09 09	al.==.1,.....fmt.=.'unint1';....
32240	65 6c 73 65 69 66 20 6d 61 78 76 61 6c 20 3d 3d 20 31 35 2c 0a 09 09 09 09 66 6d 74 20 3d 20 27	elseif.maxval.==.15,.....fmt.=.'
32260	75 69 6e 74 34 27 3b 0a 09 09 09 65 6c 73 65 69 66 20 6d 61 78 76 61 6c 20 3d 3d 20 32 35 35 2c	uint4';....elseif.maxval.==.255,
32280	0a 09 09 09 09 66 6d 74 20 3d 20 27 75 69 6e 74 38 27 3b 0a 09 09 09 65 6c 73 65 69 66 20 6d 61	.....fmt.=.'uint8';....elseif.ma
322a0	78 76 61 6c 20 3d 3d 20 32 5e 33 32 2d 31 2c 0a 09 09 09 09 66 6d 74 20 3d 20 27 75 69 6e 74 33	xval.==.2^32-1,.....fmt.=.'uint3
322c0	32 27 3b 0a 09 09 09 65 6e 64 0a 09 09 09 49 20 3d 20 66 72 65 61 64 28 66 69 64 2c 20 5b 63 6f	2';....end....I.=.fread(fid,.[co
322e0	6c 73 20 72 6f 77 73 5d 2c 20 66 6d 74 29 27 3b 0a 09 09 65 6c 73 65 0a 09 09 09 64 69 73 70 28	ls.rows],.fmt)';...else....disp(
32300	27 4e 6f 74 20 61 20 50 47 4d 20 66 69 6c 65 27 29 3b 0a 09 09 65 6e 64 0a 09 65 6e 64 0a 09 66	'Not.a.PGM.file');...end..end..f
32320	63 6c 6f 73 65 28 66 69 64 29 3b 0a 68 69 6c 65 20 31 0a 09 09 63 20 3d 20 66 72 65 61 64 28 66	close(fid);.hile.1...c.=.fread(f
32340	69 64 2c 31 2c 27 63 68 61 72 27 29 3b 0a 09 09 69 66 20 63 20 3d 3d 20 27 23 27 2c 0a 09 09 09	id,1,'char');...if.c.==.'#',....
32360	66 67 65 74 6c 28 66 69 64 29 3b 0a 09 09 65 6c 73 65 69 66 20 7e 61 6e 79 28 63 20 3d 3d 20 77	fgetl(fid);...elseif.~any(c.==.w
32380	68 69 74 65 29 0a 09 09 09 66 73 65 65 6b 28 66 69 64 2c 20 2d 31 2c 20 27 63 6f 66 27 29 3b 09	hite)....fseek(fid,.-1,.'cof');.
323a0	25 20 75 6e 70 75 74 63 28 29 0a 09 09 09 62 72 65 61 6b 3b 0a 09 09 65 6e 64 0a 09 65 6e 64 0a	%.unputc()....break;...end..end.
323c0	09 72 6f 77 73 20 3d 20 66 73 63 61 6e 66 28 66 69 64 2c 20 27 25 64 27 2c 20 31 29 3b 0a 09 77	.rows.=.fscanf(fid,.'%d',.1);..w
323e0	68 69 6c 65 20 31 0a 09 09 63 20 3d 20 66 72 65 61 64 28 66 69 64 2c 31 2c 27 63 68 61 72 27 29	hile.1...c.=.fread(fid,1,'char')
32400	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 6c 6f 61 64 70 70 6d 2e 6d 00 00 00 00 00 00 00 00 00	TOOLBOX_calib/loadppm.m.........
32420	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
32440	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
32460	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
32480	20 20 20 34 30 36 32 20 20 37 30 32 34 30 33 37 33 33 36 20 20 31 30 32 33 36 00 20 00 00 00 00	...4062..7024037336..10236......
324a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
324c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
324e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
32500	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
32520	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
32540	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
32560	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
32580	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
325a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
325c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
325e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
32600	25 4c 4f 41 44 50 50 4d 09 4c 6f 61 64 20 61 20 50 50 4d 20 69 6d 61 67 65 0a 25 0a 25 09 5b 52	%LOADPPM.Load.a.PPM.image.%.%.[R
32620	2c 47 2c 42 5d 20 3d 20 6c 6f 61 64 70 70 6d 28 66 69 6c 65 6e 61 6d 65 29 0a 25 0a 25 09 52 65	,G,B].=.loadppm(filename).%.%.Re
32640	74 75 72 6e 73 20 61 20 6d 61 74 72 69 78 20 63 6f 6e 74 61 69 6e 69 6e 67 20 74 68 65 20 69 6d	turns.a.matrix.containing.the.im
32660	61 67 65 20 6c 6f 61 64 65 64 20 66 72 6f 6d 20 74 68 65 20 50 50 4d 20 66 6f 72 6d 61 74 0a 25	age.loaded.from.the.PPM.format.%
32680	09 66 69 6c 65 20 66 69 6c 65 6e 61 6d 65 2e 20 20 48 61 6e 64 6c 65 73 20 41 53 43 49 49 20 28	.file.filename...Handles.ASCII.(
326a0	50 33 29 20 61 6e 64 20 62 69 6e 61 72 79 20 28 50 36 29 20 50 50 4d 20 66 69 6c 65 20 66 6f 72	P3).and.binary.(P6).PPM.file.for
326c0	6d 61 74 73 2e 0a 25 0a 25 09 49 66 20 74 68 65 20 66 69 6c 65 6e 61 6d 65 20 68 61 73 20 6e 6f	mats..%.%.If.the.filename.has.no
326e0	20 65 78 74 65 6e 73 69 6f 6e 2c 20 61 6e 64 20 6f 70 65 6e 20 66 61 69 6c 73 2c 20 61 20 27 2e	.extension,.and.open.fails,.a.'.
32700	70 70 6d 27 20 61 6e 64 0a 25 09 27 2e 70 6e 6d 27 20 65 78 74 65 6e 73 69 6f 6e 20 77 69 6c 6c	ppm'.and.%.'.pnm'.extension.will
32720	20 62 65 20 74 72 69 65 64 2e 0a 25 0a 25 20 53 45 45 20 41 4c 53 4f 3a 09 73 61 76 65 70 70 6d	.be.tried..%.%.SEE.ALSO:.saveppm
32740	20 6c 6f 61 64 70 67 6d 0a 25 0a 25 09 43 6f 70 79 72 69 67 68 74 20 28 63 29 20 50 65 74 65 72	.loadpgm.%.%.Copyright.(c).Peter
32760	20 43 6f 72 6b 65 2c 20 31 39 39 39 20 20 4d 61 63 68 69 6e 65 20 56 69 73 69 6f 6e 20 54 6f 6f	.Corke,.1999..Machine.Vision.Too
32780	6c 62 6f 78 20 66 6f 72 20 4d 61 74 6c 61 62 0a 0a 0a 25 20 50 65 74 65 72 20 43 6f 72 6b 65 20	lbox.for.Matlab...%.Peter.Corke.
327a0	31 39 39 34 0a 0a 66 75 6e 63 74 69 6f 6e 20 5b 52 2c 47 2c 42 5d 20 3d 20 6c 6f 61 64 70 70 6d	1994..function.[R,G,B].=.loadppm
327c0	28 66 69 6c 65 29 0a 09 77 68 69 74 65 20 3d 20 5b 27 20 27 20 39 20 31 30 20 31 33 5d 3b 09 25	(file)..white.=.['.'.9.10.13];.%
327e0	20 73 70 61 63 65 2c 20 74 61 62 2c 20 6c 66 2c 20 63 72 0a 09 77 68 69 74 65 20 3d 20 73 65 74	.space,.tab,.lf,.cr..white.=.set
32800	73 74 72 28 77 68 69 74 65 29 3b 0a 0a 09 66 69 64 20 3d 20 66 6f 70 65 6e 28 66 69 6c 65 2c 20	str(white);...fid.=.fopen(file,.
32820	27 72 27 29 3b 0a 09 69 66 20 66 69 64 20 3c 20 30 2c 0a 09 09 66 69 64 20 3d 20 66 6f 70 65 6e	'r');..if.fid.<.0,...fid.=.fopen
32840	28 5b 66 69 6c 65 20 27 2e 70 70 6d 27 5d 2c 20 27 72 27 29 3b 0a 09 65 6e 64 0a 09 69 66 20 66	([file.'.ppm'],.'r');..end..if.f
32860	69 64 20 3c 20 30 2c 0a 09 09 66 69 64 20 3d 20 66 6f 70 65 6e 28 5b 66 69 6c 65 20 27 2e 70 6e	id.<.0,...fid.=.fopen([file.'.pn
32880	6d 27 5d 2c 20 27 72 27 29 3b 0a 09 65 6e 64 0a 09 69 66 20 66 69 64 20 3c 20 30 2c 0a 09 09 65	m'],.'r');..end..if.fid.<.0,...e
328a0	72 72 6f 72 28 27 43 6f 75 6c 64 6e 27 27 74 20 6f 70 65 6e 20 66 69 6c 65 27 29 3b 0a 09 65 6e	rror('Couldn''t.open.file');..en
328c0	64 0a 09 09 0a 09 6d 61 67 69 63 20 3d 20 66 72 65 61 64 28 66 69 64 2c 20 32 2c 20 27 63 68 61	d.....magic.=.fread(fid,.2,.'cha
328e0	72 27 29 3b 0a 09 77 68 69 6c 65 20 31 0a 09 09 63 20 3d 20 66 72 65 61 64 28 66 69 64 2c 31 2c	r');..while.1...c.=.fread(fid,1,
32900	27 63 68 61 72 27 29 3b 0a 09 09 69 66 20 63 20 3d 3d 20 27 23 27 2c 0a 09 09 09 66 67 65 74 6c	'char');...if.c.==.'#',....fgetl
32920	28 66 69 64 29 3b 0a 09 09 65 6c 73 65 69 66 20 7e 61 6e 79 28 63 20 3d 3d 20 77 68 69 74 65 29	(fid);...elseif.~any(c.==.white)
32940	0a 09 09 09 66 73 65 65 6b 28 66 69 64 2c 20 2d 31 2c 20 27 63 6f 66 27 29 3b 09 25 20 75 6e 70	....fseek(fid,.-1,.'cof');.%.unp
32960	75 74 63 28 29 0a 09 09 09 62 72 65 61 6b 3b 0a 09 09 65 6e 64 0a 09 65 6e 64 0a 09 63 6f 6c 73	utc()....break;...end..end..cols
32980	20 3d 20 66 73 63 61 6e 66 28 66 69 64 2c 20 27 25 64 27 2c 20 31 29 3b 0a 09 77 68 69 6c 65 20	.=.fscanf(fid,.'%d',.1);..while.
329a0	31 0a 09 09 63 20 3d 20 66 72 65 61 64 28 66 69 64 2c 31 2c 27 63 68 61 72 27 29 3b 0a 09 09 69	1...c.=.fread(fid,1,'char');...i
329c0	66 20 63 20 3d 3d 20 27 23 27 2c 0a 09 09 09 66 67 65 74 6c 28 66 69 64 29 3b 0a 09 09 65 6c 73	f.c.==.'#',....fgetl(fid);...els
329e0	65 69 66 20 7e 61 6e 79 28 63 20 3d 3d 20 77 68 69 74 65 29 0a 09 09 09 66 73 65 65 6b 28 66 69	eif.~any(c.==.white)....fseek(fi
32a00	64 2c 20 2d 31 2c 20 27 63 6f 66 27 29 3b 09 25 20 75 6e 70 75 74 63 28 29 0a 09 09 09 62 72 65	d,.-1,.'cof');.%.unputc()....bre
32a20	61 6b 3b 0a 09 09 65 6e 64 0a 09 65 6e 64 0a 09 72 6f 77 73 20 3d 20 66 73 63 61 6e 66 28 66 69	ak;...end..end..rows.=.fscanf(fi
32a40	64 2c 20 27 25 64 27 2c 20 31 29 3b 0a 09 77 68 69 6c 65 20 31 0a 09 09 63 20 3d 20 66 72 65 61	d,.'%d',.1);..while.1...c.=.frea
32a60	64 28 66 69 64 2c 31 2c 27 63 68 61 72 27 29 3b 0a 09 09 69 66 20 63 20 3d 3d 20 27 23 27 2c 0a	d(fid,1,'char');...if.c.==.'#',.
32a80	09 09 09 66 67 65 74 6c 28 66 69 64 29 3b 0a 09 09 65 6c 73 65 69 66 20 7e 61 6e 79 28 63 20 3d	...fgetl(fid);...elseif.~any(c.=
32aa0	3d 20 77 68 69 74 65 29 0a 09 09 09 66 73 65 65 6b 28 66 69 64 2c 20 2d 31 2c 20 27 63 6f 66 27	=.white)....fseek(fid,.-1,.'cof'
32ac0	29 3b 09 25 20 75 6e 70 75 74 63 28 29 0a 09 09 09 62 72 65 61 6b 3b 0a 09 09 65 6e 64 0a 09 65	);.%.unputc()....break;...end..e
32ae0	6e 64 0a 09 6d 61 78 76 61 6c 20 3d 20 66 73 63 61 6e 66 28 66 69 64 2c 20 27 25 64 27 2c 20 31	nd..maxval.=.fscanf(fid,.'%d',.1
32b00	29 3b 0a 09 77 68 69 6c 65 20 31 0a 09 09 63 20 3d 20 66 72 65 61 64 28 66 69 64 2c 31 2c 27 63	);..while.1...c.=.fread(fid,1,'c
32b20	68 61 72 27 29 3b 0a 09 09 69 66 20 63 20 3d 3d 20 27 23 27 2c 0a 09 09 09 66 67 65 74 6c 28 66	har');...if.c.==.'#',....fgetl(f
32b40	69 64 29 3b 0a 09 09 65 6c 73 65 69 66 20 7e 61 6e 79 28 63 20 3d 3d 20 77 68 69 74 65 29 0a 09	id);...elseif.~any(c.==.white)..
32b60	09 09 66 73 65 65 6b 28 66 69 64 2c 20 2d 31 2c 20 27 63 6f 66 27 29 3b 09 25 20 75 6e 70 75 74	..fseek(fid,.-1,.'cof');.%.unput
32b80	63 28 29 0a 09 09 09 62 72 65 61 6b 3b 0a 09 09 65 6e 64 0a 09 65 6e 64 0a 09 69 66 20 6d 61 67	c()....break;...end..end..if.mag
32ba0	69 63 28 31 29 20 3d 3d 20 27 50 27 2c 0a 09 09 69 66 20 6d 61 67 69 63 28 32 29 20 3d 3d 20 27	ic(1).==.'P',...if.magic(2).==.'
32bc0	33 27 2c 0a 09 09 09 64 69 73 70 28 5b 27 41 53 43 49 49 20 50 50 4d 20 66 69 6c 65 20 27 20 6e	3',....disp(['ASCII.PPM.file.'.n
32be0	75 6d 32 73 74 72 28 72 6f 77 73 29 20 27 20 78 20 27 20 6e 75 6d 32 73 74 72 28 63 6f 6c 73 29	um2str(rows).'.x.'.num2str(cols)
32c00	5d 29 0a 09 09 09 49 20 3d 20 66 73 63 61 6e 66 28 66 69 64 2c 20 27 25 64 27 2c 20 5b 63 6f 6c	])....I.=.fscanf(fid,.'%d',.[col
32c20	73 2a 33 20 72 6f 77 73 5d 29 3b 0a 09 09 65 6c 73 65 69 66 20 6d 61 67 69 63 28 32 29 20 3d 3d	s*3.rows]);...elseif.magic(2).==
32c40	20 27 36 27 2c 0a 09 09 09 64 69 73 70 28 5b 27 42 69 6e 61 72 79 20 50 50 4d 20 66 69 6c 65 20	.'6',....disp(['Binary.PPM.file.
32c60	27 20 6e 75 6d 32 73 74 72 28 72 6f 77 73 29 20 27 20 78 20 27 20 6e 75 6d 32 73 74 72 28 63 6f	'.num2str(rows).'.x.'.num2str(co
32c80	6c 73 29 5d 29 0a 09 09 09 69 66 20 6d 61 78 76 61 6c 20 3d 3d 20 31 2c 0a 09 09 09 09 66 6d 74	ls)])....if.maxval.==.1,.....fmt
32ca0	20 3d 20 27 75 6e 69 6e 74 31 27 3b 0a 09 09 09 65 6c 73 65 69 66 20 6d 61 78 76 61 6c 20 3d 3d	.=.'unint1';....elseif.maxval.==
32cc0	20 31 35 2c 0a 09 09 09 09 66 6d 74 20 3d 20 27 75 69 6e 74 34 27 3b 0a 09 09 09 65 6c 73 65 69	.15,.....fmt.=.'uint4';....elsei
32ce0	66 20 6d 61 78 76 61 6c 20 3d 3d 20 32 35 35 2c 0a 09 09 09 09 66 6d 74 20 3d 20 27 75 69 6e 74	f.maxval.==.255,.....fmt.=.'uint
32d00	38 27 3b 0a 09 09 09 65 6c 73 65 69 66 20 6d 61 78 76 61 6c 20 3d 3d 20 32 5e 33 32 2d 31 2c 0a	8';....elseif.maxval.==.2^32-1,.
32d20	09 09 09 09 66 6d 74 20 3d 20 27 75 69 6e 74 33 32 27 3b 0a 09 09 09 65 6e 64 0a 09 09 09 49 20	....fmt.=.'uint32';....end....I.
32d40	3d 20 66 72 65 61 64 28 66 69 64 2c 20 5b 63 6f 6c 73 2a 33 20 72 6f 77 73 5d 2c 20 66 6d 74 29	=.fread(fid,.[cols*3.rows],.fmt)
32d60	3b 0a 09 09 65 6c 73 65 0a 09 09 09 64 69 73 70 28 27 4e 6f 74 20 61 20 50 50 4d 20 66 69 6c 65	;...else....disp('Not.a.PPM.file
32d80	27 29 3b 0a 09 09 65 6e 64 0a 09 65 6e 64 0a 09 25 0a 09 25 20 6e 6f 77 20 74 68 65 20 6d 61 74	');...end..end..%..%.now.the.mat
32da0	72 69 78 20 68 61 73 20 69 6e 74 65 72 6c 65 61 76 65 64 20 63 6f 6c 75 6d 6e 73 20 6f 66 20 52	rix.has.interleaved.columns.of.R
32dc0	2c 20 47 2c 20 42 0a 09 25 0a 09 49 20 3d 20 49 27 3b 0a 09 73 69 7a 65 28 49 29 0a 09 52 20 3d	,.G,.B..%..I.=.I';..size(I)..R.=
32de0	20 49 28 3a 2c 31 3a 33 3a 28 63 6f 6c 73 2a 33 29 29 3b 0a 09 47 20 3d 20 49 28 3a 2c 32 3a 33	.I(:,1:3:(cols*3));..G.=.I(:,2:3
32e00	3a 28 63 6f 6c 73 2a 33 29 29 3b 0a 09 42 20 3d 20 49 28 3a 2c 33 3a 33 3a 28 63 6f 6c 73 2a 33	:(cols3));..B.=.I(:,3:3:(cols3
32e20	29 29 3b 0a 09 66 63 6c 6f 73 65 28 66 69 64 29 3b 0a 27 20 5d 3b 27 5d 29 3b 0a 20 20 20 0a 09	));..fclose(fid);.'.];']);......
32e40	65 6e 64 3b 0a 0a 65 6e 64 3b 0a 0a 0a 0a 0a 69 66 20 30 2c 0a 0a 25 20 52 65 73 74 6f 72 69 6e	end;..end;.....if.0,..%.Restorin
32e60	67 20 74 68 65 20 66 65 61 74 75 72 65 20 6c 6f 63 61 74 69 6f 6e 73 3a 0a 0a 66 6f 72 20 6b 6b	g.the.feature.locations:..for.kk
32e80	20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 78 5f 27 20 6e 75	.=.1:n_ima,........eval(['x_'.nu
32ea0	6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 78 5f 73 61 76 65 5f 27 20 6e 75 6d 32 73 74 72 28 6b	m2str(kk).'.=.x_save_'.num2str(k
32ec0	6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 0a 65 6e 64 3b 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c	k).';']);.....end;..fprintf(1,'\
32ee0	6e 46 69 6e 61 6c 20 72 75 6e 20 28 77 69 74 68 20 74 68 65 20 72 65 61 6c 20 64 61 74 61 29 5c	nFinal.run.(with.the.real.data)\
32f00	6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 20 20 27 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d	n');.fprintf(1,..'--------------
32f20	2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 5c 6e 27 29 3b 0a 0a 61 63 74 69 76 65 5f 69 6d	----------------\n');..active_im
32f40	61 67 65 73 20 3d 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 5f 73 61 76 65 3b 0a 69 6e 64 5f 61	ages.=.active_images_save;.ind_a
32f60	63 74 69 76 65 20 3d 20 69 6e 64 5f 61 63 74 69 76 65 5f 73 61 76 65 3b 0a 0a 67 6f 5f 63 61 6c	ctive.=.ind_active_save;..go_cal
32f80	69 62 5f 6f 70 74 69 6d 3b 0a 20 20 20 0a 66 63 5f 6c 69 73 74 20 3d 20 5b 66 63 5f 6c 69 73 74	ib_optim;.....fc_list.=.[fc_list
32fa0	20 66 63 5d 3b 0a 63 63 5f 6c 69 73 74 20 3d 20 5b 63 63 5f 6c 69 73 74 20 63 63 5d 3b 0a 6b 63	.fc];.cc_list.=.[cc_list.cc];.kc
32fc0	5f 6c 69 73 74 20 3d 20 5b 6b 63 5f 6c 69 73 74 20 6b 63 5d 3b 0a 61 63 74 69 76 65 5f 69 6d 61	_list.=.[kc_list.kc];.active_ima
32fe0	67 65 73 5f 6c 69 73 74 20 3d 20 5b 61 63 74 69 76 65 5f 69 6d 61 67 65 73 5f 6c 69 73 74 20 61	ges_list.=.[active_images_list.a
33000	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 73 61 76 65 69 6e 72 2e 6d 00 00 00 00 00 00 00 00 00	TOOLBOX_calib/saveinr.m.........
33020	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
33040	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
33060	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
33080	20 20 20 31 36 36 35 20 20 37 30 32 34 30 33 37 33 35 34 20 20 31 30 32 35 37 00 20 00 00 00 00	...1665..7024037354..10257......
330a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
330c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
330e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
33100	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
33120	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
33140	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
33160	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
33180	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
331a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
331c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
331e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
33200	25 53 41 56 45 49 4e 52 09 57 72 69 74 65 20 61 6e 20 49 4e 52 49 4d 41 47 45 20 66 6f 72 6d 61	%SAVEINR.Write.an.INRIMAGE.forma
33220	74 20 66 69 6c 65 0a 25 0a 25 09 53 41 56 45 49 4e 52 28 66 69 6c 65 6e 61 6d 65 2c 20 69 6d 29	t.file.%.%.SAVEINR(filename,.im)
33240	0a 25 0a 25 09 53 61 76 65 73 20 74 68 65 20 73 70 65 63 69 66 69 65 64 20 69 6d 61 67 65 20 61	.%.%.Saves.the.specified.image.a
33260	72 72 61 79 20 69 6e 20 61 20 49 4e 52 49 41 20 69 6d 61 67 65 20 66 6f 72 6d 61 74 20 66 69 6c	rray.in.a.INRIA.image.format.fil
33280	65 2e 0a 25 0a 25 20 53 45 45 20 41 4c 53 4f 3a 09 6c 6f 61 64 69 6e 72 0a 25 0a 25 09 43 6f 70	e..%.%.SEE.ALSO:.loadinr.%.%.Cop
332a0	79 72 69 67 68 74 20 28 63 29 20 50 65 74 65 72 20 43 6f 72 6b 65 2c 20 31 39 39 39 20 20 4d 61	yright.(c).Peter.Corke,.1999..Ma
332c0	63 68 69 6e 65 20 56 69 73 69 6f 6e 20 54 6f 6f 6c 62 6f 78 20 66 6f 72 20 4d 61 74 6c 61 62 0a	chine.Vision.Toolbox.for.Matlab.
332e0	0a 25 20 50 65 74 65 72 20 43 6f 72 6b 65 20 31 39 39 36 0a 0a 66 75 6e 63 74 69 6f 6e 20 73 61	.%.Peter.Corke.1996..function.sa
33300	76 65 69 6e 72 28 66 6e 61 6d 65 2c 20 69 6d 29 0a 0a 09 66 69 64 20 3d 20 66 6f 70 65 6e 28 66	veinr(fname,.im)...fid.=.fopen(f
33320	6e 61 6d 65 2c 20 27 77 27 29 3b 0a 09 5b 72 2c 63 5d 20 3d 20 73 69 7a 65 28 69 6d 27 29 3b 0a	name,.'w');..[r,c].=.size(im');.
33340	0a 09 25 20 62 75 69 6c 64 20 74 68 65 20 68 65 61 64 65 72 0a 09 68 64 72 20 3d 20 5b 5d 3b 0a	..%.build.the.header..hdr.=.[];.
33360	09 73 20 3d 20 73 70 72 69 6e 74 66 28 27 23 49 4e 52 49 4d 41 47 45 2d 34 23 7b 5c 6e 27 29 3b	.s.=.sprintf('#INRIMAGE-4#{\n');
33380	0a 09 68 64 72 20 3d 20 5b 68 64 72 20 73 5d 3b 0a 09 73 20 3d 20 73 70 72 69 6e 74 66 28 27 58	..hdr.=.[hdr.s];..s.=.sprintf('X
333a0	44 49 4d 3d 25 64 5c 6e 27 2c 63 29 3b 0a 09 68 64 72 20 3d 20 5b 68 64 72 20 73 5d 3b 0a 09 73	DIM=%d\n',c);..hdr.=.[hdr.s];..s
333c0	20 3d 20 73 70 72 69 6e 74 66 28 27 59 44 49 4d 3d 25 64 5c 6e 27 2c 72 29 3b 0a 09 68 64 72 20	.=.sprintf('YDIM=%d\n',r);..hdr.
333e0	3d 20 5b 68 64 72 20 73 5d 3b 0a 09 73 20 3d 20 73 70 72 69 6e 74 66 28 27 5a 44 49 4d 3d 31 5c	=.[hdr.s];..s.=.sprintf('ZDIM=1\
33400	6e 27 29 3b 0a 09 68 64 72 20 3d 20 5b 68 64 72 20 73 5d 3b 0a 09 73 20 3d 20 73 70 72 69 6e 74	n');..hdr.=.[hdr.s];..s.=.sprint
33420	66 28 27 56 44 49 4d 3d 31 5c 6e 27 29 3b 0a 09 68 64 72 20 3d 20 5b 68 64 72 20 73 5d 3b 0a 09	f('VDIM=1\n');..hdr.=.[hdr.s];..
33440	73 20 3d 20 73 70 72 69 6e 74 66 28 27 54 59 50 45 3d 66 6c 6f 61 74 5c 6e 27 29 3b 0a 09 68 64	s.=.sprintf('TYPE=float\n');..hd
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34660	65 63 6b 5f 61 63 74 69 76 65 5f 69 6d 61 67 65 73 3b 0a 0a 69 66 20 7e 65 78 69 73 74 28 5b 27	eck_active_images;..if.~exist(['
34680	78 5f 27 20 6e 75 6d 32 73 74 72 28 69 6e 64 5f 61 63 74 69 76 65 28 31 29 29 20 5d 29 2c 0a 20	x_'.num2str(ind_active(1)).]),..
346a0	20 20 63 6c 69 63 6b 5f 63 61 6c 69 62 3b 0a 65 6e 64 3b 0a 0a 0a 66 70 72 69 6e 74 66 28 31 2c	..click_calib;.end;...fprintf(1,
346c0	27 5c 6e 49 6e 69 74 69 61 6c 69 7a 61 74 69 6f 6e 20 6f 66 20 74 68 65 20 69 6e 74 72 69 6e 73	'\nInitialization.of.the.intrins
346e0	69 63 20 70 61 72 61 6d 65 74 65 72 73 20 2d 20 4e 75 6d 62 65 72 20 6f 66 20 69 6d 61 67 65 73	ic.parameters.-.Number.of.images
34700	3a 20 25 64 5c 6e 27 2c 6c 65 6e 67 74 68 28 69 6e 64 5f 61 63 74 69 76 65 29 29 3b 0a 0a 0a 25	:.%d\n',length(ind_active));...%
34720	20 49 6e 69 74 69 61 6c 69 7a 65 20 74 68 65 20 68 6f 6d 6f 67 72 61 70 68 69 65 73 3a 0a 0a 66	.Initialize.the.homographies:..f
34740	6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a 20 20 20 65 76 61 6c 28 5b 27 78 5f 6b 6b 20	or.kk.=.1:n_ima,....eval(['x_kk.
34760	3d 20 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 65 76 61 6c	=.x_'.num2str(kk).';']);....eval
34780	28 5b 27 58 5f 6b 6b 20 3d 20 58 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b	(['X_kk.=.X_'.num2str(kk).';']);
347a0	0a 20 20 20 69 66 20 28 69 73 6e 61 6e 28 78 5f 6b 6b 28 31 2c 31 29 29 29 2c 0a 20 20 20 20 20	....if.(isnan(x_kk(1,1))),......
347c0	20 69 66 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 6b 6b 29 2c 0a 20 20 20 20 20 20 20 20 20	.if.active_images(kk),..........
347e0	66 70 72 69 6e 74 66 28 31 2c 27 57 41 52 4e 49 4e 47 3a 20 43 61 6e 6e 6f 74 20 63 61 6c 69 62	fprintf(1,'WARNING:.Cannot.calib
34800	72 61 74 65 20 77 69 74 68 20 69 6d 61 67 65 20 25 64 2e 20 4e 65 65 64 20 74 6f 20 65 78 74 72	rate.with.image.%d..Need.to.extr
34820	61 63 74 20 67 72 69 64 20 63 6f 72 6e 65 72 73 20 66 69 72 73 74 2e 5c 6e 27 2c 6b 6b 29 0a 20	act.grid.corners.first.\n',kk)..
34840	20 20 20 20 20 20 20 20 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 53 65 74 20	........fprintf(1,'.........Set.
34860	61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 25 64 29 3d 31 3b 20 61 6e 64 20 72 75 6e 20 45 78 74	active_images(%d)=1;.and.run.Ext
34880	72 61 63 74 20 67 72 69 64 20 63 6f 72 6e 65 72 73 2e 5c 6e 27 2c 6b 6b 29 0a 20 20 20 20 20 20	ract.grid.corners.\n',kk).......
348a0	65 6e 64 3b 0a 20 20 20 20 20 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 6b 6b 29 20 3d 20 30	end;.......active_images(kk).=.0
348c0	3b 0a 20 20 20 65 6e 64 3b 0a 20 20 20 69 66 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 6b 6b	;....end;....if.active_images(kk
348e0	29 2c 0a 20 20 20 20 20 20 65 76 61 6c 28 5b 27 48 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20	),.......eval(['H_'.num2str(kk).
34900	27 20 3d 20 63 6f 6d 70 75 74 65 5f 68 6f 6d 6f 67 72 61 70 68 79 28 78 5f 6b 6b 2c 58 5f 6b 6b	'.=.compute_homography(x_kk,X_kk
34920	28 31 3a 32 2c 3a 29 29 3b 27 5d 29 3b 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 65 76 61 6c	(1:2,:));']);....else.......eval
34940	28 5b 27 48 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 4e 61 4e 2a 6f 6e 65 73 28	(['H_'.num2str(kk).'.=.NaN*ones(
34960	33 2c 33 29 3b 27 5d 29 3b 0a 20 20 20 65 6e 64 3b 0a 65 6e 64 3b 0a 0a 63 68 65 63 6b 5f 61 63	3,3);']);....end;.end;..check_ac
34980	74 69 76 65 5f 69 6d 61 67 65 73 3b 0a 0a 25 20 69 6e 69 74 69 61 6c 20 67 75 65 73 73 20 66 6f	tive_images;..%.initial.guess.fo
349a0	72 20 70 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 20 61 6e 64 20 64 69 73 74 6f 72 74 69 6f 6e	r.principal.point.and.distortion
349c0	3a 0a 0a 69 66 20 7e 65 78 69 73 74 28 27 6e 78 27 29 2c 20 5b 6e 79 2c 6e 78 5d 20 3d 20 73 69	:..if.~exist('nx'),.[ny,nx].=.si
349e0	7a 65 28 49 29 3b 20 65 6e 64 3b 0a 0a 63 5f 69 6e 69 74 20 3d 20 5b 6e 78 3b 6e 79 5d 2f 32 20	ze(I);.end;..c_init.=.[nx;ny]/2.
34a00	2d 20 30 2e 35 3b 20 25 20 69 6e 69 74 69 61 6c 69 7a 65 20 61 74 20 74 68 65 20 63 65 6e 74 65	-.0.5;.%.initialize.at.the.cente
34a20	72 20 6f 66 20 74 68 65 20 69 6d 61 67 65 0a 6b 5f 69 6e 69 74 20 3d 20 5b 30 3b 30 3b 30 3b 30	r.of.the.image.k_init.=.[0;0;0;0
34a40	5d 3b 20 25 20 69 6e 69 74 69 61 6c 69 7a 65 20 74 6f 20 7a 65 72 6f 20 28 6e 6f 20 64 69 73 74	];.%.initialize.to.zero.(no.dist
34a60	6f 72 74 69 6f 6e 29 0a 0a 0a 0a 25 20 43 6f 6d 70 75 74 65 20 65 78 70 6c 69 63 69 74 65 6c 79	ortion)....%.Compute.explicitely
34a80	20 74 68 65 20 66 6f 63 61 6c 20 6c 65 6e 67 74 68 20 75 73 69 6e 67 20 61 6c 6c 20 74 68 65 20	.the.focal.length.using.all.the.
34aa0	28 6d 75 74 75 61 6c 6c 79 20 6f 72 74 68 6f 67 6f 6e 61 6c 29 20 76 61 6e 69 73 68 69 6e 67 20	(mutually.orthogonal).vanishing.
34ac0	70 6f 69 6e 74 73 0a 25 20 6e 6f 74 65 3a 20 54 68 65 20 76 61 6e 69 68 69 6e 67 20 70 6f 69 6e	points.%.note:.The.vanihing.poin
34ae0	74 73 20 61 72 65 20 68 69 64 64 65 6e 20 69 6e 20 74 68 65 20 70 6c 61 6e 61 72 20 63 6f 6c 6c	ts.are.hidden.in.the.planar.coll
34b00	69 6e 65 61 74 69 6f 6e 73 20 48 5f 6b 6b 0a 0a 41 20 3d 20 5b 5d 3b 0a 62 20 3d 20 5b 5d 3b 0a	ineations.H_kk..A.=.[];.b.=.[];.
34b20	0a 25 20 6d 61 74 72 69 78 20 74 68 61 74 20 73 75 62 74 72 61 63 74 20 74 68 65 20 70 72 69 6e	.%.matrix.that.subtract.the.prin
34b40	63 69 70 61 6c 20 70 6f 69 6e 74 3a 0a 53 75 62 5f 63 63 20 3d 20 5b 31 20 30 20 2d 63 5f 69 6e	cipal.point:.Sub_cc.=.[1.0.-c_in
34b60	69 74 28 31 29 3b 30 20 31 20 2d 63 5f 69 6e 69 74 28 32 29 3b 30 20 30 20 31 5d 3b 0a 0a 66 6f	it(1);0.1.-c_init(2);0.0.1];..fo
34b80	72 20 6b 6b 3d 31 3a 6e 5f 69 6d 61 2c 0a 20 20 20 0a 20 20 20 69 66 20 61 63 74 69 76 65 5f 69	r.kk=1:n_ima,........if.active_i
34ba0	6d 61 67 65 73 28 6b 6b 29 2c 0a 20 20 20 20 20 20 0a 20 20 20 09 65 76 61 6c 28 5b 27 48 6b 6b	mages(kk),............eval(['Hkk
34bc0	20 3d 20 48 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 0a 20 20	.=.H_'.num2str(kk).';']);.......
34be0	20 09 48 6b 6b 20 3d 20 53 75 62 5f 63 63 20 2a 20 48 6b 6b 3b 20 20 20 0a 20 20 20 0a 20 20 20	..Hkk.=.Sub_cc.*.Hkk;...........
34c00	09 25 20 45 78 74 72 61 63 74 20 76 61 6e 69 73 68 69 6e 67 20 70 6f 69 6e 74 73 20 28 64 69 72	.%.Extract.vanishing.points.(dir
34c20	65 63 74 20 61 6e 64 20 64 69 61 67 6f 6e 61 6c 73 29 3a 0a 20 20 20 0a 20 20 20 09 56 5f 68 6f	ect.and.diagonals):.........V_ho
34c40	72 69 5f 70 69 78 20 3d 20 48 6b 6b 28 3a 2c 31 29 3b 0a 20 20 20 09 56 5f 76 65 72 74 5f 70 69	ri_pix.=.Hkk(:,1);.....V_vert_pi
34c60	78 20 3d 20 48 6b 6b 28 3a 2c 32 29 3b 0a 20 20 20 09 56 5f 64 69 61 67 31 5f 70 69 78 20 3d 20	x.=.Hkk(:,2);.....V_diag1_pix.=.
34c80	28 48 6b 6b 28 3a 2c 31 29 2b 48 6b 6b 28 3a 2c 32 29 29 2f 32 3b 0a 20 20 20 09 56 5f 64 69 61	(Hkk(:,1)+Hkk(:,2))/2;.....V_dia
34ca0	67 32 5f 70 69 78 20 3d 20 28 48 6b 6b 28 3a 2c 31 29 2d 48 6b 6b 28 3a 2c 32 29 29 2f 32 3b 0a	g2_pix.=.(Hkk(:,1)-Hkk(:,2))/2;.
34cc0	20 20 20 0a 20 20 20 09 56 5f 68 6f 72 69 5f 70 69 78 20 3d 20 56 5f 68 6f 72 69 5f 70 69 78 2f	........V_hori_pix.=.V_hori_pix/
34ce0	6e 6f 72 6d 28 56 5f 68 6f 72 69 5f 70 69 78 29 3b 0a 20 20 20 09 56 5f 76 65 72 74 5f 70 69 78	norm(V_hori_pix);.....V_vert_pix
34d00	20 3d 20 56 5f 76 65 72 74 5f 70 69 78 2f 6e 6f 72 6d 28 56 5f 76 65 72 74 5f 70 69 78 29 3b 0a	.=.V_vert_pix/norm(V_vert_pix);.
34d20	20 20 20 09 56 5f 64 69 61 67 31 5f 70 69 78 20 3d 20 56 5f 64 69 61 67 31 5f 70 69 78 2f 6e 6f	....V_diag1_pix.=.V_diag1_pix/no
34d40	72 6d 28 56 5f 64 69 61 67 31 5f 70 69 78 29 3b 0a 20 20 20 09 56 5f 64 69 61 67 32 5f 70 69 78	rm(V_diag1_pix);.....V_diag2_pix
34d60	20 3d 20 56 5f 64 69 61 67 32 5f 70 69 78 2f 6e 6f 72 6d 28 56 5f 64 69 61 67 32 5f 70 69 78 29	.=.V_diag2_pix/norm(V_diag2_pix)
34d80	3b 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 61 31 20 3d 20 56 5f 68 6f 72 69 5f 70 69 78 28 31	;..............a1.=.V_hori_pix(1
34da0	29 3b 0a 20 20 20 20 20 20 62 31 20 3d 20 56 5f 68 6f 72 69 5f 70 69 78 28 32 29 3b 0a 20 20 20	);.......b1.=.V_hori_pix(2);....
34dc0	20 20 20 63 31 20 3d 20 56 5f 68 6f 72 69 5f 70 69 78 28 33 29 3b 0a 20 20 20 20 20 20 0a 20 20	...c1.=.V_hori_pix(3);..........
34de0	20 09 61 32 20 3d 20 56 5f 76 65 72 74 5f 70 69 78 28 31 29 3b 0a 20 20 20 09 62 32 20 3d 20 56	..a2.=.V_vert_pix(1);.....b2.=.V
34e00	5f 76 65 72 74 5f 70 69 78 28 32 29 3b 0a 20 20 20 09 63 32 20 3d 20 56 5f 76 65 72 74 5f 70 69	_vert_pix(2);.....c2.=.V_vert_pi
34e20	78 28 33 29 3b 0a 20 20 20 09 0a 20 20 20 09 61 33 20 3d 20 56 5f 64 69 61 67 31 5f 70 69 78 28	x(3);..........a3.=.V_diag1_pix(
34e40	31 29 3b 0a 20 20 20 09 62 33 20 3d 20 56 5f 64 69 61 67 31 5f 70 69 78 28 32 29 3b 0a 20 20 20	1);.....b3.=.V_diag1_pix(2);....
34e60	09 63 33 20 3d 20 56 5f 64 69 61 67 31 5f 70 69 78 28 33 29 3b 0a 20 20 20 09 0a 20 20 20 09 61	.c3.=.V_diag1_pix(3);..........a
34e80	34 20 3d 20 56 5f 64 69 61 67 32 5f 70 69 78 28 31 29 3b 0a 20 20 20 09 62 34 20 3d 20 56 5f 64	4.=.V_diag2_pix(1);.....b4.=.V_d
34ea0	69 61 67 32 5f 70 69 78 28 32 29 3b 0a 20 20 20 09 63 34 20 3d 20 56 5f 64 69 61 67 32 5f 70 69	iag2_pix(2);.....c4.=.V_diag2_pi
34ec0	78 28 33 29 3b 0a 20 09 0a 20 09 20 20 20 41 5f 6b 6b 20 3d 20 5b 61 31 2a 61 32 20 20 62 31 2a	x(3);.........A_kk.=.[a1a2..b1
34ee0	62 32 3b 0a 09 20 20 20 20 09 20 20 20 20 61 33 2a 61 34 20 20 62 33 2a 62 34 5d 3b 0a 20 20 20	b2;...........a3a4..b3b4];....
34f00	0a 20 20 20 09 62 5f 6b 6b 20 3d 20 2d 5b 63 31 2a 63 32 3b 63 33 2a 63 34 5d 3b 0a 20 20 20 09	.....b_kk.=.-[c1c2;c3c4];.....
34f20	0a 09 09 0a 20 20 20 09 41 20 3d 20 5b 41 3b 41 5f 6b 6b 5d 3b 0a 20 20 20 09 62 20 3d 20 5b 62	........A.=.[A;A_kk];.....b.=.[b
34f40	3b 62 5f 6b 6b 5d 3b 0a 20 20 20 20 20 20 0a 20 20 20 65 6e 64 3b 0a 20 20 20 0a 65 6e 64 3b 0a	;b_kk];...........end;.....end;.
34f60	0a 0a 25 20 75 73 65 20 61 6c 6c 20 74 68 65 20 76 61 6e 69 73 68 69 6e 67 20 70 6f 69 6e 74 73	..%.use.all.the.vanishing.points
34f80	20 74 6f 20 65 73 74 69 6d 61 74 65 20 66 6f 63 61 6c 20 6c 65 6e 67 74 68 3a 0a 0a 66 5f 69 6e	.to.estimate.focal.length:..f_in
34fa0	69 74 20 3d 20 73 71 72 74 28 61 62 73 28 31 2e 2f 28 69 6e 76 28 41 27 2a 41 29 2a 41 27 2a 62	it.=.sqrt(abs(1./(inv(A'A)A'*b
34fc0	29 29 29 3b 20 25 20 69 66 20 75 73 69 6e 67 20 61 20 74 77 6f 2d 66 6f 63 61 6c 20 6d 6f 64 65	)));.%.if.using.a.two-focal.mode
34fe0	6c 20 66 6f 72 20 69 6e 69 74 69 61 6c 20 67 75 65 73 73 0a 0a 25 66 5f 69 6e 69 74 20 3d 20 73	l.for.initial.guess..%f_init.=.s
35000	71 72 74 28 62 27 2a 28 73 75 6d 28 41 27 29 27 29 20 2f 20 28 62 27 2a 62 29 29 20 2a 20 6f 6e	qrt(b'(sum(A')')./.(b'b)).*.on
35020	65 73 28 32 2c 31 29 3b 20 25 20 69 66 20 73 69 6e 67 6c 65 20 66 6f 63 61 6c 20 6c 65 6e 67 74	es(2,1);.%.if.single.focal.lengt
35040	68 20 6d 6f 64 65 6c 20 69 73 20 75 73 65 64 0a 0a 0a 25 20 47 6c 6f 62 61 6c 20 63 61 6c 69 62	h.model.is.used...%.Global.calib
35060	72 61 74 69 6f 6e 20 6d 61 74 72 69 78 20 28 69 6e 69 74 69 61 6c 20 67 75 65 73 73 29 3a 0a 20	ration.matrix.(initial.guess):..
35080	20 20 09 0a 4b 4b 20 3d 20 5b 66 5f 69 6e 69 74 28 31 29 20 30 20 63 5f 69 6e 69 74 28 31 29 3b	....KK.=.[f_init(1).0.c_init(1);
350a0	30 20 66 5f 69 6e 69 74 28 32 29 20 63 5f 69 6e 69 74 28 32 29 3b 20 30 20 30 20 31 5d 3b 0a 69	0.f_init(2).c_init(2);.0.0.1];.i
350c0	6e 76 5f 4b 4b 20 3d 20 69 6e 76 28 4b 4b 29 3b 0a 0a 0a 63 63 20 3d 20 63 5f 69 6e 69 74 3b 0a	nv_KK.=.inv(KK);...cc.=.c_init;.
350e0	66 63 20 3d 20 66 5f 69 6e 69 74 3b 0a 6b 63 20 3d 20 6b 5f 69 6e 69 74 3b 0a 0a 0a 66 70 72 69	fc.=.f_init;.kc.=.k_init;...fpri
35100	6e 74 66 28 31 2c 27 5c 6e 5c 6e 43 61 6c 69 62 72 61 74 69 6f 6e 20 70 61 72 61 6d 65 74 65 72	ntf(1,'\n\nCalibration.parameter
35120	73 20 61 66 74 65 72 20 69 6e 69 74 69 61 6c 69 7a 61 74 69 6f 6e 3a 5c 6e 5c 6e 27 29 3b 0a 66	s.after.initialization:\n\n');.f
35140	70 72 69 6e 74 66 28 31 2c 27 46 6f 63 61 6c 20 4c 65 6e 67 74 68 3a 20 20 20 20 20 66 63 20 3d	printf(1,'Focal.Length:.....fc.=
35160	20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 66 63 29 3b 0a 66 70 72 69 6e 74	.[.%3.5f...%3.5f]\n',fc);.fprint
35180	66 28 31 2c 27 50 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 3a 20 20 63 63 20 3d 20 5b 20 25 33	f(1,'Principal.point:..cc.=.[.%3
351a0	2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 63 63 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27	.5f...%3.5f]\n',cc);.fprintf(1,'
351c0	44 69 73 74 6f 72 74 69 6f 6e 3a 20 20 20 20 20 20 20 6b 63 20 3d 20 5b 20 25 33 2e 35 66 20 20	Distortion:.......kc.=.[.%3.5f..
351e0	20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 5c 6e 27 2c 6b 63 29	.%3.5f...%3.5f...%3.5f]\n\n',kc)
35200	3b 0a 2a 6f 6e 65 73 28 31 2c 33 29 29 3b 0a 64 78 64 31 64 6f 6d 20 3d 20 64 78 64 31 64 6f 6d	;.*ones(1,3));.dxd1dom.=.dxd1dom
35220	20 2b 20 63 6f 65 66 66 2e 2a 20 64 78 64 6f 6d 3b 0a 0a 64 78 64 31 64 54 20 3d 20 7a 65 72 6f	.+.coeff.*.dxdom;..dxd1dT.=.zero
35240	73 28 32 2a 6e 2c 33 29 3b 0a 64 78 64 31 64 54 28 31 3a 32 3a 65 6e 64 2c 3a 29 20 3d 20 28 78	s(2*n,3);.dxd1dT(1:2:end,:).=.(x
35260	28 31 2c 3a 29 27 2a 6f 6e 65 73 28 31 2c 33 29 29 20 2e 2a 20 64 63 64 69 73 74 64 54 3b 0a 64	(1,:)'ones(1,3))...dcdistdT;.d
35280	78 64 31 64 54 28 32 3a 32 3a 65 6e 64 2c 3a 29 20 3d 20 28 78 28 32 2c 3a 29 27 2a 6f 6e 65 73	xd1dT(2:2:end,:).=.(x(2,:)'*ones
352a0	28 31 2c 33 29 29 20 2e 2a 20 64 63 64 69 73 74 64 54 3b 0a 64 78 64 31 64 54 20 3d 20 64 78 64	(1,3))..*.dcdistdT;.dxd1dT.=.dxd
352c0	31 64 54 20 2b 20 63 6f 65 66 66 2e 2a 20 64 78 64 54 3b 0a 0a 64 78 64 31 64 6b 20 3d 20 7a 65	1dT.+.coeff.*.dxdT;..dxd1dk.=.ze
352e0	72 6f 73 28 32 2a 6e 2c 34 29 3b 0a 64 78 64 31 64 6b 28 31 3a 32 3a 65 6e 64 2c 3a 29 20 3d 20	ros(2*n,4);.dxd1dk(1:2:end,:).=.
35300	28 78 28 31 2c 3a 29 27 2a 6f 6e 65 73 28 31 2c 34 29 29 20 2e 2a 20 64 63 64 69 73 74 64 6b 3b	(x(1,:)'ones(1,4))...dcdistdk;
35320	0a 64 78 64 31 64 6b 28 32 3a 32 3a 65 6e 64 2c 3a 29 20 3d 20 28 78 28 32 2c 3a 29 27 2a 6f 6e	.dxd1dk(2:2:end,:).=.(x(2,:)'*on
35340	65 73 28 31 2c 34 29 29 20 2e 2a 20 64 63 64 69 73 74 64 6b 3b 0a 0a 0a 0a 25 20 74 61 6e 67 65	es(1,4))..*.dcdistdk;....%.tange
35360	6e 74 69 61 6c 20 64 69 73 74 6f 72 74 69 6f 6e 3a 0a 0a 61 31 20 3d 20 32 2e 2a 78 28 31 2c 3a	ntial.distortion:..a1.=.2.*x(1,:
35380	29 2e 2a 78 28 32 2c 3a 29 3b 0a 61 32 20 3d 20 72 32 20 2b 20 32 2a 78 28 31 2c 3a 29 2e 5e 32	).x(2,:);.a2.=.r2.+.2x(1,:).^2
353a0	3b 0a 61 33 20 3d 20 72 32 20 2b 20 32 2a 78 28 32 2c 3a 29 2e 5e 32 3b 0a 0a 64 65 6c 74 61 5f	;.a3.=.r2.+.2*x(2,:).^2;..delta_
353c0	78 20 3d 20 5b 6b 28 33 29 2a 61 31 20 2b 20 6b 28 34 29 2a 61 32 20 3b 0a 20 20 20 6b 28 33 29	x.=.[k(3)a1.+.k(4)a2.;....k(3)
353e0	20 2a 20 61 33 20 2b 20 6b 28 34 29 2a 61 31 5d 3b 0a 0a 0a 64 64 65 6c 74 61 5f 78 64 78 20 3d	..a3.+.k(4)a1];...ddelta_xdx.=
35400	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 6d 65 61 6e 5f 73 74 64 5f 72 6f 62 75 73 74 2e 6d 00	TOOLBOX_calib/mean_std_robust.m.
35420	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
35440	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
35460	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
35480	20 20 20 20 31 34 30 20 20 37 30 32 34 30 33 37 33 33 37 20 20 31 31 37 34 34 00 20 00 00 00 00	....140..7024037337..11744......
354a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
354c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
354e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
35500	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
35520	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
35540	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
35560	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
35580	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
355a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
355c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
355e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
35600	66 75 6e 63 74 69 6f 6e 20 5b 6d 2c 73 5d 20 3d 20 6d 65 61 6e 5f 73 74 64 5f 72 6f 62 75 73 74	function.[m,s].=.mean_std_robust
35620	28 78 29 3b 0a 0a 78 20 3d 20 78 28 3a 29 3b 0a 0a 6d 20 3d 20 6d 65 64 69 61 6e 28 78 29 3b 0a	(x);..x.=.x(:);..m.=.median(x);.
35640	0a 73 20 3d 20 6d 65 64 69 61 6e 28 61 62 73 28 78 20 2d 20 6d 29 29 2a 31 2e 34 38 33 36 3b 0a	.s.=.median(abs(x.-.m))*1.4836;.
35660	65 2e 6d 00 00 00 07 70 00 02 36 b5 00 20 00 11 63 68 65 63 6b 5f 70 6c 61 6e 61 72 69 74 79 2e	e.m....p..6.....check_planarity.
35680	6d 00 6e 63 00 00 07 88 00 02 36 b6 00 1c 00 0e 63 6f 6e 76 65 72 74 5f 6f 75 6c 75 2e 6d 00 72	m.nc......6.....convert_oulu.m.r
356a0	00 00 07 9c 00 02 36 b7 00 18 00 0b 6e 6f 72 6d 61 6c 69 7a 65 2e 6d 00 00 00 07 b4 00 02 36 b8	......6.....normalize.m.......6.
356c0	00 1c 00 0e 72 69 67 69 64 5f 6d 6f 74 69 6f 6e 2e 6d 00 6d 00 00 07 d8 00 02 36 b9 00 28 00 18	....rigid_motion.m.m......6..(..
356e0	63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 5f 69 6e 69 74 2e 6d 00 00 07 d8 00 00 08 00	compute_extrinsic_init.m........
35700	00 02 36 ba 00 28 00 1a 63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 5f 72 65 66 69 6e 65	..6..(..compute_extrinsic_refine
35720	2e 6d 00 00 00 00 0a 00 00 02 36 bb 00 24 00 15 67 6f 5f 63 61 6c 69 62 5f 6f 70 74 69 6d 5f 69	.m........6..$..go_calib_optim_i
35740	74 65 72 2e 6d 00 00 70 54 68 65 20 63 61 6d 65 72 61 20 6d 61 74 72 69 78 20 28 63 6f 6e 74 61	ter.m..pThe.camera.matrix.(conta
35760	69 6e 69 6e 67 20 66 63 20 61 6e 64 20 63 63 29 0a 25 0a 25 4d 65 74 68 6f 64 3a 20 43 6f 6d 70	ining.fc.and.cc).%.%Method:.Comp
35780	75 74 65 73 20 74 68 65 20 70 6c 61 6e 61 72 20 68 6f 6d 6f 67 72 61 70 68 69 65 73 20 48 5f 31	utes.the.planar.homographies.H_1
357a0	2c 20 48 5f 32 2c 20 48 5f 33 2c 20 2e 2e 2e 20 61 6e 64 20 63 6f 6d 70 75 74 65 73 0a 25 20 20	,.H_2,.H_3,.....and.computes.%..
357c0	20 20 20 20 20 20 74 68 65 20 66 6f 63 61 6c 20 6c 65 6e 67 74 68 20 66 63 20 66 72 6f 6d 20 6f	......the.focal.length.fc.from.o
357e0	72 74 68 6f 67 6f 6e 61 6c 20 76 61 6e 69 73 68 69 6e 67 20 70 6f 69 6e 74 73 20 63 6f 6e 73 74	rthogonal.vanishing.points.const
35800	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 72 75 6e 5f 65 72 72 6f 72 5f 61 6e 61 6c 79 73 69 73	TOOLBOX_calib/run_error_analysis
35820	2e 6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	.m..............................
35840	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
35860	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
35880	20 20 20 32 30 30 32 20 20 37 30 32 34 30 33 37 33 35 33 20 20 31 32 35 31 31 00 20 00 00 00 00	...2002..7024037353..12511......
358a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
358c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
358e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
35900	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
35920	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
35940	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
35960	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
35980	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
359a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
359c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
359e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
35a00	25 25 25 20 50 72 6f 67 72 61 6d 20 74 68 61 74 20 6c 61 75 6e 63 68 73 20 74 68 65 20 63 6f 6d	%%%.Program.that.launchs.the.com
35a20	70 6c 65 74 65 20 0a 0a 66 6f 72 20 4e 5f 69 6d 61 5f 61 63 74 69 76 65 20 3d 20 31 3a 33 30 2c	plete...for.N_ima_active.=.1:30,
35a40	0a 20 20 20 0a 20 20 20 65 72 72 6f 72 5f 61 6e 61 6c 79 73 69 73 3b 0a 20 20 20 0a 65 6e 64 3b	........error_analysis;.....end;
35a60	0a 0a 0a 0a 72 65 74 75 72 6e 3b 0a 0a 0a 66 20 3d 20 5b 5d 3b 0a 66 5f 73 74 64 20 3d 20 5b 5d	....return;...f.=.[];.f_std.=.[]
35a80	3b 0a 0a 63 20 3d 20 5b 5d 3b 0a 63 5f 73 74 64 20 3d 20 5b 5d 3b 0a 0a 6b 20 3d 20 5b 5d 3b 0a	;..c.=.[];.c_std.=.[];..k.=.[];.
35aa0	6b 5f 73 74 64 20 3d 20 5b 5d 3b 0a 0a 4e 4e 20 3d 20 33 30 3b 0a 0a 66 6f 72 20 72 72 20 3d 20	k_std.=.[];..NN.=.30;..for.rr.=.
35ac0	31 3a 4e 4e 2c 0a 20 20 20 0a 20 20 20 6c 6f 61 64 28 5b 27 43 61 6c 69 62 5f 41 63 63 75 72 61	1:NN,........load(['Calib_Accura
35ae0	63 69 65 73 5f 27 20 6e 75 6d 32 73 74 72 28 72 72 29 5d 29 3b 0a 20 20 20 0a 20 20 20 5b 6d 31	cies_'.num2str(rr)]);........[m1
35b00	2c 73 31 5d 20 3d 20 6d 65 61 6e 5f 73 74 64 5f 72 6f 62 75 73 74 28 66 63 5f 6c 69 73 74 28 31	,s1].=.mean_std_robust(fc_list(1
35b20	2c 3a 29 29 3b 0a 20 20 20 5b 6d 32 2c 73 32 5d 20 3d 20 6d 65 61 6e 5f 73 74 64 5f 72 6f 62 75	,:));....[m2,s2].=.mean_std_robu
35b40	73 74 28 66 63 5f 6c 69 73 74 28 32 2c 3a 29 29 3b 0a 20 20 20 0a 20 20 20 66 20 3d 20 5b 66 20	st(fc_list(2,:));........f.=.[f.
35b60	5b 6d 31 3b 6d 32 5d 5d 3b 0a 20 20 20 66 5f 73 74 64 20 3d 20 5b 66 5f 73 74 64 20 5b 73 31 3b	[m1;m2]];....f_std.=.[f_std.[s1;
35b80	73 32 5d 5d 3b 0a 20 20 20 0a 20 20 20 5b 6d 31 2c 73 31 5d 20 3d 20 6d 65 61 6e 5f 73 74 64 5f	s2]];........[m1,s1].=.mean_std_
35ba0	72 6f 62 75 73 74 28 63 63 5f 6c 69 73 74 28 31 2c 3a 29 29 3b 0a 20 20 20 5b 6d 32 2c 73 32 5d	robust(cc_list(1,:));....[m2,s2]
35bc0	20 3d 20 6d 65 61 6e 5f 73 74 64 5f 72 6f 62 75 73 74 28 63 63 5f 6c 69 73 74 28 32 2c 3a 29 29	.=.mean_std_robust(cc_list(2,:))
35be0	3b 0a 20 20 20 0a 20 20 20 63 20 3d 20 5b 63 20 5b 6d 31 3b 6d 32 5d 5d 3b 0a 20 20 20 63 5f 73	;........c.=.[c.[m1;m2]];....c_s
35c00	74 64 20 3d 20 5b 63 5f 73 74 64 20 5b 73 31 3b 73 32 5d 5d 3b 0a 20 20 20 20 20 20 0a 20 20 20	td.=.[c_std.[s1;s2]];...........
35c20	5b 6d 31 2c 73 31 5d 20 3d 20 6d 65 61 6e 5f 73 74 64 5f 72 6f 62 75 73 74 28 6b 63 5f 6c 69 73	[m1,s1].=.mean_std_robust(kc_lis
35c40	74 28 31 2c 3a 29 29 3b 0a 20 20 20 5b 6d 32 2c 73 32 5d 20 3d 20 6d 65 61 6e 5f 73 74 64 5f 72	t(1,:));....[m2,s2].=.mean_std_r
35c60	6f 62 75 73 74 28 6b 63 5f 6c 69 73 74 28 32 2c 3a 29 29 3b 0a 20 20 20 5b 6d 33 2c 73 33 5d 20	obust(kc_list(2,:));....[m3,s3].
35c80	3d 20 6d 65 61 6e 5f 73 74 64 5f 72 6f 62 75 73 74 28 6b 63 5f 6c 69 73 74 28 33 2c 3a 29 29 3b	=.mean_std_robust(kc_list(3,:));
35ca0	0a 20 20 20 5b 6d 34 2c 73 34 5d 20 3d 20 6d 65 61 6e 5f 73 74 64 5f 72 6f 62 75 73 74 28 6b 63	....[m4,s4].=.mean_std_robust(kc
35cc0	5f 6c 69 73 74 28 34 2c 3a 29 29 3b 0a 20 20 20 0a 20 20 20 6b 20 3d 20 5b 6b 20 5b 6d 31 3b 6d	_list(4,:));........k.=.[k.[m1;m
35ce0	32 3b 6d 33 3b 6d 34 5d 5d 3b 0a 20 20 20 6b 5f 73 74 64 20 3d 20 5b 6b 5f 73 74 64 20 5b 73 31	2;m3;m4]];....k_std.=.[k_std.[s1
35d00	3b 73 32 3b 73 33 3b 73 34 5d 5d 3b 0a 20 20 20 0a 65 6e 64 3b 0a 0a 66 69 67 75 72 65 28 31 29	;s2;s3;s4]];.....end;..figure(1)
35d20	3b 0a 65 72 72 6f 72 62 61 72 28 5b 31 3a 4e 4e 3b 31 3a 4e 4e 5d 27 2c 66 27 2c 66 5f 73 74 64	;.errorbar([1:NN;1:NN]',f',f_std
35d40	27 29 3b 0a 66 69 67 75 72 65 28 32 29 3b 0a 65 72 72 6f 72 62 61 72 28 5b 31 3a 4e 4e 3b 31 3a	');.figure(2);.errorbar([1:NN;1:
35d60	4e 4e 5d 27 2c 63 27 2c 63 5f 73 74 64 27 29 3b 0a 66 69 67 75 72 65 28 33 29 3b 0a 65 72 72 6f	NN]',c',c_std');.figure(3);.erro
35d80	72 62 61 72 28 5b 31 3a 4e 4e 3b 31 3a 4e 4e 3b 31 3a 4e 4e 3b 31 3a 4e 4e 5d 27 2c 6b 27 2c 6b	rbar([1:NN;1:NN;1:NN;1:NN]',k',k
35da0	5f 73 74 64 27 29 3b 0a 0a 66 69 67 75 72 65 28 34 29 3b 0a 73 65 6d 69 6c 6f 67 79 28 66 5f 73	_std');..figure(4);.semilogy(f_s
35dc0	74 64 27 29 3b 0a 0a 66 69 67 75 72 65 28 35 29 3b 0a 73 65 6d 69 6c 6f 67 79 28 63 5f 73 74 64	td');..figure(5);.semilogy(c_std
35de0	27 29 3b 0a 0a 66 69 67 75 72 65 28 36 29 3b 0a 73 65 6d 69 6c 6f 67 79 28 6b 5f 73 74 64 27 29	');..figure(6);.semilogy(k_std')
35e00	3b 0a 73 2e 0a 25 49 6e 20 74 68 65 20 66 75 74 75 72 65 2c 20 61 20 6d 6f 72 65 20 67 65 6e 65	;.s..%In.the.future,.a.more.gene
35e20	72 61 6c 20 66 75 6e 63 74 69 6f 6e 20 77 69 6c 6c 20 62 65 20 74 68 65 72 65 20 28 77 6f 72 6b	ral.function.will.be.there.(work
35e40	69 6e 67 20 77 69 74 68 20 33 44 20 72 69 67 73 20 61 73 20 77 65 6c 6c 29 2e 0a 0a 0a 0a 63 68	ing.with.3D.rigs.as.well).....ch
35e60	65 63 6b 5f 61 63 74 69 76 65 5f 69 6d 61 67 65 73 3b 0a 0a 69 66 20 7e 65 78 69 73 74 28 5b 27	eck_active_images;..if.~exist(['
35e80	78 5f 27 20 6e 75 6d 32 73 74 72 28 69 6e 64 5f 61 63 74 69 76 65 28 31 29 29 20 5d 29 2c 0a 20	x_'.num2str(ind_active(1)).]),..
35ea0	20 20 63 6c 69 63 6b 5f 63 61 6c 69 62 3b 0a 65 6e 64 3b 0a 0a 0a 66 70 72 69 6e 74 66 28 31 2c	..click_calib;.end;...fprintf(1,
35ec0	27 5c 6e 49 6e 69 74 69 61 6c 69 7a 61 74 69 6f 6e 20 6f 66 20 74 68 65 20 69 6e 74 72 69 6e 73	'\nInitialization.of.the.intrins
35ee0	69 63 20 70 61 72 61 6d 65 74 65 72 73 20 2d 20 4e 75 6d 62 65 72 20 6f 66 20 69 6d 61 67 65 73	ic.parameters.-.Number.of.images
35f00	3a 20 25 64 5c 6e 27 2c 6c 65 6e 67 74 68 28 69 6e 64 5f 61 63 74 69 76 65 29 29 3b 0a 0a 0a 25	:.%d\n',length(ind_active));...%
35f20	20 49 6e 69 74 69 61 6c 69 7a 65 20 74 68 65 20 68 6f 6d 6f 67 72 61 70 68 69 65 73 3a 0a 0a 66	.Initialize.the.homographies:..f
35f40	6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a 20 20 20 65 76 61 6c 28 5b 27 78 5f 6b 6b 20	or.kk.=.1:n_ima,....eval(['x_kk.
35f60	3d 20 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 65 76 61 6c	=.x_'.num2str(kk).';']);....eval
35f80	28 5b 27 58 5f 6b 6b 20 3d 20 58 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b	(['X_kk.=.X_'.num2str(kk).';']);
35fa0	0a 20 20 20 69 66 20 28 69 73 6e 61 6e 28 78 5f 6b 6b 28 31 2c 31 29 29 29 2c 0a 20 20 20 20 20	....if.(isnan(x_kk(1,1))),......
35fc0	20 69 66 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 6b 6b 29 2c 0a 20 20 20 20 20 20 20 20 20	.if.active_images(kk),..........
35fe0	66 70 72 69 6e 74 66 28 31 2c 27 57 41 52 4e 49 4e 47 3a 20 43 61 6e 6e 6f 74 20 63 61 6c 69 62	fprintf(1,'WARNING:.Cannot.calib
36000	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 68 65 63 6b 5f 63 6f 6e 76 65 72 67 65 6e 63 65 2e	TOOLBOX_calib/check_convergence.
36020	6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	m...............................
36040	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
36060	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
36080	20 20 20 20 33 33 35 20 20 37 30 32 34 30 33 37 33 30 34 20 20 31 32 32 30 37 00 20 00 00 00 00	....335..7024037304..12207......
360a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
360c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
360e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
36100	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
36120	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
36140	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
36160	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
36180	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
361a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
361c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
361e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
36200	25 25 25 20 52 65 70 6c 61 79 20 74 68 65 20 73 65 74 20 6f 66 20 73 6f 6c 75 74 69 6f 6e 20 76	%%%.Replay.the.set.of.solution.v
36220	65 63 74 6f 72 73 3a 0a 0a 4e 5f 69 74 65 72 20 3d 20 73 69 7a 65 28 70 61 72 61 6d 5f 6c 69 73	ectors:..N_iter.=.size(param_lis
36240	74 2c 32 29 3b 0a 0a 66 6f 72 20 6e 6e 20 3d 20 31 3a 4e 5f 69 74 65 72 2c 0a 20 20 20 0a 20 20	t,2);..for.nn.=.1:N_iter,.......
36260	20 73 6f 6c 75 74 69 6f 6e 20 3d 20 70 61 72 61 6d 5f 6c 69 73 74 28 3a 2c 6e 6e 29 3b 0a 20 20	.solution.=.param_list(:,nn);...
36280	20 0a 20 20 20 65 78 74 72 61 63 74 5f 70 61 72 61 6d 65 74 65 72 73 3b 0a 20 20 20 63 6f 6d 70	.....extract_parameters;....comp
362a0	5f 65 72 72 6f 72 5f 63 61 6c 69 62 3b 0a 20 20 20 0a 20 20 20 65 78 74 5f 63 61 6c 69 62 3b 0a	_error_calib;........ext_calib;.
362c0	20 20 20 0a 20 20 20 64 72 61 77 6e 6f 77 3b 0a 20 20 20 0a 20 20 20 0a 65 6e 64 3b 0a 6d 00 00	.......drawnow;.........end;.m..
362e0	00 00 0a 00 00 02 36 bb 00 24 00 15 67 6f 5f 63 61 6c 69 62 5f 6f 70 74 69 6d 5f 69 74 65 72 2e	......6..$..go_calib_optim_iter.
36300	6d 00 00 ba 20 3d 20 6d 65 61 6e 5f 73 74 64 5f 72 6f 62 75 73 74 28 66 63 5f 6c 69 73 74 28 31	m....=.mean_std_robust(fc_list(1
36320	2c 3a 29 29 3b 0a 20 20 20 5b 6d 32 2c 73 32 5d 20 3d 20 6d 65 61 6e 5f 73 74 64 5f 72 6f 62 75	,:));....[m2,s2].=.mean_std_robu
36340	73 74 28 66 63 5f 6c 69 73 74 28 32 2c 3a 29 29 3b 0a 20 20 20 0a 20 20 20 66 20 3d 20 5b 66 20	st(fc_list(2,:));........f.=.[f.
36360	5b 6d 31 3b 6d 32 5d 5d 3b 0a 20 20 20 66 5f 73 74 64 20 3d 20 5b 66 5f 73 74 64 20 5b 73 31 3b	[m1;m2]];....f_std.=.[f_std.[s1;
36380	73 32 5d 5d 3b 0a 20 20 20 0a 20 20 20 5b 6d 31 2c 73 31 5d 20 3d 20 6d 65 61 6e 5f 73 74 64 5f	s2]];........[m1,s1].=.mean_std_
363a0	72 6f 62 75 73 74 28 63 63 5f 6c 69 73 74 28 31 2c 3a 29 29 3b 0a 20 20 20 5b 6d 32 2c 73 32 5d	robust(cc_list(1,:));....[m2,s2]
363c0	20 3d 20 6d 65 61 6e 5f 73 74 64 5f 72 6f 62 75 73 74 28 63 63 5f 6c 69 73 74 28 32 2c 3a 29 29	.=.mean_std_robust(cc_list(2,:))
363e0	3b 0a 20 20 20 0a 20 20 20 63 20 3d 20 5b 63 20 5b 6d 31 3b 6d 32 5d 5d 3b 0a 20 20 20 63 5f 73	;........c.=.[c.[m1;m2]];....c_s
36400	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 68 65 63 6b 5f 70 6c 61 6e 61 72 69 74 79 2e 6d 00	TOOLBOX_calib/check_planarity.m.
36420	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
36440	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
36460	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
36480	20 20 20 31 30 30 35 20 20 37 30 32 34 30 33 37 33 30 35 20 20 31 31 37 33 30 00 20 00 00 00 00	...1005..7024037305..11730......
364a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
364c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
364e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
36500	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
36520	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
36540	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
36560	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
36580	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
365a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
365c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
365e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
36600	25 20 43 68 65 63 6b 20 74 68 65 20 70 6c 61 6e 61 72 69 74 79 20 6f 66 20 61 20 73 74 72 75 63	%.Check.the.planarity.of.a.struc
36620	74 75 72 65 3a 0a 0a 58 20 3d 20 58 5f 31 3b 0a 4e 20 3d 20 73 69 7a 65 28 58 2c 32 29 3b 0a 0a	ture:..X.=.X_1;.N.=.size(X,2);..
36640	25 58 28 33 2c 3a 29 20 3d 20 30 2e 31 2a 72 61 6e 64 6e 28 31 2c 4e 29 3b 0a 0a 6f 6d 20 3d 20	%X(3,:).=.0.1*randn(1,N);..om.=.
36660	72 61 6e 64 28 33 2c 31 29 3b 0a 54 20 3d 20 31 30 2a 72 61 6e 64 28 33 2c 31 29 3b 0a 52 20 3d	rand(3,1);.T.=.10*rand(3,1);.R.=
36680	20 72 6f 64 72 69 67 75 65 73 28 6f 6d 29 3b 0a 0a 58 20 3d 20 52 20 2a 20 58 20 20 2b 20 54 2a	.rodrigues(om);..X.=.R..X..+.T
366a0	6f 6e 65 73 28 31 2c 4e 29 3b 0a 0a 0a 0a 0a 0a 0a 4e 20 3d 20 73 69 7a 65 28 58 2c 32 29 3b 0a	ones(1,N);.......N.=.size(X,2);.
366c0	58 5f 6d 65 61 6e 20 3d 20 6d 65 61 6e 28 58 27 29 27 3b 0a 0a 59 20 3d 20 58 20 2d 20 28 58 5f	X_mean.=.mean(X')';..Y.=.X.-.(X_
366e0	6d 65 61 6e 2a 6f 6e 65 73 28 31 2c 4e 29 29 3b 0a 0a 59 59 20 3d 20 59 2a 59 27 3b 0a 0a 5b 55	meanones(1,N));..YY.=.YY';..[U
36700	2c 53 2c 56 5d 20 3d 20 73 76 64 28 59 59 29 3b 0a 0a 72 20 3d 20 53 28 33 2c 33 29 2f 53 28 32	,S,V].=.svd(YY);..r.=.S(3,3)/S(2
36720	2c 32 29 3b 0a 0a 25 20 69 66 20 72 20 69 73 20 6c 65 73 73 20 74 68 61 6e 20 31 65 2d 34 3a 0a	,2);..%.if.r.is.less.than.1e-4:.
36740	0a 52 5f 74 72 61 6e 73 66 6f 72 6d 20 3d 20 56 27 3b 0a 54 5f 74 72 61 6e 73 66 6f 72 6d 20 3d	.R_transform.=.V';.T_transform.=
36760	20 2d 28 56 27 29 2a 58 5f 6d 65 61 6e 3b 0a 0a 0a 25 20 54 68 72 65 73 68 20 66 6f 72 20 72 3a	.-(V')*X_mean;...%.Thresh.for.r:
36780	20 31 65 2d 34 0a 0a 58 5f 6e 65 77 20 3d 20 52 5f 74 72 61 6e 73 66 6f 72 6d 2a 58 20 2b 20 54	.1e-4..X_new.=.R_transform*X.+.T
367a0	5f 74 72 61 6e 73 66 6f 72 6d 2a 6f 6e 65 73 28 31 2c 4e 29 3b 0a 0a 0a 25 20 49 66 20 58 63 20	_transform*ones(1,N);...%.If.Xc.
367c0	3d 20 52 63 20 2a 20 58 5f 6e 65 77 20 2b 20 54 63 2c 20 74 68 65 6e 20 58 63 20 3d 20 52 63 20	=.Rc.*.X_new.+.Tc,.then.Xc.=.Rc.
367e0	2a 20 52 5f 74 72 61 6e 73 66 6f 72 6d 20 2a 20 58 20 2b 20 54 63 20 2b 20 54 5f 74 72 61 6e 73	.R_transform..X.+.Tc.+.T_trans
36800	66 6f 72 6d 0a 5b 63 5f 73 74 64 20 5b 73 31 3b 73 32 5d 5d 3b 0a 20 20 20 20 20 20 0a 20 20 20	form.[c_std.[s1;s2]];...........
36820	5b 6d 31 2c 73 31 5d 20 3d 20 6d 65 61 6e 5f 73 74 64 5f 72 6f 62 75 73 74 28 6b 63 5f 6c 69 73	[m1,s1].=.mean_std_robust(kc_lis
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36a80	20 20 20 31 30 30 32 20 20 37 30 32 34 30 33 37 33 31 35 20 20 31 31 33 31 32 00 20 00 00 00 00	...1002..7024037315..11312......
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36e20	5b 6d 31 2c 73 31 5d 20 3d 20 6d 65 61 6e 5f 73 74 64 5f 72 6f 62 75 73 74 28 6b 63 5f 6c 69 73	[m1,s1].=.mean_std_robust(kc_lis
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36ea0	0a 20 20 20 5b 6d 34 2c 73 34 5d 20 3d 20 6d 65 61 6e 5f 73 74 64 5f 72 6f 62 75 73 74 28 6b 63	....[m4,s4].=.mean_std_robust(kc
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37000	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 6e 6f 72 6d 61 6c 69 7a 65 2e 6d 00 00 00 00 00 00 00	TOOLBOX_calib/normalize.m.......
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371c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
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37200	66 75 6e 63 74 69 6f 6e 20 5b 78 6e 5d 20 3d 20 6e 6f 72 6d 61 6c 69 7a 65 28 78 5f 6b 6b 2c 66	function.[xn].=.normalize(x_kk,f
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373a0	6f 6e 20 74 68 65 20 69 6d 61 67 65 20 70 6c 61 6e 65 20 28 61 20 32 58 4e 20 6d 61 74 72 69 78	on.the.image.plane.(a.2XN.matrix
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374e0	70 5f 64 69 73 74 6f 72 74 69 6f 6e 5f 6f 75 6c 75 28 78 5f 64 69 73 74 6f 72 74 2c 6b 63 29 3b	p_distortion_oulu(x_distort,kc);
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37520	3b 0a 65 72 72 6f 72 62 61 72 28 5b 31 3a 4e 4e 3b 31 3a 4e 4e 5d 27 2c 66 27 2c 66 5f 73 74 64	;.errorbar([1:NN;1:NN]',f',f_std
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37660	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
37680	20 20 20 33 31 37 37 20 20 37 30 32 34 30 33 37 33 35 30 20 20 31 31 32 36 37 00 20 00 00 00 00	...3177..7024037350..11267......
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37800	66 75 6e 63 74 69 6f 6e 20 5b 59 2c 64 59 64 6f 6d 2c 64 59 64 54 5d 20 3d 20 72 69 67 69 64 5f	function.[Y,dYdom,dYdT].=.rigid_
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378c0	55 54 3a 20 58 3a 20 33 44 20 73 74 72 75 63 74 75 72 65 20 69 6e 20 74 68 65 20 77 6f 72 6c 64	UT:.X:.3D.structure.in.the.world
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37a60	6f 6d 20 28 28 33 4e 29 78 33 20 6d 61 74 72 69 78 29 0a 25 20 20 20 20 20 20 20 20 64 59 64 54	om.((3N)x3.matrix).%........dYdT
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37aa0	6f 20 54 20 28 28 33 4e 29 78 33 20 6d 61 74 72 69 78 29 0a 25 0a 25 44 65 66 69 6e 69 74 69 6f	o.T.((3N)x3.matrix).%.%Definitio
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37b40	6e 20 74 68 65 20 63 61 6d 65 72 61 20 72 65 66 65 72 65 6e 63 65 20 66 72 61 6d 65 20 69 73 3a	n.the.camera.reference.frame.is:
37b60	20 59 20 3d 20 52 2a 58 20 2b 20 54 0a 25 77 68 65 72 65 20 52 20 69 73 20 74 68 65 20 72 6f 74	.Y.=.R*X.+.T.%where.R.is.the.rot
37b80	61 74 69 6f 6e 20 6d 61 74 72 69 78 20 63 6f 72 72 65 73 70 6f 6e 64 69 6e 67 20 74 6f 20 74 68	ation.matrix.corresponding.to.th
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37c00	64 72 69 67 75 65 73 2e 6d 3a 20 43 6f 6d 70 75 74 65 73 20 74 68 65 20 72 6f 74 61 74 69 6f 6e	drigues.m:.Computes.the.rotation
37c20	20 6d 61 74 72 69 78 20 63 6f 72 72 65 73 70 6f 6e 64 69 6e 67 20 74 6f 20 61 20 72 6f 74 61 74	.matrix.corresponding.to.a.rotat
37c40	69 6f 6e 20 76 65 63 74 6f 72 0a 0a 0a 0a 69 66 20 6e 61 72 67 69 6e 20 3c 20 33 2c 0a 20 20 20	ion.vector....if.nargin.<.3,....
37c60	54 20 3d 20 7a 65 72 6f 73 28 33 2c 31 29 3b 0a 20 20 20 69 66 20 6e 61 72 67 69 6e 20 3c 20 32	T.=.zeros(3,1);....if.nargin.<.2
37c80	2c 0a 20 20 20 20 20 20 6f 6d 20 3d 20 7a 65 72 6f 73 28 33 2c 31 29 3b 0a 20 20 20 20 20 20 69	,.......om.=.zeros(3,1);.......i
37ca0	66 20 6e 61 72 67 69 6e 20 3c 20 31 2c 0a 20 20 20 20 20 20 20 20 20 65 72 72 6f 72 28 27 4e 65	f.nargin.<.1,..........error('Ne
37cc0	65 64 20 61 74 20 6c 65 61 73 74 20 61 20 33 44 20 73 74 72 75 63 74 75 72 65 20 61 73 20 69 6e	ed.at.least.a.3D.structure.as.in
37ce0	70 75 74 20 28 69 6e 20 72 69 67 69 64 5f 6d 6f 74 69 6f 6e 2e 6d 29 27 29 3b 0a 20 20 20 20 20	put.(in.rigid_motion.m)');......
37d00	20 20 20 20 72 65 74 75 72 6e 3b 0a 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 65 6e 64 3b 0a 65	....return;.......end;....end;.e
37d20	6e 64 3b 0a 0a 0a 5b 52 2c 64 52 64 6f 6d 5d 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 29 3b	nd;...[R,dRdom].=.rodrigues(om);
37d40	0a 0a 5b 6d 2c 6e 5d 20 3d 20 73 69 7a 65 28 58 29 3b 0a 0a 59 20 3d 20 52 2a 58 20 2b 20 54 2a	..[m,n].=.size(X);..Y.=.RX.+.T
37d60	6f 6e 65 73 28 31 2c 6e 29 3b 0a 0a 69 66 20 6e 61 72 67 6f 75 74 20 3e 20 31 2c 0a 20 20 20 0a	ones(1,n);..if.nargout.>.1,.....
37d80	0a 64 59 64 52 20 3d 20 7a 65 72 6f 73 28 33 2a 6e 2c 39 29 3b 0a 64 59 64 54 20 3d 20 7a 65 72	.dYdR.=.zeros(3*n,9);.dYdT.=.zer
37da0	6f 73 28 33 2a 6e 2c 33 29 3b 0a 0a 64 59 64 52 28 31 3a 33 3a 65 6e 64 2c 31 3a 33 3a 65 6e 64	os(3*n,3);..dYdR(1:3:end,1:3:end
37dc0	29 20 3d 20 20 58 27 3b 0a 64 59 64 52 28 32 3a 33 3a 65 6e 64 2c 32 3a 33 3a 65 6e 64 29 20 3d	).=..X';.dYdR(2:3:end,2:3:end).=
37de0	20 20 58 27 3b 0a 64 59 64 52 28 33 3a 33 3a 65 6e 64 2c 33 3a 33 3a 65 6e 64 29 20 3d 20 20 58	..X';.dYdR(3:3:end,3:3:end).=..X
37e00	27 3b 0a 0a 64 59 64 54 28 31 3a 33 3a 65 6e 64 2c 31 29 20 3d 20 20 6f 6e 65 73 28 6e 2c 31 29	';..dYdT(1:3:end,1).=..ones(n,1)
37e20	3b 0a 64 59 64 54 28 32 3a 33 3a 65 6e 64 2c 32 29 20 3d 20 20 6f 6e 65 73 28 6e 2c 31 29 3b 0a	;.dYdT(2:3:end,2).=..ones(n,1);.
37e40	64 59 64 54 28 33 3a 33 3a 65 6e 64 2c 33 29 20 3d 20 20 6f 6e 65 73 28 6e 2c 31 29 3b 0a 0a 64	dYdT(3:3:end,3).=..ones(n,1);..d
37e60	59 64 6f 6d 20 3d 20 64 59 64 52 20 2a 20 64 52 64 6f 6d 3b 0a 0a 65 6e 64 3b 0a 0a 0a 0a 0a 74	Ydom.=.dYdR.*.dRdom;..end;.....t
37e80	72 61 63 74 20 67 72 69 64 20 63 6f 72 6e 65 72 73 2e 5c 6e 27 2c 6b 6b 29 0a 20 20 20 20 20 20	ract.grid.corners.\n',kk).......
37ea0	65 6e 64 3b 0a 20 20 20 20 20 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 6b 6b 29 20 3d 20 30	end;.......active_images(kk).=.0
37ec0	3b 0a 20 20 20 65 6e 64 3b 0a 20 20 20 69 66 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 6b 6b	;....end;....if.active_images(kk
37ee0	29 2c 0a 20 20 20 20 20 20 65 76 61 6c 28 5b 27 48 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20	),.......eval(['H_'.num2str(kk).
37f00	27 20 3d 20 63 6f 6d 70 75 74 65 5f 68 6f 6d 6f 67 72 61 70 68 79 28 78 5f 6b 6b 2c 58 5f 6b 6b	'.=.compute_homography(x_kk,X_kk
37f20	28 31 3a 32 2c 3a 29 29 3b 27 5d 29 3b 0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 65 76 61 6c	(1:2,:));']);....else.......eval
37f40	28 5b 27 48 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 4e 61 4e 2a 6f 6e 65 73 28	(['H_'.num2str(kk).'.=.NaN*ones(
37f60	33 2c 33 29 3b 27 5d 29 3b 0a 20 20 20 65 6e 64 3b 0a 65 6e 64 3b 0a 0a 63 68 65 63 6b 5f 61 63	3,3);']);....end;.end;..check_ac
37f80	74 69 76 65 5f 69 6d 61 67 65 73 3b 0a 0a 25 20 69 6e 69 74 69 61 6c 20 67 75 65 73 73 20 66 6f	tive_images;..%.initial.guess.fo
37fa0	72 20 70 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 20 61 6e 64 20 64 69 73 74 6f 72 74 69 6f 6e	r.principal.point.and.distortion
37fc0	3a 0a 0a 69 66 20 7e 65 78 69 73 74 28 27 6e 78 27 29 2c 20 5b 6e 79 2c 6e 78 5d 20 3d 20 73 69	:..if.~exist('nx'),.[ny,nx].=.si
37fe0	7a 65 28 49 29 3b 20 65 6e 64 3b 0a 0a 63 5f 69 6e 69 74 20 3d 20 5b 6e 78 3b 6e 79 5d 2f 32 20	ze(I);.end;..c_init.=.[nx;ny]/2.
38000	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 5f	TOOLBOX_calib/compute_extrinsic_
38020	69 6e 69 74 2e 6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	init.m..........................
38040	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
38060	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
38080	20 20 20 36 36 34 30 20 20 37 30 32 34 30 33 37 33 31 31 20 20 31 33 33 36 36 00 20 00 00 00 00	...6640..7024037311..13366......
380a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
380c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
380e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
38100	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
38120	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
38140	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
38160	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
38180	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
381a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
381c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
381e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
38200	66 75 6e 63 74 69 6f 6e 20 5b 6f 6d 63 6b 6b 2c 54 63 6b 6b 2c 52 63 6b 6b 5d 20 3d 20 63 6f 6d	function.[omckk,Tckk,Rckk].=.com
38220	70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 5f 69 6e 69 74 28 78 5f 6b 6b 2c 58 5f 6b 6b 2c 66 63	pute_extrinsic_init(x_kk,X_kk,fc
38240	2c 63 63 2c 6b 63 29 2c 0a 0a 25 63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 0a 25 0a 25	,cc,kc),..%compute_extrinsic.%.%
38260	5b 6f 6d 63 6b 6b 2c 54 63 6b 6b 2c 52 63 6b 6b 5d 20 3d 20 63 6f 6d 70 75 74 65 5f 65 78 74 72	[omckk,Tckk,Rckk].=.compute_extr
38280	69 6e 73 69 63 5f 69 6e 69 74 28 78 5f 6b 6b 2c 58 5f 6b 6b 2c 66 63 2c 63 63 2c 6b 63 29 0a 25	insic_init(x_kk,X_kk,fc,cc,kc).%
382a0	0a 25 43 6f 6d 70 75 74 65 73 20 74 68 65 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74	.%Computes.the.extrinsic.paramet
382c0	65 72 73 20 61 74 74 61 63 68 65 64 20 74 6f 20 61 20 33 44 20 73 74 72 75 63 74 75 72 65 20 58	ers.attached.to.a.3D.structure.X
382e0	5f 6b 6b 20 67 69 76 65 6e 20 69 74 73 20 70 72 6f 6a 65 63 74 69 6f 6e 0a 25 6f 6e 20 74 68 65	_kk.given.its.projection.%on.the
38300	20 69 6d 61 67 65 20 70 6c 61 6e 65 20 78 5f 6b 6b 20 61 6e 64 20 74 68 65 20 69 6e 74 72 69 6e	.image.plane.x_kk.and.the.intrin
38320	73 69 63 20 63 61 6d 65 72 61 20 70 61 72 61 6d 65 74 65 72 73 20 66 63 2c 20 63 63 20 61 6e 64	sic.camera.parameters.fc,.cc.and
38340	20 6b 63 2e 0a 25 57 6f 72 6b 73 20 77 69 74 68 20 70 6c 61 6e 61 72 20 61 6e 64 20 6e 6f 6e 2d	.kc..%Works.with.planar.and.non-
38360	70 6c 61 6e 61 72 20 73 74 72 75 63 74 75 72 65 73 2e 0a 25 0a 25 49 4e 50 55 54 3a 20 78 5f 6b	planar.structures..%.%INPUT:.x_k
38380	6b 3a 20 46 65 61 74 75 72 65 20 6c 6f 63 61 74 69 6f 6e 73 20 6f 6e 20 74 68 65 20 69 6d 61 67	k:.Feature.locations.on.the.imag
383a0	65 73 0a 25 20 20 20 20 20 20 20 58 5f 6b 6b 3a 20 43 6f 72 72 65 73 70 6f 6e 64 69 6e 67 20 67	es.%.......X_kk:.Corresponding.g
383c0	72 69 64 20 63 6f 6f 72 64 69 6e 61 74 65 73 0a 25 20 20 20 20 20 20 20 66 63 3a 20 43 61 6d 65	rid.coordinates.%.......fc:.Came
383e0	72 61 20 66 6f 63 61 6c 20 6c 65 6e 67 74 68 0a 25 20 20 20 20 20 20 20 63 63 3a 20 50 72 69 6e	ra.focal.length.%.......cc:.Prin
38400	63 69 70 61 6c 20 70 6f 69 6e 74 20 63 6f 6f 72 64 69 6e 61 74 65 73 0a 25 20 20 20 20 20 20 20	cipal.point.coordinates.%.......
38420	6b 63 3a 20 44 69 73 74 6f 72 74 69 6f 6e 20 63 6f 65 66 66 69 63 69 65 6e 74 73 0a 25 0a 25 4f	kc:.Distortion.coefficients.%.%O
38440	55 54 50 55 54 3a 20 6f 6d 63 6b 6b 3a 20 33 44 20 72 6f 74 61 74 69 6f 6e 20 76 65 63 74 6f 72	UTPUT:.omckk:.3D.rotation.vector
38460	20 61 74 74 61 63 68 65 64 20 74 6f 20 74 68 65 20 67 72 69 64 20 70 6f 73 69 74 69 6f 6e 73 20	.attached.to.the.grid.positions.
38480	69 6e 20 73 70 61 63 65 0a 25 20 20 20 20 20 20 20 20 54 63 6b 6b 3a 20 33 44 20 74 72 61 6e 73	in.space.%........Tckk:.3D.trans
384a0	6c 61 74 69 6f 6e 20 76 65 63 74 6f 72 20 61 74 74 61 63 68 65 64 20 74 6f 20 74 68 65 20 67 72	lation.vector.attached.to.the.gr
384c0	69 64 20 70 6f 73 69 74 69 6f 6e 73 20 69 6e 20 73 70 61 63 65 0a 25 20 20 20 20 20 20 20 20 52	id.positions.in.space.%........R
384e0	63 6b 6b 3a 20 33 44 20 72 6f 74 61 74 69 6f 6e 20 6d 61 74 72 69 63 65 73 20 63 6f 72 72 65 73	ckk:.3D.rotation.matrices.corres
38500	70 6f 6e 64 69 6e 67 20 74 6f 20 74 68 65 20 6f 6d 63 20 76 65 63 74 6f 72 73 0a 25 0a 25 4d 65	ponding.to.the.omc.vectors.%.%Me
38520	74 68 6f 64 3a 20 43 6f 6d 70 75 74 65 73 20 74 68 65 20 6e 6f 72 6d 61 6c 69 7a 65 64 20 70 6f	thod:.Computes.the.normalized.po
38540	69 6e 74 20 63 6f 6f 72 64 69 6e 61 74 65 73 2c 20 74 68 65 6e 20 63 6f 6d 70 75 74 65 73 20 74	int.coordinates,.then.computes.t
38560	68 65 20 33 44 20 70 6f 73 65 0a 25 0a 25 49 6d 70 6f 72 74 61 6e 74 20 66 75 6e 63 74 69 6f 6e	he.3D.pose.%.%Important.function
38580	73 20 63 61 6c 6c 65 64 20 77 69 74 68 69 6e 20 74 68 61 74 20 70 72 6f 67 72 61 6d 3a 0a 25 0a	s.called.within.that.program:.%.
385a0	25 6e 6f 72 6d 61 6c 69 7a 65 3a 20 43 6f 6d 70 75 74 65 73 20 74 68 65 20 6e 6f 72 6d 61 6c 69	%normalize:.Computes.the.normali
385c0	7a 65 20 69 6d 61 67 65 20 70 6f 69 6e 74 20 63 6f 6f 72 64 69 6e 61 74 65 73 2e 0a 25 0a 25 70	ze.image.point.coordinates..%.%p
385e0	6f 73 65 33 44 3a 20 43 6f 6d 70 75 74 65 73 20 74 68 65 20 33 44 20 70 6f 73 65 20 6f 66 20 74	ose3D:.Computes.the.3D.pose.of.t
38600	68 65 20 73 74 72 75 63 74 75 72 65 20 67 69 76 65 6e 20 74 68 65 20 6e 6f 72 6d 61 6c 69 7a 65	he.structure.given.the.normalize
38620	64 20 69 6d 61 67 65 20 70 72 6f 6a 65 63 74 69 6f 6e 2e 0a 25 0a 25 70 72 6f 6a 65 63 74 5f 70	d.image.projection..%.%project_p
38640	6f 69 6e 74 73 2e 6d 3a 20 43 6f 6d 70 75 74 65 73 20 74 68 65 20 32 44 20 69 6d 61 67 65 20 70	oints.m:.Computes.the.2D.image.p
38660	72 6f 6a 65 63 74 69 6f 6e 73 20 6f 66 20 61 20 73 65 74 20 6f 66 20 33 44 20 70 6f 69 6e 74 73	rojections.of.a.set.of.3D.points
38680	0a 0a 0a 0a 0a 69 66 20 6e 61 72 67 69 6e 20 3c 20 35 2c 0a 20 20 20 6b 63 20 3d 20 7a 65 72 6f	.....if.nargin.<.5,....kc.=.zero
386a0	73 28 34 2c 31 29 3b 0a 20 20 20 69 66 20 6e 61 72 67 69 6e 20 3c 20 34 2c 0a 20 20 20 20 20 20	s(4,1);....if.nargin.<.4,.......
386c0	63 63 20 3d 20 7a 65 72 6f 73 28 32 2c 31 29 3b 0a 20 20 20 20 20 20 69 66 20 6e 61 72 67 69 6e	cc.=.zeros(2,1);.......if.nargin
386e0	20 3c 20 33 2c 0a 20 20 20 20 20 20 20 20 20 66 63 20 3d 20 6f 6e 65 73 28 32 2c 31 29 3b 0a 20	.<.3,..........fc.=.ones(2,1);..
38700	20 20 20 20 20 20 20 20 69 66 20 6e 61 72 67 69 6e 20 3c 20 32 2c 0a 20 20 20 20 20 20 20 20 20	........if.nargin.<.2,..........
38720	20 20 20 65 72 72 6f 72 28 27 4e 65 65 64 20 32 44 20 70 72 6f 6a 65 63 74 69 6f 6e 73 20 61 6e	...error('Need.2D.projections.an
38740	64 20 33 44 20 70 6f 69 6e 74 73 20 28 69 6e 20 63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69	d.3D.points.(in.compute_extrinsi
38760	63 2e 6d 29 27 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 72 65 74 75 72 6e 3b 0a 20 20 20 20	c.m)');.............return;.....
38780	20 20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 65 6e 64 3b 0a 65 6e 64	.....end;.......end;....end;.end
387a0	3b 0a 0a 0a 0a 25 20 43 6f 6d 70 75 74 65 20 74 68 65 20 6e 6f 72 6d 61 6c 69 7a 65 64 20 63 6f	;....%.Compute.the.normalized.co
387c0	6f 72 64 69 6e 61 74 65 73 3a 0a 0a 78 6e 20 3d 20 6e 6f 72 6d 61 6c 69 7a 65 28 78 5f 6b 6b 2c	ordinates:..xn.=.normalize(x_kk,
387e0	66 63 2c 63 63 2c 6b 63 29 3b 0a 0a 0a 0a 4e 70 20 3d 20 73 69 7a 65 28 78 6e 2c 32 29 3b 0a 0a	fc,cc,kc);....Np.=.size(xn,2);..
38800	25 25 20 43 68 65 63 6b 20 66 6f 72 20 70 6c 61 6e 61 72 69 74 79 20 6f 66 20 74 68 65 20 73 74	%%.Check.for.planarity.of.the.st
38820	72 75 63 74 75 72 65 3a 0a 0a 58 5f 6d 65 61 6e 20 3d 20 6d 65 61 6e 28 58 5f 6b 6b 27 29 27 3b	ructure:..X_mean.=.mean(X_kk')';
38840	0a 0a 59 20 3d 20 58 5f 6b 6b 20 2d 20 28 58 5f 6d 65 61 6e 2a 6f 6e 65 73 28 31 2c 4e 70 29 29	..Y.=.X_kk.-.(X_mean*ones(1,Np))
38860	3b 0a 0a 59 59 20 3d 20 59 2a 59 27 3b 0a 0a 5b 55 2c 53 2c 56 5d 20 3d 20 73 76 64 28 59 59 29	;..YY.=.Y*Y';..[U,S,V].=.svd(YY)
38880	3b 0a 0a 72 20 3d 20 53 28 33 2c 33 29 2f 53 28 32 2c 32 29 3b 0a 0a 69 66 20 28 72 20 3c 20 31	;..r.=.S(3,3)/S(2,2);..if.(r.<.1
388a0	65 2d 33 29 7c 28 4e 70 20 3c 20 36 29 2c 20 25 31 65 2d 33 2c 20 25 31 65 2d 34 2c 20 25 6e 6f	e-3)\|(Np.<.6),.%1e-3,.%1e-4,.%no
388c0	72 6d 28 58 5f 6b 6b 28 33 2c 3a 29 29 20 3c 20 65 70 73 2c 20 25 20 54 65 73 74 20 6f 66 20 70	rm(X_kk(3,:)).<.eps,.%.Test.of.p
388e0	6c 61 6e 61 72 69 74 79 0a 20 20 20 0a 20 20 20 25 66 70 72 69 6e 74 66 28 31 2c 27 50 6c 61 6e	lanarity........%fprintf(1,'Plan
38900	61 72 20 73 74 72 75 63 74 75 72 65 20 64 65 74 65 63 74 65 64 3a 20 72 3d 25 66 5c 6e 27 2c 72	ar.structure.detected:.r=%f\n',r
38920	29 3b 0a 0a 20 20 20 25 20 54 72 61 6e 73 66 6f 72 6d 20 74 68 65 20 70 6c 61 6e 65 20 74 6f 20	);.....%.Transform.the.plane.to.
38940	62 72 69 6e 67 20 69 74 20 69 6e 20 74 68 65 20 5a 3d 30 20 70 6c 61 6e 65 3a 0a 20 20 20 0a 20	bring.it.in.the.Z=0.plane:......
38960	20 20 52 5f 74 72 61 6e 73 66 6f 72 6d 20 3d 20 56 27 3b 0a 20 20 20 0a 20 20 20 69 66 20 64 65	..R_transform.=.V';........if.de
38980	74 28 52 5f 74 72 61 6e 73 66 6f 72 6d 29 20 3c 20 30 2c 20 52 5f 74 72 61 6e 73 66 6f 72 6d 20	t(R_transform).<.0,.R_transform.
389a0	3d 20 2d 52 5f 74 72 61 6e 73 66 6f 72 6d 3b 20 65 6e 64 3b 0a 20 20 20 0a 09 54 5f 74 72 61 6e	=.-R_transform;.end;......T_tran
389c0	73 66 6f 72 6d 20 3d 20 2d 28 52 5f 74 72 61 6e 73 66 6f 72 6d 29 2a 58 5f 6d 65 61 6e 3b 0a 0a	sform.=.-(R_transform)*X_mean;..
389e0	09 58 5f 6e 65 77 20 3d 20 52 5f 74 72 61 6e 73 66 6f 72 6d 2a 58 5f 6b 6b 20 2b 20 54 5f 74 72	.X_new.=.R_transform*X_kk.+.T_tr
38a00	61 6e 73 66 6f 72 6d 2a 6f 6e 65 73 28 31 2c 4e 70 29 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 25	ansform*ones(1,Np);............%
38a20	20 43 6f 6d 70 75 74 65 20 74 68 65 20 70 6c 61 6e 61 72 20 68 6f 6d 6f 67 72 61 70 68 79 3a 0a	.Compute.the.planar.homography:.
38a40	20 20 20 0a 20 20 20 48 20 3d 20 63 6f 6d 70 75 74 65 5f 68 6f 6d 6f 67 72 61 70 68 79 20 28 78	.......H.=.compute_homography.(x
38a60	6e 2c 58 5f 6e 65 77 28 31 3a 32 2c 3a 29 29 3b 0a 20 20 20 0a 20 20 20 25 20 44 65 2d 65 6d 62	n,X_new(1:2,:));........%.De-emb
38a80	65 64 20 74 68 65 20 6d 6f 74 69 6f 6e 20 70 61 72 61 6d 65 74 65 72 73 20 66 72 6f 6d 20 74 68	ed.the.motion.parameters.from.th
38aa0	65 20 68 6f 6d 6f 67 72 61 70 68 79 3a 0a 20 20 20 0a 20 20 20 73 63 20 3d 20 6d 65 61 6e 28 5b	e.homography:........sc.=.mean([
38ac0	6e 6f 72 6d 28 48 28 3a 2c 31 29 29 3b 6e 6f 72 6d 28 48 28 3a 2c 32 29 29 5d 29 3b 0a 20 20 20	norm(H(:,1));norm(H(:,2))]);....
38ae0	0a 20 20 20 48 20 3d 20 48 2f 73 63 3b 0a 20 20 20 0a 20 20 20 6f 6d 63 6b 6b 20 3d 20 72 6f 64	....H.=.H/sc;........omckk.=.rod
38b00	72 69 67 75 65 73 28 5b 48 28 3a 2c 31 3a 32 29 20 63 72 6f 73 73 28 48 28 3a 2c 31 29 2c 48 28	rigues([H(:,1:2).cross(H(:,1),H(
38b20	3a 2c 32 29 29 5d 29 3b 0a 20 20 20 52 63 6b 6b 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63	:,2))]);....Rckk.=.rodrigues(omc
38b40	6b 6b 29 3b 0a 20 20 20 54 63 6b 6b 20 3d 20 48 28 3a 2c 33 29 3b 0a 20 20 20 0a 20 20 20 25 49	kk);....Tckk.=.H(:,3);........%I
38b60	66 20 58 63 20 3d 20 52 63 6b 6b 20 2a 20 58 5f 6e 65 77 20 2b 20 54 63 6b 6b 2c 20 74 68 65 6e	f.Xc.=.Rckk.*.X_new.+.Tckk,.then
38b80	20 58 63 20 3d 20 52 63 6b 6b 20 2a 20 52 5f 74 72 61 6e 73 66 6f 72 6d 20 2a 20 58 5f 6b 6b 20	.Xc.=.Rckk..R_transform..X_kk.
38ba0	2b 20 54 63 6b 6b 20 2b 20 54 5f 74 72 61 6e 73 66 6f 72 6d 0a 20 20 20 0a 20 20 20 54 63 6b 6b	+.Tckk.+.T_transform........Tckk
38bc0	20 3d 20 54 63 6b 6b 20 2b 20 52 63 6b 6b 2a 20 54 5f 74 72 61 6e 73 66 6f 72 6d 3b 0a 20 20 20	.=.Tckk.+.Rckk*.T_transform;....
38be0	52 63 6b 6b 20 3d 20 52 63 6b 6b 20 2a 20 52 5f 74 72 61 6e 73 66 6f 72 6d 3b 0a 0a 20 20 20 6f	Rckk.=.Rckk.*.R_transform;.....o
38c00	6d 63 6b 6b 20 3d 20 72 6f 64 72 69 67 75 65 73 28 52 63 6b 6b 29 3b 0a 20 20 20 52 63 6b 6b 20	mckk.=.rodrigues(Rckk);....Rckk.
38c20	3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63 6b 6b 29 3b 0a 20 20 20 0a 20 20 20 0a 65 6c 73 65	=.rodrigues(omckk);.........else
38c40	0a 20 20 20 0a 20 20 20 25 66 70 72 69 6e 74 66 28 31 2c 27 4e 6f 6e 20 70 6c 61 6e 61 72 20 73	........%fprintf(1,'Non.planar.s
38c60	74 72 75 63 74 75 72 65 20 64 65 74 65 63 74 65 64 3a 20 72 3d 25 66 5c 6e 27 2c 72 29 3b 0a 0a	tructure.detected:.r=%f\n',r);..
38c80	20 20 20 25 20 43 6f 6d 70 75 74 65 73 20 61 6e 20 69 6e 69 74 69 61 6c 20 67 75 65 73 73 20 66	...%.Computes.an.initial.guess.f
38ca0	6f 72 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73 20 28 77 6f 72 6b 73 20 66	or.extrinsic.parameters.(works.f
38cc0	6f 72 20 67 65 6e 65 72 61 6c 20 33 64 20 73 74 72 75 63 74 75 72 65 2c 20 6e 6f 74 20 70 6c 61	or.general.3d.structure,.not.pla
38ce0	6e 61 72 21 21 21 29 3a 0a 20 20 20 25 20 54 68 65 20 44 4c 54 20 6d 65 74 68 6f 64 20 69 73 20	nar!!!):....%.The.DLT.method.is.
38d00	61 70 70 6c 69 65 64 20 68 65 72 65 21 21 0a 20 20 20 0a 20 20 20 4a 20 3d 20 7a 65 72 6f 73 28	applied.here!!........J.=.zeros(
38d20	32 2a 4e 70 2c 31 32 29 3b 0a 09 0a 09 78 58 20 3d 20 28 6f 6e 65 73 28 33 2c 31 29 2a 78 6e 28	2Np,12);....xX.=.(ones(3,1)xn(
38d40	31 2c 3a 29 29 2e 2a 58 5f 6b 6b 3b 0a 09 79 58 20 3d 20 28 6f 6e 65 73 28 33 2c 31 29 2a 78 6e	1,:)).X_kk;..yX.=.(ones(3,1)xn
38d60	28 32 2c 3a 29 29 2e 2a 58 5f 6b 6b 3b 0a 09 0a 09 4a 28 31 3a 32 3a 65 6e 64 2c 5b 31 20 34 20	(2,:)).*X_kk;....J(1:2:end,[1.4.
38d80	37 5d 29 20 3d 20 2d 58 5f 6b 6b 27 3b 0a 09 4a 28 32 3a 32 3a 65 6e 64 2c 5b 32 20 35 20 38 5d	7]).=.-X_kk';..J(2:2:end,[2.5.8]
38da0	29 20 3d 20 58 5f 6b 6b 27 3b 0a 09 4a 28 31 3a 32 3a 65 6e 64 2c 5b 33 20 36 20 39 5d 29 20 3d	).=.X_kk';..J(1:2:end,[3.6.9]).=
38dc0	20 78 58 27 3b 0a 09 4a 28 32 3a 32 3a 65 6e 64 2c 5b 33 20 36 20 39 5d 29 20 3d 20 2d 79 58 27	.xX';..J(2:2:end,[3.6.9]).=.-yX'
38de0	3b 0a 09 4a 28 31 3a 32 3a 65 6e 64 2c 31 32 29 20 3d 20 78 6e 28 31 2c 3a 29 27 3b 0a 09 4a 28	;..J(1:2:end,12).=.xn(1,:)';..J(
38e00	32 3a 32 3a 65 6e 64 2c 31 32 29 20 3d 20 2d 78 6e 28 32 2c 3a 29 27 3b 0a 09 4a 28 31 3a 32 3a	2:2:end,12).=.-xn(2,:)';..J(1:2:
38e20	65 6e 64 2c 31 30 29 20 3d 20 2d 6f 6e 65 73 28 4e 70 2c 31 29 3b 0a 09 4a 28 32 3a 32 3a 65 6e	end,10).=.-ones(Np,1);..J(2:2:en
38e40	64 2c 31 31 29 20 3d 20 6f 6e 65 73 28 4e 70 2c 31 29 3b 0a 09 0a 09 4a 4a 20 3d 20 4a 27 2a 4a	d,11).=.ones(Np,1);....JJ.=.J'*J
38e60	3b 0a 09 5b 55 2c 53 2c 56 5d 20 3d 20 73 76 64 28 4a 4a 29 3b 0a 20 20 20 0a 20 20 20 52 52 20	;..[U,S,V].=.svd(JJ);........RR.
38e80	3d 20 72 65 73 68 61 70 65 28 56 28 31 3a 39 2c 31 32 29 2c 33 2c 33 29 3b 0a 20 20 20 0a 20 20	=.reshape(V(1:9,12),3,3);.......
38ea0	20 69 66 20 64 65 74 28 52 52 29 20 3c 20 30 2c 0a 20 20 20 20 20 20 56 28 3a 2c 31 32 29 20 3d	.if.det(RR).<.0,.......V(:,12).=
38ec0	20 2d 56 28 3a 2c 31 32 29 3b 0a 20 20 20 20 20 20 52 52 20 3d 20 2d 52 52 3b 0a 20 20 20 65 6e	.-V(:,12);.......RR.=.-RR;....en
38ee0	64 3b 0a 20 20 20 0a 20 20 20 5b 55 72 2c 53 72 2c 56 72 5d 20 3d 20 73 76 64 28 52 52 29 3b 0a	d;........[Ur,Sr,Vr].=.svd(RR);.
38f00	20 20 20 0a 20 20 20 52 63 6b 6b 20 3d 20 55 72 2a 56 72 27 3b 0a 20 20 20 0a 20 20 20 73 63 20	.......Rckk.=.Ur*Vr';........sc.
38f20	3d 20 6e 6f 72 6d 28 56 28 31 3a 39 2c 31 32 29 29 20 2f 20 6e 6f 72 6d 28 52 63 6b 6b 28 3a 29	=.norm(V(1:9,12))./.norm(Rckk(:)
38f40	29 3b 0a 20 20 20 54 63 6b 6b 20 3d 20 56 28 31 30 3a 31 32 2c 31 32 29 2f 73 63 3b 0a 20 20 20	);....Tckk.=.V(10:12,12)/sc;....
38f60	0a 09 6f 6d 63 6b 6b 20 3d 20 72 6f 64 72 69 67 75 65 73 28 52 63 6b 6b 29 3b 0a 20 20 20 52 63	..omckk.=.rodrigues(Rckk);....Rc
38f80	6b 6b 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63 6b 6b 29 3b 0a 20 20 20 0a 65 6e 64 3b 0a	kk.=.rodrigues(omckk);.....end;.
38fa0	69 74 20 3d 20 73 71 72 74 28 61 62 73 28 31 2e 2f 28 69 6e 76 28 41 27 2a 41 29 2a 41 27 2a 62	it.=.sqrt(abs(1./(inv(A'A)A'*b
38fc0	29 29 29 3b 20 25 20 69 66 20 75 73 69 6e 67 20 61 20 74 77 6f 2d 66 6f 63 61 6c 20 6d 6f 64 65	)));.%.if.using.a.two-focal.mode
38fe0	6c 20 66 6f 72 20 69 6e 69 74 69 61 6c 20 67 75 65 73 73 0a 0a 25 66 5f 69 6e 69 74 20 3d 20 73	l.for.initial.guess..%f_init.=.s
39000	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 5f	TOOLBOX_calib/compute_extrinsic_
39020	72 65 66 69 6e 65 2e 6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	refine.m........................
39040	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
39060	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
39080	20 20 20 34 36 32 33 20 20 37 30 32 34 30 33 37 33 31 31 20 20 31 33 36 37 32 00 20 00 00 00 00	...4623..7024037311..13672......
390a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
390c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
390e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
39100	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
39120	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
39140	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
39160	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
39180	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
391a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
391c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
391e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
39200	66 75 6e 63 74 69 6f 6e 20 5b 6f 6d 63 6b 6b 2c 54 63 6b 6b 2c 52 63 6b 6b 2c 4a 4a 5d 20 3d 20	function.[omckk,Tckk,Rckk,JJ].=.
39220	63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 5f 72 65 66 69 6e 65 28 6f 6d 63 5f 69 6e 69	compute_extrinsic_refine(omc_ini
39240	74 2c 54 63 5f 69 6e 69 74 2c 78 5f 6b 6b 2c 58 5f 6b 6b 2c 66 63 2c 63 63 2c 6b 63 2c 4d 61 78	t,Tc_init,x_kk,X_kk,fc,cc,kc,Max
39260	49 74 65 72 2c 74 68 72 65 73 68 5f 63 6f 6e 64 29 2c 0a 0a 25 63 6f 6d 70 75 74 65 5f 65 78 74	Iter,thresh_cond),..%compute_ext
39280	72 69 6e 73 69 63 0a 25 0a 25 5b 6f 6d 63 6b 6b 2c 54 63 6b 6b 2c 52 63 6b 6b 5d 20 3d 20 63 6f	rinsic.%.%[omckk,Tckk,Rckk].=.co
392a0	6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 5f 72 65 66 69 6e 65 28 78 5f 6b 6b 2c 58 5f 6b 6b	mpute_extrinsic_refine(x_kk,X_kk
392c0	2c 66 63 2c 63 63 2c 6b 63 2c 4d 61 78 49 74 65 72 29 0a 25 0a 25 43 6f 6d 70 75 74 65 73 20 74	,fc,cc,kc,MaxIter).%.%Computes.t
392e0	68 65 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73 20 61 74 74 61 63 68 65 64	he.extrinsic.parameters.attached
39300	20 74 6f 20 61 20 33 44 20 73 74 72 75 63 74 75 72 65 20 58 5f 6b 6b 20 67 69 76 65 6e 20 69 74	.to.a.3D.structure.X_kk.given.it
39320	73 20 70 72 6f 6a 65 63 74 69 6f 6e 0a 25 6f 6e 20 74 68 65 20 69 6d 61 67 65 20 70 6c 61 6e 65	s.projection.%on.the.image.plane
39340	20 78 5f 6b 6b 20 61 6e 64 20 74 68 65 20 69 6e 74 72 69 6e 73 69 63 20 63 61 6d 65 72 61 20 70	.x_kk.and.the.intrinsic.camera.p
39360	61 72 61 6d 65 74 65 72 73 20 66 63 2c 20 63 63 20 61 6e 64 20 6b 63 2e 0a 25 57 6f 72 6b 73 20	arameters.fc,.cc.and.kc..%Works.
39380	77 69 74 68 20 70 6c 61 6e 61 72 20 61 6e 64 20 6e 6f 6e 2d 70 6c 61 6e 61 72 20 73 74 72 75 63	with.planar.and.non-planar.struc
393a0	74 75 72 65 73 2e 0a 25 0a 25 49 4e 50 55 54 3a 20 78 5f 6b 6b 3a 20 46 65 61 74 75 72 65 20 6c	tures..%.%INPUT:.x_kk:.Feature.l
393c0	6f 63 61 74 69 6f 6e 73 20 6f 6e 20 74 68 65 20 69 6d 61 67 65 73 0a 25 20 20 20 20 20 20 20 58	ocations.on.the.images.%.......X
393e0	5f 6b 6b 3a 20 43 6f 72 72 65 73 70 6f 6e 64 69 6e 67 20 67 72 69 64 20 63 6f 6f 72 64 69 6e 61	_kk:.Corresponding.grid.coordina
39400	74 65 73 0a 25 20 20 20 20 20 20 20 66 63 3a 20 43 61 6d 65 72 61 20 66 6f 63 61 6c 20 6c 65 6e	tes.%.......fc:.Camera.focal.len
39420	67 74 68 0a 25 20 20 20 20 20 20 20 63 63 3a 20 50 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 20	gth.%.......cc:.Principal.point.
39440	63 6f 6f 72 64 69 6e 61 74 65 73 0a 25 20 20 20 20 20 20 20 6b 63 3a 20 44 69 73 74 6f 72 74 69	coordinates.%.......kc:.Distorti
39460	6f 6e 20 63 6f 65 66 66 69 63 69 65 6e 74 73 0a 25 20 20 20 20 20 20 20 4d 61 78 49 74 65 72 3a	on.coefficients.%.......MaxIter:
39480	20 4d 61 78 69 6d 75 6d 20 6e 75 6d 62 65 72 20 6f 66 20 69 74 65 72 61 74 69 6f 6e 73 0a 25 0a	.Maximum.number.of.iterations.%.
394a0	25 4f 55 54 50 55 54 3a 20 6f 6d 63 6b 6b 3a 20 33 44 20 72 6f 74 61 74 69 6f 6e 20 76 65 63 74	%OUTPUT:.omckk:.3D.rotation.vect
394c0	6f 72 20 61 74 74 61 63 68 65 64 20 74 6f 20 74 68 65 20 67 72 69 64 20 70 6f 73 69 74 69 6f 6e	or.attached.to.the.grid.position
394e0	73 20 69 6e 20 73 70 61 63 65 0a 25 20 20 20 20 20 20 20 20 54 63 6b 6b 3a 20 33 44 20 74 72 61	s.in.space.%........Tckk:.3D.tra
39500	6e 73 6c 61 74 69 6f 6e 20 76 65 63 74 6f 72 20 61 74 74 61 63 68 65 64 20 74 6f 20 74 68 65 20	nslation.vector.attached.to.the.
39520	67 72 69 64 20 70 6f 73 69 74 69 6f 6e 73 20 69 6e 20 73 70 61 63 65 0a 25 20 20 20 20 20 20 20	grid.positions.in.space.%.......
39540	20 52 63 6b 6b 3a 20 33 44 20 72 6f 74 61 74 69 6f 6e 20 6d 61 74 72 69 63 65 73 20 63 6f 72 72	.Rckk:.3D.rotation.matrices.corr
39560	65 73 70 6f 6e 64 69 6e 67 20 74 6f 20 74 68 65 20 6f 6d 63 20 76 65 63 74 6f 72 73 0a 0a 25 0a	esponding.to.the.omc.vectors..%.
39580	25 4d 65 74 68 6f 64 3a 20 43 6f 6d 70 75 74 65 73 20 74 68 65 20 6e 6f 72 6d 61 6c 69 7a 65 64	%Method:.Computes.the.normalized
395a0	20 70 6f 69 6e 74 20 63 6f 6f 72 64 69 6e 61 74 65 73 2c 20 74 68 65 6e 20 63 6f 6d 70 75 74 65	.point.coordinates,.then.compute
395c0	73 20 74 68 65 20 33 44 20 70 6f 73 65 0a 25 0a 25 49 6d 70 6f 72 74 61 6e 74 20 66 75 6e 63 74	s.the.3D.pose.%.%Important.funct
395e0	69 6f 6e 73 20 63 61 6c 6c 65 64 20 77 69 74 68 69 6e 20 74 68 61 74 20 70 72 6f 67 72 61 6d 3a	ions.called.within.that.program:
39600	0a 25 0a 25 6e 6f 72 6d 61 6c 69 7a 65 3a 20 43 6f 6d 70 75 74 65 73 20 74 68 65 20 6e 6f 72 6d	.%.%normalize:.Computes.the.norm
39620	61 6c 69 7a 65 20 69 6d 61 67 65 20 70 6f 69 6e 74 20 63 6f 6f 72 64 69 6e 61 74 65 73 2e 0a 25	alize.image.point.coordinates..%
39640	0a 25 70 6f 73 65 33 44 3a 20 43 6f 6d 70 75 74 65 73 20 74 68 65 20 33 44 20 70 6f 73 65 20 6f	.%pose3D:.Computes.the.3D.pose.o
39660	66 20 74 68 65 20 73 74 72 75 63 74 75 72 65 20 67 69 76 65 6e 20 74 68 65 20 6e 6f 72 6d 61 6c	f.the.structure.given.the.normal
39680	69 7a 65 64 20 69 6d 61 67 65 20 70 72 6f 6a 65 63 74 69 6f 6e 2e 0a 25 0a 25 70 72 6f 6a 65 63	ized.image.projection..%.%projec
396a0	74 5f 70 6f 69 6e 74 73 2e 6d 3a 20 43 6f 6d 70 75 74 65 73 20 74 68 65 20 32 44 20 69 6d 61 67	t_points.m:.Computes.the.2D.imag
396c0	65 20 70 72 6f 6a 65 63 74 69 6f 6e 73 20 6f 66 20 61 20 73 65 74 20 6f 66 20 33 44 20 70 6f 69	e.projections.of.a.set.of.3D.poi
396e0	6e 74 73 0a 0a 0a 69 66 20 6e 61 72 67 69 6e 20 3c 20 39 2c 0a 20 20 20 74 68 72 65 73 68 5f 63	nts...if.nargin.<.9,....thresh_c
39700	6f 6e 64 20 3d 20 69 6e 66 3b 0a 65 6e 64 3b 0a 0a 0a 69 66 20 6e 61 72 67 69 6e 20 3c 20 38 2c	ond.=.inf;.end;...if.nargin.<.8,
39720	0a 20 20 20 4d 61 78 49 74 65 72 20 3d 20 32 30 3b 0a 65 6e 64 3b 0a 0a 0a 69 66 20 6e 61 72 67	....MaxIter.=.20;.end;...if.narg
39740	69 6e 20 3c 20 37 2c 0a 20 20 20 6b 63 20 3d 20 7a 65 72 6f 73 28 34 2c 31 29 3b 0a 20 20 20 69	in.<.7,....kc.=.zeros(4,1);....i
39760	66 20 6e 61 72 67 69 6e 20 3c 20 36 2c 0a 20 20 20 20 20 20 63 63 20 3d 20 7a 65 72 6f 73 28 32	f.nargin.<.6,.......cc.=.zeros(2
39780	2c 31 29 3b 0a 20 20 20 20 20 20 69 66 20 6e 61 72 67 69 6e 20 3c 20 35 2c 0a 20 20 20 20 20 20	,1);.......if.nargin.<.5,.......
397a0	20 20 20 66 63 20 3d 20 6f 6e 65 73 28 32 2c 31 29 3b 0a 20 20 20 20 20 20 20 20 20 69 66 20 6e	...fc.=.ones(2,1);..........if.n
397c0	61 72 67 69 6e 20 3c 20 34 2c 0a 20 20 20 20 20 20 20 20 20 20 20 20 65 72 72 6f 72 28 27 4e 65	argin.<.4,.............error('Ne
397e0	65 64 20 32 44 20 70 72 6f 6a 65 63 74 69 6f 6e 73 20 61 6e 64 20 33 44 20 70 6f 69 6e 74 73 20	ed.2D.projections.and.3D.points.
39800	28 69 6e 20 63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 5f 72 65 66 69 6e 65 2e 6d 29 27	(in.compute_extrinsic_refine.m)'
39820	29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 72 65 74 75 72 6e 3b 0a 20 20 20 20 20 20 20 20 20	);.............return;..........
39840	65 6e 64 3b 0a 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 65 6e 64 3b 0a 65 6e 64 3b 0a 0a 0a 25	end;.......end;....end;.end;...%
39860	20 49 6e 69 74 69 61 6c 69 7a 61 74 69 6f 6e 3a 0a 0a 6f 6d 63 6b 6b 20 3d 20 6f 6d 63 5f 69 6e	.Initialization:..omckk.=.omc_in
39880	69 74 3b 0a 54 63 6b 6b 20 3d 20 54 63 5f 69 6e 69 74 3b 0a 0a 0a 25 20 46 69 6e 61 6c 20 6f 70	it;.Tckk.=.Tc_init;...%.Final.op
398a0	74 69 6d 69 7a 61 74 69 6f 6e 20 28 6d 69 6e 69 6d 69 7a 65 20 74 68 65 20 72 65 70 72 6f 6a 65	timization.(minimize.the.reproje
398c0	63 74 69 6f 6e 20 65 72 72 6f 72 20 69 6e 20 70 69 78 65 6c 29 3a 0a 25 20 74 68 72 6f 75 67 68	ction.error.in.pixel):.%.through
398e0	20 47 72 61 64 69 65 6e 74 20 44 65 73 63 65 6e 74 3a 0a 0a 70 61 72 61 6d 20 3d 20 5b 6f 6d 63	.Gradient.Descent:..param.=.[omc
39900	6b 6b 3b 54 63 6b 6b 5d 3b 0a 0a 63 68 61 6e 67 65 20 3d 20 31 3b 0a 0a 69 74 65 72 20 3d 20 30	kk;Tckk];..change.=.1;..iter.=.0
39920	3b 0a 0a 25 6b 65 79 62 6f 61 72 64 3b 0a 0a 25 66 70 72 69 6e 74 66 28 31 2c 27 47 72 61 64 69	;..%keyboard;..%fprintf(1,'Gradi
39940	65 6e 74 20 64 65 73 63 65 6e 74 20 69 74 65 72 61 74 69 6f 6e 73 3a 20 27 29 3b 0a 0a 77 68 69	ent.descent.iterations:.');..whi
39960	6c 65 20 28 63 68 61 6e 67 65 20 3e 20 31 65 2d 31 30 29 26 28 69 74 65 72 20 3c 20 4d 61 78 49	le.(change.>.1e-10)&(iter.<.MaxI
39980	74 65 72 29 2c 0a 20 20 20 0a 20 20 20 25 66 70 72 69 6e 74 66 28 31 2c 27 25 64 2e 2e 2e 27 2c	ter),........%fprintf(1,'%d...',
399a0	69 74 65 72 2b 31 29 3b 0a 0a 20 20 20 5b 78 2c 64 78 64 6f 6d 2c 64 78 64 54 5d 20 3d 20 70 72	iter+1);.....[x,dxdom,dxdT].=.pr
399c0	6f 6a 65 63 74 5f 70 6f 69 6e 74 73 28 58 5f 6b 6b 2c 6f 6d 63 6b 6b 2c 54 63 6b 6b 2c 66 63 2c	oject_points(X_kk,omckk,Tckk,fc,
399e0	63 63 2c 6b 63 29 3b 0a 20 20 20 20 20 20 0a 20 20 20 65 78 20 3d 20 78 5f 6b 6b 20 2d 20 78 3b	cc,kc);...........ex.=.x_kk.-.x;
39a00	0a 20 20 20 0a 20 20 20 25 6b 65 79 62 6f 61 72 64 3b 0a 20 20 20 0a 20 20 20 4a 4a 20 3d 20 5b	........%keyboard;........JJ.=.[
39a20	64 78 64 6f 6d 20 64 78 64 54 5d 3b 0a 20 20 20 0a 20 20 20 69 66 20 63 6f 6e 64 28 4a 4a 29 20	dxdom.dxdT];........if.cond(JJ).
39a40	3e 20 74 68 72 65 73 68 5f 63 6f 6e 64 2c 0a 20 20 20 20 20 20 63 68 61 6e 67 65 20 3d 20 30 3b	>.thresh_cond,.......change.=.0;
39a60	0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 0a 20 20 20 09 4a 4a 32 20 3d 20 4a 4a 27 2a 4a 4a	....else............JJ2.=.JJ'*JJ
39a80	3b 0a 20 20 20 0a 09 09 70 61 72 61 6d 5f 69 6e 6e 6f 76 20 3d 20 69 6e 76 28 4a 4a 32 29 2a 28	;.......param_innov.=.inv(JJ2)*(
39aa0	4a 4a 27 29 2a 65 78 28 3a 29 3b 0a 09 09 70 61 72 61 6d 5f 75 70 20 3d 20 70 61 72 61 6d 20 2b	JJ')*ex(:);...param_up.=.param.+
39ac0	20 70 61 72 61 6d 5f 69 6e 6e 6f 76 3b 0a 09 09 63 68 61 6e 67 65 20 3d 20 6e 6f 72 6d 28 70 61	.param_innov;...change.=.norm(pa
39ae0	72 61 6d 5f 69 6e 6e 6f 76 29 2f 6e 6f 72 6d 28 70 61 72 61 6d 5f 75 70 29 3b 0a 09 09 70 61 72	ram_innov)/norm(param_up);...par
39b00	61 6d 20 3d 20 70 61 72 61 6d 5f 75 70 3b 0a 09 09 69 74 65 72 20 3d 20 69 74 65 72 20 2b 20 31	am.=.param_up;...iter.=.iter.+.1
39b20	3b 0a 20 20 20 0a 20 20 20 09 6f 6d 63 6b 6b 20 3d 20 70 61 72 61 6d 28 31 3a 33 29 3b 0a 20 20	;.........omckk.=.param(1:3);...
39b40	20 09 54 63 6b 6b 20 3d 20 70 61 72 61 6d 28 34 3a 36 29 3b 0a 20 20 20 65 6e 64 3b 0a 20 20 20	..Tckk.=.param(4:6);....end;....
39b60	0a 65 6e 64 3b 0a 0a 25 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 27 29 3b 0a 0a 52 63 6b 6b 20 3d	.end;..%fprintf(1,'\n');..Rckk.=
39b80	20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63 6b 6b 29 3b 0a 73 66 6f 72 6d 20 2a 20 58 5f 6b 6b 20	.rodrigues(omckk);.sform.*.X_kk.
39ba0	2b 20 54 63 6b 6b 20 2b 20 54 5f 74 72 61 6e 73 66 6f 72 6d 0a 20 20 20 0a 20 20 20 54 63 6b 6b	+.Tckk.+.T_transform........Tckk
39bc0	20 3d 20 54 63 6b 6b 20 2b 20 52 63 6b 6b 2a 20 54 5f 74 72 61 6e 73 66 6f 72 6d 3b 0a 20 20 20	.=.Tckk.+.Rckk*.T_transform;....
39be0	52 63 6b 6b 20 3d 20 52 63 6b 6b 20 2a 20 52 5f 74 72 61 6e 73 66 6f 72 6d 3b 0a 0a 20 20 20 6f	Rckk.=.Rckk.*.R_transform;.....o
39c00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 67 6f 5f 63 61 6c 69 62 5f 6f 70 74 69 6d 5f 69 74 65	TOOLBOX_calib/go_calib_optim_ite
39c20	72 2e 6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	r.m.............................
39c40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
39c60	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
39c80	20 20 32 33 30 37 35 20 20 37 30 32 34 30 33 37 33 33 30 20 20 31 32 36 31 33 00 20 00 00 00 00	..23075..7024037330..12613......
39ca0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
39cc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
39ce0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
39d00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
39d20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
39d40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
39d60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
39d80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
39da0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
39dc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
39de0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
39e00	25 67 6f 5f 63 61 6c 69 62 5f 6f 70 74 69 6d 5f 69 74 65 72 0a 25 0a 25 4d 61 69 6e 20 63 61 6c	%go_calib_optim_iter.%.%Main.cal
39e20	69 62 72 61 74 69 6f 6e 20 66 75 6e 63 74 69 6f 6e 2e 20 43 6f 6d 70 75 74 65 73 20 74 68 65 20	ibration.function..Computes.the.
39e40	69 6e 74 72 69 6e 73 69 63 20 61 6e 64 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72	intrinsic.andextrinsic.parameter
39e60	73 2e 0a 25 52 75 6e 73 20 61 73 20 61 20 73 63 72 69 70 74 2e 0a 25 0a 25 49 4e 50 55 54 3a 20	s..%Runs.as.a.script..%.%INPUT:.
39e80	78 5f 31 2c 78 5f 32 2c 78 5f 33 2c 2e 2e 2e 3a 20 46 65 61 74 75 72 65 20 6c 6f 63 61 74 69 6f	x_1,x_2,x_3,...:.Feature.locatio
39ea0	6e 73 20 6f 6e 20 74 68 65 20 69 6d 61 67 65 73 0a 25 20 20 20 20 20 20 20 58 5f 31 2c 58 5f 32	ns.on.the.images.%.......X_1,X_2
39ec0	2c 58 5f 33 2c 2e 2e 2e 3a 20 43 6f 72 72 65 73 70 6f 6e 64 69 6e 67 20 67 72 69 64 20 63 6f 6f	,X_3,...:.Corresponding.grid.coo
39ee0	72 64 69 6e 61 74 65 73 0a 25 0a 25 4f 55 54 50 55 54 3a 20 66 63 3a 20 43 61 6d 65 72 61 20 66	rdinates.%.%OUTPUT:.fc:.Camera.f
39f00	6f 63 61 6c 20 6c 65 6e 67 74 68 0a 25 20 20 20 20 20 20 20 20 63 63 3a 20 50 72 69 6e 63 69 70	ocal.length.%........cc:.Princip
39f20	61 6c 20 70 6f 69 6e 74 20 63 6f 6f 72 64 69 6e 61 74 65 73 0a 25 20 20 20 20 20 20 20 20 6b 63	al.point.coordinates.%........kc
39f40	3a 20 44 69 73 74 6f 72 74 69 6f 6e 20 63 6f 65 66 66 69 63 69 65 6e 74 73 0a 25 20 20 20 20 20	:.Distortion.coefficients.%.....
39f60	20 20 20 4b 4b 3a 20 54 68 65 20 63 61 6d 65 72 61 20 6d 61 74 72 69 78 20 28 63 6f 6e 74 61 69	...KK:.The.camera.matrix.(contai
39f80	6e 69 6e 67 20 66 63 20 61 6e 64 20 63 63 29 0a 25 20 20 20 20 20 20 20 20 6f 6d 63 5f 31 2c 6f	ning.fc.and.cc).%........omc_1,o
39fa0	6d 63 5f 32 2c 6f 6d 63 5f 33 2c 2e 2e 2e 3a 20 33 44 20 72 6f 74 61 74 69 6f 6e 20 76 65 63 74	mc_2,omc_3,...:.3D.rotation.vect
39fc0	6f 72 73 20 61 74 74 61 63 68 65 64 20 74 6f 20 74 68 65 20 67 72 69 64 20 70 6f 73 69 74 69 6f	ors.attached.to.the.grid.positio
39fe0	6e 73 20 69 6e 20 73 70 61 63 65 0a 25 20 20 20 20 20 20 20 20 54 63 5f 31 2c 54 63 5f 32 2c 54	ns.in.space.%........Tc_1,Tc_2,T
3a000	63 5f 33 2c 2e 2e 2e 3a 20 33 44 20 74 72 61 6e 73 6c 61 74 69 6f 6e 20 76 65 63 74 6f 72 73 20	c_3,...:.3D.translation.vectors.
3a020	61 74 74 61 63 68 65 64 20 74 6f 20 74 68 65 20 67 72 69 64 20 70 6f 73 69 74 69 6f 6e 73 20 69	attached.to.the.grid.positions.i
3a040	6e 20 73 70 61 63 65 0a 25 20 20 20 20 20 20 20 20 52 63 5f 31 2c 52 63 5f 32 2c 52 63 5f 33 2c	n.space.%........Rc_1,Rc_2,Rc_3,
3a060	2e 2e 2e 3a 20 33 44 20 72 6f 74 61 74 69 6f 6e 20 6d 61 74 72 69 63 65 73 20 63 6f 72 72 65 73	...:.3D.rotation.matrices.corres
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3a0a0	74 68 6f 64 3a 20 4d 69 6e 69 6d 69 7a 65 73 20 74 68 65 20 70 69 78 65 6c 20 72 65 70 72 6f 6a	thod:.Minimizes.the.pixel.reproj
3a0c0	65 63 74 69 6f 6e 20 65 72 72 6f 72 20 69 6e 20 74 68 65 20 6c 65 61 73 74 20 73 71 75 61 72 65	ection.error.in.the.least.square
3a0e0	73 20 73 65 6e 73 65 20 6f 76 65 72 20 74 68 65 20 69 6e 74 72 69 6e 73 69 63 0a 25 20 20 20 20	s.sense.over.the.intrinsic.%....
3a100	20 20 20 20 63 61 6d 65 72 61 20 70 61 72 61 6d 65 74 65 72 73 2c 20 61 6e 64 20 74 68 65 20 65	....camera.parameters,.and.the.e
3a120	78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73 20 28 33 44 20 6c 6f 63 61 74 69 6f 6e	xtrinsic.parameters.(3D.location
3a140	73 20 6f 66 20 74 68 65 20 67 72 69 64 73 20 69 6e 20 73 70 61 63 65 29 0a 25 0a 25 4e 6f 74 65	s.of.the.grids.in.space).%.%Note
3a160	3a 20 49 66 20 74 68 65 20 69 6e 74 72 69 6e 73 69 63 20 63 61 6d 65 72 61 20 70 61 72 61 6d 65	:.If.the.intrinsic.camera.parame
3a180	74 65 72 73 20 28 66 63 2c 20 63 63 2c 20 6b 63 29 20 64 6f 20 6e 6f 74 20 65 78 69 73 74 20 62	ters.(fc,.cc,.kc).do.not.exist.b
3a1a0	65 66 6f 72 65 2c 20 74 68 65 79 20 61 72 65 20 69 6e 69 74 69 61 6c 69 7a 65 64 20 74 68 72 6f	efore,.they.are.initialized.thro
3a1c0	75 67 68 0a 25 20 20 20 20 20 20 74 68 65 20 66 75 6e 63 74 69 6f 6e 20 69 6e 69 74 5f 69 6e 74	ugh.%......the.function.init_int
3a1e0	72 69 6e 73 69 63 5f 70 61 72 61 6d 2e 6d 2e 20 4f 74 68 65 72 77 69 73 65 2c 20 74 68 65 20 76	rinsic_param.m..Otherwise,.the.v
3a200	61 72 69 61 62 6c 65 73 20 69 6e 20 6d 65 6d 6f 72 79 20 61 72 65 20 75 73 65 64 20 61 73 20 69	ariables.in.memory.are.used.as.i
3a220	6e 69 74 69 61 6c 20 67 75 65 73 73 65 73 2e 0a 25 0a 25 4e 6f 74 65 3a 20 54 68 65 20 72 6f 77	nitial.guesses..%.%Note:.The.row
3a240	20 76 65 63 74 6f 72 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 20 63 6f 6e 73 69 73 74 73 20 6f	.vector.active_images.consists.o
3a260	66 20 7a 65 72 6f 73 20 61 6e 64 20 6f 6e 65 73 2e 20 54 6f 20 64 65 61 63 74 69 76 61 74 65 20	f.zeros.and.ones..To.deactivate.
3a280	61 6e 20 69 6d 61 67 65 2c 20 73 65 74 20 74 68 65 0a 25 20 20 20 20 20 20 63 6f 72 72 65 73 70	an.image,.set.the.%......corresp
3a2a0	6f 6e 64 69 6e 67 20 65 6e 74 72 79 20 69 6e 20 74 68 65 20 61 63 74 69 76 65 5f 69 6d 61 67 65	onding.entry.in.the.active_image
3a2c0	73 20 76 65 63 74 6f 72 20 74 6f 20 7a 65 72 6f 2e 0a 25 0a 25 56 45 52 59 20 49 4d 50 4f 52 54	s.vector.to.zero..%.%VERY.IMPORT
3a2e0	41 4e 54 3a 20 54 68 69 73 20 66 75 6e 63 74 69 6f 6e 20 77 6f 72 6b 73 20 66 6f 72 20 32 44 20	ANT:.This.function.works.for.2D.
3a300	61 6e 64 20 33 44 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 72 69 67 73 2c 20 65 78 63 65 70 74 20	and.3D.calibration.rigs,.except.
3a320	66 6f 72 20 69 6e 69 74 5f 69 6e 74 72 69 6e 73 69 63 5f 70 61 72 61 6d 2e 6d 0a 25 74 68 61 74	for.init_intrinsic_param.m.%that
3a340	20 69 73 20 73 6f 20 66 61 72 20 69 6d 70 6c 65 6d 65 6e 74 65 64 20 74 6f 20 77 6f 72 6b 20 6f	.is.so.far.implemented.to.work.o
3a360	6e 6c 79 20 77 69 74 68 20 32 44 20 72 69 67 73 2e 0a 25 49 6e 20 74 68 65 20 66 75 74 75 72 65	nly.with.2D.rigs..%In.the.future
3a380	2c 20 61 20 6d 6f 72 65 20 67 65 6e 65 72 61 6c 20 66 75 6e 63 74 69 6f 6e 20 77 69 6c 6c 20 62	,.a.more.general.function.will.b
3a3a0	65 20 74 68 65 72 65 2e 0a 25 46 6f 72 20 6e 6f 77 2c 20 69 66 20 75 73 69 6e 67 20 61 20 33 44	e.there..%For.now,.if.using.a.3D
3a3c0	20 63 61 6c 69 62 72 61 74 69 6f 6e 20 72 69 67 2c 20 71 75 69 63 6b 5f 69 6e 69 74 20 69 73 20	.calibration.rig,.quick_init.is.
3a3e0	73 65 74 20 74 6f 20 31 20 66 6f 72 20 61 6e 20 65 61 73 79 20 69 6e 69 74 69 61 6c 69 7a 61 74	set.to.1.for.an.easy.initializat
3a400	69 6f 6e 20 6f 66 20 74 68 65 20 66 6f 63 61 6c 20 6c 65 6e 67 74 68 0a 0a 0a 63 68 65 63 6b 5f	ion.of.the.focal.length...check_
3a420	61 63 74 69 76 65 5f 69 6d 61 67 65 73 3b 0a 0a 0a 0a 71 75 69 63 6b 5f 69 6e 69 74 20 3d 20 30	active_images;....quick_init.=.0
3a440	3b 20 25 20 53 65 74 20 74 6f 20 31 20 66 6f 72 20 75 73 69 6e 67 20 61 20 71 75 69 63 6b 20 69	;.%.Set.to.1.for.using.a.quick.i
3a460	6e 69 74 20 28 6e 65 63 65 73 73 61 72 79 20 77 68 65 6e 20 75 73 69 6e 67 20 33 44 20 72 69 67	nit.(necessary.when.using.3D.rig
3a480	73 29 0a 0a 0a 0a 25 20 43 68 65 63 6b 20 33 44 2d 6e 65 73 73 20 6f 66 20 74 68 65 20 63 61 6c	s)....%.Check.3D-ness.of.the.cal
3a4a0	69 62 72 61 74 69 6f 6e 20 72 69 67 3a 0a 72 69 67 33 44 20 3d 20 30 3b 0a 66 6f 72 20 6b 6b 20	ibration.rig:.rig3D.=.0;.for.kk.
3a4c0	3d 20 69 6e 64 5f 61 63 74 69 76 65 2c 0a 20 20 20 65 76 61 6c 28 5b 27 58 5f 6b 6b 20 3d 20 58	=.ind_active,....eval(['X_kk.=.X
3a4e0	5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 69 66 20 69 73 33 44	_'.num2str(kk).';']);....if.is3D
3a500	28 58 5f 6b 6b 29 2c 0a 20 20 20 20 20 20 72 69 67 33 44 20 3d 20 31 3b 0a 20 20 20 65 6e 64 3b	(X_kk),.......rig3D.=.1;....end;
3a520	0a 65 6e 64 3b 0a 0a 0a 0a 25 20 49 66 20 74 68 65 20 72 69 67 20 69 73 20 33 44 2c 20 74 68 65	.end;....%.If.the.rig.is.3D,.the
3a540	6e 20 6e 6f 20 63 68 6f 69 63 65 3a 20 74 68 65 20 6f 6e 6c 79 20 76 61 6c 69 64 20 69 6e 69 74	n.no.choice:.the.only.valid.init
3a560	69 61 6c 69 7a 61 74 69 6f 6e 20 69 73 20 6d 61 6e 75 61 6c 21 0a 69 66 20 72 69 67 33 44 2c 0a	ialization.is.manual!.if.rig3D,.
3a580	20 20 20 71 75 69 63 6b 5f 69 6e 69 74 20 3d 20 31 3b 0a 65 6e 64 3b 0a 0a 0a 0a 0a 61 6c 70 68	...quick_init.=.1;.end;.....alph
3a5a0	61 20 3d 20 30 2e 34 3b 20 25 20 73 65 74 20 61 6c 70 68 61 20 3d 20 31 3b 20 66 6f 72 20 73 74	a.=.0.4;.%.set.alpha.=.1;.for.st
3a5c0	65 65 70 65 73 74 20 67 72 61 64 69 65 6e 74 20 64 65 73 63 65 6e 74 0a 0a 0a 25 20 43 6f 6e 64	eepest.gradient.descent...%.Cond
3a5e0	69 74 69 6f 6e 69 6e 67 20 74 68 72 65 73 68 6f 6c 64 20 66 6f 72 20 76 69 65 77 20 72 65 6a 65	itioning.threshold.for.view.reje
3a600	63 74 69 6f 6e 0a 74 68 72 65 73 68 5f 63 6f 6e 64 20 3d 20 31 65 36 3b 0a 0a 0a 0a 0a 25 25 20	ction.thresh_cond.=.1e6;.....%%.
3a620	49 6e 69 74 69 61 6c 69 7a 61 74 69 6f 6e 20 6f 66 20 74 68 65 20 69 6e 74 72 69 6e 73 69 63 20	Initialization.of.the.intrinsic.
3a640	70 61 72 61 6d 65 74 65 72 73 20 28 69 66 20 6e 65 63 65 73 73 61 72 79 29 0a 0a 69 66 20 7e 65	parameters.(if.necessary)..if.~e
3a660	78 69 73 74 28 27 63 63 27 29 2c 0a 20 20 20 66 70 72 69 6e 74 66 28 31 2c 27 49 6e 69 74 69 61	xist('cc'),....fprintf(1,'Initia
3a680	6c 69 7a 61 74 69 6f 6e 20 6f 66 20 74 68 65 20 70 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 20	lization.of.the.principal.point.
3a6a0	61 74 20 74 68 65 20 63 65 6e 74 65 72 20 6f 66 20 74 68 65 20 69 6d 61 67 65 2e 5c 6e 27 29 3b	at.the.center.of.the.image.\n');
3a6c0	0a 20 20 20 63 63 20 3d 20 5b 28 6e 78 2d 31 29 2f 32 3b 28 6e 79 2d 31 29 2f 32 5d 3b 0a 65 6e	....cc.=.[(nx-1)/2;(ny-1)/2];.en
3a6e0	64 3b 0a 0a 0a 69 66 20 7e 65 78 69 73 74 28 27 6b 63 27 29 2c 0a 20 20 20 66 70 72 69 6e 74 66	d;...if.~exist('kc'),....fprintf
3a700	28 31 2c 27 49 6e 69 74 69 61 6c 69 7a 61 74 69 6f 6e 20 6f 66 20 74 68 65 20 69 6d 61 67 65 20	(1,'Initialization.of.the.image.
3a720	64 69 73 74 6f 72 74 69 6f 6e 20 74 6f 20 7a 65 72 6f 2e 5c 6e 27 29 3b 0a 20 20 20 6b 63 20 3d	distortion.to.zero.\n');....kc.=
3a740	20 7a 65 72 6f 73 28 34 2c 31 29 3b 0a 65 6e 64 3b 0a 0a 0a 69 66 20 7e 65 78 69 73 74 28 27 66	.zeros(4,1);.end;...if.~exist('f
3a760	63 27 29 26 20 71 75 69 63 6b 5f 69 6e 69 74 2c 0a 20 20 20 46 4f 56 5f 61 6e 67 6c 65 20 3d 20	c')&.quick_init,....FOV_angle.=.
3a780	33 35 3b 20 25 20 49 6e 69 74 69 61 6c 20 63 61 6d 65 72 61 20 66 69 65 6c 64 20 6f 66 20 76 69	35;.%.Initial.camera.field.of.vi
3a7a0	65 77 20 69 6e 20 64 65 67 72 65 65 73 0a 20 20 20 66 70 72 69 6e 74 66 28 31 2c 5b 27 49 6e 69	ew.in.degrees....fprintf(1,['Ini
3a7c0	74 69 61 6c 69 7a 61 74 69 6f 6e 20 6f 66 20 74 68 65 20 66 6f 63 61 6c 20 6c 65 6e 67 74 68 20	tialization.of.the.focal.length.
3a7e0	74 6f 20 61 20 46 4f 56 20 6f 66 20 27 20 6e 75 6d 32 73 74 72 28 46 4f 56 5f 61 6e 67 6c 65 29	to.a.FOV.of.'.num2str(FOV_angle)
3a800	20 27 20 64 65 67 72 65 65 73 2e 5c 6e 27 5d 29 3b 0a 20 20 20 66 63 20 3d 20 28 6e 78 2f 32 29	.'.degrees.\n']);....fc.=.(nx/2)
3a820	2f 74 61 6e 28 70 69 2a 46 4f 56 5f 61 6e 67 6c 65 2f 33 36 30 29 20 2a 20 6f 6e 65 73 28 32 2c	/tan(piFOV_angle/360)..ones(2,
3a840	31 29 3b 0a 65 6e 64 3b 0a 0a 0a 69 66 20 7e 65 78 69 73 74 28 27 66 63 27 29 2c 0a 20 20 20 25	1);.end;...if.~exist('fc'),....%
3a860	20 49 6e 69 74 69 61 6c 69 7a 61 74 69 6f 6e 20 6f 66 20 74 68 65 20 69 6e 74 72 69 6e 73 69 63	.Initialization.of.the.intrinsic
3a880	20 70 61 72 61 6d 65 74 65 72 73 3a 0a 20 20 20 66 70 72 69 6e 74 66 28 31 2c 27 49 6e 69 74 69	.parameters:....fprintf(1,'Initi
3a8a0	61 6c 69 7a 61 74 69 6f 6e 20 6f 66 20 74 68 65 20 69 6e 74 72 69 6e 73 69 63 20 70 61 72 61 6d	alization.of.the.intrinsic.param
3a8c0	65 74 65 72 73 20 75 73 69 6e 67 20 74 68 65 20 76 61 6e 69 73 68 69 6e 67 20 70 6f 69 6e 74 73	eters.using.the.vanishing.points
3a8e0	20 6f 66 20 70 6c 61 6e 61 72 20 70 61 74 74 65 72 6e 73 2e 5c 6e 27 29 0a 20 20 20 69 6e 69 74	.of.planar.patterns.\n')....init
3a900	5f 69 6e 74 72 69 6e 73 69 63 5f 70 61 72 61 6d 3b 20 25 20 54 68 65 20 72 69 67 68 74 20 77 61	_intrinsic_param;.%.The.right.wa
3a920	79 20 74 6f 20 67 6f 20 28 69 66 20 71 75 69 63 6b 5f 69 6e 69 74 20 69 73 20 6e 6f 74 20 61 63	y.to.go.(if.quick_init.is.not.ac
3a940	74 69 76 65 29 21 0a 65 6e 64 3b 0a 0a 0a 0a 25 25 20 49 6e 69 74 69 61 6c 69 7a 61 74 69 6f 6e	tive)!.end;....%%.Initialization
3a960	20 6f 66 20 74 68 65 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73 20 66 6f 72	.of.the.extrinsic.parameters.for
3a980	20 67 6c 6f 62 61 6c 20 6d 69 6e 69 6d 69 7a 61 74 69 6f 6e 3a 0a 0a 69 6e 69 74 5f 70 61 72 61	.global.minimization:..init_para
3a9a0	6d 20 3d 20 5b 66 63 3b 6b 63 5d 3b 0a 0a 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a	m.=.[fc;kc];..for.kk.=.1:n_ima,.
3a9c0	0a 09 69 66 20 65 78 69 73 74 28 5b 27 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 5d 29 2c 0a	..if.exist(['x_'.num2str(kk)]),.
3a9e0	20 20 20 0a 20 20 20 09 65 76 61 6c 28 5b 27 78 5f 6b 6b 20 3d 20 78 5f 27 20 6e 75 6d 32 73 74	........eval(['x_kk.=.x_'.num2st
3aa00	72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 20 20 20 65 76 61 6c 28 5b 27 58 5f 6b 6b 20 3d	r(kk).';']);.......eval(['X_kk.=
3aa20	20 58 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 20 20 20 0a 20	.X_'.num2str(kk).';']);.........
3aa40	20 20 09 69 66 20 28 69 73 6e 61 6e 28 78 5f 6b 6b 28 31 2c 31 29 29 29 2c 0a 20 20 20 20 20 20	...if.(isnan(x_kk(1,1))),.......
3aa60	09 69 66 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 6b 6b 29 2c 0a 20 20 20 20 20 20 20 20 20	.if.active_images(kk),..........
3aa80	09 66 70 72 69 6e 74 66 28 31 2c 27 57 61 72 6e 69 6e 67 3a 20 43 61 6e 6e 6f 74 20 63 61 6c 69	.fprintf(1,'Warning:.Cannot.cali
3aaa0	62 72 61 74 65 20 77 69 74 68 20 69 6d 61 67 65 20 25 64 2e 20 4e 65 65 64 20 74 6f 20 65 78 74	brate.with.image.%d..Need.to.ext
3aac0	72 61 63 74 20 67 72 69 64 20 63 6f 72 6e 65 72 73 20 66 69 72 73 74 2e 5c 6e 27 2c 6b 6b 29 0a	ract.grid.corners.first.\n',kk).
3aae0	20 20 20 20 20 20 20 20 20 09 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20 20 20 20 20 20 20 53 65	..........fprintf(1,'.........Se
3ab00	74 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 25 64 29 3d 31 3b 20 61 6e 64 20 72 75 6e 20 45	t.active_images(%d)=1;.and.run.E
3ab20	78 74 72 61 63 74 20 67 72 69 64 20 63 6f 72 6e 65 72 73 2e 5c 6e 27 2c 6b 6b 29 0a 20 20 20 20	xtract.grid.corners.\n',kk).....
3ab40	20 20 09 65 6e 64 3b 0a 20 20 20 20 20 20 09 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 6b 6b 29	...end;........active_images(kk)
3ab60	20 3d 20 30 3b 0a 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 69 66 20 61 63 74 69 76 65	.=.0;.......end;.......if.active
3ab80	5f 69 6d 61 67 65 73 28 6b 6b 29 2c 0a 20 20 20 20 20 20 20 20 20 5b 6f 6d 63 6b 6b 2c 54 63 6b	_images(kk),..........[omckk,Tck
3aba0	6b 5d 20 3d 20 63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 5f 69 6e 69 74 28 78 5f 6b 6b	k].=.compute_extrinsic_init(x_kk
3abc0	2c 58 5f 6b 6b 2c 66 63 2c 63 63 2c 6b 63 29 3b 0a 20 20 20 20 20 20 20 20 20 5b 6f 6d 63 6b 6b	,X_kk,fc,cc,kc);..........[omckk
3abe0	2c 54 63 6b 6b 2c 52 63 6b 6b 2c 4a 4a 5f 6b 6b 5d 20 3d 20 63 6f 6d 70 75 74 65 5f 65 78 74 72	,Tckk,Rckk,JJ_kk].=.compute_extr
3ac00	69 6e 73 69 63 5f 72 65 66 69 6e 65 28 6f 6d 63 6b 6b 2c 54 63 6b 6b 2c 78 5f 6b 6b 2c 58 5f 6b	insic_refine(omckk,Tckk,x_kk,X_k
3ac20	6b 2c 66 63 2c 63 63 2c 6b 63 2c 32 30 2c 74 68 72 65 73 68 5f 63 6f 6e 64 29 3b 0a 20 20 20 20	k,fc,cc,kc,20,thresh_cond);.....
3ac40	20 20 20 20 20 69 66 20 63 6f 6e 64 28 4a 4a 5f 6b 6b 29 3e 20 74 68 72 65 73 68 5f 63 6f 6e 64	.....if.cond(JJ_kk)>.thresh_cond
3ac60	2c 0a 20 20 20 20 20 20 20 20 20 20 20 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 6b 6b 29 20	,.............active_images(kk).
3ac80	3d 20 30 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 6f 6d 63 6b 6b 20 3d 20 4e 61 4e 2a 6f 6e 65	=.0;.............omckk.=.NaN*one
3aca0	73 28 33 2c 31 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 54 63 6b 6b 20 3d 20 4e 61 4e 2a 6f	s(3,1);.............Tckk.=.NaN*o
3acc0	6e 65 73 28 33 2c 31 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 66 70 72 69 6e 74 66 28 31 2c	nes(3,1);.............fprintf(1,
3ace0	27 5c 6e 57 61 72 6e 69 6e 67 3a 20 56 69 65 77 20 23 25 64 20 69 6c 6c 2d 63 6f 6e 64 69 74 69	'\nWarning:.View.#%d.ill-conditi
3ad00	6f 6e 65 64 2e 20 54 68 69 73 20 69 6d 61 67 65 20 69 73 20 6e 6f 77 20 73 65 74 20 69 6e 61 63	oned..This.image.is.now.set.inac
3ad20	74 69 76 65 2e 5c 6e 27 2c 6b 6b 29 0a 20 20 20 20 20 20 20 20 20 20 20 20 64 65 73 61 63 74 69	tive.\n',kk).............desacti
3ad40	76 61 74 65 64 5f 69 6d 61 67 65 73 20 3d 20 5b 64 65 73 61 63 74 69 76 61 74 65 64 5f 69 6d 61	vated_images.=.[desactivated_ima
3ad60	67 65 73 20 6b 6b 5d 3b 0a 20 20 20 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 20 20 20	ges.kk];..........end;..........
3ad80	69 66 20 69 73 6e 61 6e 28 6f 6d 63 6b 6b 28 31 2c 31 29 29 2c 0a 20 20 20 20 20 20 20 20 20 20	if.isnan(omckk(1,1)),...........
3ada0	20 20 25 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 57 61 72 6e 69 6e 67 3a 20 44 65 73 61 63 74 69	..%fprintf(1,'\nWarning:.Desacti
3adc0	76 61 74 69 6e 67 20 69 6d 61 67 65 20 25 64 2e 20 52 65 2d 61 63 74 69 76 61 74 65 20 69 74 20	vating.image.%d..Re-activate.it.
3ade0	6c 61 74 65 72 20 62 79 20 74 79 70 69 6e 67 3a 5c 6e 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28	later.by.typing:\nactive_images(
3ae00	25 64 29 3d 31 3b 5c 6e 61 6e 64 20 72 65 2d 72 75 6e 20 6f 70 74 69 6d 69 7a 61 74 69 6f 6e 5c	%d)=1;\nand.re-run.optimization\
3ae20	6e 27 2c 5b 6b 6b 20 6b 6b 5d 29 0a 20 20 20 20 20 20 20 20 20 20 20 20 61 63 74 69 76 65 5f 69	n',[kk.kk]).............active_i
3ae40	6d 61 67 65 73 28 6b 6b 29 20 3d 20 30 3b 0a 20 20 20 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20	mages(kk).=.0;..........end;....
3ae60	20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 20 20 20 6f 6d 63 6b 6b 20 3d 20 4e 61 4e 2a 6f 6e 65	...else..........omckk.=.NaN*one
3ae80	73 28 33 2c 31 29 3b 0a 20 20 20 20 20 20 20 20 20 54 63 6b 6b 20 3d 20 4e 61 4e 2a 6f 6e 65 73	s(3,1);..........Tckk.=.NaN*ones
3aea0	28 33 2c 31 29 3b 0a 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 0a 20 20 20 65 6c 73 65 0a 20 20	(3,1);.......end;........else...
3aec0	20 20 20 20 0a 20 20 20 20 20 20 6f 6d 63 6b 6b 20 3d 20 4e 61 4e 2a 6f 6e 65 73 28 33 2c 31 29	...........omckk.=.NaN*ones(3,1)
3aee0	3b 0a 20 20 20 20 20 20 54 63 6b 6b 20 3d 20 4e 61 4e 2a 6f 6e 65 73 28 33 2c 31 29 3b 0a 20 20	;.......Tckk.=.NaN*ones(3,1);...
3af00	20 20 20 20 0a 20 20 20 20 20 20 69 66 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 6b 6b 29 2c	...........if.active_images(kk),
3af20	0a 20 20 20 20 20 20 20 20 20 66 70 72 69 6e 74 66 28 31 2c 27 57 61 72 6e 69 6e 67 3a 20 43 61	..........fprintf(1,'Warning:.Ca
3af40	6e 6e 6f 74 20 63 61 6c 69 62 72 61 74 65 20 77 69 74 68 20 69 6d 61 67 65 20 25 64 2e 20 4e 65	nnot.calibrate.with.image.%d..Ne
3af60	65 64 20 74 6f 20 65 78 74 72 61 63 74 20 67 72 69 64 20 63 6f 72 6e 65 72 73 20 66 69 72 73 74	ed.to.extract.grid.corners.first
3af80	2e 5c 6e 27 2c 6b 6b 29 0a 20 20 20 20 20 20 20 20 20 66 70 72 69 6e 74 66 28 31 2c 27 20 20 20	.\n',kk)..........fprintf(1,'...
3afa0	20 20 20 20 20 20 53 65 74 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 25 64 29 3d 31 3b 20 61	......Set.active_images(%d)=1;.a
3afc0	6e 64 20 72 75 6e 20 45 78 74 72 61 63 74 20 67 72 69 64 20 63 6f 72 6e 65 72 73 2e 5c 6e 27 2c	nd.run.Extract.grid.corners.\n',
3afe0	6b 6b 29 0a 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 61 63 74 69	kk).......end;..............acti
3b000	76 65 5f 69 6d 61 67 65 73 28 6b 6b 29 20 3d 20 30 3b 0a 20 20 20 20 20 20 0a 20 20 20 65 6e 64	ve_images(kk).=.0;...........end
3b020	3b 0a 20 20 20 0a 20 20 20 65 76 61 6c 28 5b 27 6f 6d 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b	;........eval(['omc_'.num2str(kk
3b040	29 20 27 20 3d 20 6f 6d 63 6b 6b 3b 27 5d 29 3b 0a 20 20 20 65 76 61 6c 28 5b 27 54 63 5f 27 20	).'.=.omckk;']);....eval(['Tc_'.
3b060	6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 20 3d 20 54 63 6b 6b 3b 27 5d 29 3b 0a 20 20 20 0a 20 20	num2str(kk).'.=.Tckk;']);.......
3b080	20 65 76 61 6c 28 5b 27 69 6e 69 74 5f 70 61 72 61 6d 20 3d 20 5b 69 6e 69 74 5f 70 61 72 61 6d	.eval(['init_param.=.[init_param
3b0a0	3b 20 6f 6d 63 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 20 54 63 5f 27 20 6e 75 6d 32	;.omc_'.num2str(kk).';.Tc_'.num2
3b0c0	73 74 72 28 6b 6b 29 20 27 5d 3b 27 5d 29 3b 0a 20 20 20 0a 65 6e 64 3b 0a 0a 0a 63 68 65 63 6b	str(kk).'];']);.....end;...check
3b0e0	5f 61 63 74 69 76 65 5f 69 6d 61 67 65 73 3b 0a 0a 69 6e 69 74 5f 70 61 72 61 6d 20 3d 20 5b 69	_active_images;..init_param.=.[i
3b100	6e 69 74 5f 70 61 72 61 6d 3b 63 63 5d 3b 0a 0a 25 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d 2d	nit_param;cc];..%---------------
3b120	2d 2d 2d 2d 2d 20 4d 61 69 6e 20 4f 70 74 69 6d 69 7a 61 74 69 6f 6e 3a 0a 0a 66 70 72 69 6e 74	-----.Main.Optimization:..fprint
3b140	66 28 31 2c 27 5c 6e 4d 61 69 6e 20 63 61 6c 69 62 72 61 74 69 6f 6e 20 6f 70 74 69 6d 69 7a 61	f(1,'\nMain.calibration.optimiza
3b160	74 69 6f 6e 20 70 72 6f 63 65 64 75 72 65 20 2d 20 4e 75 6d 62 65 72 20 6f 66 20 69 6d 61 67 65	tion.procedure.-.Number.of.image
3b180	73 3a 20 25 64 5c 6e 27 2c 6c 65 6e 67 74 68 28 69 6e 64 5f 61 63 74 69 76 65 29 29 3b 0a 0a 0a	s:.%d\n',length(ind_active));...
3b1a0	25 20 54 68 65 20 66 6f 6c 6c 6f 77 69 6e 67 20 76 65 63 74 6f 72 20 68 65 6c 70 73 20 74 6f 20	%.The.following.vector.helps.to.
3b1c0	73 65 6c 65 63 74 20 74 68 65 20 76 61 72 69 61 62 6c 65 73 20 74 6f 20 75 70 64 61 74 65 3a 0a	select.the.variables.to.update:.
3b1e0	69 6e 64 5f 4a 61 63 20 3d 20 66 69 6e 64 28 5b 6f 6e 65 73 28 36 2c 31 29 3b 72 65 73 68 61 70	ind_Jac.=.find([ones(6,1);reshap
3b200	65 28 6f 6e 65 73 28 36 2c 31 29 2a 61 63 74 69 76 65 5f 69 6d 61 67 65 73 2c 36 2a 6e 5f 69 6d	e(ones(6,1)active_images,6n_im
3b220	61 2c 31 29 3b 6f 6e 65 73 28 32 2c 31 29 5d 29 27 3b 0a 0a 70 61 72 61 6d 20 3d 20 69 6e 69 74	a,1);ones(2,1)])';..param.=.init
3b240	5f 70 61 72 61 6d 3b 0a 63 68 61 6e 67 65 20 3d 20 31 3b 0a 0a 69 74 65 72 20 3d 20 30 3b 0a 0a	_param;.change.=.1;..iter.=.0;..
3b260	66 70 72 69 6e 74 66 28 31 2c 27 47 72 61 64 69 65 6e 74 20 64 65 73 63 65 6e 74 20 69 74 65 72	fprintf(1,'Gradient.descent.iter
3b280	61 74 69 6f 6e 73 3a 20 27 29 3b 0a 0a 70 61 72 61 6d 5f 6c 69 73 74 20 3d 20 70 61 72 61 6d 3b	ations:.');..param_list.=.param;
3b2a0	0a 0a 4d 61 78 49 74 65 72 20 3d 20 33 30 3b 0a 0a 0a 77 68 69 6c 65 20 28 63 68 61 6e 67 65 20	..MaxIter.=.30;...while.(change.
3b2c0	3e 20 31 65 2d 36 29 26 28 69 74 65 72 20 3c 20 4d 61 78 49 74 65 72 29 2c 0a 20 20 20 0a 20 20	>.1e-6)&(iter.<.MaxIter),.......
3b2e0	20 66 70 72 69 6e 74 66 28 31 2c 27 25 64 2e 2e 2e 27 2c 69 74 65 72 2b 31 29 3b 0a 20 20 20 0a	.fprintf(1,'%d...',iter+1);.....
3b300	20 20 20 0a 20 20 20 25 25 20 54 68 65 20 66 69 72 73 74 20 73 74 65 70 20 63 6f 6e 73 69 73 74	.......%%.The.first.step.consist
3b320	73 20 6f 66 20 75 70 64 61 74 69 6e 67 20 74 68 65 20 77 68 6f 6c 65 20 76 65 63 74 6f 72 20 6f	s.of.updating.the.whole.vector.o
3b340	66 20 6b 6e 6f 77 6e 73 20 28 69 6e 74 72 69 6e 73 69 63 20 2b 20 65 78 74 72 69 6e 73 69 63 20	f.knowns.(intrinsic.+.extrinsic.
3b360	6f 66 20 61 63 74 69 76 65 0a 20 20 20 25 25 20 69 6d 61 67 65 73 29 20 74 68 72 6f 75 67 68 20	of.active....%%.images).through.
3b380	61 20 6f 6e 65 20 73 74 65 70 20 73 74 65 65 70 65 73 74 20 67 72 61 64 69 65 6e 74 20 64 65 73	a.one.step.steepest.gradient.des
3b3a0	63 65 6e 74 2e 0a 20 20 20 0a 09 4a 4a 20 3d 20 5b 5d 3b 0a 09 65 78 20 3d 20 5b 5d 3b 0a 09 0a	cent.......JJ.=.[];..ex.=.[];...
3b3c0	09 63 20 3d 20 70 61 72 61 6d 28 36 2a 6e 5f 69 6d 61 20 2b 20 34 20 2b 20 33 3a 36 2a 6e 5f 69	.c.=.param(6n_ima.+.4.+.3:6n_i
3b3e0	6d 61 20 2b 20 35 20 2b 20 33 29 3b 0a 09 66 20 3d 20 70 61 72 61 6d 28 31 3a 32 29 3b 0a 09 6b	ma.+.5.+.3);..f.=.param(1:2);..k
3b400	20 3d 20 70 61 72 61 6d 28 33 3a 36 29 3b 0a 09 0a 20 20 20 66 6f 72 20 6b 6b 20 3d 20 31 3a 6e	.=.param(3:6);......for.kk.=.1:n
3b420	5f 69 6d 61 2c 0a 20 20 20 20 20 20 0a 20 20 20 20 20 20 69 66 20 61 63 74 69 76 65 5f 69 6d 61	_ima,..............if.active_ima
3b440	67 65 73 28 6b 6b 29 2c 0a 20 20 09 20 0a 20 20 20 09 09 6f 6d 63 6b 6b 20 3d 20 70 61 72 61 6d	ges(kk),...........omckk.=.param
3b460	28 34 2b 36 2a 28 6b 6b 2d 31 29 20 2b 20 33 3a 36 2a 6b 6b 20 2b 20 33 29 3b 0a 20 20 20 09 0a	(4+6(kk-1).+.3:6kk.+.3);......
3b480	20 20 20 20 20 20 20 20 20 54 63 6b 6b 20 3d 20 70 61 72 61 6d 28 36 2a 6b 6b 2b 31 20 2b 20 33	.........Tckk.=.param(6*kk+1.+.3
3b4a0	3a 36 2a 6b 6b 2b 33 20 2b 20 33 29 3b 0a 20 20 20 20 20 20 20 20 20 0a 20 20 20 20 20 20 20 20	:6*kk+3.+.3);...................
3b4c0	20 69 66 20 69 73 6e 61 6e 28 6f 6d 63 6b 6b 28 31 29 29 2c 0a 20 20 20 20 20 20 20 20 20 20 20	.if.isnan(omckk(1)),............
3b4e0	20 66 70 72 69 6e 74 66 28 31 2c 27 49 6e 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73	.fprintf(1,'Intrinsic.parameters
3b500	20 61 74 20 66 72 61 6d 65 20 25 64 20 64 6f 20 6e 6f 74 20 65 78 69 73 74 5c 6e 27 2c 6b 6b 29	.at.frame.%d.do.not.exist\n',kk)
3b520	3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 72 65 74 75 72 6e 3b 0a 20 20 20 20 20 20 20 20 20 65	;.............return;..........e
3b540	6e 64 3b 0a 20 20 20 20 20 20 20 20 20 0a 20 20 20 09 09 65 76 61 6c 28 5b 27 58 5f 6b 6b 20 3d	nd;................eval(['X_kk.=
3b560	20 58 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 09 09 65 76 61	.X_'.num2str(kk).';']);......eva
3b580	6c 28 5b 27 78 5f 6b 6b 20 3d 20 78 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29	l(['x_kk.=.x_'.num2str(kk).';'])
3b5a0	3b 0a 20 20 20 09 0a 20 20 20 09 09 4e 70 20 3d 20 73 69 7a 65 28 58 5f 6b 6b 2c 32 29 3b 0a 20	;...........Np.=.size(X_kk,2);..
3b5c0	20 20 09 0a 20 20 20 09 09 4a 4a 6b 6b 20 3d 20 7a 65 72 6f 73 28 32 2a 4e 70 2c 6e 5f 69 6d 61	.........JJkk.=.zeros(2*Np,n_ima
3b5e0	20 2a 20 36 20 2b 20 38 29 3b 0a 20 20 20 09 0a 20 20 20 09 09 5b 78 2c 64 78 64 6f 6d 2c 64 78	.*.6.+.8);...........[x,dxdom,dx
3b600	64 54 2c 64 78 64 66 2c 64 78 64 63 2c 64 78 64 6b 5d 20 3d 20 70 72 6f 6a 65 63 74 5f 70 6f 69	dT,dxdf,dxdc,dxdk].=.project_poi
3b620	6e 74 73 28 58 5f 6b 6b 2c 6f 6d 63 6b 6b 2c 54 63 6b 6b 2c 66 2c 63 2c 6b 29 3b 0a 20 20 20 20	nts(X_kk,omckk,Tckk,f,c,k);.....
3b640	20 20 0a 20 20 20 09 09 65 78 6b 6b 20 3d 20 78 5f 6b 6b 20 2d 20 78 3b 0a 20 20 20 0a 20 20 20	........exkk.=.x_kk.-.x;........
3b660	09 09 65 78 20 3d 20 5b 65 78 3b 65 78 6b 6b 28 3a 29 5d 3b 0a 20 20 20 0a 20 20 20 09 09 4a 4a	..ex.=.[ex;exkk(:)];..........JJ
3b680	6b 6b 28 3a 2c 31 3a 32 29 20 3d 20 64 78 64 66 3b 0a 20 20 20 09 09 4a 4a 6b 6b 28 3a 2c 33 3a	kk(:,1:2).=.dxdf;......JJkk(:,3:
3b6a0	36 29 20 3d 20 64 78 64 6b 3b 0a 20 20 20 09 09 4a 4a 6b 6b 28 3a 2c 34 2b 36 2a 28 6b 6b 2d 31	6).=.dxdk;......JJkk(:,4+6*(kk-1
3b6c0	29 20 2b 20 33 3a 36 2a 6b 6b 20 2b 20 33 29 20 3d 20 64 78 64 6f 6d 3b 0a 20 20 20 09 09 4a 4a	).+.3:6*kk.+.3).=.dxdom;......JJ
3b6e0	6b 6b 28 3a 2c 36 2a 6b 6b 2b 31 20 2b 20 33 3a 36 2a 6b 6b 2b 33 20 2b 20 33 29 20 3d 20 64 78	kk(:,6kk+1.+.3:6kk+3.+.3).=.dx
3b700	64 54 3b 0a 20 20 20 09 09 4a 4a 6b 6b 28 3a 2c 36 2a 6e 5f 69 6d 61 20 2b 20 34 20 2b 20 33 3a	dT;......JJkk(:,6*n_ima.+.4.+.3:
3b720	36 2a 6e 5f 69 6d 61 20 2b 20 35 20 2b 20 33 29 20 3d 20 64 78 64 63 3b 0a 20 20 20 09 09 09 0a	6*n_ima.+.5.+.3).=.dxdc;........
3b740	20 20 20 20 20 20 20 20 20 4a 4a 20 3d 20 5b 4a 4a 3b 4a 4a 6b 6b 5d 3b 0a 20 20 20 20 20 20 20	.........JJ.=.[JJ;JJkk];........
3b760	20 20 0a 20 20 20 20 20 20 20 20 20 0a 20 20 20 20 20 20 20 20 20 25 20 43 68 65 63 6b 20 69 66	......................%.Check.if
3b780	20 74 68 69 73 20 76 69 65 77 20 69 73 20 69 6c 6c 2d 63 6f 6e 64 69 74 69 6f 6e 65 64 3a 0a 20	.this.view.is.ill-conditioned:..
3b7a0	20 20 20 20 20 20 20 20 4a 4a 5f 6b 6b 20 3d 20 5b 64 78 64 6f 6d 20 64 78 64 54 5d 3b 0a 20 20	........JJ_kk.=.[dxdom.dxdT];...
3b7c0	20 20 20 20 20 20 20 69 66 20 63 6f 6e 64 28 4a 4a 5f 6b 6b 29 3e 20 74 68 72 65 73 68 5f 63 6f	.......if.cond(JJ_kk)>.thresh_co
3b7e0	6e 64 2c 0a 20 20 20 20 20 20 20 20 20 20 20 20 61 63 74 69 76 65 5f 69 6d 61 67 65 73 28 6b 6b	nd,.............active_images(kk
3b800	29 20 3d 20 30 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e	).=.0;.............fprintf(1,'\n
3b820	57 61 72 6e 69 6e 67 3a 20 56 69 65 77 20 23 25 64 20 69 6c 6c 2d 63 6f 6e 64 69 74 69 6f 6e 65	Warning:.View.#%d.ill-conditione
3b840	64 2e 20 54 68 69 73 20 69 6d 61 67 65 20 69 73 20 6e 6f 77 20 73 65 74 20 69 6e 61 63 74 69 76	d..This.image.is.now.set.inactiv
3b860	65 2e 5c 6e 27 2c 6b 6b 29 0a 20 20 20 20 20 20 20 20 20 20 20 20 64 65 73 61 63 74 69 76 61 74	e.\n',kk).............desactivat
3b880	65 64 5f 69 6d 61 67 65 73 20 3d 20 5b 64 65 73 61 63 74 69 76 61 74 65 64 5f 69 6d 61 67 65 73	ed_images.=.[desactivated_images
3b8a0	20 6b 6b 5d 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 70 61 72 61 6d 28 34 2b 36 2a 28 6b 6b 2d	.kk];.............param(4+6*(kk-
3b8c0	31 29 20 2b 20 33 3a 36 2a 6b 6b 2b 33 20 2b 20 33 29 20 3d 20 4e 61 4e 2a 6f 6e 65 73 28 36 2c	1).+.3:6kk+3.+.3).=.NaNones(6,
3b8e0	31 29 3b 0a 20 20 20 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 0a 20	1);..........end;...............
3b900	20 20 20 20 20 20 20 20 0a 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 09 0a 20 20 20 65 6e 64 3b	...............end;.........end;
3b920	0a 20 20 20 0a 20 20 20 0a 20 20 20 25 20 4c 69 73 74 20 6f 66 20 61 63 74 69 76 65 20 69 6d 61	............%.List.of.active.ima
3b940	67 65 73 20 28 6e 65 63 65 73 73 61 72 79 20 69 66 20 63 68 61 6e 67 65 64 29 3a 0a 20 20 20 63	ges.(necessary.if.changed):....c
3b960	68 65 63 6b 5f 61 63 74 69 76 65 5f 69 6d 61 67 65 73 3b 0a 20 20 20 69 6e 64 5f 4a 61 63 20 3d	heck_active_images;....ind_Jac.=
3b980	20 66 69 6e 64 28 5b 6f 6e 65 73 28 36 2c 31 29 3b 72 65 73 68 61 70 65 28 6f 6e 65 73 28 36 2c	.find([ones(6,1);reshape(ones(6,
3b9a0	31 29 2a 61 63 74 69 76 65 5f 69 6d 61 67 65 73 2c 36 2a 6e 5f 69 6d 61 2c 31 29 3b 6f 6e 65 73	1)active_images,6n_ima,1);ones
3b9c0	28 32 2c 31 29 5d 29 27 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 4a 4a 20 3d 20 4a 4a 28 3a 2c 69	(2,1)])';............JJ.=.JJ(:,i
3b9e0	6e 64 5f 4a 61 63 29 3b 0a 20 20 20 0a 20 20 20 4a 4a 32 20 3d 20 4a 4a 27 2a 4a 4a 3b 0a 20 20	nd_Jac);........JJ2.=.JJ'*JJ;...
3ba00	20 0a 20 20 20 0a 20 20 20 25 20 53 6d 6f 6f 74 68 69 6e 67 20 63 6f 65 66 66 69 63 69 65 6e 74	.........%.Smoothing.coefficient
3ba20	3a 0a 20 20 20 0a 20 20 20 61 6c 70 68 61 32 20 3d 20 31 2d 28 31 2d 61 6c 70 68 61 29 5e 28 69	:........alpha2.=.1-(1-alpha)^(i
3ba40	74 65 72 2b 31 29 3b 20 25 73 65 74 20 74 6f 20 31 20 74 6f 20 75 6e 64 6f 20 61 6e 79 20 73 6d	ter+1);.%set.to.1.to.undo.any.sm
3ba60	6f 6f 74 68 69 6e 67 21 0a 20 20 20 0a 20 20 20 0a 20 20 20 70 61 72 61 6d 5f 69 6e 6e 6f 76 20	oothing!............param_innov.
3ba80	3d 20 61 6c 70 68 61 32 2a 69 6e 76 28 4a 4a 32 29 2a 28 4a 4a 27 29 2a 65 78 3b 0a 20 20 20 70	=.alpha2inv(JJ2)(JJ')*ex;....p
3baa0	61 72 61 6d 5f 75 70 20 3d 20 70 61 72 61 6d 28 69 6e 64 5f 4a 61 63 29 20 2b 20 70 61 72 61 6d	aram_up.=.param(ind_Jac).+.param
3bac0	5f 69 6e 6e 6f 76 3b 0a 20 20 20 70 61 72 61 6d 28 69 6e 64 5f 4a 61 63 29 20 3d 20 70 61 72 61	_innov;....param(ind_Jac).=.para
3bae0	6d 5f 75 70 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 25 20 4e 65 77 20 69 6e 74 72 69 6e 73 69 63	m_up;............%.New.intrinsic
3bb00	20 70 61 72 61 6d 65 74 65 72 73 3a 0a 20 20 20 0a 20 20 20 66 63 5f 63 75 72 72 65 6e 74 20 3d	.parameters:........fc_current.=
3bb20	20 70 61 72 61 6d 28 31 3a 32 29 3b 0a 20 20 20 63 63 5f 63 75 72 72 65 6e 74 20 3d 20 70 61 72	.param(1:2);....cc_current.=.par
3bb40	61 6d 28 36 2a 6e 5f 69 6d 61 20 2b 20 34 20 2b 20 33 3a 36 2a 6e 5f 69 6d 61 20 2b 20 35 20 2b	am(6n_ima.+.4.+.3:6n_ima.+.5.+
3bb60	20 33 29 3b 0a 20 20 20 6b 63 5f 63 75 72 72 65 6e 74 20 3d 20 70 61 72 61 6d 28 33 3a 36 29 3b	.3);....kc_current.=.param(3:6);
3bb80	0a 20 20 20 0a 20 20 20 0a 20 20 20 25 20 43 68 61 6e 67 65 20 6f 6e 20 74 68 65 20 69 6e 74 72	............%.Change.on.the.intr
3bba0	69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73 3a 0a 20 20 20 63 68 61 6e 67 65 20 3d 20 6e 6f	insic.parameters:....change.=.no
3bbc0	72 6d 28 5b 66 63 5f 63 75 72 72 65 6e 74 3b 63 63 5f 63 75 72 72 65 6e 74 5d 20 2d 20 5b 66 3b	rm([fc_current;cc_current].-.[f;
3bbe0	63 5d 29 2f 6e 6f 72 6d 28 5b 66 63 5f 63 75 72 72 65 6e 74 3b 63 63 5f 63 75 72 72 65 6e 74 5d	c])/norm([fc_current;cc_current]
3bc00	29 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 25 25 20 53 65 63 6f 6e 64 20 73 74 65 70 3a 20 28 6f	);............%%.Second.step:.(o
3bc20	70 74 69 6f 6e 61 6c 29 20 2d 20 49 74 20 6d 61 6b 65 73 20 63 6f 6e 76 65 72 67 65 6e 63 65 20	ptional).-.It.makes.convergence.
3bc40	66 61 73 74 65 72 2c 20 61 6e 64 20 74 68 65 20 72 65 67 69 6f 6e 20 6f 66 20 63 6f 6e 76 65 72	faster,.and.the.region.of.conver
3bc60	67 65 6e 63 65 20 4c 41 52 47 45 52 21 21 21 0a 20 20 20 25 25 20 52 65 63 6f 6d 70 75 74 65 20	gence.LARGER!!!....%%.Recompute.
3bc80	74 68 65 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73 20 6f 6e 6c 79 20 75 73	the.extrinsic.parameters.only.us
3bca0	69 6e 67 20 63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 2e 6d 20 28 74 68 69 73 20 6d 61	ing.compute_extrinsic.m.(this.ma
3bcc0	79 20 62 65 20 75 73 65 66 75 6c 20 73 6f 6d 65 74 69 6d 65 73 29 0a 20 20 20 25 25 20 54 68 65	y.be.useful.sometimes)....%%.The
3bce0	20 63 6f 6d 70 6c 65 74 65 20 67 72 61 64 69 65 6e 74 20 64 65 73 63 65 6e 74 20 6d 65 74 68 6f	.complete.gradient.descent.metho
3bd00	64 20 69 73 20 75 73 65 66 75 6c 20 74 6f 20 70 72 65 63 69 73 65 6c 79 20 75 70 64 61 74 65 20	d.is.useful.to.precisely.update.
3bd20	74 68 65 20 69 6e 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73 2e 0a 20 20 20 20 20 20	the.intrinsic.parameters........
3bd40	0a 20 20 20 4d 61 78 49 74 65 72 32 20 3d 20 32 30 3b 0a 20 20 20 0a 20 20 20 66 6f 72 20 6b 6b	....MaxIter2.=.20;........for.kk
3bd60	20 3d 20 31 3a 6e 5f 69 6d 61 2c 0a 20 20 20 20 20 20 69 66 20 61 63 74 69 76 65 5f 69 6d 61 67	.=.1:n_ima,.......if.active_imag
3bd80	65 73 28 6b 6b 29 2c 0a 20 20 20 20 20 20 20 20 20 6f 6d 63 5f 63 75 72 72 65 6e 74 20 3d 20 70	es(kk),..........omc_current.=.p
3bda0	61 72 61 6d 28 34 2b 36 2a 28 6b 6b 2d 31 29 20 2b 20 33 3a 36 2a 6b 6b 20 2b 20 33 29 3b 0a 20	aram(4+6(kk-1).+.3:6kk.+.3);..
3bdc0	20 20 20 20 20 20 20 20 54 63 5f 63 75 72 72 65 6e 74 20 3d 20 70 61 72 61 6d 28 36 2a 6b 6b 2b	........Tc_current.=.param(6*kk+
3bde0	31 20 2b 20 33 3a 36 2a 6b 6b 2b 33 20 2b 20 33 29 3b 0a 20 20 20 20 20 20 09 65 76 61 6c 28 5b	1.+.3:6*kk+3.+.3);........eval([
3be00	27 58 5f 6b 6b 20 3d 20 58 5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20	'X_kk.=.X_'.num2str(kk).';']);..
3be20	20 20 20 20 20 20 20 20 65 76 61 6c 28 5b 27 78 5f 6b 6b 20 3d 20 78 5f 27 20 6e 75 6d 32 73 74	........eval(['x_kk.=.x_'.num2st
3be40	72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 20 20 20 20 20 20 5b 6f 6d 63 5f 63 75 72 72 65	r(kk).';']);..........[omc_curre
3be60	6e 74 2c 54 63 5f 63 75 72 72 65 6e 74 5d 20 3d 20 63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73	nt,Tc_current].=.compute_extrins
3be80	69 63 5f 69 6e 69 74 28 78 5f 6b 6b 2c 58 5f 6b 6b 2c 66 63 5f 63 75 72 72 65 6e 74 2c 63 63 5f	ic_init(x_kk,X_kk,fc_current,cc_
3bea0	63 75 72 72 65 6e 74 2c 6b 63 5f 63 75 72 72 65 6e 74 29 3b 0a 20 20 20 20 20 20 20 20 20 5b 6f	current,kc_current);..........[o
3bec0	6d 63 6b 6b 2c 54 63 6b 6b 2c 52 63 6b 6b 2c 4a 4a 5f 6b 6b 5d 20 3d 20 63 6f 6d 70 75 74 65 5f	mckk,Tckk,Rckk,JJ_kk].=.compute_
3bee0	65 78 74 72 69 6e 73 69 63 5f 72 65 66 69 6e 65 28 6f 6d 63 5f 63 75 72 72 65 6e 74 2c 54 63 5f	extrinsic_refine(omc_current,Tc_
3bf00	63 75 72 72 65 6e 74 2c 78 5f 6b 6b 2c 58 5f 6b 6b 2c 66 63 5f 63 75 72 72 65 6e 74 2c 63 63 5f	current,x_kk,X_kk,fc_current,cc_
3bf20	63 75 72 72 65 6e 74 2c 6b 63 5f 63 75 72 72 65 6e 74 2c 4d 61 78 49 74 65 72 32 2c 74 68 72 65	current,kc_current,MaxIter2,thre
3bf40	73 68 5f 63 6f 6e 64 29 3b 0a 20 20 20 20 20 20 20 20 20 69 66 20 63 6f 6e 64 28 4a 4a 5f 6b 6b	sh_cond);..........if.cond(JJ_kk
3bf60	29 3e 20 74 68 72 65 73 68 5f 63 6f 6e 64 2c 0a 20 20 20 20 20 20 20 20 20 20 20 20 61 63 74 69	)>.thresh_cond,.............acti
3bf80	76 65 5f 69 6d 61 67 65 73 28 6b 6b 29 20 3d 20 30 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 66	ve_images(kk).=.0;.............f
3bfa0	70 72 69 6e 74 66 28 31 2c 27 5c 6e 57 61 72 6e 69 6e 67 3a 20 56 69 65 77 20 23 25 64 20 69 6c	printf(1,'\nWarning:.View.#%d.il
3bfc0	6c 2d 63 6f 6e 64 69 74 69 6f 6e 65 64 2e 20 54 68 69 73 20 69 6d 61 67 65 20 69 73 20 6e 6f 77	l-conditioned..This.image.is.now
3bfe0	20 73 65 74 20 69 6e 61 63 74 69 76 65 2e 5c 6e 27 2c 6b 6b 29 0a 20 20 20 20 20 20 20 20 20 20	.set.inactive.\n',kk)...........
3c000	20 20 64 65 73 61 63 74 69 76 61 74 65 64 5f 69 6d 61 67 65 73 20 3d 20 5b 64 65 73 61 63 74 69	..desactivated_images.=.[desacti
3c020	76 61 74 65 64 5f 69 6d 61 67 65 73 20 6b 6b 5d 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 6f 6d	vated_images.kk];.............om
3c040	63 6b 6b 20 3d 20 4e 61 4e 2a 6f 6e 65 73 28 33 2c 31 29 3b 0a 20 20 20 20 20 20 20 20 20 20 20	ckk.=.NaN*ones(3,1);............
3c060	20 54 63 6b 6b 20 3d 20 4e 61 4e 2a 6f 6e 65 73 28 33 2c 31 29 3b 0a 20 20 20 20 20 20 20 20 20	.Tckk.=.NaN*ones(3,1);..........
3c080	65 6e 64 3b 0a 09 09 09 70 61 72 61 6d 28 34 2b 36 2a 28 6b 6b 2d 31 29 20 2b 20 33 3a 36 2a 6b	end;....param(4+6(kk-1).+.3:6k
3c0a0	6b 20 2b 20 33 29 20 3d 20 6f 6d 63 6b 6b 3b 0a 20 20 20 20 20 20 20 20 20 70 61 72 61 6d 28 36	k.+.3).=.omckk;..........param(6
3c0c0	2a 6b 6b 2b 31 20 2b 20 33 3a 36 2a 6b 6b 2b 33 20 2b 20 33 29 20 3d 20 54 63 6b 6b 3b 0a 20 20	kk+1.+.3:6kk+3.+.3).=.Tckk;...
3c0e0	20 20 20 20 65 6e 64 3b 0a 20 20 20 65 6e 64 3b 0a 20 20 20 0a 20 20 20 25 66 70 72 69 6e 74 66	....end;....end;........%fprintf
3c100	28 31 2c 27 5c 6e 5c 6e 43 61 6c 69 62 72 61 74 69 6f 6e 20 72 65 73 75 6c 74 73 20 61 66 74 65	(1,'\n\nCalibration.results.afte
3c120	72 20 6f 70 74 69 6d 69 7a 61 74 69 6f 6e 3a 5c 6e 5c 6e 27 29 3b 0a 20 20 20 25 66 70 72 69 6e	r.optimization:\n\n');....%fprin
3c140	74 66 28 31 2c 27 66 6f 63 61 6c 20 20 20 20 20 20 3d 20 5b 25 33 2e 35 66 20 20 20 25 33 2e 35	tf(1,'focal......=.[%3.5f...%3.5
3c160	66 5d 5c 6e 27 2c 66 63 5f 63 75 72 72 65 6e 74 29 3b 0a 20 20 20 25 66 70 72 69 6e 74 66 28 31	f]\n',fc_current);....%fprintf(1
3c180	2c 27 63 65 6e 74 65 72 20 20 20 20 20 3d 20 5b 25 33 2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e	,'center.....=.[%3.5f...%3.5f]\n
3c1a0	27 2c 63 63 5f 63 75 72 72 65 6e 74 29 3b 0a 20 20 20 25 66 70 72 69 6e 74 66 28 31 2c 27 64 69	',cc_current);....%fprintf(1,'di
3c1c0	73 74 6f 72 74 69 6f 6e 20 3d 20 5b 25 33 2e 35 66 20 20 20 25 33 2e 35 66 20 20 25 33 2e 35 66	stortion.=.[%3.5f...%3.5f..%3.5f
3c1e0	20 20 20 25 33 2e 35 66 5d 5c 6e 5c 6e 27 2c 6b 63 5f 63 75 72 72 65 6e 74 29 3b 20 20 20 0a 20	...%3.5f]\n\n',kc_current);.....
3c200	20 20 0a 20 20 20 0a 20 20 20 70 61 72 61 6d 5f 6c 69 73 74 20 3d 20 5b 70 61 72 61 6d 5f 6c 69	..........param_list.=.[param_li
3c220	73 74 20 70 61 72 61 6d 5d 3b 0a 20 20 20 0a 20 20 20 69 74 65 72 20 3d 20 69 74 65 72 20 2b 20	st.param];........iter.=.iter.+.
3c240	31 3b 0a 20 20 20 0a 65 6e 64 3b 0a 0a 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 27 29 3b 0a 0a 0a	1;.....end;..fprintf(1,'\n');...
3c260	73 6f 6c 5f 77 69 74 68 5f 63 65 6e 74 65 72 20 3d 20 70 61 72 61 6d 3b 0a 0a 73 6f 6c 75 74 69	sol_with_center.=.param;..soluti
3c280	6f 6e 20 3d 20 70 61 72 61 6d 3b 0a 0a 0a 25 25 25 20 45 78 74 72 61 63 74 69 6f 6e 20 6f 66 20	on.=.param;...%%%.Extraction.of.
3c2a0	74 68 65 20 66 69 6e 61 6c 20 69 6e 74 72 69 6e 73 69 63 20 61 6e 64 20 65 78 74 72 69 6e 73 69	the.final.intrinsic.and.extrinsi
3c2c0	63 20 70 61 72 61 6d 61 74 65 72 73 3a 0a 0a 65 78 74 72 61 63 74 5f 70 61 72 61 6d 65 74 65 72	c.paramaters:..extract_parameter
3c2e0	73 3b 0a 63 6f 6d 70 5f 65 72 72 6f 72 5f 63 61 6c 69 62 3b 0a 0a 66 70 72 69 6e 74 66 28 31 2c	s;.comp_error_calib;..fprintf(1,
3c300	27 5c 6e 5c 6e 43 61 6c 69 62 72 61 74 69 6f 6e 20 72 65 73 75 6c 74 73 20 61 66 74 65 72 20 6f	'\n\nCalibration.results.after.o
3c320	70 74 69 6d 69 7a 61 74 69 6f 6e 3a 5c 6e 5c 6e 27 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 46	ptimization:\n\n');.fprintf(1,'F
3c340	6f 63 61 6c 20 4c 65 6e 67 74 68 3a 20 20 20 20 20 66 63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20	ocal.Length:.....fc.=.[.%3.5f...
3c360	25 33 2e 35 66 5d 5c 6e 27 2c 66 63 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 50 72 69 6e 63 69	%3.5f]\n',fc);.fprintf(1,'Princi
3c380	70 61 6c 20 70 6f 69 6e 74 3a 20 20 63 63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66	pal.point:..cc.=.[.%3.5f...%3.5f
3c3a0	5d 5c 6e 27 2c 63 63 29 3b 0a 66 70 72 69 6e 74 66 28 31 2c 27 44 69 73 74 6f 72 74 69 6f 6e 3a	]\n',cc);.fprintf(1,'Distortion:
3c3c0	20 20 20 20 20 20 20 6b 63 20 3d 20 5b 20 25 33 2e 35 66 20 20 20 25 33 2e 35 66 20 20 20 25 33	.......kc.=.[.%3.5f...%3.5f...%3
3c3e0	2e 35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 27 2c 6b 63 29 3b 20 20 20 0a 66 70 72 69 6e 74 66 28	.5f...%3.5f]\n',kc);....fprintf(
3c400	31 2c 27 50 69 78 65 6c 20 65 72 72 6f 72 3a 20 20 20 20 20 20 65 72 72 20 3d 20 5b 20 25 33 2e	1,'Pixel.error:......err.=.[.%3.
3c420	35 66 20 20 20 25 33 2e 35 66 5d 5c 6e 5c 6e 27 2c 65 72 72 5f 73 74 64 29 3b 20 0a 0a 3d 20 30	5f...%3.5f]\n\n',err_std);...=.0
3c440	3b 20 25 20 53 65 74 20 74 6f 20 31 20 66 6f 72 20 75 73 69 6e 67 20 61 20 71 75 69 63 6b 20 69	;.%.Set.to.1.for.using.a.quick.i
3c460	6e 69 74 20 28 6e 65 63 65 73 73 61 72 79 20 77 68 65 6e 20 75 73 69 6e 67 20 33 44 20 72 69 67	nit.(necessary.when.using.3D.rig
3c480	73 29 0a 0a 0a 0a 25 20 43 68 65 63 6b 20 33 44 2d 6e 65 73 73 20 6f 66 20 74 68 65 20 63 61 6c	s)....%.Check.3D-ness.of.the.cal
3c4a0	69 62 72 61 74 69 6f 6e 20 72 69 67 3a 0a 72 69 67 33 44 20 3d 20 30 3b 0a 66 6f 72 20 6b 6b 20	ibration.rig:.rig3D.=.0;.for.kk.
3c4c0	3d 20 69 6e 64 5f 61 63 74 69 76 65 2c 0a 20 20 20 65 76 61 6c 28 5b 27 58 5f 6b 6b 20 3d 20 58	=.ind_active,....eval(['X_kk.=.X
3c4e0	5f 27 20 6e 75 6d 32 73 74 72 28 6b 6b 29 20 27 3b 27 5d 29 3b 0a 20 20 20 69 66 20 69 73 33 44	_'.num2str(kk).';']);....if.is3D
3c500	28 58 5f 6b 6b 29 2c 0a 20 20 20 20 20 20 72 69 67 33 44 20 3d 20 31 3b 0a 20 20 20 65 6e 64 3b	(X_kk),.......rig3D.=.1;....end;
3c520	0a 65 6e 64 3b 0a 0a 0a 0a 25 20 49 66 20 74 68 65 20 72 69 67 20 69 73 20 33 44 2c 20 74 68 65	.end;....%.If.the.rig.is.3D,.the
3c540	6e 20 6e 6f 20 63 68 6f 69 63 65 3a 20 74 68 65 20 6f 6e 6c 79 20 76 61 6c 69 64 20 69 6e 69 74	n.no.choice:.the.only.valid.init
3c560	69 61 6c 69 7a 61 74 69 6f 6e 20 69 73 20 6d 61 6e 75 61 6c 21 0a 69 66 20 72 69 67 33 44 2c 0a	ialization.is.manual!.if.rig3D,.
3c580	20 20 20 71 75 69 63 6b 5f 69 6e 69 74 20 3d 20 31 3b 0a 65 6e 64 3b 0a 0a 0a 0a 0a 61 6c 70 68	...quick_init.=.1;.end;.....alph
3c5a0	61 20 3d 20 30 2e 34 3b 20 25 20 73 65 74 20 61 6c 70 68 61 20 3d 20 31 3b 20 66 6f 72 20 73 74	a.=.0.4;.%.set.alpha.=.1;.for.st
3c5c0	65 65 70 65 73 74 20 67 72 61 64 69 65 6e 74 20 64 65 73 63 65 6e 74 0a 0a 0a 25 20 43 6f 6e 64	eepest.gradient.descent...%.Cond
3c5e0	69 74 69 6f 6e 69 6e 67 20 74 68 72 65 73 68 6f 6c 64 20 66 6f 72 20 76 69 65 77 20 72 65 6a 65	itioning.threshold.for.view.reje
3c600	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c620	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c640	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c660	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c680	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c6a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c6c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c6e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c700	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c720	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c740	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c760	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c780	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c7a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c7c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c7e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c800	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c820	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c840	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c860	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c880	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c8a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c8c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c8e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c900	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c920	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c940	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c960	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c980	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c9a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c9c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3c9e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3ca00	61 6e 73 66 6f 72 6d 2a 6f 6e 65 73 28 31 2c 4e 70 29 3b 0a 20 20 20 0a 20 20 20 0a 20 20 20 25	ansform*ones(1,Np);............%
3ca20	20 43 6f 6d 70 75 74 65 20 74 68 65 20 70 6c 61 6e 61 72 20 68 6f 6d 6f 67 72 61 70 68 79 3a 0a	.Compute.the.planar.homography:.
3ca40	20 20 20 0a 20 20 20 48 20 3d 20 63 6f 6d 70 75 74 65 5f 68 6f 6d 6f 67 72 61 70 68 79 20 28 78	.......H.=.compute_homography.(x
3ca60	6e 2c 58 5f 6e 65 77 28 31 3a 32 2c 3a 29 29 3b 0a 20 20 20 0a 20 20 20 25 20 44 65 2d 65 6d 62	n,X_new(1:2,:));........%.De-emb
3ca80	65 64 20 74 68 65 20 6d 6f 74 69 6f 6e 20 70 61 72 61 6d 65 74 65 72 73 20 66 72 6f 6d 20 74 68	ed.the.motion.parameters.from.th
3caa0	65 20 68 6f 6d 6f 67 72 61 70 68 79 3a 0a 20 20 20 0a 20 20 20 73 63 20 3d 20 6d 65 61 6e 28 5b	e.homography:........sc.=.mean([
3cac0	6e 6f 72 6d 28 48 28 3a 2c 31 29 29 3b 6e 6f 72 6d 28 48 28 3a 2c 32 29 29 5d 29 3b 0a 20 20 20	norm(H(:,1));norm(H(:,2))]);....
3cae0	0a 20 20 20 48 20 3d 20 48 2f 73 63 3b 0a 20 20 20 0a 20 20 20 6f 6d 63 6b 6b 20 3d 20 72 6f 64	....H.=.H/sc;........omckk.=.rod
3cb00	72 69 67 75 65 73 28 5b 48 28 3a 2c 31 3a 32 29 20 63 72 6f 73 73 28 48 28 3a 2c 31 29 2c 48 28	rigues([H(:,1:2).cross(H(:,1),H(
3cb20	3a 2c 32 29 29 5d 29 3b 0a 20 20 20 52 63 6b 6b 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63	:,2))]);....Rckk.=.rodrigues(omc
3cb40	6b 6b 29 3b 0a 20 20 20 54 63 6b 6b 20 3d 20 48 28 3a 2c 33 29 3b 0a 20 20 20 0a 20 20 20 25 49	kk);....Tckk.=.H(:,3);........%I
3cb60	66 20 58 63 20 3d 20 52 63 6b 6b 20 2a 20 58 5f 6e 65 77 20 2b 20 54 63 6b 6b 2c 20 74 68 65 6e	f.Xc.=.Rckk.*.X_new.+.Tckk,.then
3cb80	20 58 63 20 3d 20 52 63 6b 6b 20 2a 20 52 5f 74 72 61 6e 73 66 6f 72 6d 20 2a 20 58 5f 6b 6b 20	.Xc.=.Rckk..R_transform..X_kk.
3cba0	2b 20 54 63 6b 6b 20 2b 20 54 5f 74 72 61 6e 73 66 6f 72 6d 0a 20 20 20 0a 20 20 20 54 63 6b 6b	+.Tckk.+.T_transform........Tckk
3cbc0	20 3d 20 54 63 6b 6b 20 2b 20 52 63 6b 6b 2a 20 54 5f 74 72 61 6e 73 66 6f 72 6d 3b 0a 20 20 20	.=.Tckk.+.Rckk*.T_transform;....
3cbe0	52 63 6b 6b 20 3d 20 52 63 6b 6b 20 2a 20 52 5f 74 72 61 6e 73 66 6f 72 6d 3b 0a 0a 20 20 20 6f	Rckk.=.Rckk.*.R_transform;.....o
3cc00	6d 63 6b 6b 20 3d 20 72 6f 64 72 69 67 75 65 73 28 52 63 6b 6b 29 3b 0a 20 20 20 52 63 6b 6b 20	mckk.=.rodrigues(Rckk);....Rckk.
3cc20	3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63 6b 6b 29 3b 0a 20 20 20 0a 20 20 20 0a 65 6c 73 65	=.rodrigues(omckk);.........else
3cc40	0a 20 20 20 0a 20 20 20 25 66 70 72 69 6e 74 66 28 31 2c 27 4e 6f 6e 20 70 6c 61 6e 61 72 20 73	........%fprintf(1,'Non.planar.s
3cc60	74 72 75 63 74 75 72 65 20 64 65 74 65 63 74 65 64 3a 20 72 3d 25 66 5c 6e 27 2c 72 29 3b 0a 0a	tructure.detected:.r=%f\n',r);..
3cc80	20 20 20 25 20 43 6f 6d 70 75 74 65 73 20 61 6e 20 69 6e 69 74 69 61 6c 20 67 75 65 73 73 20 66	...%.Computes.an.initial.guess.f
3cca0	6f 72 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73 20 28 77 6f 72 6b 73 20 66	or.extrinsic.parameters.(works.f
3ccc0	6f 72 20 67 65 6e 65 72 61 6c 20 33 64 20 73 74 72 75 63 74 75 72 65 2c 20 6e 6f 74 20 70 6c 61	or.general.3d.structure,.not.pla
3cce0	6e 61 72 21 21 21 29 3a 0a 20 20 20 25 20 54 68 65 20 44 4c 54 20 6d 65 74 68 6f 64 20 69 73 20	nar!!!):....%.The.DLT.method.is.
3cd00	61 70 70 6c 69 65 64 20 68 65 72 65 21 21 0a 20 20 20 0a 20 20 20 4a 20 3d 20 7a 65 72 6f 73 28	applied.here!!........J.=.zeros(
3cd20	32 2a 4e 70 2c 31 32 29 3b 0a 09 0a 09 78 58 20 3d 20 28 6f 6e 65 73 28 33 2c 31 29 2a 78 6e 28	2Np,12);....xX.=.(ones(3,1)xn(
3cd40	31 2c 3a 29 29 2e 2a 58 5f 6b 6b 3b 0a 09 79 58 20 3d 20 28 6f 6e 65 73 28 33 2c 31 29 2a 78 6e	1,:)).X_kk;..yX.=.(ones(3,1)xn
3cd60	28 32 2c 3a 29 29 2e 2a 58 5f 6b 6b 3b 0a 09 0a 09 4a 28 31 3a 32 3a 65 6e 64 2c 5b 31 20 34 20	(2,:)).*X_kk;....J(1:2:end,[1.4.
3cd80	37 5d 29 20 3d 20 2d 58 5f 6b 6b 27 3b 0a 09 4a 28 32 3a 32 3a 65 6e 64 2c 5b 32 20 35 20 38 5d	7]).=.-X_kk';..J(2:2:end,[2.5.8]
3cda0	29 20 3d 20 58 5f 6b 6b 27 3b 0a 09 4a 28 31 3a 32 3a 65 6e 64 2c 5b 33 20 36 20 39 5d 29 20 3d	).=.X_kk';..J(1:2:end,[3.6.9]).=
3cdc0	20 78 58 27 3b 0a 09 4a 28 32 3a 32 3a 65 6e 64 2c 5b 33 20 36 20 39 5d 29 20 3d 20 2d 79 58 27	.xX';..J(2:2:end,[3.6.9]).=.-yX'
3cde0	3b 0a 09 4a 28 31 3a 32 3a 65 6e 64 2c 31 32 29 20 3d 20 78 6e 28 31 2c 3a 29 27 3b 0a 09 4a 28	;..J(1:2:end,12).=.xn(1,:)';..J(
3ce00	32 3a 32 3a 65 6e 64 2c 31 32 29 20 3d 20 2d 78 6e 28 32 2c 3a 29 27 3b 0a 09 4a 28 31 3a 32 3a	2:2:end,12).=.-xn(2,:)';..J(1:2:
3ce20	65 6e 64 2c 31 30 29 20 3d 20 2d 6f 6e 65 73 28 4e 70 2c 31 29 3b 0a 09 4a 28 32 3a 32 3a 65 6e	end,10).=.-ones(Np,1);..J(2:2:en
3ce40	64 2c 31 31 29 20 3d 20 6f 6e 65 73 28 4e 70 2c 31 29 3b 0a 09 0a 09 4a 4a 20 3d 20 4a 27 2a 4a	d,11).=.ones(Np,1);....JJ.=.J'*J
3ce60	3b 0a 09 5b 55 2c 53 2c 56 5d 20 3d 20 73 76 64 28 4a 4a 29 3b 0a 20 20 20 0a 20 20 20 52 52 20	;..[U,S,V].=.svd(JJ);........RR.
3ce80	3d 20 72 65 73 68 61 70 65 28 56 28 31 3a 39 2c 31 32 29 2c 33 2c 33 29 3b 0a 20 20 20 0a 20 20	=.reshape(V(1:9,12),3,3);.......
3cea0	20 69 66 20 64 65 74 28 52 52 29 20 3c 20 30 2c 0a 20 20 20 20 20 20 56 28 3a 2c 31 32 29 20 3d	.if.det(RR).<.0,.......V(:,12).=
3cec0	20 2d 56 28 3a 2c 31 32 29 3b 0a 20 20 20 20 20 20 52 52 20 3d 20 2d 52 52 3b 0a 20 20 20 65 6e	.-V(:,12);.......RR.=.-RR;....en
3cee0	64 3b 0a 20 20 20 0a 20 20 20 5b 55 72 2c 53 72 2c 56 72 5d 20 3d 20 73 76 64 28 52 52 29 3b 0a	d;........[Ur,Sr,Vr].=.svd(RR);.
3cf00	20 20 20 0a 20 20 20 52 63 6b 6b 20 3d 20 55 72 2a 56 72 27 3b 0a 20 20 20 0a 20 20 20 73 63 20	.......Rckk.=.Ur*Vr';........sc.
3cf20	3d 20 6e 6f 72 6d 28 56 28 31 3a 39 2c 31 32 29 29 20 2f 20 6e 6f 72 6d 28 52 63 6b 6b 28 3a 29	=.norm(V(1:9,12))./.norm(Rckk(:)
3cf40	29 3b 0a 20 20 20 54 63 6b 6b 20 3d 20 56 28 31 30 3a 31 32 2c 31 32 29 2f 73 63 3b 0a 20 20 20	);....Tckk.=.V(10:12,12)/sc;....
3cf60	0a 09 6f 6d 63 6b 6b 20 3d 20 72 6f 64 72 69 67 75 65 73 28 52 63 6b 6b 29 3b 0a 20 20 20 52 63	..omckk.=.rodrigues(Rckk);....Rc
3cf80	6b 6b 20 3d 20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63 6b 6b 29 3b 0a 20 20 20 0a 65 6e 64 3b 0a	kk.=.rodrigues(omckk);.....end;.
3cfa0	69 74 20 3d 20 73 71 72 74 28 61 62 73 28 31 2e 2f 28 69 6e 76 28 41 27 2a 41 29 2a 41 27 2a 62	it.=.sqrt(abs(1./(inv(A'A)A'*b
3cfc0	29 29 29 3b 20 25 20 69 66 20 75 73 69 6e 67 20 61 20 74 77 6f 2d 66 6f 63 61 6c 20 6d 6f 64 65	)));.%.if.using.a.two-focal.mode
3cfe0	6c 20 66 6f 72 20 69 6e 69 74 69 61 6c 20 67 75 65 73 73 0a 0a 25 66 5f 69 6e 69 74 20 3d 20 73	l.for.initial.guess..%f_init.=.s
3d000	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 5f	TOOLBOX_calib/compute_extrinsic_
3d020	72 65 66 69 6e 65 2e 6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	refine.m........................
3d040	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3d060	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
3d080	20 20 20 34 36 32 33 20 20 37 30 32 34 30 33 37 33 31 31 20 20 31 33 36 37 32 00 20 00 00 00 00	...4623..7024037311..13672......
3d0a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3d0c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3d0e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3d100	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3d120	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3d140	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3d160	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3d180	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3d1a0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3d1c0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3d1e0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3d200	66 75 6e 63 74 69 6f 6e 20 5b 6f 6d 63 6b 6b 2c 54 63 6b 6b 2c 52 63 6b 6b 2c 4a 4a 5d 20 3d 20	function.[omckk,Tckk,Rckk,JJ].=.
3d220	63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 5f 72 65 66 69 6e 65 28 6f 6d 63 5f 69 6e 69	compute_extrinsic_refine(omc_ini
3d240	74 2c 54 63 5f 69 6e 69 74 2c 78 5f 6b 6b 2c 58 5f 6b 6b 2c 66 63 2c 63 63 2c 6b 63 2c 4d 61 78	t,Tc_init,x_kk,X_kk,fc,cc,kc,Max
3d260	49 74 65 72 2c 74 68 72 65 73 68 5f 63 6f 6e 64 29 2c 0a 0a 25 63 6f 6d 70 75 74 65 5f 65 78 74	Iter,thresh_cond),..%compute_ext
3d280	72 69 6e 73 69 63 0a 25 0a 25 5b 6f 6d 63 6b 6b 2c 54 63 6b 6b 2c 52 63 6b 6b 5d 20 3d 20 63 6f	rinsic.%.%[omckk,Tckk,Rckk].=.co
3d2a0	6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 5f 72 65 66 69 6e 65 28 78 5f 6b 6b 2c 58 5f 6b 6b	mpute_extrinsic_refine(x_kk,X_kk
3d2c0	2c 66 63 2c 63 63 2c 6b 63 2c 4d 61 78 49 74 65 72 29 0a 25 0a 25 43 6f 6d 70 75 74 65 73 20 74	,fc,cc,kc,MaxIter).%.%Computes.t
3d2e0	68 65 20 65 78 74 72 69 6e 73 69 63 20 70 61 72 61 6d 65 74 65 72 73 20 61 74 74 61 63 68 65 64	he.extrinsic.parameters.attached
3d300	20 74 6f 20 61 20 33 44 20 73 74 72 75 63 74 75 72 65 20 58 5f 6b 6b 20 67 69 76 65 6e 20 69 74	.to.a.3D.structure.X_kk.given.it
3d320	73 20 70 72 6f 6a 65 63 74 69 6f 6e 0a 25 6f 6e 20 74 68 65 20 69 6d 61 67 65 20 70 6c 61 6e 65	s.projection.%on.the.image.plane
3d340	20 78 5f 6b 6b 20 61 6e 64 20 74 68 65 20 69 6e 74 72 69 6e 73 69 63 20 63 61 6d 65 72 61 20 70	.x_kk.and.the.intrinsic.camera.p
3d360	61 72 61 6d 65 74 65 72 73 20 66 63 2c 20 63 63 20 61 6e 64 20 6b 63 2e 0a 25 57 6f 72 6b 73 20	arameters.fc,.cc.and.kc..%Works.
3d380	77 69 74 68 20 70 6c 61 6e 61 72 20 61 6e 64 20 6e 6f 6e 2d 70 6c 61 6e 61 72 20 73 74 72 75 63	with.planar.and.non-planar.struc
3d3a0	74 75 72 65 73 2e 0a 25 0a 25 49 4e 50 55 54 3a 20 78 5f 6b 6b 3a 20 46 65 61 74 75 72 65 20 6c	tures..%.%INPUT:.x_kk:.Feature.l
3d3c0	6f 63 61 74 69 6f 6e 73 20 6f 6e 20 74 68 65 20 69 6d 61 67 65 73 0a 25 20 20 20 20 20 20 20 58	ocations.on.the.images.%.......X
3d3e0	5f 6b 6b 3a 20 43 6f 72 72 65 73 70 6f 6e 64 69 6e 67 20 67 72 69 64 20 63 6f 6f 72 64 69 6e 61	_kk:.Corresponding.grid.coordina
3d400	74 65 73 0a 25 20 20 20 20 20 20 20 66 63 3a 20 43 61 6d 65 72 61 20 66 6f 63 61 6c 20 6c 65 6e	tes.%.......fc:.Camera.focal.len
3d420	67 74 68 0a 25 20 20 20 20 20 20 20 63 63 3a 20 50 72 69 6e 63 69 70 61 6c 20 70 6f 69 6e 74 20	gth.%.......cc:.Principal.point.
3d440	63 6f 6f 72 64 69 6e 61 74 65 73 0a 25 20 20 20 20 20 20 20 6b 63 3a 20 44 69 73 74 6f 72 74 69	coordinates.%.......kc:.Distorti
3d460	6f 6e 20 63 6f 65 66 66 69 63 69 65 6e 74 73 0a 25 20 20 20 20 20 20 20 4d 61 78 49 74 65 72 3a	on.coefficients.%.......MaxIter:
3d480	20 4d 61 78 69 6d 75 6d 20 6e 75 6d 62 65 72 20 6f 66 20 69 74 65 72 61 74 69 6f 6e 73 0a 25 0a	.Maximum.number.of.iterations.%.
3d4a0	25 4f 55 54 50 55 54 3a 20 6f 6d 63 6b 6b 3a 20 33 44 20 72 6f 74 61 74 69 6f 6e 20 76 65 63 74	%OUTPUT:.omckk:.3D.rotation.vect
3d4c0	6f 72 20 61 74 74 61 63 68 65 64 20 74 6f 20 74 68 65 20 67 72 69 64 20 70 6f 73 69 74 69 6f 6e	or.attached.to.the.grid.position
3d4e0	73 20 69 6e 20 73 70 61 63 65 0a 25 20 20 20 20 20 20 20 20 54 63 6b 6b 3a 20 33 44 20 74 72 61	s.in.space.%........Tckk:.3D.tra
3d500	6e 73 6c 61 74 69 6f 6e 20 76 65 63 74 6f 72 20 61 74 74 61 63 68 65 64 20 74 6f 20 74 68 65 20	nslation.vector.attached.to.the.
3d520	67 72 69 64 20 70 6f 73 69 74 69 6f 6e 73 20 69 6e 20 73 70 61 63 65 0a 25 20 20 20 20 20 20 20	grid.positions.in.space.%.......
3d540	20 52 63 6b 6b 3a 20 33 44 20 72 6f 74 61 74 69 6f 6e 20 6d 61 74 72 69 63 65 73 20 63 6f 72 72	.Rckk:.3D.rotation.matrices.corr
3d560	65 73 70 6f 6e 64 69 6e 67 20 74 6f 20 74 68 65 20 6f 6d 63 20 76 65 63 74 6f 72 73 0a 0a 25 0a	esponding.to.the.omc.vectors..%.
3d580	25 4d 65 74 68 6f 64 3a 20 43 6f 6d 70 75 74 65 73 20 74 68 65 20 6e 6f 72 6d 61 6c 69 7a 65 64	%Method:.Computes.the.normalized
3d5a0	20 70 6f 69 6e 74 20 63 6f 6f 72 64 69 6e 61 74 65 73 2c 20 74 68 65 6e 20 63 6f 6d 70 75 74 65	.point.coordinates,.then.compute
3d5c0	73 20 74 68 65 20 33 44 20 70 6f 73 65 0a 25 0a 25 49 6d 70 6f 72 74 61 6e 74 20 66 75 6e 63 74	s.the.3D.pose.%.%Important.funct
3d5e0	69 6f 6e 73 20 63 61 6c 6c 65 64 20 77 69 74 68 69 6e 20 74 68 61 74 20 70 72 6f 67 72 61 6d 3a	ions.called.within.that.program:
3d600	0a 25 0a 25 6e 6f 72 6d 61 6c 69 7a 65 3a 20 43 6f 6d 70 75 74 65 73 20 74 68 65 20 6e 6f 72 6d	.%.%normalize:.Computes.the.norm
3d620	61 6c 69 7a 65 20 69 6d 61 67 65 20 70 6f 69 6e 74 20 63 6f 6f 72 64 69 6e 61 74 65 73 2e 0a 25	alize.image.point.coordinates..%
3d640	0a 25 70 6f 73 65 33 44 3a 20 43 6f 6d 70 75 74 65 73 20 74 68 65 20 33 44 20 70 6f 73 65 20 6f	.%pose3D:.Computes.the.3D.pose.o
3d660	66 20 74 68 65 20 73 74 72 75 63 74 75 72 65 20 67 69 76 65 6e 20 74 68 65 20 6e 6f 72 6d 61 6c	f.the.structure.given.the.normal
3d680	69 7a 65 64 20 69 6d 61 67 65 20 70 72 6f 6a 65 63 74 69 6f 6e 2e 0a 25 0a 25 70 72 6f 6a 65 63	ized.image.projection..%.%projec
3d6a0	74 5f 70 6f 69 6e 74 73 2e 6d 3a 20 43 6f 6d 70 75 74 65 73 20 74 68 65 20 32 44 20 69 6d 61 67	t_points.m:.Computes.the.2D.imag
3d6c0	65 20 70 72 6f 6a 65 63 74 69 6f 6e 73 20 6f 66 20 61 20 73 65 74 20 6f 66 20 33 44 20 70 6f 69	e.projections.of.a.set.of.3D.poi
3d6e0	6e 74 73 0a 0a 0a 69 66 20 6e 61 72 67 69 6e 20 3c 20 39 2c 0a 20 20 20 74 68 72 65 73 68 5f 63	nts...if.nargin.<.9,....thresh_c
3d700	6f 6e 64 20 3d 20 69 6e 66 3b 0a 65 6e 64 3b 0a 0a 0a 69 66 20 6e 61 72 67 69 6e 20 3c 20 38 2c	ond.=.inf;.end;...if.nargin.<.8,
3d720	0a 20 20 20 4d 61 78 49 74 65 72 20 3d 20 32 30 3b 0a 65 6e 64 3b 0a 0a 0a 69 66 20 6e 61 72 67	....MaxIter.=.20;.end;...if.narg
3d740	69 6e 20 3c 20 37 2c 0a 20 20 20 6b 63 20 3d 20 7a 65 72 6f 73 28 34 2c 31 29 3b 0a 20 20 20 69	in.<.7,....kc.=.zeros(4,1);....i
3d760	66 20 6e 61 72 67 69 6e 20 3c 20 36 2c 0a 20 20 20 20 20 20 63 63 20 3d 20 7a 65 72 6f 73 28 32	f.nargin.<.6,.......cc.=.zeros(2
3d780	2c 31 29 3b 0a 20 20 20 20 20 20 69 66 20 6e 61 72 67 69 6e 20 3c 20 35 2c 0a 20 20 20 20 20 20	,1);.......if.nargin.<.5,.......
3d7a0	20 20 20 66 63 20 3d 20 6f 6e 65 73 28 32 2c 31 29 3b 0a 20 20 20 20 20 20 20 20 20 69 66 20 6e	...fc.=.ones(2,1);..........if.n
3d7c0	61 72 67 69 6e 20 3c 20 34 2c 0a 20 20 20 20 20 20 20 20 20 20 20 20 65 72 72 6f 72 28 27 4e 65	argin.<.4,.............error('Ne
3d7e0	65 64 20 32 44 20 70 72 6f 6a 65 63 74 69 6f 6e 73 20 61 6e 64 20 33 44 20 70 6f 69 6e 74 73 20	ed.2D.projections.and.3D.points.
3d800	28 69 6e 20 63 6f 6d 70 75 74 65 5f 65 78 74 72 69 6e 73 69 63 5f 72 65 66 69 6e 65 2e 6d 29 27	(in.compute_extrinsic_refine.m)'
3d820	29 3b 0a 20 20 20 20 20 20 20 20 20 20 20 20 72 65 74 75 72 6e 3b 0a 20 20 20 20 20 20 20 20 20	);.............return;..........
3d840	65 6e 64 3b 0a 20 20 20 20 20 20 65 6e 64 3b 0a 20 20 20 65 6e 64 3b 0a 65 6e 64 3b 0a 0a 0a 25	end;.......end;....end;.end;...%
3d860	20 49 6e 69 74 69 61 6c 69 7a 61 74 69 6f 6e 3a 0a 0a 6f 6d 63 6b 6b 20 3d 20 6f 6d 63 5f 69 6e	.Initialization:..omckk.=.omc_in
3d880	69 74 3b 0a 54 63 6b 6b 20 3d 20 54 63 5f 69 6e 69 74 3b 0a 0a 0a 25 20 46 69 6e 61 6c 20 6f 70	it;.Tckk.=.Tc_init;...%.Final.op
3d8a0	74 69 6d 69 7a 61 74 69 6f 6e 20 28 6d 69 6e 69 6d 69 7a 65 20 74 68 65 20 72 65 70 72 6f 6a 65	timization.(minimize.the.reproje
3d8c0	63 74 69 6f 6e 20 65 72 72 6f 72 20 69 6e 20 70 69 78 65 6c 29 3a 0a 25 20 74 68 72 6f 75 67 68	ction.error.in.pixel):.%.through
3d8e0	20 47 72 61 64 69 65 6e 74 20 44 65 73 63 65 6e 74 3a 0a 0a 70 61 72 61 6d 20 3d 20 5b 6f 6d 63	.Gradient.Descent:..param.=.[omc
3d900	6b 6b 3b 54 63 6b 6b 5d 3b 0a 0a 63 68 61 6e 67 65 20 3d 20 31 3b 0a 0a 69 74 65 72 20 3d 20 30	kk;Tckk];..change.=.1;..iter.=.0
3d920	3b 0a 0a 25 6b 65 79 62 6f 61 72 64 3b 0a 0a 25 66 70 72 69 6e 74 66 28 31 2c 27 47 72 61 64 69	;..%keyboard;..%fprintf(1,'Gradi
3d940	65 6e 74 20 64 65 73 63 65 6e 74 20 69 74 65 72 61 74 69 6f 6e 73 3a 20 27 29 3b 0a 0a 77 68 69	ent.descent.iterations:.');..whi
3d960	6c 65 20 28 63 68 61 6e 67 65 20 3e 20 31 65 2d 31 30 29 26 28 69 74 65 72 20 3c 20 4d 61 78 49	le.(change.>.1e-10)&(iter.<.MaxI
3d980	74 65 72 29 2c 0a 20 20 20 0a 20 20 20 25 66 70 72 69 6e 74 66 28 31 2c 27 25 64 2e 2e 2e 27 2c	ter),........%fprintf(1,'%d...',
3d9a0	69 74 65 72 2b 31 29 3b 0a 0a 20 20 20 5b 78 2c 64 78 64 6f 6d 2c 64 78 64 54 5d 20 3d 20 70 72	iter+1);.....[x,dxdom,dxdT].=.pr
3d9c0	6f 6a 65 63 74 5f 70 6f 69 6e 74 73 28 58 5f 6b 6b 2c 6f 6d 63 6b 6b 2c 54 63 6b 6b 2c 66 63 2c	oject_points(X_kk,omckk,Tckk,fc,
3d9e0	63 63 2c 6b 63 29 3b 0a 20 20 20 20 20 20 0a 20 20 20 65 78 20 3d 20 78 5f 6b 6b 20 2d 20 78 3b	cc,kc);...........ex.=.x_kk.-.x;
3da00	0a 20 20 20 0a 20 20 20 25 6b 65 79 62 6f 61 72 64 3b 0a 20 20 20 0a 20 20 20 4a 4a 20 3d 20 5b	........%keyboard;........JJ.=.[
3da20	64 78 64 6f 6d 20 64 78 64 54 5d 3b 0a 20 20 20 0a 20 20 20 69 66 20 63 6f 6e 64 28 4a 4a 29 20	dxdom.dxdT];........if.cond(JJ).
3da40	3e 20 74 68 72 65 73 68 5f 63 6f 6e 64 2c 0a 20 20 20 20 20 20 63 68 61 6e 67 65 20 3d 20 30 3b	>.thresh_cond,.......change.=.0;
3da60	0a 20 20 20 65 6c 73 65 0a 20 20 20 20 20 20 0a 20 20 20 09 4a 4a 32 20 3d 20 4a 4a 27 2a 4a 4a	....else............JJ2.=.JJ'*JJ
3da80	3b 0a 20 20 20 0a 09 09 70 61 72 61 6d 5f 69 6e 6e 6f 76 20 3d 20 69 6e 76 28 4a 4a 32 29 2a 28	;.......param_innov.=.inv(JJ2)*(
3daa0	4a 4a 27 29 2a 65 78 28 3a 29 3b 0a 09 09 70 61 72 61 6d 5f 75 70 20 3d 20 70 61 72 61 6d 20 2b	JJ')*ex(:);...param_up.=.param.+
3dac0	20 70 61 72 61 6d 5f 69 6e 6e 6f 76 3b 0a 09 09 63 68 61 6e 67 65 20 3d 20 6e 6f 72 6d 28 70 61	.param_innov;...change.=.norm(pa
3dae0	72 61 6d 5f 69 6e 6e 6f 76 29 2f 6e 6f 72 6d 28 70 61 72 61 6d 5f 75 70 29 3b 0a 09 09 70 61 72	ram_innov)/norm(param_up);...par
3db00	61 6d 20 3d 20 70 61 72 61 6d 5f 75 70 3b 0a 09 09 69 74 65 72 20 3d 20 69 74 65 72 20 2b 20 31	am.=.param_up;...iter.=.iter.+.1
3db20	3b 0a 20 20 20 0a 20 20 20 09 6f 6d 63 6b 6b 20 3d 20 70 61 72 61 6d 28 31 3a 33 29 3b 0a 20 20	;.........omckk.=.param(1:3);...
3db40	20 09 54 63 6b 6b 20 3d 20 70 61 72 61 6d 28 34 3a 36 29 3b 0a 20 20 20 65 6e 64 3b 0a 20 20 20	..Tckk.=.param(4:6);....end;....
3db60	0a 65 6e 64 3b 0a 0a 25 66 70 72 69 6e 74 66 28 31 2c 27 5c 6e 27 29 3b 0a 0a 52 63 6b 6b 20 3d	.end;..%fprintf(1,'\n');..Rckk.=
3db80	20 72 6f 64 72 69 67 75 65 73 28 6f 6d 63 6b 6b 29 3b 0a 73 66 6f 72 6d 20 2a 20 58 5f 6b 6b 20	.rodrigues(omckk);.sform.*.X_kk.
3dba0	2b 20 54 63 6b 6b 20 2b 20 54 5f 74 72 61 6e 73 66 6f 72 6d 0a 20 20 20 0a 20 20 20 54 63 6b 6b	+.Tckk.+.T_transform........Tckk
3dbc0	20 3d 20 54 63 6b 6b 20 2b 20 52 63 6b 6b 2a 20 54 5f 74 72 61 6e 73 66 6f 72 6d 3b 0a 20 20 20	.=.Tckk.+.Rckk*.T_transform;....
3dbe0	52 63 6b 6b 20 3d 20 52 63 6b 6b 20 2a 20 52 5f 74 72 61 6e 73 66 6f 72 6d 3b 0a 0a 20 20 20 6f	Rckk.=.Rckk.*.R_transform;.....o
3dc00	54 4f 4f 4c 42 4f 58 5f 63 61 6c 69 62 2f 67 6f 5f 63 61 6c 69 62 5f 6f 70 74 69 6d 5f 69 74 65	TOOLBOX_calib/go_calib_optim_ite
3dc20	72 2e 6d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	r.m.............................
3dc40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3dc60	00 00 00 00 20 20 20 36 34 34 20 00 20 20 20 34 37 31 20 00 20 20 20 34 35 34 20 00 20 20 20 20	.......644.....471.....454......
3dc80	20 20 32 33 30 37 35 20 20 37 30 32 34 30 33 37 33 33 30 20 20 31 32 36 31 33 00 20 00 00 00 00	..23075..7024037330..12613......
3dca0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3dcc0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3dce0	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3dd00	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3dd20	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3dd40	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3dd60	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
3dd80	00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00	................................
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