gusucode.com > 基于matlab软件，实现双目视觉原理的摄像机标定，能根据各视场图像求内、外部参数 > 基于matlab软件，实现双目视觉原理的摄像机标定，能根据各视场图像求内、外部参数/TOOLBOX_calib/reproject_calib_no_read.m
%%%%%%%%%%%%%%%%%%%% REPROJECT ON THE IMAGES %%%%%%%%%%%%%%%%%%%%%%%%
if ~exist('n_ima')|~exist('fc'),
fprintf(1,'No calibration data available.\n');
return;
end;
if ~exist('no_image'),
no_image = 0;
end;
if ~exist('nx')&~exist('ny'),
fprintf(1,'WARNING: No image size (nx,ny) available. Setting nx=640 and ny=480\n');
nx = 640;
ny = 480;
end;
check_active_images;
% Color code for each image:
colors = 'brgkcm';
% Reproject the patterns on the images, and compute the pixel errors:
% Reload the images if necessary
if n_ima ~= 0,
if ~exist(['omc_' num2str(ind_active(1)) ]),
fprintf(1,'Need to calibrate before showing image reprojection. Maybe need to load Calib_Results.mat file.\n');
return;
end;
end;
%if ~no_image,
% if ~exist(['I_' num2str(ind_active(1)) ]'),
% n_ima_save = n_ima;
% active_images_save = active_images;
% ima_read_calib;
% n_ima = n_ima_save;
% active_images = active_images_save;
% check_active_images;
% if no_image_file,
% fprintf(1,'WARNING: Do not show the original images\n'); %return;
% end;
% end;
%else
% no_image_file = 1;
%end;
if ~exist('dont_ask'),
dont_ask = 0;
end;
if (~dont_ask)&(length(ind_active)>1),
ima_numbers = input('Number(s) of image(s) to show ([] = all images) = ');
else
ima_numbers = [];
end;
if isempty(ima_numbers),
ima_proc = 1:n_ima;
else
ima_proc = ima_numbers;
end;
figure(5);
for kk = ima_proc, %1:n_ima,
if exist(['y_' num2str(kk)]),
if active_images(kk) & eval(['~isnan(y_' num2str(kk) '(1,1))']),
eval(['plot(ex_' num2str(kk) '(1,:),ex_' num2str(kk) '(2,:),''' colors(rem(kk-1,6)+1) '+'');']);
hold on;
end;
end;
end;
hold off;
axis('equal');
title('Reprojection error (in pixel)');
xlabel('x');
ylabel('y');
drawnow;
if n_ima==0,
text(.5,.5,'No image data available','fontsize',24,'horizontalalignment' ,'center');
end;
set(5,'color',[1 1 1]);
set(5,'Name','error','NumberTitle','off');
no_grid = 0;
for kk = ima_proc,
if exist(['y_' num2str(kk)]),
if active_images(kk) & eval(['~isnan(y_' num2str(kk) '(1,1))']),
if ~type_numbering,
number_ext = num2str(image_numbers(kk));
else
number_ext = sprintf(['%.' num2str(N_slots) 'd'],image_numbers(kk));
end;
ima_name = [calib_name number_ext '.' format_image];
if ~exist(ima_name),
I = 255*ones(ny,nx);
else
fprintf(1,'Loading image %s...\n',ima_name);
if format_image(1) == 'p',
if format_image(2) == 'p',
I = double(loadppm(ima_name));
else
I = double(loadpgm(ima_name));
end;
else
if format_image(1) == 'r',
I = readras(ima_name);
else
I = double(imread(ima_name));
end;
end;
if size(I,3)>1,
I = 0.299 * I(:,:,1) + 0.5870 * I(:,:,2) + 0.114 * I(:,:,3);
end;
[ny,nx,junk] = size(I);
end;
figure(5+kk);
image(I); hold on;
colormap(gray(256));
if ~no_grid,
eval(['x_kk = x_' num2str(kk) ';']);
N_kk = size(x_kk,2);
if ~exist(['n_sq_x_' num2str(kk)])|~exist(['n_sq_y_' num2str(kk)]),
no_grid = 1;
end;
if ~no_grid,
eval(['n_sq_x = n_sq_x_' num2str(kk) ';']);
eval(['n_sq_y = n_sq_y_' num2str(kk) ';']);
if (N_kk ~= ((n_sq_x+1)*(n_sq_y+1))),
no_grid = 1;
end;
end;
end;
if ~no_grid,
% plot more things on the figure (to help the user):
Nx = n_sq_x+1;
Ny = n_sq_y+1;
ind_ori = (Ny - 1) * Nx + 1;
ind_X = Nx*Ny;
ind_Y = 1;
ind_XY = Nx;
xo = x_kk(1,ind_ori);
yo = x_kk(2,ind_ori);
xX = x_kk(1,ind_X);
yX = x_kk(2,ind_X);
xY = x_kk(1,ind_Y);
yY = x_kk(2,ind_Y);
xXY = x_kk(1,ind_XY);
yXY = x_kk(2,ind_XY);
uu = cross(cross([xo;yo;1],[xXY;yXY;1]),cross([xX;yX;1],[xY;yY;1]));
xc = uu(1)/uu(3);
yc = uu(2)/uu(3);
bbb = cross(cross([xo;yo;1],[xY;yY;1]),cross([xX;yX;1],[xXY;yXY;1]));
uu = cross(cross([xo;yo;1],[xX;yX;1]),cross([xc;yc;1],bbb));
xXc = uu(1)/uu(3);
yXc = uu(2)/uu(3);
bbb = cross(cross([xo;yo;1],[xX;yX;1]),cross([xY;yY;1],[xXY;yXY;1]));
uu = cross(cross([xo;yo;1],[xY;yY;1]),cross([xc;yc;1],bbb));
xYc = uu(1)/uu(3);
yYc = uu(2)/uu(3);
uX = [xXc - xc;yXc - yc];
uY = [xYc - xc;yYc - yc];
uO = [xo - xc;yo - yc];
uX = uX / norm(uX);
uY = uY / norm(uY);
uO = uO / norm(uO);
delta = 30;
plot([xo;xX]+1,[yo;yX]+1,'g-','linewidth',2);
plot([xo;xY]+1,[yo;yY]+1,'g-','linewidth',2);
text(xXc + delta * uX(1) +1 ,yXc + delta * uX(2)+1,'X','color','g','Fontsize',14);
text(xYc + delta * uY(1)+1 ,yYc + delta * uY(2)+1,'Y','color','g','Fontsize',14,'HorizontalAlignment','center');
text(xo + delta * uO(1) +1,yo + delta * uO(2)+1,'O','color','g','Fontsize',14);
end;
title(['Image ' num2str(kk) ' - Image points (+) and reprojected grid points (o)']);
eval(['plot(x_' num2str(kk) '(1,:)+1,x_' num2str(kk) '(2,:)+1,''r+'');']);
eval(['plot(y_' num2str(kk) '(1,:)+1,y_' num2str(kk) '(2,:)+1,''' colors(rem(kk-1,6)+1) 'o'');']);
zoom on;
axis([1 nx 1 ny]);
hold off;
drawnow;
set(5+kk,'color',[1 1 1]);
set(5+kk,'Name',num2str(kk),'NumberTitle','off');
end;
end;
end;
if n_ima ~= 0,
err_std = std(ex')';
fprintf(1,'Pixel error: err = [%3.5f %3.5f] (all active images)\n\n',err_std);
end;