script1

ext_calib test

Contents

% Color code for each image:
colors = 'brgkcm';



%%%%
% Show the extrinsic parameters

if n_ima ~= 0,
if ~exist('dX'),
   eval(['dX = norm(Tc_' num2str(ind_active(1)) ')/10;']);
   dY = dX;
end;
else
    dX = 1;
end;
fprintf('dX = %g\n',dX);

dX = 3

IP = 5*dX*[1 -alpha_c 0;0 1 0;0 0 1]*[1/fc(1) 0 0;0 1/fc(2) 0;0 0 1]*[1 0 -cc(1);0 1 -cc(2);0 0 1]*[0 nx-1 nx-1 0 0 ; 0 0 ny-1 ny-1 0;1 1 1 1 1];
IP
BASE = 5*dX*([0 1 0 0 0 0;0 0 0 1 0 0;0 0 0 0 0 1]);
IP = reshape([IP;BASE(:,1)*ones(1,5);IP],3,15);

fprintf('nx %d ny %d\n',nx,ny);

IP =
   -4.8850    5.0432    5.0432   -4.8850   -4.8850
   -5.4762   -5.4762    4.4604    4.4604   -5.4762
   15.0000   15.0000   15.0000   15.0000   15.0000
nx 640 ny 640

show camera

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

show targets

ndx = [1 8 64 57 1];
hold on
for k = 1:5
    eval(['Rk = Rc_' num2str(k) ';']);
    Rk
    eval(['Tk = Tc_' num2str(k) ';']);
    Tk
    eval(['Xb = X_' num2str(k) '(:,ndx);']);
    YY = Rk*Xb + Tk*ones(1,length(ndx));
    plot3(YY(1,:),YY(3,:),-YY(2,:),colors(k));

    fprintf('target %d z-axis %g %g %g\n',k,Rk(:,3));
    zaxis(:,k) = Rk(:,3);
    YY = [zeros(3,1) 20*Rk(:,3)] + Tk*ones(1,2);
    plot3(YY(1,:),YY(3,:),-YY(2,:),'k','LineWidth',2);
end
hold off
axis equal

Rk =
    1.0000   -0.0000    0.0013
   -0.0000   -1.0000   -0.0002
    0.0013    0.0002   -1.0000
Tk =
  -10.2678
    9.1718
   39.5355
target 1 z-axis 0.00133369 -0.000194632 -0.999999
Rk =
    0.9999   -0.0002    0.0103
   -0.0002   -1.0000    0.0053
    0.0103   -0.0053   -0.9999
Tk =
   -9.7864
    6.5306
  118.5877
target 2 z-axis 0.0102956 0.00531243 -0.999933
Rk =
    0.9999   -0.0005   -0.0146
    0.0003   -0.9985    0.0549
   -0.0146   -0.0549   -0.9984
Tk =
   -9.5427
    5.1973
  158.9634
target 3 z-axis -0.0146297 0.054913 -0.998384
Rk =
    1.0000    0.0066   -0.0012
   -0.0008   -0.0560   -0.9984
   -0.0067    0.9984   -0.0560
Tk =
   -9.7897
   32.1206
  119.8042
target 4 z-axis -0.00120952 -0.998429 -0.0560145
Rk =
   -0.0093   -0.0057   -0.9999
    0.0356   -0.9994    0.0054
   -0.9993   -0.0355    0.0094
Tk =
   36.9147
    5.6694
  143.1217
target 5 z-axis -0.999941 0.00535125 0.00944669

    for k=1:5
        for j=1:5
            angles(k,j)= axis_angle(zaxis(:,k),zaxis(:,j));
        end
    end

    angles

angles =
         0    0.6027    3.2890   86.7779   90.6177
    0.6027         0    3.1822   87.0942   91.1295
    3.2890    3.1822         0   89.9361   89.6854
   86.7779   87.0942   89.9361         0   90.2671
   90.6177   91.1295   89.6854   90.2671         0

Published with MATLAB® 7.14