First CommitHEADmaster

1 files changed, 249 insertions, 0 deletions

diff --git a/macros/displayErrors.sci b/macros/displayErrors.sci
new file mode 100644
index 0000000..ae16b53
--- /dev/null
+++ b/macros/displayErrors.sci
@@ -0,0 +1,249 @@
+function displayErrors(varargin)
+     [lhs rhs]=argn(0);
+     if rhs<2 then
+         error(msprintf(" Not enough input arguments"))
+    elseif rhs>2 then
+         error(msprintf(" Too many input arguments. Two arguments expected."))
+    end
+    typeOferrors =0; 
+    errors = varargin(1);
+    if ~isstruct(errors) then
+        error(msprintf("Invalid Input Argument. A CameraCalibrationError Struct or StereoCalibrationError Struct expected. "))
+    end    
+    errorNames = fieldnames(errors);
+    [size1 zz] = size(errorNames);  
+
+    if size1 == 2 then
+        typeOferrors = 1;
+    elseif  size1 == 5 then
+        typeOferrors = 2;
+    else
+         error(msprintf("Invalid Input Argument. A CameraCalibrationError Struct or StereoCalibrationError Struct expected. "))    
+    end
+    
+    if typeOferrors == 1 then
+        cameraParam = varargin(2);
+        checkCCE(errors);
+        if ~isstruct(cameraParam) then
+            error(msprintf(" A CameraParameters Struct expected"))            
+        end        
+        jj = fieldnames(cameraParam)
+        [size3 zz] = size(jj);               
+        if size3~=18 then
+            error(msprintf("An CameraParameters struct expected."))   
+        end                        
+        checkCameraParam(cameraParam);    
+        focalErr = string(cameraParam.FocalLength) + " +/- ";
+        fE = string(errors.IntrinsicsErrors.FocalLengthError) ;
+        prinErr = string(cameraParam.PrincipalPoint) + " +/- ";
+        pE = string(errors.IntrinsicsErrors.PrincipalPointError);        
+        radErr = string(cameraParam.RadialDistortion) + " +/- ";    
+        rdE = string(errors.IntrinsicsErrors.RadDistortionError);
+        for i=1:2
+            focalErr(i) = focalErr(i) + fE(i);
+            prinErr(i) = prinErr(i) + pE(i);
+        end
+        [size1 xx] = size(radErr); 
+        size1 =size1*xx;
+        for i=1:size1
+            radErr(i) = radErr(i) + rdE(i);
+        end
+        
+        rotVecErr = string(cameraParam.RotationVectors) + " +/- ";
+        rvE = string(errors.ExtrinsicsErrors.RotVectorsError);
+        [size21 size22] = size(rotVecErr);
+        printf("%d  %d \n", size21,size22);
+        for i=1:size21
+            for j=1:size22
+                rotVecErr(i,j) = rotVecErr(i,j) + rvE(i,j);
+            end
+        end
+        
+        tranVecErr = string(cameraParam.TranslationVectors) + " +/- ";
+        tvE = string(errors.ExtrinsicsErrors.TransVectorsError);
+        [size31 size32] = size(tranVecErr);
+        printf("%d  %d \n", size31,size32);
+        for i=1:size31
+            for j=1:size32
+                tranVecErr(i,j) = tranVecErr(i,j) + tvE(i,j);
+            end
+        end
+                   
+                    
+        printf("\n\t\t\tStandard Errors of Estimated Camera Parameters\n");
+        printf("\t\t\t----------------------------------------------\n\n");  
+        printf(" Intrinsics\n");
+        printf(" ----------\n");
+        printf(" Focal length (pixels):          [\t");
+        printf("%s\t\t%s\t]\n", focalErr(1), focalErr(2));
+        printf(" Principal point (pixels):       [\t");
+        printf("%s\t\t%s\t]\n", prinErr(1), prinErr(2));
+        printf(" Radial distortion:              [\t");
+        for i=1:size1
+           printf("%s\t\t", radErr(i));
+        end
+        printf("\t]\n\n");           
+        printf(" Extrinsics\n");
+        printf(" ----------\n");
+        printf(" Rotation vectors:\n");
+        for i=1:size21
+        printf("                                 [\t");
+            for j=1:size22
+                printf("%s\t\t", rotVecErr(i,j));
+            end
+            printf("\t]\n");
+        end
+        if size21*size22==0 then
+            printf("\n");
+        end                
+        printf(" Translation vectors (mm):\n");
+        for i=1:size21
+            printf("                                 [\t");
+            for j=1:size22
+                printf("%s\t\t", tranVecErr(i,j));
+            end
+            printf("\t]\n");
+            
+        end
+        printf("\n");
+               
+    else
+        stereoParam = varargin(2);
+        checkSCE(errors);       
+        if ~isstruct(stereoParam) then
+            error(msprintf(" A Stereo Parameter Struct expected"))            
+        end        
+        jj = fieldnames(stereoParam)
+        [size4 zz] = size(jj);  
+        if size4~=10 then
+            error(msprintf("A Stereo Parameters Struct Expected"))
+        end
+        checkStereoParam(stereoParam);
+        focalErr1 = string(stereoParam.CameraParameters1.FocalLength) + " +/- ";
+        fE1 = string(errors.Camera1IntrinsicsErrors.FocalLengthError) ;
+        prinErr1 = string(stereoParam.CameraParameters1.PrincipalPoint) + " +/- ";
+        pE1 = string(errors.Camera1IntrinsicsErrors.PrincipalPointError);        
+        radErr1 = string(stereoParam.CameraParameters1.RadialDistortion) + " +/- ";    
+        rdE1 = string(errors.Camera1IntrinsicsErrors.RadDistortionError);
+        for i=1:2
+            focalErr1(i) = focalErr1(i) + fE1(i);
+            prinErr1(i) = prinErr1(i) + pE1(i);
+        end
+        [size11 xx] = size(radErr1); 
+        size11 =size11*xx;
+        for i=1:size11
+            radErr1(i) = radErr1(i) + rdE1(i);
+        end
+        
+        focalErr2 = string(stereoParam.CameraParameters2.FocalLength) + " +/- ";
+        fE2 = string(errors.Camera2IntrinsicsErrors.FocalLengthError) ;
+        prinErr2 = string(stereoParam.CameraParameters2.PrincipalPoint) + " +/- ";
+        pE2 = string(errors.Camera2IntrinsicsErrors.PrincipalPointError);        
+        radErr2 = string(stereoParam.CameraParameters2.RadialDistortion) + " +/- ";    
+        rdE2 = string(errors.Camera2IntrinsicsErrors.RadDistortionError);
+         for i=1:2
+            focalErr2(i) = focalErr2(i) + fE2(i);
+            prinErr2(i) = prinErr2(i) + pE2(i);
+        end
+        [size12 xx] = size(radErr2); 
+        size12 =size12*xx;
+        for i=1:size12
+            radErr2(i) = radErr2(i) + rdE2(i);
+        end        
+
+        rotVecErr = string(stereoParam.CameraParameters1.RotationVectors) + " +/- ";
+        rvE = string(errors.Camera1ExtrinsicsErrors.RotVectorsError);
+        [size21 size22] = size(rotVecErr);
+        printf("%d  %d \n", size21,size22);
+        for i=1:size21
+            for j=1:size22
+                rotVecErr(i,j) = rotVecErr(i,j) + rvE(i,j);
+            end
+        end
+        
+        tranVecErr = string(stereoParam.CameraParameters1.TranslationVectors) + " +/- ";
+        tvE = string(errors.Camera1ExtrinsicsErrors.TransVectorsError);
+        [size31 size32] = size(tranVecErr);
+        printf("%d  %d \n", size31,size32);
+        for i=1:size31
+            for j=1:size32
+                tranVecErr(i,j) = tranVecErr(i,j) + tvE(i,j);
+            end
+        end
+
+        rotOfCam = stereoParam.RotationOfCamera2;
+        rotOfCamErr = string([rotOfCam(1,1) rotOfCam(2,1) rotOfCam(3,1)]) + " +/- ";
+        rotE = string(errors.RotationOfCamera2Error);
+        for i=1:3
+            rotOfCamErr(i) = rotOfCamErr(i) + rotE(i); 
+        end
+        
+        transOfCamErr = string(stereoParam.TranslationOfCamera2) + " +/- ";
+        toCE = string(errors.TransOfCamera2Error)   ;
+        for i=1:3
+            transOfCamErr(i) = transOfCamErr(i) + toCE(i);
+        end
+            
+
+
+        printf("\n\t\t\tStandard Errors of Estimated Stereo Camera Parameters\n");
+        printf("\t\t\t-----------------------------------------------------\n\n");  
+        printf(" Camera 1 Intrinsics\n");
+        printf(" -------------------\n");
+        printf(" Focal length (pixels):         [\t");
+        printf("%s\t\t%s\t]\n", focalErr1(1), focalErr1(2));
+        printf(" Principal point (pixels):      [\t");
+        printf("%s\t\t%s\t]\n", prinErr1(1), prinErr1(2));
+        printf(" Radial distortion:             [\t");      
+        for i=1:size11
+           printf("%s\t\t", radErr1(i));
+        end
+        printf("\t]\n\n");           
+        printf(" Camera 1 Extrinsics\n");
+        printf(" -------------------\n");
+        printf(" Rotation vectors:\n");
+        for i=1:size21
+        printf("                                [\t");
+            for j=1:size22
+                printf("%s\t\t", rotVecErr(i,j));
+            end
+            printf("\t]\n");
+        end
+        if size21*size22==0 then
+            printf("\t]\n");
+        end                
+        printf(" Translation vectors (mm):\n");
+        for i=1:size21
+            printf("                                [\t");
+            for j=1:size22
+                printf("%s\t\t", tranVecErr(i,j));
+            end
+            printf("\t]\n");            
+        end
+        printf("\n"); 
+        printf(" Camera 2 Intrinsics\n");
+        printf(" -------------------\n");
+        printf(" Focal length (pixels):         [\t");
+        printf("%s\t\t%s\t]\n", focalErr2(1), focalErr2(2));
+        printf(" Principal point (pixels):      [\t");
+        printf("%s\t\t%s\t]\n", prinErr2(1), prinErr2(2));
+        printf(" Radial distortion:             [\t");
+        for i=1:size12
+           printf("%s\t\t", radErr2(i));
+        end 
+        printf("\t]\n\n");                          
+        printf(" Position And Orientation of Camera 2 Relative to Camera 1\n");
+        printf(" ---------------------------------------------------------\n");
+        printf(" Rotation of camera 2:           [\t");
+        for i=1:3
+           printf("%s\t\t", rotOfCamErr(i));
+        end        
+            printf("\t]\n");
+        printf(" Translation of camera 2 (mm):   [\t");
+        for i=1:3
+           printf("%s\t\t", transOfCamErr(i));
+        end 
+        printf("\t]\n");          
+    end   
+
+endfunction