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Diffstat (limited to 'macros/bundleAdjustment.sci')
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diff --git a/macros/bundleAdjustment.sci b/macros/bundleAdjustment.sci new file mode 100644 index 0000000..73d0ca4 --- /dev/null +++ b/macros/bundleAdjustment.sci @@ -0,0 +1,29 @@ +function xyzrefinedPoints = bundleAdjustment(_3dpoints, imagepoints, visibility, cameramatrix, rotation, translation, distcoeffs) +// Refine camera poses and 3-d points +// +// Calling Sequence +// xyzrefinedPoints = bundleAdjustment(_3dpoints, imagepoints, visibility, cameramatrix, rotation, translation, distcoeffs) +// +// Parameters +// _3dpoints : N * 3 object points +// imagepoints : M * N * 2 image points for each camera and each points +// visibility : M * N * 1 visibility matrix, element[i][j] = 1 when object point i is visible from camera j and 0 if not +// cameramatrix : M * 3 * 3 camera matrix(intrinsic parameters) 3 * 3 camera matrix for each image +// rotation : M * 3 * 3 rotation matrix for each image +// translation : M * 3 * 1 translation matrix for each image +// distcoeffs : M * (4 * 5 * 8) * 1 distortion coefficient for each image +// xyzrefinedPoints : Refined N * 3 object points +// +// Description +// The function returns the refined 3-D points. The refinement procedure uses Levenberg-Marquardt algorithm. +// +// Examples +// xyzrefinedPoints = bundleAdjustment(_3dpoints, imagepoints, visibility, cameramatrix, rotation, translation, distcoeffs) +// +// Authors +// Suraj Prakash + + + xyzrefinedPoints = opencv_bundleAdjustment(_3dpoints, imagepoints, visibility, cameramatrix, rotation, translation, distcoeffs) + +endfunction |