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Diffstat (limited to 'macros/cameraParameters.sci')
| -rw-r--r-- | macros/cameraParameters.sci | 242 |
1 files changed, 242 insertions, 0 deletions
diff --git a/macros/cameraParameters.sci b/macros/cameraParameters.sci new file mode 100644 index 0000000..9d2d131 --- /dev/null +++ b/macros/cameraParameters.sci @@ -0,0 +1,242 @@ +function varargout=cameraParameters(varargin) +// It returns the cameraParameters structure +// +// Calling Sequence +// cameraParams=cameraParameters(Name,value); +// +// Parameters +// IntrinsicMatrix: 3-by-3 matrix, it specifies the principal point, skew and focal length. Default- 3-by-3 identity matrix +// RadialDistortion: 2 or 3 element vector. Default- [0 0 0] +// TangentialDistortion: 2 element vector. Default- [0 0] +// RotationVectors: P-by-3 matrix. Each row of the matrix represents 3-D rotation of the camera. Default- [] +// TranslationVectors: P-by-3 matrix. Each row of the matrix represents 3-D translation of the camera. Number of rotation vectors should be equal to number of transation vectors. Default- [] +// WorldPoints: M-by-2 matrix. M indicates the number of keypoints. Default- [] +// WorldUnits: Unit of measure of world points. Default- "mm" +// EstimateSkew: logical scalar. Default- %F +// NumRadialDistortionCoefficients: 2 or 3. Default- 2 +// EstimateTangentialDistortion: logical scalar. Default- %F +// ReprojectionErrors: M-by-2-p array. Number of channels must be equal to number of rotation vectors and number of rows should be equal to number of world points. Default-[] +// +// Description +// This function creates cameraParameters struct based on the arguments provided. The struct contains intrinsic, extrinsic, estimation and lens properties. +// +// Examples +// cameraParms=cameraParams("IntrinsicMatrix", [2 0 0; 0 3 0;4 5 1]); +// Output: +// IntrinsicMatrix: [3x3 constant] +// PrincipalPoint: [4,5] +// FocalLength: [2,3] +// Skew: 0 +// RadialDistortion: [0,0,0] +// TangentialDistortion: [0,0] +// RotationMatrices: [0x0 constant] +// RotationVectors: [0x0 constant] +// TranslationVectors: [0x0 constant] +// meanReprojectionError: 0 +// ReprojectionErrors: [0x0 constant] +// ReprojectedPoints: [0x0 constant] +// NumPatterns: 0 +// WorldPoints: [0x0 constant] +// WorldUnits: "mm" +// EstimateSkew: 0 +// NumRadialDistortionCoefficients: 2 +// EstimateTangentialDistortion: 0 + + [lhs rhs]=argn(0); + if lhs<1 then + error(msprintf(" Not enough output arguments")) + elseif lhs>1 then + error(msprintf(" Too many output arguments to the function")) + end + + //default values + IntrinsicMatrix=[1 0 0;0 1 0;0 0 1]; + RadialDistortion=[0 0 0]; + TangentialDistortion=[0 0]; + RotationVectors=[]; + TranslationVectors=[]; + WorldPoints=[]; + WorldUnits='mm'; + EstimateSkew=0; + NumRadialDistortionCoefficients=2; + EstimateTangentialDistortion=0; + ReprojectionErrors=[]; + + imRows=0,imCols=0; + rdRows=0,rdCols=0; + tdRows=0,tdCols=0; + rvRows=0,rvCols=0; + tvRows=0,tvCols=0; + wpRows=0,wpCols=0; + + if modulo(rhs,2) then + error(msprintf(" Wrong number of input arguments")); + end + + for i=1:2:rhs + if strcmpi(varargin(i),"IntrinsicMatrix")==0 then + i=i+1; + IntrinsicMatrix=varargin(i); + [imRows imCols]=size(IntrinsicMatrix); + if ~imRows==3 | ~imCols==3 then + error(msprintf(" wrong value for the input argument %d, IntrinsicMatrix must be 3*3",i)) + end + + elseif strcmpi(varargin(i),'RadialDistortion')==0 then + i=i+1; + RadialDistortion=varargin(i); + [rdRows rdCols]=size(RadialDistortion); + if ~rdRows==1 | (~rdCols==2 & ~rdCols==3) then + error(msprintf(" wrong value for the input argument %d, RadialDistortion must be a vector with 2 or 3 elements",i)) + end + + elseif strcmpi(varargin(i),'TangentialDistortion')==0 then + i=i+1; + TangentialDistortion=varargin(i); + [tdRows tdCols]=size(TangentialDistortion); + if ~tdRows==1 | ~tdCols==2 then + error(msprintf(" wrong value for the input argument %d, TangentialDistortion must be 2-element vector",i)) + end + + elseif strcmpi(varargin(i),'RotationVectors')==0 then + i=i+1; + RotationVectors=varargin(i); + [rvRows rvCols]=size(RotationVectors); + if ~rvCols==3 then + error(msprintf(" wrong value for the input argument %d, RotationVectors must be M*3",i)) + end + + elseif strcmpi(varargin(i),'TranslationVectors')==0 then + i=i+1; + TranslationVectors=varargin(i); + [tvRows tvCols]=size(TranslationVectors); + if ~tvCols==3 then + error(msprintf(" wrong value for the input argument %d, TranslationVectors must be M*3",i)) + end + + elseif strcmpi(varargin(i),'WorldPoints')==0 then + i=i+1; + WorldPoints=varargin(i); + [wpRows wpCols]=size(WorldPoints); + if ~wpCols==2 then + error(msprintf(" wrong value for the input argument %d, WorldPoints must be M*2",i)) + end + + elseif strcmpi(varargin(i),'WorldUnits')==0 then + i=i+1; + WorldUnits=varargin(i); + if ~typeof(WorldUnits)=='string' + error(msprintf(" wrong value for the input argument %d, WorldUnits must be string",i)) + end + + elseif strcmpi(varargin(i),'EstimateSkew')==0 then + i=i+1; + EstimateSkew=varargin(i); + if EstimateSkew==%T + EstimateSkew=1; + elseif EstimateSkew==%F + EstimateSkew=0; + else + error(msprintf(" wrong value for the input argument %d,EstimateSkew must be logical scalar",i)) + end + + elseif strcmpi(varargin(i),'NumRadialDistortionCoefficients')==0 then + i=i+1; + NumRadialDistortionCoefficients=varargin(i); + if ~(NumRadialDistortionCoefficients==2 | NumRadialDistortionCoefficients==3) then + error(msprintf(" wrong value for the input argument %d, NumRadialDistortionCoefficients must be 2 or 3",i)) + end + + elseif strcmpi(varargin(i),'EstimateTangentialDistortion')==0 then + i=i+1; + EstimateTangentialDistortion=varargin(i); + EstimateSkew=varargin(i); + if EstimateSkew==%T + EstimateSkew=1; + elseif EstimateSkew==%F + EstimateSkew=0; + else + error(msprintf(" wrong value for the input argument %d, EstimateTangentialDistortion must be logical scalar",i)) + end + + elseif strcmpi(varargin(i),'ReprojectionErrors')==0 then + i=i+1; + ReprojectionErrors=varargin(i); + [reRows reCols reChannels]=size(ReprojectionErrors); + if ~reCols==2 then + error(msprintf(" wrong value for the input argument %d, ReprojectionErrors must be M-by-2-by-P array",i)) + end + + else + error(msprintf(" Wrong value for the input argument %d, %s is not a recognised parameter",i,varargin(i))); + end + end + + if ~rvRows==tvRows then + error(msprintf(" wrong value for the input arguments, RotationalVectors and TranslationVectors must be of same size")) + end + if ~isempty(ReprojectionErrors) then + if ~reRows==wpRows then + error(msprintf("wrong value for the input arguments, World points and ReprojectctionErrors must contain same number of rows")) + end + if ~reChannels==rvRows then + error(msprintf("wrong value for the input arguments, Number of patterns in ReprojectionErrors and RotationVectors must be of same size")) + end + end + + RotationMatrices=[] + FocalLength=[IntrinsicMatrix(1,1) IntrinsicMatrix(2,2)]; + PrincipalPoint=[IntrinsicMatrix(3,1) IntrinsicMatrix(3,2)]; + Skew=IntrinsicMatrix(2,1); + for i=1:rvRows + RotationVector=RotationVectors(i,:); + angle=norm(RotationVector); + if angle < %eps + RotationMatrices(:,:,i) = eye(3); + else + n= RotationVector ./ angle; + A = [n(1)^2, n(1)*n(2), n(1)*n(3);... + n(2)*n(1), n(2)^2, n(2)*n(3);... + n(3)*n(1), n(3)*n(2), n(3)^2 ]; + + B = [ 0, -n(3), n(2);... + n(3), 0, -n(1);... + -n(2), n(1), 0 ]; + RotationMatrices(:,:,i) = eye(3) * cos(angle) + (1 - cos(angle)) * A + sin(angle) * B; + end + end + + distCoeffs(1,1)=RadialDistortion(1,1); + distCoeffs(1,2)=RadialDistortion(1,2); + distCoeffs(1,3)=TangentialDistortion(1,1); + distCoeffs(1,4)=TangentialDistortion(1,2); + if rdCols==3 + distCoeffs(1,5)=RadiallDistortion(1,3); + else + distCoeffs(1,5)=0; + end + + ReprojectedPoints=[]; + meanReprojectionError=0; + NumPatterns=rvRows; + if(WorldPoints <> []) + for i=1:NumPatterns + ReprojectedPoints(:,:,i)=opencv_projectPoints(WorldPoints,RotationVectors(i,:),TranslationVectors(i,:),IntrinsicMatrix,distCoeffs); + end + end + if ~isempty(ReprojectionErrors) then + ImagePoints=ReprojectedPoints-ReprojectionErrors; + totalErr=0; + for i=1:rvRows + err=0; + for j=1:wpRows + err=err+((ReprojectedPoints(j,1,i)-ImagePoints(j,1,i))+(ReprojectedPoints(j,2,i)-ImagePoints(j,2,i))).^2; + end + totalErr=totalErr+err; + end + totalPoints=rvRows*wpRows; + meanReprojectionError=sqrt(totalErr/totalPoints); + end + + varargout(1)=struct('IntrinsicMatrix',IntrinsicMatrix,'PrincipalPoint',PrincipalPoint,'FocalLength',FocalLength,'Skew',Skew,'RadialDistortion',RadialDistortion,'TangentialDistortion',TangentialDistortion,'RotationMatrices',RotationMatrices,'RotationVectors',RotationVectors,'TranslationVectors',TranslationVectors,'meanReprojectionError',meanReprojectionError,'ReprojectionErrors',ReprojectionErrors,'ReprojectedPoints',ReprojectedPoints,'NumPatterns',NumPatterns,'WorldPoints',WorldPoints,'WorldUnits',WorldUnits,'EstimateSkew',EstimateSkew,'NumRadialDistortionCoefficients',NumRadialDistortionCoefficients,'EstimateTangentialDistortion',EstimateTangentialDistortion); +endfunction; |