diff options
Diffstat (limited to 'macros/displayErrors.sci')
| -rw-r--r-- | macros/displayErrors.sci | 249 |
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 |