1 files changed, 57 insertions, 0 deletions
diff --git a/macros/showReprojectionErrors.sci b/macros/showReprojectionErrors.sci
new file mode 100644
index 0000000..94a77af
--- /dev/null
+++ b/macros/showReprojectionErrors.sci
@@ -0,0 +1,57 @@
+function showReprojectionErrors(cameraParameters)
+// It displays reprojection errors using bar graph 
+//
+// Calling Sequence
+//   showReprojectionErrors(cameraParameters)
+//
+// Parameters
+// cameraParameters: cameraParameters strucure
+//
+// Description
+//  It visualizes reprojection errors for a single camera or stereo pair if cameras.
+//
+// Examples
+// showReprojectionErrors(cameraParameters);
+    [lhs rhs]=argn(0)
+    if rhs<1 then
+        error(msprintf("Need atleat one argument"));
+    elseif ~isstruct(cameraParameters) then
+        error(msprintf("Given input is not a valid cameraParameters structure"));
+    end
+
+    ReprojectionErrors=cameraParameters.ReprojectionErrors;
+    if ~isempty(ReprojectionErrors) then
+        ReprojectedPoints=cameraParameters.ReprojectedPoints;
+        ReprojectionErrors=cameraParameters.ReprojectionErrors;
+        ImagePoints=ReprojectedPoints-ReprojectionErrors;
+        totalErr=0;
+        rvRows=size(cameraParameters.RotationVectors,'r');
+        wpRows=size(cameraParameters.WorldPoints,'r');
+        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;
+            errors(i)=sqrt(err/wpRows);
+        end
+        totalPoints=rvRows*wpRows;
+        meanReprojectionError=sqrt(totalErr/totalPoints);
+    end
+    da=gda();
+    da.title.text="Mean Reprojection Errors per Image"
+    da.title.foreground = 12;
+    da.title.font_size = 5;
+    da.x_label.text="Images";
+    da.x_label.font_style = 3;
+    da.x_label.font_size = 3;
+    da.x_label.foreground = 3;
+    da.x_location = "bottom";
+    da.y_label.text="Mean Reprojection Errors";
+    da.y_label.font_style = 3;
+    da.y_label.font_size = 3;
+    da.y_label.foreground = 3;
+    da.y_location = "left";
+    a=gca();
+    bar(a,errors,0.2);    //0.2- width of each bar
+endfunction