1 files changed, 85 insertions, 0 deletions
diff --git a/macros/stereoParameters.sci b/macros/stereoParameters.sci
new file mode 100644
index 0000000..502217c
--- /dev/null
+++ b/macros/stereoParameters.sci
@@ -0,0 +1,85 @@
+function varargout=stereoParameters(varargin)
+    [lhs rhs]=argn(0);
+    if lhs<1 then
+         error(msprintf(" Not enough output arguments. One expected"))
+    elseif lhs>1 then
+         error(msprintf(" Too many onput arguments. One expected"))
+    end
+    
+    if rhs~=4 then
+        error(msprintf(" Invalid number of input arguments"))    
+    end
+    
+    EssentialMatrix = [];
+    FundamentalMatrix = [];
+    MeanReprojectionError = 0; 
+    NumPatterns = 0;
+    WorldPoints=[];
+    WorldUnits='mm';
+    
+    cameraParam1 = varargin(1);
+    cameraParam2 = varargin(2);
+
+    if ~isstruct(cameraParam1) then
+        error(msprintf(" A Camera Parameter object expected"))
+    end
+    
+    if ~isstruct(cameraParam2) then
+        error(msprintf(" A Camera Parameter object expected"))
+    end
+    
+    xz = fieldnames(cameraParam1);
+    [size1 zz] = size(xz);
+    xz = fieldnames(cameraParam2);
+    [size2 zz] = size(xz);    
+      
+    if size1~=18 | size2~=18 then
+        error(msprintf(" Invalid Camera Parameter Object"))
+    end   
+    
+    checkCameraParam(cameraParam1);
+    checkCameraParam(cameraParam2);
+    // checking third input
+    
+    rotationOfCam = varargin(3);
+    [type3] = type(rotationOfCam);
+    
+    if type3~=1 | ~isreal(rotationOfCam) then
+        error(msprintf(" Invalid Input Argument. A real 3x3 Matrix expected."))    
+    end
+    
+    [rows cols] = size(rotationOfCam);
+    
+    if rows*cols~=9 then
+        error(msprintf(" Invalid Input Argument. A 3x3 Matrix expected."))
+    end
+    
+    // checking 4th input
+    
+    translationOfCam = varargin(4);
+    [type4] = type(translationOfCam);
+    
+    if type4~=1 | ~isreal(translationOfCam) then
+        error(msprintf(" Invalid Input Argument. A real list of 3 expected. "))
+    end
+    
+    [rows cols] = size(translationOfCam);
+    
+    if rows*cols~=3 then
+        error(msprintf("  Invalid Input Argument. A 3x3 Matrix expected."))
+    end
+
+
+    g = translationOfCam;
+    gx =  [0 -g(3) g(2); g(3) 0 -g(1); -g(2) g(1) 0];
+    EssentialMatrix = rotationOfCam*gx;
+    FundamentalMatrix = cameraParam1.IntrinsicMatrix \ EssentialMatrix / (cameraParam2.IntrinsicMatrix)';
+    MeanReprojectionError  = (cameraParam1.meanReprojectionError + cameraParam2.meanReprojectionError)/2;
+    NumPatterns = cameraParam1.NumPatterns;
+    WorldPoints = cameraParam1.WorldPoints;
+    WorldUnits = cameraParam1.WorldUnits;
+    
+    varargout(1) = struct('CameraParameters1', cameraParam1, 'CameraParameters2', cameraParam2, 'RotationOfCamera2', rotationOfCam, 'TranslationOfCamera2', translationOfCam, 'FundamentalMatrix', FundamentalMatrix, 'EssentialMatrix', EssentialMatrix,'MeanReprojectionError', MeanReprojectionError, 'NumPatterns', NumPatterns, 'WorldPoints', WorldPoints, 'WorldUnits', WorldUnits);
+
+endfunction
+