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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;
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