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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
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