blob: 94a77afe3908accd8859ce25adc343f5b192dd16 (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
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
|
