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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
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