1st

Calib_Results_l.m

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+c% Intrinsic and Extrinsic Camera Parameters
+%
+% This script file can be directly excecuted under Matlab to recover the camera intrinsic and extrinsic parameters.
+% IMPORTANT: This file contains neither the structure of the calibration objects nor the image coordinates of the calibration points.
+%            All those complementary variables are saved in the complete matlab data file Calib_Results.mat.
+% For more information regarding the calibration model visit http://www.vision.caltech.edu/bouguetj/calib_doc/
+
+
+%-- Focal length:
+fc = [ 1843.463722950638200 ; 1831.060188472588600 ];
+camL.f = mean(fc);
+%-- Principal point:
+cc = [ 1457.180947340274300 ; 907.728368229318560 ];
+camL.c = cc';
+%-- Skew coefficient:
+alpha_c = 0.000000000000000;
+
+%-- Distortion coefficients:
+kc = [ -0.067660205164109 ; 0.042540411513189 ; 0.004864952869793 ; 0.013957385530073 ; 0.000000000000000 ];
+
+%-- Focal length uncertainty:
+fc_error = [ 33.349812118312649 ; 29.525699655280665 ];
+
+%-- Principal point uncertainty:
+cc_error = [ 55.834372877013024 ; 48.799936036275909 ];
+
+%-- Skew coefficient uncertainty:
+alpha_c_error = 0.000000000000000;
+
+%-- Distortion coefficients uncertainty:
+kc_error = [ 0.090252344111123 ; 0.411098571762569 ; 0.007510227085346 ; 0.010183003306672 ; 0.000000000000000 ];
+
+%-- Image size:
+nx = 2736;
+ny = 1824;
+
+
+%-- Various other variables (may be ignored if you do not use the Matlab Calibration Toolbox):
+%-- Those variables are used to control which intrinsic parameters should be optimized
+
+n_ima = 8;						% Number of calibration images
+est_fc = [ 1 ; 1 ];					% Estimation indicator of the two focal variables
+est_aspect_ratio = 1;				% Estimation indicator of the aspect ratio fc(2)/fc(1)
+center_optim = 1;					% Estimation indicator of the principal point
+est_alpha = 0;						% Estimation indicator of the skew coefficient
+est_dist = [ 1 ; 1 ; 1 ; 1 ; 0 ];	% Estimation indicator of the distortion coefficients
+
+
+%-- Extrinsic parameters:
+%-- The rotation (omc_kk) and the translation (Tc_kk) vectors for every calibration image and their uncertainties
+
+%-- Image #1:
+omc_1 = [ 1.879510e+00 ; 1.687184e+00 ; 1.901256e-01 ];
+Tc_1l  = [ -8.540793e+02 ; -2.157167e+01 ; 2.936587e+03 ];
+omc_error_1 = [ 2.213462e-02 ; 1.969724e-02 ; 3.010863e-02 ];
+Tc_error_1  = [ 9.032617e+01 ; 8.023056e+01 ; 5.330009e+01 ];
+camL.R = rodrigues(omc_1);
+
+%-- Image #2:
+omc_2 = [ 2.049945e+00 ; 1.944643e+00 ; -1.165775e-01 ];
+Tc_2l  = [ -8.030443e+02 ; -2.979610e+01 ; 2.765212e+03 ];
+omc_error_2 = [ 1.615558e-02 ; 2.051560e-02 ; 3.673551e-02 ];
+Tc_error_2  = [ 8.442238e+01 ; 7.544382e+01 ; 5.022878e+01 ];
+rot2l = rodrigues(omc_2);
+
+%-- Image #3:
+omc_3 = [ 1.732265e+00 ; 1.631841e+00 ; 5.290559e-01 ];
+Tc_3l  = [ -6.654649e+02 ; -8.361448e+01 ; 2.703608e+03 ];
+omc_error_3 = [ 2.623836e-02 ; 1.941570e-02 ; 2.898709e-02 ];
+Tc_error_3  = [ 8.287193e+01 ; 7.346829e+01 ; 4.985002e+01 ];
+rot3l = rodrigues(omc_3);
+
+%-- Image #4:
+omc_4 = [ 1.601439e+00 ; 1.414153e+00 ; 6.220053e-01 ];
+Tc_4l  = [ -6.799458e+02 ; -8.644288e+01 ; 2.533102e+03 ];
+omc_error_4 = [ 2.666201e-02 ; 2.009638e-02 ; 2.690166e-02 ];
+Tc_error_4  = [ 7.799865e+01 ; 6.913201e+01 ; 4.845157e+01 ];
+rot4l = rodrigues(omc_4);
+
+%-- Image #5:
+omc_5 = [ 1.590094e+00 ; 1.187457e+00 ; -3.800128e-01 ];
+Tc_5l  = [ -8.006268e+02 ; 2.129944e+02 ; 2.974221e+03 ];
+omc_error_5 = [ 2.027786e-02 ; 2.414776e-02 ; 2.718525e-02 ];
+Tc_error_5  = [ 9.072663e+01 ; 8.174456e+01 ; 5.139105e+01 ];
+rot5l = rodrigues(omc_5);
+
+%-- Image #6:
+omc_6 = [ 1.574815e+00 ; 1.513031e+00 ; -7.845723e-01 ];
+Tc_6l  = [ -7.110940e+02 ; 2.260673e+02 ; 2.971214e+03 ];
+omc_error_6 = [ 1.634604e-02 ; 2.647419e-02 ; 2.969011e-02 ];
+Tc_error_6  = [ 9.015059e+01 ; 8.119818e+01 ; 4.744411e+01 ];
+rot6l = rodrigues(omc_6);
+
+%-- Image #7:
+omc_7 = [ 1.891751e+00 ; 1.822540e+00 ; -2.943902e-01 ];
+Tc_7l  = [ -7.533645e+02 ; 5.286941e+00 ; 2.675951e+03 ];
+omc_error_7 = [ 1.529110e-02 ; 2.198528e-02 ; 3.250962e-02 ];
+Tc_error_7  = [ 8.139810e+01 ; 7.296912e+01 ; 4.753174e+01 ];
+rot7l = rodrigues(omc_7);
+
+%-- Image #8:
+omc_8 = [ 1.789978e+00 ; 1.707083e+00 ; -8.646353e-02 ];
+Tc_8l  = [ -6.621884e+02 ; -3.455917e+01 ; 2.838446e+03 ];
+omc_error_8 = [ 1.915876e-02 ; 2.173883e-02 ; 3.106638e-02 ];
+Tc_error_8  = [ 8.642065e+01 ; 7.679839e+01 ; 4.992620e+01 ];
+rot8l = rodrigues(omc_8);

Calib_Results_r.m

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+% Intrinsic and Extrinsic Camera Parameters
+%
+% This script file can be directly excecuted under Matlab to recover the camera intrinsic and extrinsic parameters.
+% IMPORTANT: This file contains neither the structure of the calibration objects nor the image coordinates of the calibration points.
+%            All those complementary variables are saved in the complete matlab data file Calib_Results.mat.
+% For more information regarding the calibration model visit http://www.vision.caltech.edu/bouguetj/calib_doc/
+
+
+%-- Focal length:
+fc = [ 1834.982566594790100 ; 1840.126401445344300 ];
+camR.f = mean(fc);
+%-- Principal point:
+cc = [ 1463.788543422015700 ; 991.790475398290940 ];
+camR.c = cc';
+%-- Skew coefficient:
+alpha_c = 0.000000000000000;
+
+%-- Distortion coefficients:
+kc = [ -0.074779317538046 ; -0.522802216877433 ; 0.014687197515514 ; 0.023315526928305 ; 0.000000000000000 ];
+
+%-- Focal length uncertainty:
+fc_error = [ 25.594133302552933 ; 21.459492601564090 ];
+
+%-- Principal point uncertainty:
+cc_error = [ 33.844910328384202 ; 29.264908432020416 ];
+
+%-- Skew coefficient uncertainty:
+alpha_c_error = 0.000000000000000;
+
+%-- Distortion coefficients uncertainty:
+kc_error = [ 0.087732514713999 ; 1.076571463104891 ; 0.004711084530169 ; 0.005451014543039 ; 0.000000000000000 ];
+
+%-- Image size:
+nx = 2736;
+ny = 1824;
+
+
+%-- Various other variables (may be ignored if you do not use the Matlab Calibration Toolbox):
+%-- Those variables are used to control which intrinsic parameters should be optimized
+
+n_ima = 8;						% Number of calibration images
+est_fc = [ 1 ; 1 ];					% Estimation indicator of the two focal variables
+est_aspect_ratio = 1;				% Estimation indicator of the aspect ratio fc(2)/fc(1)
+center_optim = 1;					% Estimation indicator of the principal point
+est_alpha = 0;						% Estimation indicator of the skew coefficient
+est_dist = [ 1 ; 1 ; 1 ; 1 ; 0 ];	% Estimation indicator of the distortion coefficients
+
+
+%-- Extrinsic parameters:
+%-- The rotation (omc_kk) and the translation (Tc_kk) vectors for every calibration image and their uncertainties
+
+%-- Image #1:
+omc_1 = [ 2.109946e+00 ; 2.179564e+00 ; -5.337366e-01 ];
+Tc_1r  = [ -2.297558e+02 ; -1.820600e+02 ; 3.346794e+03 ];
+omc_error_1 = [ 1.051293e-02 ; 1.481943e-02 ; 3.078384e-02 ];
+Tc_error_1  = [ 6.178080e+01 ; 5.312910e+01 ; 4.566885e+01 ];
+rot1r = rodrigues(omc_1);
+camR.R = rodrigues(omc_1);
+%-- Image #2:
+omc_2 = [ -1.896247e+00 ; -2.052281e+00 ; 8.287345e-01 ];
+Tc_2r  = [ -3.098787e+02 ; -1.829559e+02 ; 3.185918e+03 ];
+omc_error_2 = [ 1.725321e-02 ; 1.215124e-02 ; 2.545286e-02 ];
+Tc_error_2  = [ 5.886989e+01 ; 5.083076e+01 ; 3.865880e+01 ];
+rot2r = rodrigues(omc_2);
+
+%-- Image #3:
+omc_3 = [ 2.078769e+00 ; 2.134766e+00 ; -1.222711e-01 ];
+Tc_3r  = [ -2.475452e+02 ; -2.287063e+02 ; 3.050238e+03 ];
+omc_error_3 = [ 1.301404e-02 ; 1.462338e-02 ; 2.850978e-02 ];
+Tc_error_3  = [ 5.621137e+01 ; 4.824592e+01 ; 4.168204e+01 ];
+rot3r = rodrigues(omc_3);
+
+%-- Image #4:
+omc_4 = [ 1.950706e+00 ; 1.947514e+00 ; 3.950049e-02 ];
+Tc_4r  = [ -3.747821e+02 ; -2.266995e+02 ; 2.927817e+03 ];
+omc_error_4 = [ 1.311921e-02 ; 1.397501e-02 ; 2.079744e-02 ];
+Tc_error_4  = [ 5.402174e+01 ; 4.652298e+01 ; 4.061229e+01 ];
+rot4r = rodrigues(omc_4);
+
+%-- Image #5:
+omc_5 = [ 1.505967e+00 ; 1.768536e+00 ; -9.916514e-01 ];
+Tc_5r  = [ -1.692792e+02 ; 5.453605e+01 ; 3.342632e+03 ];
+omc_error_5 = [ 9.111740e-03 ; 1.751804e-02 ; 1.946190e-02 ];
+Tc_error_5  = [ 6.154746e+01 ; 5.315941e+01 ; 4.370740e+01 ];
+rot5r = rodrigues(omc_5);
+
+%-- Image #6:
+omc_6 = [ 1.346053e+00 ; 2.058495e+00 ; -1.432321e+00 ];
+Tc_6r  = [ -1.070610e+02 ; 7.122283e+01 ; 3.277358e+03 ];
+omc_error_6 = [ 8.288576e-03 ; 1.967770e-02 ; 2.079232e-02 ];
+Tc_error_6  = [ 6.035625e+01 ; 5.206333e+01 ; 3.915872e+01 ];
+rot6r = rodrigues(omc_6);
+
+%-- Image #7:
+omc_7 = [ -1.867988e+00 ; -2.240828e+00 ; 1.041776e+00 ];
+Tc_7r  = [ -3.357409e+02 ; -1.415234e+02 ; 3.083960e+03 ];
+omc_error_7 = [ 1.882891e-02 ; 1.213869e-02 ; 2.444948e-02 ];
+Tc_error_7  = [ 5.695097e+01 ; 4.925576e+01 ; 3.766287e+01 ];
+rot7r = rodrigues(omc_7);
+
+%-- Image #8:
+omc_8 = [ 1.892098e+00 ; 2.229875e+00 ; -7.977637e-01 ];
+Tc_8r  = [ -1.561014e+02 ; -1.821175e+02 ; 3.143531e+03 ];
+omc_error_8 = [ 7.407824e-03 ; 1.616889e-02 ; 2.688724e-02 ];
+Tc_error_8  = [ 5.797567e+01 ; 4.981956e+01 ; 4.120427e+01 ];
+rot8r = rodrigues(omc_8);

Untitled.m

@@ -0,0 +1,11 @@
+
+
+
+[tri,pts] = ply_read('complete-mann.ply','tri')
+
+% For each point in pts, find the closest point in
+% your original set of points X
+T = delaunayn(X)
+nearest = dsearchn(X,T,pts)
+%Use color of nearest point
+set(h,'FaceVertexCdata',color(nearest,:))

cam_calib.m

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+% TEAPOT
+% LEFT CAMERA
+%-- Focal length:
+fc = [ 1843.463722950638200 ; 1831.060188472588600 ];
+camL.f = fc(1);
+
+%-- Principal point:
+cc = [ 1457.180947340274300 ; 907.728368229318560 ];
+camL.c = cc';
+
+%-- Image #1:
+omc_1 = [ 1.879510e+00 ; 1.687184e+00 ; 1.901256e-01 ];
+camL.t  = [ -8.540793e+02 ; -2.157167e+01 ; 2.936587e+03 ];
+% omc_error_1 = [ 2.213462e-02 ; 1.969724e-02 ; 3.010863e-02 ];
+% Tc_error_1  = [ 9.032617e+01 ; 8.023056e+01 ; 5.330009e+01 ];
+camL.R = rodrigues(omc_1);
+
+
+% camL.R
+% 
+% ans =
+% 
+%    -0.7506   -0.4176    0.5121
+%    -0.6608    0.4737   -0.5822
+%     0.0006   -0.7753   -0.6315
+%%
+% RIGHT CAMERA
+%-- Focal length:
+fc = [ 1834.982566594790100 ; 1840.126401445344300 ];
+camR.f = fc(1);
+
+%-- Principal point:
+cc = [ 1463.788543422015700 ; 991.790475398290940 ];
+camR.c = cc';
+
+%-- Image #1:
+omc_1 = [ 2.109946e+00 ; 2.179564e+00 ; -5.337366e-01 ];
+Tc_1r  = [ -2.297558e+02 ; -1.820600e+02 ; 3.346794e+03 ];
+omc_error_1 = [ 1.051293e-02 ; 1.481943e-02 ; 3.078384e-02 ];
+Tc_error_1  = [ 6.178080e+01 ; 5.312910e+01 ; 4.566885e+01 ];
+camR.R = rodrigues(omc_1);
+% camR.R
+% 
+% ans =
+% 
+%    -0.0605    0.9792   -0.1937
+%     0.9579    0.0024   -0.2871
+%    -0.2806   -0.2029   -0.9381

camera_mann.m

@@ -0,0 +1,23 @@
+%-- Focal length:
+camR.f = mean([ 1834.982566594790100 ; 1840.126401445344300 ]);
+
+%-- Principal point:
+camR.c  = [ 1463.788543422015700 ; 991.790475398290940 ]';
+
+%-- Image #1:
+camR.R = rodrigues([ 2.109946e+00 ; 2.179564e+00 ; -5.337366e-01 ]);
+camR.t  = [ -2.297558e+02 ; -1.820600e+02 ; 3.346794e+03 ];
+
+% LEFT
+%-- Focal length:
+camL.f  = mean([ 1843.463722950638200 ; 1831.060188472588600 ]);
+
+%-- Principal point:
+camL.c = [ 1457.180947340274300 ; 907.728368229318560 ]';
+
+%-- Image #1:
+camL.R = rodrigues([ 1.879510e+00 ; 1.687184e+00 ; 1.901256e-01 ]);
+camL.t = [ -8.540793e+02 ; -2.157167e+01 ; 2.936587e+03 ];
+
+camL.t = zeros(3,1);
+camL.R = eye(3);

camera_mann_stereo.m

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+% Stereo calibration parameters after loading the individual calibration files:
+% MANNEQUIN
+
+% Intrinsic parameters of left camera:
+
+%          
+fc_left = [ 1843.46296   1831.05933 ];
+% ± [ 33.34960   29.52549 ]
+%        
+cc_left = [ 1457.18240   907.72981 ];
+% ± [ 55.83387   48.79968 ]
+%Skew:            
+alpha_c_left = [ 0.00000 ] ;
+% ± [ 0.00000  ]   => angle of pixel axes = 90.00000 ± 0.00000 degrees
+%Distortion:          
+kc_left = [ -0.06766   0.04253   0.00487   0.01396  0.00000 ];
+% ± [ 0.09025   0.41110   0.00751   0.01018  0.00000 ]
+camL.f  = mean([ 1843.463722950638200 ; 1831.060188472588600 ]);
+camL.c = [ 1457.180947340274300 ; 907.728368229318560 ]';
+%Intrinsic parameters of right camera:
+
+%Focal Length:         
+fc_right = [ 1834.98258   1840.12641 ] ;
+% ± [ 25.59413   21.45949 ]
+%Principal point:       
+cc_right = [ 1463.78849   991.79014 ];
+% ± [ 33.84495   29.26491 ]
+%Skew:             
+alpha_c_right = [ 0.00000 ];
+% ± [ 0.00000  ]
+% => angle of pixel axes = 90.00000 ± 0.00000 degrees
+%Distortion:           
+kc_right = [ -0.07478   -0.52281   0.01469   0.02332  0.00000 ] ;
+% ± [ 0.08773   1.07657   0.00471   0.00545  0.00000 ]
+camR.f = mean([ 1834.982566594790100 ; 1840.126401445344300 ]);
+camR.c  = [ 1463.788543422015700 ; 991.790475398290940 ]';
+%Extrinsic parameters (position of right camera wrt left camera):
+
+%Rotation vector:             
+om = [ 0.03876   0.74250  0.02364 ];
+camR.R = rodrigues(om);
+%Translation vector:          
+T = [ -476.62914   -15.05662  182.24336 ]';
+camR.t = T';
+camL.R = eye(3);
+camL.t = zeros(3,1);

color_mesh.m

@@ -0,0 +1,16 @@
+% color the mesh
+[tri, pts] = ply_read('mann1.ply','tri');
+T = delaunayn(Xold);
+nearest = dsearchn(X,T,pts);
+
+h = trisurf(tri,Y(1,:),Y(2,:),Y(3,:));
+set(h,'edgecolor','flat')
+axis image; axis vis3d;
+
+camorbit(120,0); camlight left;
+camorbit(120,0); camlight left;
+lighting flat;
+set(gca,'projection','perspective')
+set(gcf,'renderer','opengl')
+set(h,'facevertexcdata',xColor'/255);
+material dull