
%%%%%%%%%%%%%%%%%%%% SHOW EXTRINSIC RESULTS %%%%%%%%%%%%%%%%%%%%%%%%

if ~exist('show_camera'),
    show_camera = 1;
end;


if ~exist('n_ima')|~exist('fc'),
   fprintf(1,'No calibration data available.\n');
   return;
end;

check_active_images;

if n_ima ~= 0,
if ~exist(['omc_' num2str(ind_active(1))]),
   fprintf(1,'No calibration data available.\n');
   return;
end;
end;

%if ~exist('no_grid'),
   no_grid = 0;
%end;

if n_ima ~= 0,
if ~exist(['n_sq_x_' num2str(ind_active(1))]),
   no_grid = 1;
end;
else
    no_grid = 1;
end;

if ~exist('alpha_c'),
   alpha_c = 0;
end;


if 0,

err_std = std(ex');

fprintf(1,'\n\nCalibration results without principal point estimation:\n\n');
fprintf(1,'Focal Length:     fc = [ %3.5f   %3.5f]\n',fc);
fprintf(1,'Principal point:  cc = [ %3.5f   %3.5f]\n',cc);
fprintf(1,'Distortion:       kc = [ %3.5f   %3.5f   %3.5f   %3.5f]\n',kc);   
fprintf(1,'Pixel error:      err = [ %3.5f   %3.5f]\n\n',err_std); 

end;


% Color code for each image:

colors = 'brgkcm';


%%% Show the extrinsic parameters

if n_ima ~= 0,
if ~exist('dX'),
   eval(['dX = norm(Tc_' num2str(ind_active(1)) ')/10;']);
   dY = dX;
end;
else
    dX = 1;
end;


IP = 5*dX*[1 -alpha_c 0;0 1 0;0 0 1]*[1/fc(1) 0 0;0 1/fc(2) 0;0 0 1]*[1 0 -cc(1);0 1 -cc(2);0 0 1]*[0 nx-1 nx-1 0 0 ; 0 0 ny-1 ny-1 0;1 1 1 1 1];
BASE = 5*dX*([0 1 0 0 0 0;0 0 0 1 0 0;0 0 0 0 0 1]);
IP = reshape([IP;BASE(:,1)*ones(1,5);IP],3,15);

if ishandle(4),
	figure(4);
   [a,b] = view;
else
   figure(4);
   a = 50;
   b = 20;
end;


if show_camera,
    figure(4);
    plot3(BASE(1,:),BASE(3,:),-BASE(2,:),'b-','linewidth',2);
    hold on;
    plot3(IP(1,:),IP(3,:),-IP(2,:),'r-','linewidth',2);
    text(6*dX,0,0,'X_c');
    text(-dX,5*dX,0,'Z_c');
    text(0,0,-6*dX,'Y_c');
    text(-dX,-dX,dX,'O_c');
else
    figure(4);
    clf;
    hold on;
end;


for kk = 1:n_ima,
   
   if active_images(kk);
      
      if exist(['X_' num2str(kk)]) & exist(['omc_' num2str(kk)]),
	 
	 eval(['XX_kk = X_' num2str(kk) ';']);

	 if ~isnan(XX_kk(1,1))
	    
	    eval(['omc_kk = omc_' num2str(kk) ';']);
	    eval(['Tc_kk = Tc_' num2str(kk) ';']);
	    N_kk = size(XX_kk,2);
	    
	    if ~exist(['n_sq_x_' num2str(kk)]),
	       no_grid = 1;
	    else
	       eval(['n_sq_x = n_sq_x_' num2str(kk) ';']);
	       if isnan(n_sq_x(1)),
		  no_grid = 1;
	       end;  
	    end;
	       
	    
	    if ~no_grid,
	       eval(['n_sq_x = n_sq_x_' num2str(kk) ';']);
	       eval(['n_sq_y = n_sq_y_' num2str(kk) ';']);
	       if (N_kk ~= ((n_sq_x+1)*(n_sq_y+1))),
		  no_grid = 1;
	       end;
	    end;
	    
	    if ~isnan(omc_kk(1,1)),
	       
	       R_kk = rodrigues(omc_kk);
	       
	       YY_kk = R_kk * XX_kk + Tc_kk * ones(1,length(XX_kk));
	       
	       uu = [-dX;-dY;0]/2;
	       uu = R_kk * uu + Tc_kk; 
	       
	       if ~no_grid,
		  YYx = zeros(n_sq_x+1,n_sq_y+1);
		  YYy = zeros(n_sq_x+1,n_sq_y+1);
		  YYz = zeros(n_sq_x+1,n_sq_y+1);
		  
		  YYx(:) = YY_kk(1,:);
		  YYy(:) = YY_kk(2,:);
		  YYz(:) = YY_kk(3,:);
		  
		  %keyboard;
		  
		  figure(4);
		  hhh= mesh(YYx,YYz,-YYy);
		  set(hhh,'edgecolor',colors(rem(kk-1,6)+1),'linewidth',1); %,'facecolor','none');
		  %plot3(YY_kk(1,:),YY_kk(3,:),-YY_kk(2,:),['o' colors(rem(kk-1,6)+1)]);
		  text(uu(1),uu(3),-uu(2),num2str(kk),'fontsize',14,'color',colors(rem(kk-1,6)+1));
	       else
		  
		  figure(4);
		  plot3(YY_kk(1,:),YY_kk(3,:),-YY_kk(2,:),['.' colors(rem(kk-1,6)+1)]);
		  text(uu(1),uu(3),-uu(2),num2str(kk),'fontsize',14,'color',colors(rem(kk-1,6)+1));
		  
	       end;
            
	    end;
	 
	 end;
	 
      end;
      
   end;
   
end;

figure(4);rotate3d on;
axis('equal');
title('Extrinsic parameters (camera-centered)');
%view(60,30);
view(a,b);
grid on;
hold off;
axis vis3d;
axis tight;
set(4,'color',[1 1 1]);
if ~show_camera,
    xlabel('X_c');
    ylabel('Z_c');
    zlabel('<-- Y_c');
end;

set(4,'Name','3D','NumberTitle','off');

%fprintf(1,'To generate the complete movie associated to the optimization loop, try: check_convergence;\n');


if exist('h_switch2')==1,
    if ishandle(h_switch2),
        delete(h_switch2);
    end;
end;

if n_ima ~= 0,
    if show_camera,
        h_switch2 = uicontrol('Parent',4,'Units','normalized', 'Callback','show_camera=0;ext_calib;', 'Position',[1-.30 0.04  .30  .04],'String','Remove camera reference frame','fontsize',8,'fontname','clean','Tag','Pushbutton1');
    else
        h_switch2 = uicontrol('Parent',4,'Units','normalized', 'Callback','show_camera=1;ext_calib;', 'Position',[1-.30 0.04  .30  .04],'String','Add camera reference frame','fontsize',8,'fontname','clean','Tag','Pushbutton1');
    end;
end;




if exist('h_switch')==1,
    if ishandle(h_switch),
        delete(h_switch);
    end;
end;

if n_ima ~= 0,
h_switch = uicontrol('Parent',4,'Units','normalized', 'Callback','ext_calib2', 'Position',[1-.30 0  .30  .04],'String','Switch to world-centered view','fontsize',8,'fontname','clean','Tag','Pushbutton1');
end;

figure(4);
rotate3d on;
JzHuai0108
github-repos/MATLAB/JzHuai0108-ekfmonoslam/ekfmonoslam-443f6be744732453cdb90679abcaf5c962a6295e/EKF_monoSLAM_1pRANSAC/matlab_code/matlabcalibration2ourcalibration/TOOLBOX_calib/ext_calib.m
ekfmonoslam
github-repos/MATLAB/JzHuai0108-ekfmonoslam
443f6be744732453cdb90679abcaf5c962a6295e