printtextprotocol.m

三维重建

function printTextProtocol(ste,X,Y,Xtest,Ytest,dir)
%
%   PRINTTEXTPROTOCOL(ste,X,Y,Xtest,Ytest,dir)
%
%   Prints a simple text protocol of the calibration into the directory
%   specified by dir. The only work when you 
%   
%   i) specify test points Xtest and Ytest
%   ii) improvement of spatial coordinates was switched on during
%       regression
%
%
%   If this is not the case use printProtocol instead.
%
%



Yimp1 = ste.improved_Y_left;
Yimp2 = ste.improved_Y_right;

printTextProtocol(ste.leftCam,X,Y,Yimp1,ste.leftParam,'Camera#1',dir)
printTextProtocol(ste.rightCam,X,Y,Yimp2,ste.rightParam,'Camera#2',dir)

filename = [dir '/Stereocamera.txt'];

f = fopen(filename,'w');

fprintf(f,['----------- Stereocalibration on ' date '--------------\n']);
fprintf(f,'-Stereocamera Parameters\n');
fprintf(f,'\t-variance of spatial coordinates: left=%d, right=%d\n', ste.leftCam.spatial_s(1),ste.rightCam.spatial_s(1));

Yest1 = multiplePointReconstruction(ste,Xtest,1,0);
Yest2 = multiplePointReconstruction(ste,Xtest,2,0);

single_diff = sqrt(mean( (Yimp1 - Yimp2).^2 ))
joint_diff = sqrt(mean(sum(  (Yimp1 - Yimp2).^2 ,2)));

single_diff1 = sqrt(mean( (Yimp1 - Y).^2 ));
joint_diff1 = sqrt(mean(sum(  (Yimp1 - Y).^2 ,2)));
single_diff2 = sqrt(mean( (Yimp2 - Y).^2 ));
joint_diff2 = sqrt(mean(sum(  (Yimp2 - Y).^2 ,2)));

single_err1 = sqrt(mean( (Yest1 - Ytest).^2 ));
joint_err1 = sqrt(mean(sum(  (Yest1 - Ytest).^2 ,2)));
single_err2 = sqrt(mean( (Yest2 - Ytest).^2 ));
joint_err2 = sqrt(mean(sum(  (Yest2 - Ytest).^2 ,2)));

fprintf(f,'\t-Position error between improved spatial coordinates: \n\t\t x:%d, y:%d, z:%d, xyz:%d\n\n',...
    single_diff(1),single_diff(2),single_diff(3),joint_diff);

fprintf(f,'\t-Position error between improved spatial coordinates of camera #1 and observed coordinates:  \n\t\t x:%d, y:%d, z:%d, xyz:%d\n\n',single_diff1(1),single_diff1(2),single_diff1(3),joint_diff1);
fprintf(f,'\t-Position error between improved spatial coordinates of camera #2 and observed coordinates:  \n\t\t x:%d, y:%d, z:%d, xyz:%d\n\n',single_diff2(1),single_diff2(2),single_diff2(3),joint_diff2);

fprintf(f,'\t-Position error between estimated coordinates with camera #1 and test coordinates (%i samples): \n\t\t x:%d, y:%d, z:%d, xyz:%d\n\n',size(Ytest,1),single_err1(1),single_err1(2),single_err1(3),joint_err1);

fprintf(f,'\t-Position error between estimated coordinates with camera #2 and test coordinates (%i samples): \n\t\t x:%d, y:%d, z:%d, xyz:%d\n\n',size(Ytest,1),single_err2(1),single_err2(2),single_err2(3),joint_err2);


fclose(f);

save([dir '/Data'],'Yimp1','Yimp2','Yest1','Yest2','Ytest','Xtest','X','Y')