% 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 = [ 744.101606625317120 ; 695.278357260250570 ];

%-- Principal point:
cc = [ 448.504248342111110 ; 342.700624829084460 ];

%-- Skew coefficient:
alpha_c = 0.000000000000000;

%-- Distortion coefficients:
kc = [ -0.351314180971883 ; 0.144055098073823 ; 0.000581111771709 ; 0.001778372533056 ; 0.000000000000000 ];

%-- Focal length uncertainty:
fc_error = [ 1.811859856053927 ; 1.699850785595871 ];

%-- Principal point uncertainty:
cc_error = [ 2.445864735877741 ; 2.152553052660945 ];

%-- Skew coefficient uncertainty:
alpha_c_error = 0.000000000000000;

%-- Distortion coefficients uncertainty:
kc_error = [ 0.005136779675139 ; 0.014257183444419 ; 0.000495904435291 ; 0.000489612513584 ; 0.000000000000000 ];

%-- Image size:
nx = 964;
ny = 686;


%-- 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 = 25;						% 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 = [ 2.038602e+000 ; 2.263088e+000 ; -2.125670e-001 ];
Tc_1  = [ -3.166243e+002 ; -1.224216e+002 ; 2.118168e+003 ];
omc_error_1 = [ 7.391461e-003 ; 7.810829e-003 ; 1.555167e-002 ];
Tc_error_1  = [ 6.944563e+000 ; 6.583806e+000 ; 6.340506e+000 ];

%-- Image #2:
omc_2 = [ 1.917007e+000 ; 2.103104e+000 ; -1.606085e-001 ];
Tc_2  = [ -2.062438e+002 ; -6.531119e+001 ; 2.695318e+003 ];
omc_error_2 = [ 6.063837e-003 ; 6.449196e-003 ; 1.251806e-002 ];
Tc_error_2  = [ 8.864334e+000 ; 8.369867e+000 ; 8.602983e+000 ];

%-- Image #3:
omc_3 = [ 1.593251e+000 ; 1.797937e+000 ; -7.137972e-001 ];
Tc_3  = [ 6.526537e+001 ; -5.893237e+001 ; 2.090023e+003 ];
omc_error_3 = [ 2.940499e-003 ; 3.022612e-003 ; 4.853960e-003 ];
Tc_error_3  = [ 6.888174e+000 ; 6.472572e+000 ; 4.808028e+000 ];

%-- Image #4:
omc_4 = [ 2.089779e+000 ; 2.179851e+000 ; -2.057742e-001 ];
Tc_4  = [ -2.959762e+002 ; -1.886594e+002 ; 1.086625e+003 ];
omc_error_4 = [ 2.709606e-003 ; 2.850496e-003 ; 5.918591e-003 ];
Tc_error_4  = [ 3.566948e+000 ; 3.365176e+000 ; 3.031803e+000 ];

%-- Image #5:
omc_5 = [ 2.079511e+000 ; 2.252451e+000 ; -1.580112e-001 ];
Tc_5  = [ -2.562861e+002 ; -3.228791e+002 ; 7.364408e+002 ];
omc_error_5 = [ 2.003948e-003 ; 2.391300e-003 ; 4.808421e-003 ];
Tc_error_5  = [ 2.469852e+000 ; 2.275353e+000 ; 2.295963e+000 ];

%-- Image #6:
omc_6 = [ -1.585154e+000 ; -1.818543e+000 ; -8.430820e-001 ];
Tc_6  = [ -2.194793e+002 ; -2.802987e+002 ; 8.748748e+002 ];
omc_error_6 = [ 2.135416e-003 ; 3.148561e-003 ; 4.419916e-003 ];
Tc_error_6  = [ 2.943100e+000 ; 2.736980e+000 ; 2.796194e+000 ];

%-- Image #7:
omc_7 = [ -1.344159e+000 ; -2.092931e+000 ; -9.049838e-001 ];
Tc_7  = [ -1.449163e+002 ; -3.232460e+002 ; 1.159517e+003 ];
omc_error_7 = [ 2.104052e-003 ; 3.491546e-003 ; 4.799266e-003 ];
Tc_error_7  = [ 3.874379e+000 ; 3.613746e+000 ; 3.770205e+000 ];

%-- Image #8:
omc_8 = [ 1.900613e+000 ; 2.158884e+000 ; -8.832783e-001 ];
Tc_8  = [ -1.946239e+002 ; -1.005465e+002 ; 2.002483e+003 ];
omc_error_8 = [ 2.832166e-003 ; 3.683801e-003 ; 6.360678e-003 ];
Tc_error_8  = [ 6.565427e+000 ; 6.208512e+000 ; 4.421145e+000 ];

%-- Image #9:
omc_9 = [ 1.824144e+000 ; 2.121813e+000 ; 4.974577e-001 ];
Tc_9  = [ -1.651141e+002 ; -1.643001e+002 ; 1.433369e+003 ];
omc_error_9 = [ 3.268332e-003 ; 2.845524e-003 ; 5.843869e-003 ];
Tc_error_9  = [ 4.735167e+000 ; 4.455694e+000 ; 4.417478e+000 ];

%-- Image #10:
omc_10 = [ 1.551620e+000 ; 2.398212e+000 ; 4.231687e-001 ];
Tc_10  = [ -1.983072e+002 ; -3.255556e+002 ; 1.588333e+003 ];
omc_error_10 = [ 3.010131e-003 ; 4.042142e-003 ; 6.766088e-003 ];
Tc_error_10  = [ 5.289447e+000 ; 4.958828e+000 ; 5.024910e+000 ];

%-- Image #11:
omc_11 = [ 2.274857e+000 ; 1.355774e+000 ; 2.569998e-001 ];
Tc_11  = [ -4.860225e+002 ; 7.081556e+001 ; 1.970035e+003 ];
omc_error_11 = [ 4.374492e-003 ; 2.918006e-003 ; 7.139690e-003 ];
Tc_error_11  = [ 6.613112e+000 ; 6.212750e+000 ; 6.544719e+000 ];

%-- Image #12:
omc_12 = [ -1.779142e+000 ; -1.702285e+000 ; -6.584558e-001 ];
Tc_12  = [ -2.076240e+002 ; 2.470665e+001 ; 1.452260e+003 ];
omc_error_12 = [ 2.680416e-003 ; 3.184411e-003 ; 4.829302e-003 ];
Tc_error_12  = [ 4.764711e+000 ; 4.545366e+000 ; 4.365800e+000 ];

%-- Image #13:
omc_13 = [ -1.686964e+000 ; -2.030764e+000 ; -4.266615e-001 ];
Tc_13  = [ -1.620110e+002 ; -3.881005e+002 ; 1.707722e+003 ];
omc_error_13 = [ 2.982030e-003 ; 3.519036e-003 ; 6.340117e-003 ];
Tc_error_13  = [ 5.668340e+000 ; 5.311974e+000 ; 5.408890e+000 ];

%-- Image #14:
omc_14 = [ 1.587319e+000 ; 1.300029e+000 ; -9.952092e-001 ];
Tc_14  = [ -3.198541e+002 ; -2.601560e+001 ; 2.441366e+003 ];
omc_error_14 = [ 3.078778e-003 ; 3.426417e-003 ; 4.114699e-003 ];
Tc_error_14  = [ 8.029495e+000 ; 7.587342e+000 ; 5.951555e+000 ];

%-- Image #15:
omc_15 = [ -1.855962e+000 ; -2.441029e+000 ; -5.506109e-001 ];
Tc_15  = [ -1.445422e+002 ; -5.594276e+002 ; 2.069348e+003 ];
omc_error_15 = [ 4.344887e-003 ; 5.815255e-003 ; 1.104533e-002 ];
Tc_error_15  = [ 6.948031e+000 ; 6.537145e+000 ; 7.191368e+000 ];

%-- Image #16:
omc_16 = [ -2.023518e+000 ; -1.332746e+000 ; -9.859122e-001 ];
Tc_16  = [ -3.433776e+002 ; -3.177461e+002 ; 1.611051e+003 ];
omc_error_16 = [ 3.241837e-003 ; 3.014337e-003 ; 4.851453e-003 ];
Tc_error_16  = [ 5.395302e+000 ; 5.092113e+000 ; 5.169538e+000 ];

%-- Image #17:
omc_17 = [ -6.931096e-001 ; -1.851747e+000 ; -8.445299e-002 ];
Tc_17  = [ 2.645918e+002 ; -5.872681e+002 ; 1.561527e+003 ];
omc_error_17 = [ 2.319731e-003 ; 3.426582e-003 ; 4.050941e-003 ];
Tc_error_17  = [ 5.368841e+000 ; 4.938073e+000 ; 5.273008e+000 ];

%-- Image #18:
omc_18 = [ -1.250756e+000 ; -1.866662e+000 ; -2.612621e-001 ];
Tc_18  = [ -1.660215e+002 ; -6.675944e+002 ; 1.926581e+003 ];
omc_error_18 = [ 2.603294e-003 ; 3.467670e-003 ; 5.028320e-003 ];
Tc_error_18  = [ 6.516829e+000 ; 6.002770e+000 ; 5.806142e+000 ];

%-- Image #19:
omc_19 = [ 2.136234e+000 ; 1.868515e+000 ; -8.257921e-001 ];
Tc_19  = [ 2.145789e+002 ; 1.977710e+002 ; 2.177721e+003 ];
omc_error_19 = [ 5.538069e-003 ; 3.591368e-003 ; 9.366353e-003 ];
Tc_error_19  = [ 7.219552e+000 ; 6.852088e+000 ; 5.466430e+000 ];

%-- Image #20:
omc_20 = [ 1.958049e+000 ; 1.822283e+000 ; -6.926682e-001 ];
Tc_20  = [ -1.328965e+002 ; 1.184767e+002 ; 2.323585e+003 ];
omc_error_20 = [ 4.031646e-003 ; 3.546475e-003 ; 7.172393e-003 ];
Tc_error_20  = [ 7.629520e+000 ; 7.266630e+000 ; 5.602797e+000 ];

%-- Image #21:
omc_21 = [ 2.332661e+000 ; 1.379880e-001 ; -1.718014e+000 ];
Tc_21  = [ 9.565728e+001 ; 7.581385e+002 ; 2.214137e+003 ];
omc_error_21 = [ 4.202126e-003 ; 3.070334e-003 ; 4.706997e-003 ];
Tc_error_21  = [ 7.535923e+000 ; 6.928725e+000 ; 6.312908e+000 ];

%-- Image #22:
omc_22 = [ 2.320910e+000 ; 1.996865e+000 ; -2.566615e-001 ];
Tc_22  = [ -2.983844e+002 ; -3.320071e+002 ; 1.059440e+003 ];
omc_error_22 = [ 2.617724e-003 ; 2.618370e-003 ; 5.736205e-003 ];
Tc_error_22  = [ 3.514008e+000 ; 3.260297e+000 ; 2.992831e+000 ];

%-- Image #23:
omc_23 = [ 2.603792e+000 ; 1.018418e+000 ; 8.072903e-001 ];
Tc_23  = [ -3.355760e+002 ; -5.531584e+001 ; 7.784798e+002 ];
omc_error_23 = [ 3.415972e-003 ; 1.379331e-003 ; 4.806221e-003 ];
Tc_error_23  = [ 2.681377e+000 ; 2.481511e+000 ; 2.680708e+000 ];

%-- Image #24:
omc_24 = [ 1.695422e+000 ; 1.609633e+000 ; 5.952039e-001 ];
Tc_24  = [ -3.527488e+002 ; -2.189310e+002 ; 7.658522e+002 ];
omc_error_24 = [ 2.722713e-003 ; 2.310606e-003 ; 3.914168e-003 ];
Tc_error_24  = [ 2.664204e+000 ; 2.467328e+000 ; 2.571103e+000 ];

%-- Image #25:
omc_25 = [ 2.583684e+000 ; 1.181313e+000 ; 4.876212e-001 ];
Tc_25  = [ -2.065183e+002 ; -5.996456e+001 ; 8.564335e+002 ];
omc_error_25 = [ 3.391144e-003 ; 1.506322e-003 ; 5.253566e-003 ];
Tc_error_25  = [ 2.863407e+000 ; 2.640823e+000 ; 2.607043e+000 ];

