% 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 = [ 392.709670091211930 ; 392.190183406215790 ];

%-- Principal point:
cc = [ 318.744995865643320 ; 226.530799786431120 ];

%-- Skew coefficient:
alpha_c = 0.000000000000000;

%-- Distortion coefficients:
kc = [ -0.369870439257808 ; 0.201041880125870 ; 0.001838856134807 ; 0.000579213704630 ; 0.000000000000000 ];

%-- Focal length uncertainty:
fc_error = [ 1.898873814738432 ; 1.815014663145341 ];

%-- Principal point uncertainty:
cc_error = [ 2.814563913999496 ; 2.628906918965270 ];

%-- Skew coefficient uncertainty:
alpha_c_error = 0.000000000000000;

%-- Distortion coefficients uncertainty:
kc_error = [ 0.009594717448774 ; 0.017490027112063 ; 0.000882318193040 ; 0.000751776901031 ; 0.000000000000000 ];

%-- Image size:
nx = 640;
ny = 480;


%-- 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 = 26;						% 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 = [ -1.855379e+000 ; -2.162602e+000 ; 2.974849e-002 ];
Tc_1  = [ -4.902886e+001 ; -1.172706e+002 ; 3.644339e+002 ];
omc_error_1 = [ 9.051476e-003 ; 1.163152e-002 ; 2.005139e-002 ];
Tc_error_1  = [ 2.692050e+000 ; 2.501823e+000 ; 2.589876e+000 ];

%-- Image #2:
omc_2 = [ NaN ; NaN ; NaN ];
Tc_2  = [ NaN ; NaN ; NaN ];
omc_error_2 = [ NaN ; NaN ; NaN ];
Tc_error_2  = [ NaN ; NaN ; NaN ];

%-- Image #3:
omc_3 = [ NaN ; NaN ; NaN ];
Tc_3  = [ NaN ; NaN ; NaN ];
omc_error_3 = [ NaN ; NaN ; NaN ];
Tc_error_3  = [ NaN ; NaN ; NaN ];

%-- Image #4:
omc_4 = [ NaN ; NaN ; NaN ];
Tc_4  = [ NaN ; NaN ; NaN ];
omc_error_4 = [ NaN ; NaN ; NaN ];
Tc_error_4  = [ NaN ; NaN ; NaN ];

%-- Image #5:
omc_5 = [ NaN ; NaN ; NaN ];
Tc_5  = [ NaN ; NaN ; NaN ];
omc_error_5 = [ NaN ; NaN ; NaN ];
Tc_error_5  = [ NaN ; NaN ; NaN ];

%-- Image #6:
omc_6 = [ -1.012611e+000 ; -2.724998e+000 ; -5.271618e-003 ];
Tc_6  = [ 9.518171e+001 ; -2.316516e+002 ; 3.919984e+002 ];
omc_error_6 = [ 9.486085e-003 ; 1.820474e-002 ; 2.503127e-002 ];
Tc_error_6  = [ 3.167829e+000 ; 2.766396e+000 ; 3.253998e+000 ];

%-- Image #7:
omc_7 = [ 1.267322e+000 ; 2.621369e+000 ; 4.736919e-001 ];
Tc_7  = [ -6.212666e+001 ; -1.463101e+002 ; 2.811698e+002 ];
omc_error_7 = [ 5.322699e-003 ; 1.107741e-002 ; 1.555032e-002 ];
Tc_error_7  = [ 2.177376e+000 ; 2.027307e+000 ; 2.234176e+000 ];

%-- Image #8:
omc_8 = [ 1.971643e+000 ; 2.162978e+000 ; -1.391121e-001 ];
Tc_8  = [ -9.868494e+001 ; -1.016880e+002 ; 3.683081e+002 ];
omc_error_8 = [ 8.266112e-003 ; 1.022926e-002 ; 1.866258e-002 ];
Tc_error_8  = [ 2.686073e+000 ; 2.505672e+000 ; 2.486858e+000 ];

%-- Image #9:
omc_9 = [ -1.647726e+000 ; -1.718619e+000 ; 3.798250e-001 ];
Tc_9  = [ -2.096342e+001 ; -1.740112e+002 ; 5.402239e+002 ];
omc_error_9 = [ 8.347440e-003 ; 8.551593e-003 ; 1.448216e-002 ];
Tc_error_9  = [ 4.033032e+000 ; 3.656727e+000 ; 3.227119e+000 ];

%-- Image #10:
omc_10 = [ -1.595467e+000 ; -1.885312e+000 ; 4.378011e-001 ];
Tc_10  = [ -9.704163e+001 ; -1.070634e+002 ; 3.127837e+002 ];
omc_error_10 = [ 6.172254e-003 ; 6.146356e-003 ; 1.018500e-002 ];
Tc_error_10  = [ 2.305337e+000 ; 2.131516e+000 ; 1.765179e+000 ];

%-- Image #11:
omc_11 = [ 1.562887e+000 ; 2.453610e+000 ; -1.135890e+000 ];
Tc_11  = [ -3.930836e+001 ; -7.164206e+001 ; 3.759024e+002 ];
omc_error_11 = [ 5.030566e-003 ; 8.251995e-003 ; 1.227772e-002 ];
Tc_error_11  = [ 2.703337e+000 ; 2.542618e+000 ; 1.579564e+000 ];

%-- Image #12:
omc_12 = [ 1.555812e+000 ; 2.428914e+000 ; 3.085240e-001 ];
Tc_12  = [ -8.620479e+001 ; -1.250587e+002 ; 2.823349e+002 ];
omc_error_12 = [ 6.120847e-003 ; 1.018319e-002 ; 1.530016e-002 ];
Tc_error_12  = [ 2.149207e+000 ; 1.992545e+000 ; 2.150783e+000 ];

%-- Image #13:
omc_13 = [ 1.256752e+000 ; 2.004704e+000 ; 1.375873e-001 ];
Tc_13  = [ -6.167833e+001 ; -1.451792e+002 ; 2.859137e+002 ];
omc_error_13 = [ 4.916779e-003 ; 7.808977e-003 ; 9.717607e-003 ];
Tc_error_13  = [ 2.152516e+000 ; 1.950117e+000 ; 1.952302e+000 ];

%-- Image #14:
omc_14 = [ 1.738812e+000 ; 2.408189e+000 ; 8.823146e-001 ];
Tc_14  = [ -2.818082e+001 ; -1.026456e+002 ; 2.157810e+002 ];
omc_error_14 = [ 7.082233e-003 ; 6.685499e-003 ; 1.286374e-002 ];
Tc_error_14  = [ 1.650828e+000 ; 1.528620e+000 ; 1.755758e+000 ];

%-- Image #15:
omc_15 = [ -2.015223e+000 ; -2.209682e+000 ; 2.625917e-002 ];
Tc_15  = [ -9.108123e+001 ; -1.087579e+002 ; 2.695326e+002 ];
omc_error_15 = [ 7.011355e-003 ; 7.479696e-003 ; 1.526388e-002 ];
Tc_error_15  = [ 2.007611e+000 ; 1.871049e+000 ; 1.934644e+000 ];

%-- Image #16:
omc_16 = [ 2.211842e+000 ; 1.510262e+000 ; -1.103098e+000 ];
Tc_16  = [ -1.075078e+002 ; -5.357355e+001 ; 3.561491e+002 ];
omc_error_16 = [ 6.288341e-003 ; 7.179584e-003 ; 1.131365e-002 ];
Tc_error_16  = [ 2.622896e+000 ; 2.422632e+000 ; 1.742436e+000 ];

%-- Image #17:
omc_17 = [ -1.597506e+000 ; -2.047437e+000 ; 7.993315e-001 ];
Tc_17  = [ 2.617139e+001 ; -1.357813e+002 ; 4.005779e+002 ];
omc_error_17 = [ 6.942341e-003 ; 6.677519e-003 ; 1.258986e-002 ];
Tc_error_17  = [ 2.983861e+000 ; 2.680632e+000 ; 2.067383e+000 ];

%-- Image #18:
omc_18 = [ -1.593762e+000 ; -2.086966e+000 ; 5.250573e-001 ];
Tc_18  = [ -9.405416e+001 ; -1.198414e+002 ; 3.028254e+002 ];
omc_error_18 = [ 6.283602e-003 ; 6.146112e-003 ; 1.089301e-002 ];
Tc_error_18  = [ 2.251517e+000 ; 2.070582e+000 ; 1.761034e+000 ];

%-- Image #19:
omc_19 = [ -1.500099e+000 ; -1.665386e+000 ; -4.862937e-001 ];
Tc_19  = [ -1.413097e+002 ; -8.010776e+001 ; 2.017200e+002 ];
omc_error_19 = [ 5.646863e-003 ; 6.448492e-003 ; 8.639675e-003 ];
Tc_error_19  = [ 1.489483e+000 ; 1.488437e+000 ; 1.720231e+000 ];

%-- Image #20:
omc_20 = [ 1.881429e+000 ; 1.874493e+000 ; -6.177808e-001 ];
Tc_20  = [ -1.345890e+002 ; -6.614358e+001 ; 3.027030e+002 ];
omc_error_20 = [ 4.846222e-003 ; 6.988642e-003 ; 1.145026e-002 ];
Tc_error_20  = [ 2.193574e+000 ; 2.112739e+000 ; 1.822328e+000 ];

%-- Image #21:
omc_21 = [ -1.645722e+000 ; -1.805631e+000 ; 3.251402e-001 ];
Tc_21  = [ -7.847856e+001 ; -1.089401e+002 ; 2.940193e+002 ];
omc_error_21 = [ 5.824421e-003 ; 5.947878e-003 ; 9.937504e-003 ];
Tc_error_21  = [ 2.166918e+000 ; 1.985196e+000 ; 1.671088e+000 ];

%-- Image #22:
omc_22 = [ 2.152809e+000 ; 2.133644e+000 ; 7.896225e-001 ];
Tc_22  = [ -1.350892e+002 ; -6.645193e+001 ; 2.114581e+002 ];
omc_error_22 = [ 7.521221e-003 ; 5.914753e-003 ; 1.391222e-002 ];
Tc_error_22  = [ 1.697164e+000 ; 1.608406e+000 ; 1.913787e+000 ];

%-- Image #23:
omc_23 = [ 3.146900e-001 ; 2.611555e+000 ; 5.350501e-001 ];
Tc_23  = [ -2.972089e+001 ; -1.005829e+002 ; 3.072204e+002 ];
omc_error_23 = [ 4.106853e-003 ; 1.035103e-002 ; 1.240947e-002 ];
Tc_error_23  = [ 2.285301e+000 ; 2.130614e+000 ; 2.033398e+000 ];

%-- Image #24:
omc_24 = [ 1.768576e+000 ; 2.348719e+000 ; 9.874145e-002 ];
Tc_24  = [ -7.391096e+001 ; -7.114257e+001 ; 3.182555e+002 ];
omc_error_24 = [ 8.162303e-003 ; 9.954288e-003 ; 1.778131e-002 ];
Tc_error_24  = [ 2.323575e+000 ; 2.183685e+000 ; 2.278659e+000 ];

%-- Image #25:
omc_25 = [ -1.520447e+000 ; -2.037437e+000 ; 5.102985e-001 ];
Tc_25  = [ -2.118305e+001 ; -1.459962e+002 ; 5.051798e+002 ];
omc_error_25 = [ 7.599223e-003 ; 9.117262e-003 ; 1.462659e-002 ];
Tc_error_25  = [ 3.735809e+000 ; 3.398519e+000 ; 2.848560e+000 ];

%-- Image #26:
omc_26 = [ -1.638152e+000 ; -2.353342e+000 ; 7.659653e-001 ];
Tc_26  = [ -9.100525e+001 ; -8.696384e+001 ; 3.575604e+002 ];
omc_error_26 = [ 6.758662e-003 ; 7.136313e-003 ; 1.264005e-002 ];
Tc_error_26  = [ 2.589665e+000 ; 2.455796e+000 ; 1.809429e+000 ];

