% 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 = [ 502.787727441153440 ; 538.820326943651250 ];

%-- Principal point:
cc = [ 170.555587873985790 ; 156.349897479289890 ];

%-- Skew coefficient:
alpha_c = 0.000000000000000;

%-- Distortion coefficients:
kc = [ -0.389314936291939 ; 2.943393328535414 ; 0.001258278172844 ; -0.002916145962022 ; 0.000000000000000 ];

%-- Focal length uncertainty:
fc_error = [ 4.848803600222190 ; 5.131806560891684 ];

%-- Principal point uncertainty:
cc_error = [ 6.496880946733265 ; 7.026706387063384 ];

%-- Skew coefficient uncertainty:
alpha_c_error = 0.000000000000000;

%-- Distortion coefficients uncertainty:
kc_error = [ 0.091859119814172 ; 1.540197400480775 ; 0.002857787850407 ; 0.002713863049620 ; 0.000000000000000 ];

%-- Image size:
nx = 360;
ny = 288;


%-- 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 = 20;						% 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 = [ 1.780027e+000 ; 2.517598e+000 ; 7.237682e-002 ];
Tc_1  = [ -3.097777e+002 ; -4.074205e+002 ; 2.365301e+003 ];
omc_error_1 = [ 1.313396e-002 ; 1.948657e-002 ; 3.299979e-002 ];
Tc_error_1  = [ 3.083273e+001 ; 3.108367e+001 ; 2.560648e+001 ];

%-- Image #2:
omc_2 = [ -2.504725e+000 ; -1.756945e+000 ; -8.548012e-002 ];
Tc_2  = [ -4.072740e+002 ; -1.640336e+002 ; 2.483316e+003 ];
omc_error_2 = [ 1.852532e-002 ; 1.365407e-002 ; 3.566910e-002 ];
Tc_error_2  = [ 3.227920e+001 ; 3.257112e+001 ; 2.692330e+001 ];

%-- Image #3:
omc_3 = [ 1.784192e+000 ; 1.779907e+000 ; -8.138151e-001 ];
Tc_3  = [ -2.484441e+002 ; -3.997467e+002 ; 3.361114e+003 ];
omc_error_3 = [ 9.863943e-003 ; 1.336242e-002 ; 1.825410e-002 ];
Tc_error_3  = [ 4.378436e+001 ; 4.400060e+001 ; 3.195252e+001 ];

%-- Image #4:
omc_4 = [ 1.755065e+000 ; 1.641460e+000 ; -7.339803e-001 ];
Tc_4  = [ -4.409341e+002 ; -2.739539e+002 ; 2.601235e+003 ];
omc_error_4 = [ 9.541048e-003 ; 1.282099e-002 ; 1.666707e-002 ];
Tc_error_4  = [ 3.383690e+001 ; 3.419117e+001 ; 2.559141e+001 ];

%-- Image #5:
omc_5 = [ 2.142454e+000 ; 1.396836e+000 ; -5.009077e-001 ];
Tc_5  = [ -3.991784e+002 ; -2.452180e+002 ; 2.677311e+003 ];
omc_error_5 = [ 1.140779e-002 ; 1.097065e-002 ; 1.845524e-002 ];
Tc_error_5  = [ 3.483831e+001 ; 3.505817e+001 ; 2.720155e+001 ];

%-- Image #6:
omc_6 = [ -1.595942e+000 ; -1.828817e+000 ; -6.541214e-001 ];
Tc_6  = [ -2.864459e+002 ; -3.861216e+002 ; 2.246700e+003 ];
omc_error_6 = [ 8.530605e-003 ; 1.229387e-002 ; 1.655560e-002 ];
Tc_error_6  = [ 2.935340e+001 ; 2.956317e+001 ; 2.488416e+001 ];

%-- Image #7:
omc_7 = [ -1.957047e+000 ; -1.487679e+000 ; 6.803022e-001 ];
Tc_7  = [ -6.314277e+001 ; -2.980653e+002 ; 3.240095e+003 ];
omc_error_7 = [ 1.257006e-002 ; 8.013332e-003 ; 1.700239e-002 ];
Tc_error_7  = [ 4.198667e+001 ; 4.224657e+001 ; 2.948281e+001 ];

%-- Image #8:
omc_8 = [ -1.973539e+000 ; -1.459812e+000 ; 6.810939e-001 ];
Tc_8  = [ 1.663570e+002 ; -3.237843e+002 ; 3.674261e+003 ];
omc_error_8 = [ 1.294732e-002 ; 8.748587e-003 ; 1.814107e-002 ];
Tc_error_8  = [ 4.795870e+001 ; 4.801049e+001 ; 3.452324e+001 ];

%-- Image #9:
omc_9 = [ -2.348873e+000 ; -1.418875e+000 ; 4.582908e-001 ];
Tc_9  = [ -7.060013e+002 ; -1.421189e+002 ; 2.827416e+003 ];
omc_error_9 = [ 1.395103e-002 ; 6.578653e-003 ; 1.973971e-002 ];
Tc_error_9  = [ 3.668964e+001 ; 3.743452e+001 ; 2.891012e+001 ];

%-- Image #10:
omc_10 = [ 1.672196e+000 ; 2.202520e+000 ; -6.416819e-001 ];
Tc_10  = [ 3.085867e+001 ; -2.452343e+002 ; 3.315142e+003 ];
omc_error_10 = [ 9.093080e-003 ; 1.345485e-002 ; 2.071198e-002 ];
Tc_error_10  = [ 4.291675e+001 ; 4.319186e+001 ; 3.158877e+001 ];

%-- Image #11:
omc_11 = [ 1.585383e+000 ; 2.015295e+000 ; -5.975705e-001 ];
Tc_11  = [ -2.689529e+002 ; -3.763919e+002 ; 2.678386e+003 ];
omc_error_11 = [ 8.437731e-003 ; 1.330899e-002 ; 1.823903e-002 ];
Tc_error_11  = [ 3.487095e+001 ; 3.510184e+001 ; 2.555150e+001 ];

%-- Image #12:
omc_12 = [ 2.198110e+000 ; 1.155368e+000 ; -2.705338e-001 ];
Tc_12  = [ -2.601314e+002 ; -1.491102e+002 ; 2.427665e+003 ];
omc_error_12 = [ 1.253001e-002 ; 9.102426e-003 ; 1.732156e-002 ];
Tc_error_12  = [ 3.151399e+001 ; 3.161098e+001 ; 2.517076e+001 ];

%-- Image #13:
omc_13 = [ -2.237053e+000 ; -1.069710e+000 ; -9.889180e-001 ];
Tc_13  = [ -4.554293e+002 ; 4.560488e+001 ; 2.357108e+003 ];
omc_error_13 = [ 1.154873e-002 ; 1.120638e-002 ; 1.683756e-002 ];
Tc_error_13  = [ 3.063367e+001 ; 3.096487e+001 ; 2.603002e+001 ];

%-- Image #14:
omc_14 = [ -1.966587e+000 ; -1.497619e+000 ; -9.340002e-001 ];
Tc_14  = [ -3.359548e+002 ; -1.889992e+002 ; 2.124959e+003 ];
omc_error_14 = [ 9.609765e-003 ; 1.237003e-002 ; 1.667618e-002 ];
Tc_error_14  = [ 2.769564e+001 ; 2.786878e+001 ; 2.365868e+001 ];

%-- Image #15:
omc_15 = [ 2.276458e+000 ; 1.807418e+000 ; 6.186642e-003 ];
Tc_15  = [ -3.569923e+002 ; -3.361511e+002 ; 2.709521e+003 ];
omc_error_15 = [ 1.460433e-002 ; 1.172092e-002 ; 2.729326e-002 ];
Tc_error_15  = [ 3.522367e+001 ; 3.548712e+001 ; 2.808316e+001 ];

%-- Image #16:
omc_16 = [ -2.130066e+000 ; -2.110607e+000 ; 1.630289e-001 ];
Tc_16  = [ -3.642929e+002 ; -2.512128e+002 ; 2.301555e+003 ];
omc_error_16 = [ 1.263102e-002 ; 1.200502e-002 ; 2.632109e-002 ];
Tc_error_16  = [ 2.990467e+001 ; 3.017059e+001 ; 2.356478e+001 ];

%-- Image #17:
omc_17 = [ -1.797582e+000 ; -1.846686e+000 ; 4.993915e-001 ];
Tc_17  = [ -1.624773e+002 ; -3.498508e+002 ; 2.514519e+003 ];
omc_error_17 = [ 1.122398e-002 ; 8.987358e-003 ; 1.766451e-002 ];
Tc_error_17  = [ 3.265784e+001 ; 3.280461e+001 ; 2.335438e+001 ];

%-- Image #18:
omc_18 = [ -1.575100e+000 ; -1.665230e+000 ; 7.091055e-001 ];
Tc_18  = [ -7.230540e+001 ; -3.571500e+002 ; 2.431623e+003 ];
omc_error_18 = [ 1.174230e-002 ; 9.228518e-003 ; 1.534557e-002 ];
Tc_error_18  = [ 3.158859e+001 ; 3.172075e+001 ; 2.147390e+001 ];

%-- Image #19:
omc_19 = [ 1.879219e+000 ; 1.814329e+000 ; 7.500214e-001 ];
Tc_19  = [ -2.941625e+002 ; -3.223514e+002 ; 2.026096e+003 ];
omc_error_19 = [ 1.244239e-002 ; 9.014125e-003 ; 1.799328e-002 ];
Tc_error_19  = [ 2.649828e+001 ; 2.656250e+001 ; 2.299849e+001 ];

%-- Image #20:
omc_20 = [ 2.127511e+000 ; 1.980067e+000 ; 4.809729e-001 ];
Tc_20  = [ -3.952785e+002 ; -2.679911e+002 ; 2.080889e+003 ];
omc_error_20 = [ 1.249394e-002 ; 9.500823e-003 ; 2.170306e-002 ];
Tc_error_20  = [ 2.721417e+001 ; 2.736462e+001 ; 2.332104e+001 ];