function f=frames(sys,mod,nbr,p,np,cpar)%FRAMES Interface between camera model and optimization routine. %Allows multiple to be used.%%Usage:%   f = frames(sys,mod,nbr,p)         %%where%   sys  = system configuration information (see configc.m) %   mod  = matrix for the 3-D coordinates of the control points (n x 3)%   nbr  = number of points per frame%   p    = parameter vector (8+N*6 x 1)%          p(1:8) contains the camera intrinsic parameters%          p(9...) contains the camera position and orientation for%          each N images. %   f    = synthetic image coordinates%   Version 2.1b  25.08.1998%   Janne Heikkila, University of Oulu, Finlandnr=size(mod,1);npos=(length(p)-np)/6;if npos~=length(nbr)  error('Conflict in the number of camera positions');endif size(mod,2)~=3  error('Data matrix should have three columns');endindex=[1 cumsum(nbr)+1];if np>0  par=p(1:np);else  par=cpar;endf=[];for i=1:npos  si=(i-1)*6+np+1; ei=i*6+np;  pos=p(si:ei);  pnts=mod(index(i):index(i+1)-1,:);  cp=cmodel(sys,mod(index(i):index(i+1)-1,:),p(si:ei),par);  f=[f;cp];end