source: trunk/src/geometry_calib.m @ 1082

%'geometry_calib': associated to the GUI geometry_calib to perform geometric calibration from a set of reference points
%------------------------------------------------------------------------
% function hgeometry_calib = geometry_calib(inputfile,pos)
%
%OUTPUT:
% hgeometry_calib=current handles of the GUI geometry_calib.fig
%
%INPUT:
% inputfile: (optional) name of an xml file containing coordinates of reference points
% pos: (optional) 4 element vector setting the 'Position' of the GUI

%=======================================================================
% Copyright 2008-2020, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France
%   http://www.legi.grenoble-inp.fr
%   Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr
%
%     This file is part of the toolbox UVMAT.
%
%     UVMAT is free software; you can redistribute it and/or modify
%     it under the terms of the GNU General Public License as published
%     by the Free Software Foundation; either version 2 of the license,
%     or (at your option) any later version.
%
%     UVMAT is distributed in the hope that it will be useful,
%     but WITHOUT ANY WARRANTY; without even the implied warranty of
%     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
%     GNU General Public License (see LICENSE.txt) for more details.
%=======================================================================

function varargout = geometry_calib(varargin)
% GEOMETRY_CALIB M-file for geometry_calib.fig
%      GEOMETRY_CALIB, by itself, creates a MenuCoord GEOMETRY_CALIB or raises the existing
%      singleton*.
%
%      H = GEOMETRY_CALIB returns the handle to a MenuCoord GEOMETRY_CALIB or the handle to
%      the existing singleton*.
%
%      GEOMETRY_CALIB('CALLBACK',hObject,eventData,handles,...) calls the local
%      function named CALLBACK in GEOMETRY_CALIB.M with the given input arguments.
%
%      GEOMETRY_CALIB('Property','Value',...) creates a MenuCoord GEOMETRY_CALIB or raises the
%      existing singleton*.  Starting from the left, property value pairs are
%      applied to the GUI before geometry_calib_OpeningFunction gets called.  An
%      unrecognized property name or invalid value makes property application
%      stop.  All inputs are passed to geometry_calib_OpeningFcn via varargin.
%
%      *See GUI Options on GUIDE's Tools menu.  Choose "GUI allows only one
%      instance to run (singleton)".
%
% See also: GUIDE, GUIDATA, GUIHANDLES

% Edit the above text to modify the response to help geometry_calib

% Last Modified by GUIDE v2.5 20-Sep-2018 19:04:30

% Begin initialization code - DO NOT edit
gui_Singleton = 1;
gui_State = struct('gui_Name',       mfilename, ...
    'gui_Singleton',  gui_Singleton, ...
    'gui_OpeningFcn', @geometry_calib_OpeningFcn, ...
    'gui_OutputFcn',  @geometry_calib_OutputFcn, ...
    'gui_LayoutFcn',  [] , ...
    'gui_Callback',   []);
if nargin
    [pp,ff]=fileparts(which(varargin{1})); % name of the input file
    if strcmp(ff,mfilename)% if we are activating a sub-function of geometry_calib
        % ~isempty(regexp(varargin{1},'_Callback','once'))
        gui_State.gui_Callback = str2func(varargin{1});
    end
end

if nargout
    [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
else
    gui_mainfcn(gui_State, varargin{:});
end
% End initialization code - DO NOT edit


% --- Executes just before geometry_calib is made visible.
%INPUT:
%handles: handles of the geometry_calib interface elements
% PlotHandles: set of handles of the elements contolling the plotting
% parameters on the uvmat interface (obtained by 'get_plot_handle.m')
%------------------------------------------------------------------------
function geometry_calib_OpeningFcn(hObject, eventdata, handles,inputfile)
%------------------------------------------------------------------------

handles.output = hObject;
% Update handles structure
guidata(hObject, handles);
set(hObject,'DeleteFcn',{@closefcn})%

%% position
set(0,'Unit','pixels')
ScreenSize=get(0,'ScreenSize');% get the size of the screen, to put the fig on the upper right
Left=ScreenSize(3)- 460; %right edge close to the right, with margin=40 (GUI width=420 px)
if ScreenSize(4)>920
    Height=840;%default height of the GUI
    Bottom=ScreenSize(4)-Height-40; %put fig at top right
else
    Height=ScreenSize(4)-80;
    Bottom=40; % GUI lies o the screen bottom (with margin =40)
end
set(handles.calib_type,'Position',[1 Height-40 194 30])%  rank 1
set(handles.APPLY,'Position',[197 Height-40 110 30])%  rank 1
set(handles.Replicate,'Position',[309 Height-40 110 30])%  rank 1
set(handles.Intrinsic,'Position',[1 Height-40-2-92 418 92])%  rank 2
set(handles.Extrinsic,'Position',[1 Height-40-4-92-75 418 75])%  rank 3
set(handles.PointLists,'Position',[1 Height-40-6-92-75-117 418 117]) %  rank 4
set(handles.CheckEnableMouse,'Position',[3 Height-362 208 30])%  rank 5
set(handles.PLOT,'Position',[3 Height-394 120 30])%  rank 6
set(handles.Copy,'Position',[151 Height-394 120 30])%  rank 6
set(handles.ClearAll,'Position',[297 Height-394 120 30])%  rank 6
set(handles.ClearPoint,'Position',[297 Height-362 120 30])%  rank 6
set(handles.CoordLine,'Position',[211 Height-362 86 30])%  rank 6
set(handles.phys_title,'Position',[38 Height-426 125 20])%  rank 7
set(handles.CoordUnit,'Position',[151 Height-426 120 30])%  rank 7
set(handles.px_title,'Position',[272 Height-426 125 20])%  rank 7
set(handles.ListCoord,'Position',[1 20 418 Height-446])% rank 8
set(handles.geometry_calib,'Position',[Left Bottom 420 Height])

%% set menu of calibration options
set(handles.calib_type,'String',{'rescale';'linear';'3D_linear';'3D_quadr';'3D_extrinsic'})
if exist('inputfile','var')&& ~isempty(inputfile)
    [RootPath,SubDir,RootFile,tild,tild,tild,tild,FileExt]=fileparts_uvmat(inputfile);
    struct.XmlInputFile=find_imadoc(RootPath,SubDir,RootFile,FileExt);
    set(handles.ListCoord,'Data',[])
    if exist(struct.XmlInputFile,'file')
        Heading=loadfile(handles,struct.XmlInputFile);% load data from the xml file and fill the GUI
        if isfield(Heading,'Campaign')&& ischar(Heading.Campaign)
            struct.Campaign=Heading.Campaign;
        end
    end
    set(hObject,'UserData',struct)
end

%------------------------------------------------------------------------
% --- Outputs from this function are returned to the command line.
function varargout = geometry_calib_OutputFcn(~, eventdata, handles)
%------------------------------------------------------------------------
% Get default command line output from handles structure
varargout{1} = handles.output;
varargout{2}=handles;
                
%------------------------------------------------------------------------
% executed when closing: set the parent interface button to value 0
function closefcn(gcbo,eventdata)
%------------------------------------------------------------------------
huvmat=findobj(allchild(0),'Name','uvmat');
if ~isempty(huvmat)
    handles=guidata(huvmat);
    set(handles.MenuCalib,'Checked','off')
    hobject=findobj(handles.PlotAxes,'tag','calib_points');
    if ~isempty(hobject)
        delete(hobject)
    end
    hobject=findobj(handles.PlotAxes,'tag','calib_marker');
    if ~isempty(hobject)
        delete(hobject)
    end
end
                
%------------------------------------------------------------------------
% --- Executes on button press APPLY (used to launch the calibration).
function APPLY_Callback(hObject, eventdata, handles)
set(handles.CheckEnableMouse,'Value',0)% desactivate mouse (to avoid spurious creation of new points)

%------------------------------------------------------------------------
%% look for the GUI uvmat and check for an image as input
set(handles.APPLY,'BackgroundColor',[1 1 0])% paint APPLY button in yellow to show activation
huvmat=findobj(allchild(0),'Name','uvmat');% look for the GUI uvmat
hhuvmat=guidata(huvmat);%handles of elements in the GUI uvmat
if ~strcmp(get(hhuvmat.Scalar,'Visible'),'on')
    msgbox_uvmat('ERROR','An image needs to be opened in uvmat for calibration')
    return
end

RootPath='';
if ~isempty(hhuvmat.RootPath)&& ~isempty(hhuvmat.RootFile)
    RootPath=get(hhuvmat.RootPath,'String');% path to the currently displayed image
    SubDirBase=regexprep(get(hhuvmat.SubDir,'String'),'\..+$','');
    outputfile=[fullfile(RootPath,SubDirBase) '.xml'];%xml file associated with the currently displayed image
else
    question={'save the calibration data and point coordinates in'};
    def={fullfile(RootPath,'ObjectCalib.xml')};
    options.Resize='on';
    answer=inputdlg(question,'',1,def,options);
    outputfile=answer{1};
end

%% read coordinates of the calibration poinnts: Coord(:,1-3) in phys, Coord(:,4-5) image
Coord=get(handles.ListCoord,'Data');


%% read the type of calibration
calib_cell=get(handles.calib_type,'String');
val=get(handles.calib_type,'Value');
CalibFcn=['calib_' calib_cell{val}];

%% read the intrinsic parameters
Intrinsic.Npx=str2num(get(hhuvmat.num_Npx,'String'));
Intrinsic.Npy=str2num(get(hhuvmat.num_Npy,'String'));
Intrinsic.coord_files=get(handles.ListCoordFiles,'String');
Intrinsic.fx=str2num(get(handles.fx,'String'));
Intrinsic.fy=str2num(get(handles.fy,'String'));
Intrinsic.kc=str2num(get(handles.kc,'String'));
Intrinsic.Cx=str2num(get(handles.Cx,'String'));
Intrinsic.Cy=str2num(get(handles.Cy,'String'));
if isempty(Intrinsic.kc)
    Intrinsic.kc=0;
end
if isempty(Intrinsic.Cx)||isempty(Intrinsic.Cy)
    Intrinsic.Cx=Intrinsic.Npx/2;
    Intrinsic.Cy=Intrinsic.Npy/2;
end

%% apply to cropped images if requested
if get(handles.Replicate,'Value')
    answer=msgbox_uvmat('INPUT_Y-N','apply to full images (not cropped)?');
    if strcmp(answer,'No')
        prompt = {'npy_lower'};
        dlg_title = 'remove image the npy_lower image lines (removal of the upper line does not change calibration)';
        num_lines= 1;
        def     = {'0'};
        answer = inputdlg(prompt,dlg_title,num_lines,def);
        npy_crop=str2num(answer{1});
        Intrinsic.Npy=Intrinsic.Npy-npy_crop; %size of the filtering window
        Coord(:,5)=Coord(:,5)-npy_crop;% shift the image ordinates of the calibration points by removing the lower band
    end
end

%% Apply calibration
[GeometryCalib,index,ind_removed,Z_plane]=calibrate(Coord,CalibFcn,Intrinsic);% apply calibration
if isempty(GeometryCalib)
    return
end

%% record the coordinate unit
unitlist=get(handles.CoordUnit,'String');
unit=unitlist{get(handles.CoordUnit,'value')};
GeometryCalib.CoordUnit=unit;

%% record the coordinates of the calibration points
GeometryCalib.SourceCalib.PointCoord=Coord;

%% display calibration results on the GUI geometry_calib
display_intrinsic(GeometryCalib,handles)%display calibration intrinsic parameters
display_extrinsic(GeometryCalib,handles)%display calibration extrinsic parameters
%     (rotation and translation of camera with  respect to the phys coordinates)

%% set the default plane and display the calibration data errors for validation
answer=msgbox_uvmat('INPUT_Y-N',{'store calibration data';...
    ['Error rms (along x,y)=' num2str(GeometryCalib.ErrorRms) ' pixels'];...
    ['Error max (along x,y)=' num2str(GeometryCalib.ErrorMax) ' pixels'];
    [num2str(numel(ind_removed)) ' points removed']});
SliceCoord_ref=[0 0 0]; %default reference plane
if strcmp(answer,'Yes') %store the calibration data
    if strcmp(calib_cell{val}(1:2),'3D')%set the plane position for 3D (projection) calibration
        answer=msgbox_uvmat('INPUT_Y-N',{['Assume that the current image is in the plane of the calib points z=' num2str(Z_plane) ] ; 'can be later modified by MenuSetSlice in the upper bar menu of uvmat'});
        SliceCoord_ref=Z_plane'*[0 0 1];
    end
else
    GeometryCalib=[];
    index=1;
end

if ~isempty(GeometryCalib) % if calibration is not cancelled
    %%%%% use of the option 'replicate'
    if get(handles.Replicate,'Value')% if the option replicate is activated
        %nbcalib=0;
        %% open the GUI browse_data
        hbrowse=findobj(allchild(0),'Tag','browse_data');
        if ~isempty(hbrowse)% look for the GUI browse_data
            BrowseData=guidata(hbrowse);
            SourceDir=get(BrowseData.SourceDir,'String');
            ListExp=get(BrowseData.ListExperiments,'String');
            ExpIndices=get(BrowseData.ListExperiments,'Value');
            ListExp=ListExp(ExpIndices);
            ListDevices=get(BrowseData.ListDevices,'String');
            DeviceIndices=get(BrowseData.ListDevices,'Value');
            ListDevices=ListDevices(DeviceIndices);
            ListDataSeries=get(BrowseData.DataSeries,'String');
            DataSeriesIndices=get(BrowseData.DataSeries,'Value');
            ListDataSeries=ListDataSeries(DataSeriesIndices);
            NbExp=0; % counter of the number of experiments set by the GUI browse_data
            for iexp=1:numel(ListExp)
                if ~isempty(regexp(ListExp{iexp},'^\+/'))% if it is a folder
                    for idevice=1:numel(ListDevices)
                        if ~isempty(regexp(ListDevices{idevice},'^\+/'))% if it is a folder
                            for isubdir=1:numel(ListDataSeries)
                                if ~isempty(regexp(ListDataSeries{isubdir},'^\+/'))% if it is a folder
                                    lpath= fullfile(SourceDir,regexprep(ListExp{iexp},'^\+/',''),...
                                        regexprep(ListDevices{idevice},'^\+/',''));
                                    ldir= regexprep(ListDataSeries{isubdir},'^\+/','');
                                    if exist(fullfile(lpath,ldir),'dir')
                                        NbExp=NbExp+1;
                                        ListPath{NbExp}=lpath;
                                        ListSubdir{NbExp}=ldir;
                                        ExpIndex{NbExp}=iexp;
                                    end
                                end
                            end
                        end
                    end
                end
            end
            for iexp=1:NbExp
                XmlName=fullfile(ListPath{iexp},[ListSubdir{iexp} '.xml']);
                if exist(XmlName,'file')
                    check_update=1;
                else
                    check_update=0;
                end
                errormsg=update_imadoc(GeometryCalib,XmlName,'GeometryCalib');% introduce the calibration data in the xml file
                if ~strcmp(errormsg,'')
                    msgbox_uvmat('ERROR',errormsg);
                else
                    if check_update
                        display([XmlName ' updated with calibration parameters'])
                    else
                        display([XmlName ' created with calibration parameters'])
                    end
                    %nbcalib=nbcalib+1;
                end
            end
        end
        msgbox_uvmat('CONFIMATION',['calibration replicated for ' num2str(NbExp) ' experiments']);
    else
        %% copy the xml file from the old location if appropriate, then update with the calibration parameters
        if ~exist(outputfile,'file') && ~isempty(SubDirBase)
            oldxml=[fullfile(RootPath,SubDirBase,get(hhuvmat.RootFile,'String')) '.xml'];
            if exist(oldxml,'file')
                [success,message]=copyfile(oldxml,outputfile);%copy the old xml file to a new one with the new convention
            end
        end
        errormsg=update_imadoc(GeometryCalib,outputfile,'GeometryCalib');% introduce the calibration data in the xml file
        if ~strcmp(errormsg,'')
            msgbox_uvmat('ERROR',errormsg);
        end
        
        %% display image with new calibration in the currently opened uvmat interface
        FieldList=get(hhuvmat.FieldName,'String');
        val=get(hhuvmat.FieldName,'Value');
        if strcmp(FieldList{val},'image')
            set(hhuvmat.CheckFixLimits,'Value',0)% put FixedLimits option to 'off' to plot the whole image
            UserData=get(handles.geometry_calib,'UserData');
            UserData.XmlInputFile=outputfile;%save the current xml file name
            set(handles.geometry_calib,'UserData',UserData)
            uvmat('InputFileREFRESH_Callback',hObject,eventdata,hhuvmat); %file input with xml reading  in uvmat, show the image in phys coordinates
            PLOT_Callback(hObject, eventdata, handles)
            set(handles.CoordLine,'string',num2str(index))
            Coord=get(handles.ListCoord,'Data');
            update_calib_marker(Coord(index,:)); %indicate the point with max deviations from phys coord to calibration
            figure(handles.geometry_calib)% put the GUI geometry_calib in front
        else
            msgbox_uvmat('WARNING','open the image to see the effect of the new calibration')
        end
    end
end

set(handles.APPLY,'BackgroundColor',[1 0 0]) % set APPLY button to red color

%------------------------------------------------------------------------
% --- Executes on button press in Replicate
    function Replicate_Callback(hObject, eventdata, handles)
        % %------------------------------------------------------------------------
        set(handles.CheckEnableMouse,'Value',0)% desactivate mouse (to avoid spurious creation of new points)
        
        if get(handles.Replicate,'Value') %open the GUI browse_data
            % look for the GUI uvmat and check for an image as input
            huvmat=findobj(allchild(0),'Name','uvmat');
            hhuvmat=guidata(huvmat);%handles of elements in the GUI uvmat
            RootPath=get(hhuvmat.RootPath,'String');
            SubDir=get(hhuvmat.SubDir,'String');
            browse_data(fullfile(RootPath,SubDir))
        else
            hbrowse=findobj(allchild(0),'Tag','browse_data');
            if ~isempty(hbrowse)
                delete(hbrowse)
            end
        end
%------------------------------------------------------------------------
% --- activate calibration and store parameters in ouputfile .
function [GeometryCalib,ind_max,ind_removed,Z_plane]=calibrate(Coord,CalibFcn,Intrinsic)
%------------------------------------------------------------------------

index=[];
GeometryCalib=[];
ind_max=[];ind_removed=[];Z_plane=[];
% apply the calibration, whose type is selected in  handles.calib_type
if ~isempty(Coord)
    GeometryCalib=feval(CalibFcn,Coord,Intrinsic);
else
    msgbox_uvmat('ERROR','No calibration points, abort')
end
if isempty(GeometryCalib)
    return
end
Z_plane=[];

% estimate calibration error rms and max
X=Coord(:,1);
Y=Coord(:,2);
Z=Coord(:,3);
x_ima=Coord(:,4);
y_ima=Coord(:,5);
[Xpoints,Ypoints]=px_XYZ(GeometryCalib,X,Y,Z);
GeometryCalib.ErrorRms(1)=sqrt(mean((Xpoints-x_ima).*(Xpoints-x_ima)));
GeometryCalib.ErrorRms(2)=sqrt(mean((Ypoints-y_ima).*(Ypoints-y_ima)));
[ErrorMax(1),index(1)]=max(abs(Xpoints-x_ima));
[ErrorMax(2),index(2)]=max(abs(Ypoints-y_ima));
[tild,ind_dim]=max(ErrorMax);
ind_max=index(ind_dim); % mark the index with maximum deviation

% detect bad calibration points, marked by indices ind_bad, if the
% difference of actual image coordinates and those given by calibration is
% greater than 2 pixels and greater than 4 rms.
check_x=abs(Xpoints-x_ima)>max(2,3*GeometryCalib.ErrorRms(1));
check_y=abs(Ypoints-y_ima)>max(2,3*GeometryCalib.ErrorRms(2));
ind_removed=find(check_x | check_y)
% repeat calibration without the excluded points:
if ~isempty(ind_removed)
    Coord(ind_removed,:)=[];
    GeometryCalib=feval(CalibFcn,Coord,Intrinsic);
    X=Coord(:,1);
    Y=Coord(:,2);
    Z=Coord(:,3);
    x_ima=Coord(:,4);
    y_ima=Coord(:,5);
    [Xpoints,Ypoints]=px_XYZ(GeometryCalib,X,Y,Z);
    GeometryCalib.ErrorRms(1)=sqrt(mean((Xpoints-x_ima).*(Xpoints-x_ima)));
    GeometryCalib.ErrorRms(2)=sqrt(mean((Ypoints-y_ima).*(Ypoints-y_ima)));
end
GeometryCalib.ErrorMax=ErrorMax;
%set the Z position of the reference plane used for calibration
if isequal(max(Z),min(Z))%Z constant
    Z_plane=Z(1);
    GeometryCalib.NbSlice=1;
    GeometryCalib.SliceCoord=[0 0 Z_plane];
end


%------------------------------------------------------------------------
% --- determine the parameters for a calibration by an affine function (rescaling and offset, no rotation)
function GeometryCalib=calib_rescale(Coord,Intrinsic)
%------------------------------------------------------------------------
X=Coord(:,1);
Y=Coord(:,2);% Z not used
x_ima=Coord(:,4);
y_ima=Coord(:,5);
[px]=polyfit(X,x_ima,1);
[py]=polyfit(Y,y_ima,1);
% T_x=px(2);
% T_y=py(2);
GeometryCalib.CalibrationType='rescale';
GeometryCalib.fx_fy=[px(1) py(1)];%.fx_fy corresponds to pxcm along x and y
GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function
GeometryCalib.Tx_Ty_Tz=[px(2)/px(1) py(2)/py(1) 1];
GeometryCalib.omc=[0 0 0];

%------------------------------------------------------------------------
% --- determine the parameters for a calibration by a linear transform matrix (rescale and rotation)
function GeometryCalib=calib_linear(Coord,Intrinsic)
%------------------------------------------------------------------------
X=Coord(:,1);
Y=Coord(:,2);% Z not used
x_ima=Coord(:,4);
y_ima=Coord(:,5);
XY_mat=[ones(size(X)) X Y];
a_X1=XY_mat\x_ima; %transformation matrix for X
a_Y1=XY_mat\y_ima;%transformation matrix for X
R=[a_X1(2),a_X1(3);a_Y1(2),a_Y1(3)];
epsilon=sign(det(R));
norm=abs(det(R));
GeometryCalib.CalibrationType='linear';
if (a_X1(2)/a_Y1(3))>0
    GeometryCalib.fx_fy(1)=sqrt((a_X1(2)/a_Y1(3))*norm);
else
    GeometryCalib.fx_fy(1)=-sqrt(-(a_X1(2)/a_Y1(3))*norm);
end
GeometryCalib.fx_fy(2)=(a_Y1(3)/a_X1(2))*GeometryCalib.fx_fy(1);
GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function
GeometryCalib.Tx_Ty_Tz=[a_X1(1)/GeometryCalib.fx_fy(1) a_Y1(1)/GeometryCalib.fx_fy(2) 1];
R(1,:)=R(1,:)/GeometryCalib.fx_fy(1);
R(2,:)=R(2,:)/GeometryCalib.fx_fy(2);
R=[R;[0 0]];
GeometryCalib.R=[R [0;0;-epsilon]];
GeometryCalib.omc=(180/pi)*[acos(GeometryCalib.R(1,1)) 0 0];

%------------------------------------------------------------------------
% --- determine the tsai parameters for a view normal to the grid plane
% NOT USED
function GeometryCalib=calib_normal(Coord,Intrinsic)
%------------------------------------------------------------------------
Calib.fx=str2num(get(handles.fx,'String'));
Calib.fy=str2num(get(handles.fy,'String'));
Calib.kc=str2num(get(handles.kc,'String'));
Calib.Cx=str2num(get(handles.Cx,'String'));
Calib.Cy=str2num(get(handles.Cy,'String'));
%default
if isempty(Calib.fx)
    Calib.fx=25/0.012;
end
if isempty(Calib.fy)
    Calib.fy=25/0.012;
end
if isempty(Calib.kc)
    Calib.kc=0;
end
if isempty(Calib.Cx)||isempty(Calib.Cy)
    huvmat=findobj(allchild(0),'Tag','uvmat');
    hhuvmat=guidata(huvmat);
    Calib.Cx=str2num(get(hhuvmat.num_Npx,'String'))/2;
    Calib.Cx=str2num(get(hhuvmat.num_Npy,'String'))/2;
end
%tsai parameters
Calib.dpx=0.012;%arbitrary
Calib.dpy=0.012;
Calib.sx=Calib.fx*Calib.dpx/(Calib.fy*Calib.dpy);
Calib.f=Calib.fy*Calib.dpy;
Calib.kappa1=Calib.kc/(Calib.f*Calib.f);

%initial guess
X=Coord(:,1);
Y=Coord(:,2);
Zmean=mean(Coord(:,3));
x_ima=Coord(:,4)-Calib.Cx;
y_ima=Coord(:,5)-Calib.Cy;
XY_mat=[ones(size(X)) X Y];
a_X1=XY_mat\x_ima; %transformation matrix for X
a_Y1=XY_mat\y_ima;%transformation matrix for Y
R=[a_X1(2),a_X1(3),0;a_Y1(2),a_Y1(3),0;0,0,-1];% rotation+ z axis reversal (upward)
norm=sqrt(det(-R));
calib_param(1)=0;% quadratic distortion
calib_param(2)=a_X1(1);
calib_param(3)=a_Y1(1);
calib_param(4)=Calib.f/(norm*Calib.dpx)-R(3,3)*Zmean;
calib_param(5)=angle(a_X1(2)+1i*a_X1(3));
display(['initial guess=' num2str(calib_param)])

%optimise the parameters: minimisation of error
calib_param = fminsearch(@(calib_param) error_calib(calib_param,Calib,Coord),calib_param);

GeometryCalib.CalibrationType='tsai_normal';
GeometryCalib.focal=Calib.f;
GeometryCalib.dpx_dpy=[Calib.dpx Calib.dpy];
GeometryCalib.Cx_Cy=[Calib.Cx Calib.Cy];
GeometryCalib.sx=Calib.sx;
GeometryCalib.kappa1=calib_param(1);
GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function
GeometryCalib.Tx_Ty_Tz=[calib_param(2) calib_param(3) calib_param(4)];
alpha=calib_param(5);
GeometryCalib.R=[cos(alpha) sin(alpha) 0;-sin(alpha) cos(alpha) 0;0 0 -1];

%------------------------------------------------------------------------
function GeometryCalib=calib_3D_linear(Coord,Intrinsic)
%------------------------------------------------------------------------
coord_files=Intrinsic.coord_files;
if ischar(Intrinsic.coord_files)
    coord_files={coord_files};
end
if isempty(coord_files{1}) || isequal(coord_files,{''})
    coord_files={};
end
%retrieve the calibration points stored in the files listed in the popup list ListCoordFiles
x_1=Coord(:,4:5)';%px coordinates of the ref points

nx=Intrinsic.Npx;
ny=Intrinsic.Npy;
x_1(2,:)=ny-x_1(2,:);%reverse the y image coordinates
X_1=Coord(:,1:3)';%phys coordinates of the ref points
n_ima=numel(coord_files)+1;
if ~isempty(coord_files)
    msgbox_uvmat('CONFIRMATION',['The xy coordinates of the calibration points in ' num2str(n_ima) ' planes will be used'])
    for ifile=1:numel(coord_files)
        t=xmltree(coord_files{ifile});
        s=convert(t);%convert to matlab structure
        if isfield(s,'GeometryCalib')
            if isfield(s.GeometryCalib,'SourceCalib')
                if isfield(s.GeometryCalib.SourceCalib,'PointCoord')
                    PointCoord=s.GeometryCalib.SourceCalib.PointCoord;
                    Coord_file=zeros(length(PointCoord),5);%default
                    for i=1:length(PointCoord)
                        line=str2num(PointCoord{i});
                        Coord_file(i,4:5)=line(4:5);%px x
                        Coord_file(i,1:3)=line(1:3);%phys x
                    end
                    eval(['x_' num2str(ifile+1) '=Coord_file(:,4:5)'';']);
                    eval(['x_' num2str(ifile+1) '(2,:)=ny-x_' num2str(ifile+1) '(2,:);' ]);
                    eval(['X_' num2str(ifile+1) '=Coord_file(:,1:3)'';']);
                end
            end
        end
    end
end
n_ima=numel(coord_files)+1;
est_dist=[0;0;0;0;0];
est_aspect_ratio=0;
est_fc=[1;1];
center_optim=0;
path_uvmat=which('uvmat');% check the path detected for source file uvmat
path_UVMAT=fileparts(path_uvmat); %path to UVMAT
run(fullfile(path_UVMAT,'toolbox_calib','go_calib_optim'));% apply fct 'toolbox_calib/go_calib_optim'
if exist('Rc_1','var')
    GeometryCalib.CalibrationType='3D_linear';
    GeometryCalib.fx_fy=fc';
    GeometryCalib.Cx_Cy=cc';
    GeometryCalib.kc=kc(1);
    GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function
    GeometryCalib.Tx_Ty_Tz=Tc_1';
    GeometryCalib.R=Rc_1;
    GeometryCalib.R(2,1:3)=-GeometryCalib.R(2,1:3);%inversion of the y image coordinate
    GeometryCalib.Tx_Ty_Tz(2)=-GeometryCalib.Tx_Ty_Tz(2);%inversion of the y image coordinate
    GeometryCalib.Cx_Cy(2)=ny-GeometryCalib.Cx_Cy(2);%inversion of the y image coordinate
    GeometryCalib.omc=(180/pi)*omc_1;%angles in degrees
    GeometryCalib.ErrorRMS=[];
    GeometryCalib.ErrorMax=[];
else
    msgbox_uvmat('ERROR',['calibration function ' fullfile('toolbox_calib','go_calib_optim') ' did not converge: use multiple views or option 3D_extrinsic'])
    GeometryCalib=[];
end

%------------------------------------------------------------------------
function GeometryCalib=calib_3D_quadr(Coord,Intrinsic)
%------------------------------------------------------------------

path_uvmat=which('uvmat');% check the path detected for source file uvmat
path_UVMAT=fileparts(path_uvmat); %path to UVMAT
huvmat=findobj(allchild(0),'Tag','uvmat');
hhuvmat=guidata(huvmat);
if ~strcmp(get(hhuvmat.Scalar,'Visible'),'on')
    msgbox_uvmat('ERROR','An image needs to be opened in uvmat for calibration')
    return
end
% check_cond=0;

coord_files=Intrinsic.coord_files;

if ischar(coord_files)
    coord_files={coord_files};
end
if isempty(coord_files{1}) || isequal(coord_files,{''})
    coord_files={};
end

%retrieve the calibration points stored in the files listed in the popup list ListCoordFiles
x_1=Coord(:,4:5)';%px coordinates of the ref points
nx=str2num(get(hhuvmat.num_Npx,'String'));
ny=str2num(get(hhuvmat.num_Npy,'String'));
x_1(2,:)=ny-x_1(2,:);%reverse the y image coordinates
X_1=Coord(:,1:3)';%phys coordinates of the ref points
n_ima=numel(coord_files)+1;
if ~isempty(coord_files)
    msgbox_uvmat('CONFIRMATION',['The xy coordinates of the calibration points in ' num2str(n_ima) ' planes will be used'])
    for ifile=1:numel(coord_files)
        t=xmltree(coord_files{ifile});
        s=convert(t);%convert to matlab structure
        if isfield(s,'GeometryCalib')
            if isfield(s.GeometryCalib,'SourceCalib')
                if isfield(s.GeometryCalib.SourceCalib,'PointCoord')
                    PointCoord=s.GeometryCalib.SourceCalib.PointCoord;
                    Coord_file=zeros(length(PointCoord),5);%default
                    for i=1:length(PointCoord)
                        line=str2num(PointCoord{i});
                        Coord_file(i,4:5)=line(4:5);%px x
                        Coord_file(i,1:3)=line(1:3);%phys x
                    end
                    eval(['x_' num2str(ifile+1) '=Coord_file(:,4:5)'';']);
                    eval(['x_' num2str(ifile+1) '(2,:)=ny-x_' num2str(ifile+1) '(2,:);' ]);
                    eval(['X_' num2str(ifile+1) '=Coord_file(:,1:3)'';']);
                end
            end
        end
    end
end
n_ima=numel(coord_files)+1;
est_dist=[1;0;0;0;0];
est_aspect_ratio=1;
center_optim=0;
run(fullfile(path_UVMAT,'toolbox_calib','go_calib_optim'));% apply fct 'toolbox_calib/go_calib_optim'

if exist('Rc_1','var')
    GeometryCalib.CalibrationType='3D_quadr';
    GeometryCalib.fx_fy=fc';
    GeometryCalib.Cx_Cy=cc';
    GeometryCalib.kc=kc(1);
    GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function
    GeometryCalib.Tx_Ty_Tz=Tc_1';
    GeometryCalib.R=Rc_1;
    GeometryCalib.R(2,1:3)=-GeometryCalib.R(2,1:3);%inversion of the y image coordinate
    GeometryCalib.Tx_Ty_Tz(2)=-GeometryCalib.Tx_Ty_Tz(2);%inversion of the y image coordinate
    GeometryCalib.Cx_Cy(2)=ny-GeometryCalib.Cx_Cy(2);%inversion of the y image coordinate
    GeometryCalib.omc=(180/pi)*omc_1;%angles in degrees
    GeometryCalib.ErrorRMS=[];
    GeometryCalib.ErrorMax=[];
else
    msgbox_uvmat('ERROR',['calibration function ' fullfile('toolbox_calib','go_calib_optim') ' did not converge: use multiple views or option 3D_extrinsic'])
    GeometryCalib=[];
end

%------------------------------------------------------------------------
function GeometryCalib=calib_3D_extrinsic(Coord, Intrinsic)
%------------------------------------------------------------------
path_uvmat=which('geometry_calib');% check the path detected for source file uvmat
path_UVMAT=fileparts(path_uvmat); %path to UVMAT
x_1=double(Coord(:,4:5)');%image coordinates
X_1=double(Coord(:,1:3)');% phys coordinates
huvmat=findobj(allchild(0),'Tag','uvmat');
hhuvmat=guidata(huvmat);
if ~strcmp(get(hhuvmat.Scalar,'Visible'),'on')
    msgbox_uvmat('ERROR','An image needs to be opened in uvmat for calibration')
    return
end
ny=str2double(get(hhuvmat.num_Npy,'String'));
x_1(2,:)=ny-x_1(2,:);%reverse the y image coordinates
n_ima=1;
GeometryCalib.CalibrationType='3D_extrinsic';
fx=Intrinsic.fx;
fy=Intrinsic.fy;
Cx=Intrinsic.Cx;
Cy=Intrinsic.Cy;
kc=Intrinsic.kc;
errormsg='';
if isempty(fx)
    errormsg='focal length fx needs to be introduced';
elseif isempty(fy)
    errormsg='focal length fy needs to be introduced';
elseif isempty(Cx)
    errormsg='shift Cx to image centre needs to be introduced';
elseif isempty(Cy)
    errormsg='shift Cy to image centre needs to be introduced';
end
if ~isempty(errormsg)
    GeometryCalib=[];
    msgbox_uvmat('ERROR',errormsg)
    return
end
GeometryCalib.fx_fy(1)=fx;
GeometryCalib.fx_fy(2)=fy;
GeometryCalib.Cx_Cy(1)=Cx;
GeometryCalib.Cx_Cy(2)=Cy;
GeometryCalib.kc=kc;
fct_path=fullfile(path_UVMAT,'toolbox_calib');
addpath(fct_path)
GeometryCalib.Cx_Cy(2)=ny-GeometryCalib.Cx_Cy(2);%reverse Cx_Cy(2) for calibration (inversion of px ordinate)
[omc,Tc1,Rc1,H,x,ex,JJ] = compute_extrinsic(x_1,X_1,...
    (GeometryCalib.fx_fy)',GeometryCalib.Cx_Cy',[GeometryCalib.kc 0 0 0 0]);
rmpath(fct_path);
GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function
GeometryCalib.Tx_Ty_Tz=Tc1';
%inversion of z axis
GeometryCalib.R=Rc1;
GeometryCalib.R(2,1:3)=-GeometryCalib.R(2,1:3);%inversion of the y image coordinate
GeometryCalib.Tx_Ty_Tz(2)=-GeometryCalib.Tx_Ty_Tz(2);%inversion of the y image coordinate
GeometryCalib.Cx_Cy(2)=ny-GeometryCalib.Cx_Cy(2);%inversion of the y image coordinate
GeometryCalib.omc=(180/pi)*omc';

%------------------------------------------------------------------------
%function GeometryCalib=calib_tsai_heikkila(Coord)
% TEST: NOT IMPLEMENTED
%------------------------------------------------------------------
% path_uvmat=which('uvmat');% check the path detected for source file uvmat
% path_UVMAT=fileparts(path_uvmat); %path to UVMAT
% path_calib=fullfile(path_UVMAT,'toolbox_calib_heikkila');
% addpath(path_calib)
% npoints=size(Coord,1);
% Coord(:,1:3)=10*Coord(:,1:3);
% Coord=[Coord zeros(npoints,2) -ones(npoints,1)];
% [par,pos,iter,res,er,C]=cacal('dalsa',Coord);
% GeometryCalib.CalibrationType='tsai';
% GeometryCalib.focal=par(2);


%------------------------------------------------------------------------
% --- determine the rms of calibration error
function ErrorRms=error_calib(calib_param,Calib,Coord)
%------------------------------------------------------------------------
%calib_param: vector of free calibration parameters (to optimise)
%Calib: structure of the given calibration parameters
%Coord: list of phys coordinates (columns 1-3, and pixel coordinates (columns 4-5)
Calib.f=25;
Calib.dpx=0.012;
Calib.dpy=0.012;
Calib.sx=1;
Calib.Cx=512;
Calib.Cy=512;
Calib.kappa1=calib_param(1);
Calib.Tx=calib_param(2);
Calib.Ty=calib_param(3);
Calib.Tz=calib_param(4);
alpha=calib_param(5);
Calib.R=[cos(alpha) sin(alpha) 0;-sin(alpha) cos(alpha) 0;0 0 -1];

X=Coord(:,1);
Y=Coord(:,2);
Z=Coord(:,3);
x_ima=Coord(:,4);
y_ima=Coord(:,5);
[Xpoints,Ypoints]=px_XYZ(Calib,X,Y,Z);
ErrorRms(1)=sqrt(mean((Xpoints-x_ima).*(Xpoints-x_ima)));
ErrorRms(2)=sqrt(mean((Ypoints-y_ima).*(Ypoints-y_ima)));
ErrorRms=mean(ErrorRms);


%------------------------------------------------------------------------
% --- Executes on button press in STORE.
function STORE_Callback(hObject, eventdata, handles)
%------------------------------------------------------------------------
Coord=get(handles.ListCoord,'Data');
%Object=read_geometry_calib(Coord_cell);
unitlist=get(handles.CoordUnit,'String');
unit=unitlist{get(handles.CoordUnit,'value')};
GeometryCalib.CoordUnit=unit;
GeometryCalib.SourceCalib.PointCoord=Coord(:,1:5);
huvmat=findobj(allchild(0),'Name','uvmat');
hhuvmat=guidata(huvmat);%handles of elements in the GUI uvmat
% RootPath='';
% RootFile='';
if ~isempty(hhuvmat.RootPath)&& ~isempty(hhuvmat.RootFile)
    %     testhandle=1;
    RootPath=get(hhuvmat.RootPath,'String');
    RootFile=get(hhuvmat.RootFile,'String');
    filebase=[fullfile(RootPath,RootFile) '~'];
    while exist([filebase '.xml'],'file')
        filebase=[filebase '~'];
    end
    outputfile=[filebase '.xml'];
    errormsg=update_imadoc(GeometryCalib,outputfile,'GeometryCalib');
    if ~strcmp(errormsg,'')
        msgbox_uvmat('ERROR',errormsg);
    end
    listfile=get(handles.ListCoordFiles,'string');
    if isequal(listfile,{''})
        listfile={outputfile};
    else
        listfile=[listfile;{outputfile}];%update the list of coord files
    end
    set(handles.ListCoordFiles,'string',listfile);
end
ClearAll_Callback(hObject, eventdata, handles)% clear the current list and point plots

% --------------------------------------------------------------------
% --- Executes on button press in ClearAll: clear the list of calibration points
function ClearAll_Callback(hObject, eventdata, handles)
% --------------------------------------------------------------------
set(handles.ListCoord,'Data',[])
PLOT_Callback(hObject, eventdata, handles)
update_calib_marker([]);%remove circle marker
set(handles.APPLY,'backgroundColor',[1 0 0])% set APPLY button to red color: no calibration wanted without points
set(handles.CheckEnableMouse,'value',1); %activate mouse to pick new points

%------------------------------------------------------------------------
% --- Executes on button press in CLEAR LIST
function CLEAR_Callback(hObject, eventdata, handles)
%------------------------------------------------------------------------
set(handles.ListCoordFiles,'Value',1)
set(handles.ListCoordFiles,'String',{''})

%------------------------------------------------------------------------
% --- Executes on selection change in CheckEnableMouse.
function CheckEnableMouse_Callback(hObject, eventdata, handles)
%------------------------------------------------------------------------
choice=get(handles.CheckEnableMouse,'Value');
if choice
    huvmat=findobj(allchild(0),'tag','uvmat');
    if ishandle(huvmat)
        hhuvmat=guidata(huvmat);
        set(hhuvmat.MenuRuler,'checked','off')%desactivate ruler
        if get(hhuvmat.CheckEditObject,'Value')
            set(hhuvmat.CheckEditObject,'Value',0)
            uvmat('CheckEditObject_Callback',hhuvmat.CheckEditObject,[],hhuvmat)
        end
        set(hhuvmat.MenuRuler,'checked','off')%desactivate ruler
    end
end

% --------------------------------------------------------------------

% function MenuHelp_Callback(hObject, eventdata, handles)
% web('http://servforge.legi.grenoble-inp.fr/projects/soft-uvmat/wiki/UvmatHelp#GeometryCalib')

%
function MenuSetScale_Callback(hObject,eventdata,handles)

answer=msgbox_uvmat('INPUT_TXT','scale pixel/cm?','');
%create test points
huvmat=findobj(allchild(0),'Name','uvmat');%find the current uvmat interface handle
hhuvmat=guidata(huvmat);
if ~strcmp(get(hhuvmat.Scalar,'Visible'),'on')
    msgbox_uvmat('ERROR','An image needs to be opened in uvmat for calibration')
    return
end
set(handles.calib_type,'Value',1)% set calib option to 'rescale'
npx=str2num(get(hhuvmat.num_Npx,'String'))/2;
npy=str2num(get(hhuvmat.num_Npy,'String'))/2;
Xima=[0.25*npx 0.75*npx 0.75*npx 0.25*npx]';
Yima=[0.25*npy 0.25*npy 0.75*npy 0.75*npy]';
x=Xima/str2num(answer);
y=Yima/str2num(answer);
Coord=[x y zeros(4,1) Xima Yima zeros(4,1)];
set(handles.ListCoord,'Data',Coord)
set(handles.APPLY,'BackgroundColor',[1 0 1])
set(handles.CheckEnableMouse,'value',0); %desactivate mouse to avoid spurious points

%------------------------------------------------------------------------
function MenuCreateGrid_Callback(hObject, eventdata, handles)
%------------------------------------------------------------------------
CalibData=get(handles.geometry_calib,'UserData');
Tinput=[];%default
if isfield(CalibData,'grid')
    Tinput=CalibData.grid;
end
[T,CalibData.grid]=create_grid(Tinput);%display the GUI create_grid
set(handles.geometry_calib,'UserData',CalibData)

%grid in phys space
Coord=get(handles.ListCoord,'Data');
Coord(1:size(T,1),1:3)=T;%update the existing list of phys coordinates from the GUI create_grid
set(handles.ListCoord,'Data',Coord)
set(handles.APPLY,'BackgroundColor',[1 0 1])
set(handles.CheckEnableMouse,'value',0); %desactivate mouse to avoid spurious points

% -----------------------------------------------------------------------
% --- automatic grid dectection from local maxima of the images
function MenuDetectGrid_Callback(hObject, eventdata, handles)
%------------------------------------------------------------------------
%% read the four last point coordinates in pixels
Coord=get(handles.ListCoord,'Data');%read list of coordinates on geometry_calib
nbpoints=size(Coord,1); %nbre of calibration points
if nbpoints~=4
    msgbox_uvmat('ERROR','four points must have be selected by the mouse to delimitate the phys grid area; the Ox axis will be defined by the two first points')
    return
end
% corners_X=(Coord(end:-1:end-3,4)); %pixel absissa of the four corners
% corners_Y=(Coord(end:-1:end-3,5));
corners_X=(Coord(:,4)); %pixel absissa of the four corners
corners_Y=(Coord(:,5));

%%%%%%
%   corners_X=1000*[1.5415  1.7557 1.7539 1.5415]';
%   corners_Y=1000*[1.1515 1.1509 1.3645  1.3639]';

%reorder the last two points (the two first in the list) if needed
angles=angle((corners_X-corners_X(1))+1i*(corners_Y-corners_Y(1)));
if abs(angles(4)-angles(2))>abs(angles(3)-angles(2))
    X_end=corners_X(4);
    Y_end=corners_Y(4);
    corners_X(4)=corners_X(3);
    corners_Y(4)=corners_Y(3);
    corners_X(3)=X_end;
    corners_Y(3)=Y_end;
end

%% initiate the grid in phys coordinates
CalibData=get(handles.geometry_calib,'UserData');%get information stored on the GUI geometry_calib
grid_input=[];%default
if isfield(CalibData,'grid')
    grid_input=CalibData.grid;%retrieve the previously used grid
end
[T,CalibData.grid,CalibData.grid.CheckWhite,CalibData.grid.FilterWindow]=create_grid(grid_input,'detect_grid');%display the GUI create_grid, read the set of phys coordinates T
set(handles.geometry_calib,'UserData',CalibData)%store the phys grid parameters for later use
X=[CalibData.grid.x_0 CalibData.grid.x_1 CalibData.grid.x_0 CalibData.grid.x_1]';%corner absissa in the phys coordinates (cm)
Y=[CalibData.grid.y_0 CalibData.grid.y_0 CalibData.grid.y_1 CalibData.grid.y_1]';%corner ordinates in the phys coordinates (cm)

%% read the current image, displayed in the GUI uvmat
huvmat=findobj(allchild(0),'Name','uvmat');
UvData=get(huvmat,'UserData');
A=UvData.Field.A;%currently displayed image
npxy=size(A);

%% calculate transform matrices for plane projection: rectangle assumed to be viewed in perspective
% reference: http://alumni.media.mit.edu/~cwren/interpolator/ by Christopher R. Wren
B = [ X Y ones(size(X)) zeros(4,3)        -X.*corners_X -Y.*corners_X ...
    zeros(4,3)        X Y ones(size(X)) -X.*corners_Y -Y.*corners_Y ];
B = reshape (B', 8 , 8 )';
D = [ corners_X , corners_Y ];
D = reshape (D', 8 , 1 );
l = (B' * B)\B' * D;
Amat = reshape([l(1:6)' 0 0 1 ],3,3)';
C = [l(7:8)' 1];

%% transform grid image into 'phys' coordinates
GeometryCalib.CalibrationType='3D_linear';
GeometryCalib.fx_fy=[1 1];
GeometryCalib.Tx_Ty_Tz=[Amat(1,3) Amat(2,3) 1];
GeometryCalib.R=[Amat(1,1),Amat(1,2),0;Amat(2,1),Amat(2,2),0;C(1),C(2),0];
GeometryCalib.CoordUnit='cm';
path_uvmat=which('uvmat');% check the path detected for source file uvmat
path_UVMAT=fileparts(path_uvmat); %path to UVMAT
addpath(fullfile(path_UVMAT,'transform_field'))
Data.ListVarName={'Coord_y','Coord_x','A'};
Data.VarDimName={'Coord_y','Coord_x',{'Coord_y','Coord_x'}};
if ndims(A)==3
    A=mean(A,3);
end
Data.A=A-min(min(A));
Data.Coord_y=[npxy(1)-0.5 0.5];
Data.Coord_x=[0.5 npxy(2)];
Data.CoordUnit='pixel';
Calib.GeometryCalib=GeometryCalib;
DataOut=phys(Data,Calib);
rmpath(fullfile(path_UVMAT,'transform_field'))
Amod=DataOut.A;% current image expressed in 'phys' coord
Rangx=DataOut.Coord_x;% x coordinates of first and last pixel centres in phys
Rangy=DataOut.Coord_y;% y coordinates of first and last pixel centres in phys
if CalibData.grid.CheckWhite
    Amod=double(Amod);%case of white grid markers: will look for image maxima
else
    Amod=-double(Amod);%case of black grid markers: will look for image minima
end

%%%%%%filterfor i;proved detection of dots
if ~isequal(CalibData.grid.FilterWindow,0)
    %definition of the cos shape matrix filter
    FilterBoxSize_x=CalibData.grid.FilterWindow;
    FilterBoxSize_y=CalibData.grid.FilterWindow;
    ix=1/2-FilterBoxSize_x/2:-1/2+FilterBoxSize_x/2;%
    iy=1/2-FilterBoxSize_y/2:-1/2+FilterBoxSize_y/2;%
    %del=np/3;
    %fct=exp(-(ix/del).^2);
    fct2_x=cos(ix/((FilterBoxSize_x-1)/2)*pi/2);
    fct2_y=cos(iy/((FilterBoxSize_y-1)/2)*pi/2);
    %Mfiltre=(ones(5,5)/5^2);
    Mfiltre=fct2_y'*fct2_x;
    Mfiltre=Mfiltre/(sum(sum(Mfiltre)));%normalize filter
    
    if ndims(Amod)==3
        Amod=filter2(Mfiltre,sum(Amod,3));%filter the input image, after summation on the color component (for color images)
    else
        Amod=filter2(Mfiltre,Amod);
    end
end
%%%%%%%%%%%%%%


%% detection of local image extrema in each direction
Dx=(Rangx(2)-Rangx(1))/(npxy(2)-1); %x mesh in real space
Dy=(Rangy(2)-Rangy(1))/(npxy(1)-1); %y mesh in real space
ind_range_x=ceil(abs(GeometryCalib.R(1,1)*CalibData.grid.Dx/3));% range of search of image ma around each point obtained by linear interpolation from the marked points
ind_range_y=ceil(abs(GeometryCalib.R(2,2)*CalibData.grid.Dy/3));% range of search of image ma around each point obtained by linear interpolation from the marked points
nbpoints=size(T,1);
TIndex=ones(size(T));% image indices corresponding to point coordinates
%look for image maxima around each expected grid point
for ipoint=1:nbpoints
    i0=1+round((T(ipoint,1)-Rangx(1))/Dx);% x index of the expected point in the phys image Amod
    j0=1+round((T(ipoint,2)-Rangy(1))/Dy);% y index of the expected point in the phys image Amod
    j0min=max(j0-ind_range_y,1);% min y index selected for the subimage (cut at the edge to avoid index <1)
    j0max=min(j0+ind_range_y,size(Amod,1));% max y index selected for the subimage (cut at the edge to avoid index > size)
    i0min=max(i0-ind_range_x,1);% min x index selected for the subimage (cut at the edge to avoid index <1)
    i0max=min(i0+ind_range_x,size(Amod,2));% max x index selected for the subimage (cut at the edge to avoid index > size)
    Asub=Amod(j0min:j0max,i0min:i0max); %subimage used to find brigthness extremum
    x_profile=sum(Asub,1);%profile of subimage summed over y
    y_profile=sum(Asub,2);%profile of subimage summed over x
    
    [tild,ind_x_max]=max(x_profile);% index of max for the x profile
    [tild,ind_y_max]=max(y_profile);% index of max for the y profile
    %sub-pixel improvement using moments
    x_shift=0;
    y_shift=0;
    if ind_x_max+2<=numel(x_profile) && ind_x_max-2>=1
        Atop=x_profile(ind_x_max-2:ind_x_max+2);% extract x profile around the max
        x_shift=sum(Atop.*[-2 -1 0 1 2])/sum(Atop);
    end
    if ind_y_max+2<=numel(y_profile) && ind_y_max-2>=1
        Atop=y_profile(ind_y_max-2:ind_y_max+2);% extract y profile around the max
        y_shift=sum(Atop.*[-2 -1 0 1 2]')/sum(Atop);
    end
    %%%%
    %     if ipoint==9
    %                 figure(11)
    %   imagesc(Asub)
    %     figure(12)
    %     plot(x_profile,'r')
    %     hold on
    %     plot(y_profile,'b')
    %     grid on
    %     end
    %%%%
    TIndex(ipoint,1)=(i0min+ind_x_max-1+x_shift);% x position of the maximum (in index of Amod)
    TIndex(ipoint,2)=(j0min+ind_y_max-1+y_shift);% y position of the maximum (in index of Amod)
end
Tmod(:,1)=(TIndex(:,1)-1)*Dx+Rangx(1);
Tmod(:,2)=(TIndex(:,2)-1)*Dy+Rangy(1);
%Tmod=T(:,(1:2))+Delta;% 'phys' coordinates of the detected points
[Xpx,Ypx]=px_XYZ(GeometryCalib,Tmod(:,1),Tmod(:,2));% image coordinates of the detected points
Coord=[T Xpx Ypx zeros(size(T,1),1)];
set(handles.ListCoord,'Data',Coord)
PLOT_Callback(hObject, eventdata, handles)
set(handles.APPLY,'BackgroundColor',[1 0 1])
set(handles.CheckEnableMouse,'value',0); %desactivate mouse to avoid spurious points


%-----------------------------------------------------------------------
function MenuTranslatePoints_Callback(hObject, eventdata, handles)
%-----------------------------------------------------------------------
%hcalib=get(handles.calib_type,'parent');%handles of the GUI geometry_calib
CalibData=get(handles.geometry_calib,'UserData');
Tinput=[];%default
if isfield(CalibData,'translate')
    Tinput=CalibData.translate;
end
T=translate_points(Tinput);%display translate_points GUI and get shift parameters
CalibData.translate=T;
set(handles.geometry_calib,'UserData',CalibData)
%translation
Coord=get(handles.ListCoord,'Data');
Coord(:,1)=T(1)+Coord(:,1);
Coord(:,2)=T(2)+Coord(:,2);
Coord(:,3)=T(3)+Coord(:,3);
set(handles.ListCoord,'Data',Coord);
set(handles.APPLY,'BackgroundColor',[1 0 1])

% --------------------------------------------------------------------
function MenuRotatePoints_Callback(hObject, eventdata, handles)
%hcalib=get(handles.calib_type,'parent');%handles of the GUI geometry_calib
CalibData=get(handles.geometry_calib,'UserData');
Tinput=[];%default
if isfield(CalibData,'rotate')
    Tinput=CalibData.rotate;
end
T=rotate_points(Tinput);%display rotate_points GUI to introduce rotation parameters
CalibData.rotate=T;
set(handles.geometry_calib,'UserData',CalibData)
%-----------------------------------------------------
%rotation
Phi=T(1);
O_x=0;%default
O_y=0;%default
if numel(T)>=2
    O_x=T(2);%default
end
if numel(T)>=3
    O_y=T(3);%default
end
Coord=get(handles.ListCoord,'Data');
r1=cos(pi*Phi/180);
r2=-sin(pi*Phi/180);
r3=sin(pi*Phi/180);
r4=cos(pi*Phi/180);
x=Coord(:,1)-O_x;
y=Coord(:,2)-O_y;
Coord(:,1)=r1*x+r2*y;
Coord(:,2)=r3*x+r4*y;
set(handles.ListCoord,'Data',Coord)
set(handles.APPLY,'BackgroundColor',[1 0 1])

% --------------------------------------------------------------------
function MenuFlip_x_Callback(hObject, eventdata, handles)
Coord=get(handles.ListCoord,'Data');
Coord(:,1)=-Coord(:,1);
set(handles.ListCoord,'Data',Coord)

% --------------------------------------------------------------------
function MenuFlip_y_Callback(hObject, eventdata, handles)
Coord=get(handles.ListCoord,'Data');
Coord(:,2)=-Coord(:,2);
set(handles.ListCoord,'Data',Coord)

% --------------------------------------------------------------------
function MenuImportPoints_Callback(hObject, eventdata, handles)
fileinput=browse_xml(hObject, eventdata, handles);
if isempty(fileinput)
    return
end
[s,errormsg]=imadoc2struct(fileinput,'GeometryCalib');
if ~isfield(s,'GeometryCalib')
    msgbox_uvmat('ERROR','invalid input file: no geometry_calib data')
    return
end
GeometryCalib=s.GeometryCalib;
if ~(isfield(GeometryCalib,'SourceCalib')&&isfield(GeometryCalib.SourceCalib,'PointCoord'))
    msgbox_uvmat('ERROR','invalid input file: no calibration points')
    return
end
Coord=GeometryCalib.SourceCalib.PointCoord;
Coord=[Coord zeros(size(Coord,1),1)];
set(handles.ListCoord,'Data',Coord)
PLOT_Callback(handles.geometry_calib, [], handles)
set(handles.APPLY,'BackgroundColor',[1 0 1])
set(handles.CheckEnableMouse,'value',0); %desactivate mouse to avoid modifications by default

% -----------------------------------------------------------------------
function MenuImportIntrinsic_Callback(hObject, eventdata, handles)
%------------------------------------------------------------------------
fileinput=browse_xml(hObject, eventdata, handles);
if isempty(fileinput)
    return
end
[s,errormsg]=imadoc2struct(fileinput,'GeometryCalib');
GeometryCalib=s.GeometryCalib;
display_intrinsic(GeometryCalib,handles)

% -----------------------------------------------------------------------
function MenuImportAll_Callback(hObject, eventdata, handles)
%------------------------------------------------------------------------
fileinput=browse_xml(hObject, eventdata, handles);
if ~isempty(fileinput)
    loadfile(handles,fileinput)
end
set(handles.CheckEnableMouse,'value',0); %desactivate mouse to avoid modifications by default

% -----------------------------------------------------------------------
% --- Executes on menubar option Import/Grid file: introduce previous grid files
function MenuGridFile_Callback(hObject, eventdata, handles)
% -----------------------------------------------------------------------
inputfile=browse_xml(hObject, eventdata, handles);
listfile=get(handles.ListCoordFiles,'String');
if isequal(listfile,{''})
    listfile={inputfile};
else
    listfile=[listfile;{inputfile}];%update the list of coord files
end
set(handles.ListCoordFiles,'String',listfile);


%------------------------------------------------------------------------
function fileinput=browse_xml(hObject, eventdata, handles)
%------------------------------------------------------------------------
fileinput=[];%default
oldfile=''; %default
UserData=get(handles.geometry_calib,'UserData');
if isfield(UserData,'XmlInputFile')
    oldfile=UserData.XmlInputFile;
end
[FileName, PathName, filterindex] = uigetfile( ...
    {'*.xml;*.mat', ' (*.xml,*.mat)';
    '*.xml',  '.xml files '; ...
    '*.mat',  '.mat matlab files '}, ...
    'Pick a file',oldfile);
fileinput=[PathName FileName];%complete file name
testblank=findstr(fileinput,' ');%look for blanks
if ~isempty(testblank)
    msgbox_uvmat('ERROR','forbidden input file name or path: no blank character allowed')
    return
end
sizf=size(fileinput);
if (~ischar(fileinput)||~isequal(sizf(1),1)),return;end
UserData.XmlInputFile=fileinput;
set(handles.geometry_calib,'UserData',UserData)%record current file foer further use of browser

% -----------------------------------------------------------------------
function Heading=loadfile(handles,fileinput)
%------------------------------------------------------------------------
Heading=[];%default
[s,errormsg]=imadoc2struct(fileinput,'Heading','GeometryCalib');
if ~isempty(errormsg)
    msgbox_uvmat('ERROR',errormsg)
    return
end
if ~isempty(s.Heading)
    Heading=s.Heading;
end

GeometryCalib=s.GeometryCalib;
fx=1;fy=1;Cx=0;Cy=0;kc=0; %default
CoordCell={};
Tabchar={};%default
val_cal=1;%default
if ~isempty(GeometryCalib)
    % choose the calibration option
    if isfield(GeometryCalib,'CalibrationType')
        calib_list=get(handles.calib_type,'String');
        for ilist=1:numel(calib_list)
            if strcmp(calib_list{ilist},GeometryCalib.CalibrationType)
                val_cal=ilist;
                break
            end
        end
    end
    display_intrinsic(GeometryCalib,handles)%intrinsic param
    %extrinsic param
    if isfield(GeometryCalib,'Tx_Ty_Tz')
        Tx_Ty_Tz=GeometryCalib.Tx_Ty_Tz;
        set(handles.Tx,'String',num2str(GeometryCalib.Tx_Ty_Tz(1),4))
        set(handles.Ty,'String',num2str(GeometryCalib.Tx_Ty_Tz(2),4))
        set(handles.Tz,'String',num2str(GeometryCalib.Tx_Ty_Tz(3),4))
    end
    if isfield(GeometryCalib,'omc')
        set(handles.Phi,'String',num2str(GeometryCalib.omc(1),4))
        set(handles.Theta,'String',num2str(GeometryCalib.omc(2),4))
        set(handles.Psi,'String',num2str(GeometryCalib.omc(3),4))
    end
    if isfield(GeometryCalib,'SourceCalib')&& isfield(GeometryCalib.SourceCalib,'PointCoord')
        calib=GeometryCalib.SourceCalib.PointCoord;
        Coord=[calib zeros(size(calib,1),1)];
        set(handles.ListCoord,'Data',Coord)
    end
    PLOT_Callback(handles.geometry_calib, [], handles)
    set(handles.APPLY,'BackgroundColor',[1 0 1])
end
set(handles.calib_type,'Value',val_cal)

if isempty(CoordCell)% allow mouse action by default in the absence of input points
    set(handles.CheckEnableMouse,'Value',1)
    set(handles.CheckEnableMouse,'BackgroundColor',[1 1 0])
else % does not allow mouse action by default in the presence of input points
    set(handles.CheckEnableMouse,'Value',0)
    set(handles.CheckEnableMouse,'BackgroundColor',[0.7 0.7 0.7])
end

%------------------------------------------------------------------------
%---display calibration intrinsic parameters
function display_intrinsic(GeometryCalib,handles)
%------------------------------------------------------------------------
fx=[];
fy=[];
if isfield(GeometryCalib,'fx_fy')
    fx=GeometryCalib.fx_fy(1);
    fy=GeometryCalib.fx_fy(2);
end
Cx_Cy=[0 0];%default
if isfield(GeometryCalib,'Cx_Cy')
    Cx_Cy=GeometryCalib.Cx_Cy;
end
kc=0;
if isfield(GeometryCalib,'kc')
    kc=GeometryCalib.kc; %* GeometryCalib.focal*GeometryCalib.focal;
end
set(handles.fx,'String',num2str(fx,5))
set(handles.fy,'String',num2str(fy,5))
set(handles.Cx,'String',num2str(Cx_Cy(1),'%1.1f'))
set(handles.Cy,'String',num2str(Cx_Cy(2),'%1.1f'))
set(handles.kc,'String',num2str(kc,'%1.4f'))

%------------------------------------------------------------------------
% ---display calibration extrinsic parameters
function display_extrinsic(GeometryCalib,handles)
%------------------------------------------------------------------------
set(handles.Tx,'String',num2str(GeometryCalib.Tx_Ty_Tz(1),4))
set(handles.Ty,'String',num2str(GeometryCalib.Tx_Ty_Tz(2),4))
set(handles.Tz,'String',num2str(GeometryCalib.Tx_Ty_Tz(3),4))
set(handles.Phi,'String',num2str(GeometryCalib.omc(1),4))
set(handles.Theta,'String',num2str(GeometryCalib.omc(2),4))
set(handles.Psi,'String',num2str(GeometryCalib.omc(3),4))

%------------------------------------------------------------------------
% --- executes when user attempts to close geometry_calib.
function geometry_calib_CloseRequestFcn(hObject, eventdata, handles)
%------------------------------------------------------------------------
delete(hObject); % closes the figure

%------------------------------------------------------------------------
% --- executes on button press in PLOT.
%------------------------------------------------------------------------
function PLOT_Callback(hObject, eventdata, handles)
huvmat=findobj(allchild(0),'Name','uvmat');%find the current uvmat interface handle
hhuvmat=guidata(huvmat); %handles of GUI elements in uvmat
h_menu_coord=findobj(huvmat,'Tag','TransformName');
menu=get(h_menu_coord,'String');
choice=get(h_menu_coord,'Value');
option='';
if iscell(menu)
    option=menu{choice};
end
Coord=get(handles.ListCoord,'Data');
if ~isempty(Coord)
    if isequal(option,'phys')
        Coord_plot=Coord(:,1:3);
    elseif isempty(option);%optionoption,'px')||isequal(option,'')
        Coord_plot=Coord(:,4:5);
    else
        msgbox_uvmat('ERROR','the choice in menu_coord of uvmat must be blank or phys ')
    end
end

set(0,'CurrentFigure',huvmat)
set(huvmat,'CurrentAxes',hhuvmat.PlotAxes)
hh=findobj('Tag','calib_points');
if  ~isempty(Coord) && isempty(hh)
    hh=line(Coord_plot(:,1),Coord_plot(:,2),'Color','m','Tag','calib_points','LineStyle','none','Marker','+','MarkerSize',10);
elseif isempty(Coord)%empty list of points, suppress the plot
    delete(hh)
else
    set(hh,'XData',Coord_plot(:,1))
    set(hh,'YData',Coord_plot(:,2))
end
pause(.1)
figure(handles.geometry_calib)

%------------------------------------------------------------------------
% --- Executes on button press in Copy: display Coord on the Matlab work space
%------------------------------------------------------------------------
function Copy_Callback(hObject, eventdata, handles)
global Coord
evalin('base','global Coord')%make CurData global in the workspace
Coord=get(handles.ListCoord,'Data');
display('coordinates of calibration points (phys,px,marker) :')
evalin('base','Coord') %display CurData in the workspace
commandwindow; %brings the Matlab command window to the front

%------------------------------------------------------------------------
% --- Executes when selected cell(s) is changed in ListCoord.
%------------------------------------------------------------------------
function ListCoord_CellSelectionCallback(hObject, eventdata, handles)
if ~isempty(eventdata.Indices)
    iline=eventdata.Indices(1);% selected line number
    set(handles.CoordLine,'String',num2str(iline))
    Data=get(handles.ListCoord,'Data');
    update_calib_marker(Data(iline,:))
end

%------------------------------------------------------------------------
% --- Executes when entered data in editable cell(s) in ListCoord.
%------------------------------------------------------------------------
function ListCoord_CellEditCallback(hObject, eventdata, handles)

Input=str2num(eventdata.EditData);%pasted input
Coord=get(handles.ListCoord,'Data');
iline=eventdata.Indices(1);% selected line number
if size(Coord,1)<iline+numel(Input)
    Coord=[Coord ; zeros(iline+numel(Input)-size(Coord,1),6)];% append zeros to fit the new column
end
Coord(iline:iline+numel(Input)-1,eventdata.Indices(2))=Input';
set(handles.ListCoord,'Data',Coord)
PLOT_Callback(hObject, eventdata, handles)

%------------------------------------------------------------------------
% --- 'key_press_fcn:' function activated when a key is pressed on the keyboard
%------------------------------------------------------------------------
function ListCoord_KeyPressFcn(hObject, eventdata, handles)
iline=str2num(get(handles.CoordLine,'String'));
xx=double(get(handles.geometry_calib,'CurrentCharacter'));%get the keyboard character
if ismember(xx,[28 29 30 31])% directional arrow
    Coord=get(handles.ListCoord,'Data');
    switch xx
        case 30 % arrow upward
            iline=iline-1;
        case 31% arrow downward
            iline=iline+1;
    end
    if iline>=1 && iline<=size(Coord,1)
        set(handles.CoordLine,'String',num2str(iline))
        update_calib_marker(Coord(iline,1:5))% show the point corresponding to the selected line
    end
else
    set(handles.APPLY,'BackgroundColor',[1 0 1])% paint APPLY in magenta to indicate that the table content has be modified
    if ismember(xx,[127 31])% delete, or downward
        Coord=get(handles.ListCoord,'Data');
        iline=str2double(get(handles.CoordLine,'String'));
        if isequal(xx, 31)
            if isequal(iline,size(Coord,1))% arrow downward
                Coord=[Coord;zeros(1,size(Coord,2))];
            end
        else
            Coord(iline,:)=[];% suppress the current line
        end
        set(handles.ListCoord,'Data',Coord);
    end
end

%------------------------------------------------------------------------
% --- update the plot of calibration points
%------------------------------------------------------------------------
% draw a circle around the point defined by the input coordinates Coord as given by line in the table Listcoord
function update_calib_marker(Coord)

%% read config on uvmat
huvmat=findobj(allchild(0),'Name','uvmat');%find the current uvmat interface handle
hhuvmat=guidata(huvmat);
hhh=findobj(hhuvmat.PlotAxes,'Tag','calib_marker');
if numel(Coord)<5
    if ~isempty(hhh)
        delete(hhh)%delete the circle marker in case of no valid input
    end
    return
end
menu=get(hhuvmat.TransformName,'String');
choice=get(hhuvmat.TransformName,'Value');
option='';
if iscell(menu)
    option=menu{choice};
end

%% read appropriate coordinates (px or phys) in the table ListCoord
if isequal(option,'phys') % use phys coord
    XCoord=Coord(1);
    YCoord=Coord(2);
elseif isempty(option)% use coord in pixels
    XCoord=Coord(4);
    YCoord=Coord(5);
else
    msgbox_uvmat('ERROR','the choice in menu_coord of uvmat must be blank or phys ')
    return
end

%% adjust the plot limits if needed
xlim=get(hhuvmat.PlotAxes,'XLim');
ylim=get(hhuvmat.PlotAxes,'YLim');
ind_range=max(abs(xlim(2)-xlim(1)),abs(ylim(end)-ylim(1)))/25;%defines the size of the circle marker
check_xlim=0;
if XCoord>xlim(2)
    xlim=xlim+XCoord-xlim(2)+ind_range;% translate plot limit
    check_xlim=1;
elseif XCoord<xlim(1)
    xlim=xlim-XCoord+xlim(1)-ind_range;% translate plot limit
    check_xlim=1;
end
if check_xlim
    set(hhuvmat.PlotAxes,'XLim',xlim);
    set(hhuvmat.num_MaxX,'String',num2str(xlim(2)));
    set(hhuvmat.num_MinX,'String',num2str(xlim(1)));
end
check_ylim=0;
if YCoord>ylim(2)
    ylim=ylim+YCoord-ylim(2)+ind_range;% translate plot limit
    check_ylim=1;
elseif YCoord<ylim(1)
    ylim=ylim-YCoord+ylim(1)-ind_range;% translate plot limit
    check_ylim=1;
end
if check_ylim
    set(hhuvmat.PlotAxes,'YLim',ylim);
    set(hhuvmat.num_MaxY,'String',num2str(ylim(2)));
    set(hhuvmat.num_MinY,'String',num2str(ylim(1)));
end

%% plot a circle around the selected point
if isempty(hhh)
    set(0,'CurrentFig',huvmat)
    set(huvmat,'CurrentAxes',hhuvmat.PlotAxes)
    rectangle('Curvature',[1 1],...
        'Position',[XCoord-ind_range/2 YCoord-ind_range/2 ind_range ind_range],'EdgeColor','m',...
        'LineStyle','-','Tag','calib_marker');
else
    set(hhh,'Position',[XCoord-ind_range/2 YCoord-ind_range/2 ind_range ind_range])
end

%------------------------------------------------------------------------
% --- Executes on button press in ClearPoint: remove the selected line in the table Coord
%------------------------------------------------------------------------
function ClearPoint_Callback(hObject, eventdata, handles)

Coord=get(handles.ListCoord,'Data');
iline=str2num(get(handles.CoordLine,'String'));
if isempty(iline)
    msgbox_uvmat('WARNING','no line suppressed, select a line in the table')
else
    answer=msgbox_uvmat('INPUT_Y-N',['suppress line ' num2str(iline) '?']);
    if isequal(answer,'Yes')
        Coord(iline,:)=[];
        set(handles.APPLY,'BackgroundColor',[1 0 1])
        set(handles.ListCoord,'Data',Coord);
        set(handles.CoordLine,'String','')
        PLOT_Callback(hObject,eventdata,handles)
        update_calib_marker([]);%remove circle marker
    end
end