[168] | 1 | %'geometry_calib': associated to the GUI geometry_calib to perform geometric calibration from a set of reference points |
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| 2 | %------------------------------------------------------------------------ |
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| 3 | % function hgeometry_calib = geometry_calib(inputfile,pos) |
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[2] | 4 | % |
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[168] | 5 | %OUTPUT: |
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| 6 | % hgeometry_calib=current handles of the GUI geometry_calib.fig |
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[2] | 7 | % |
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[168] | 8 | %INPUT: |
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| 9 | % inputfile: (optional) name of an xml file containing coordinates of reference points |
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| 10 | % pos: (optional) 4 element vector setting the 'Position' of the GUI |
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| 11 | % |
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[109] | 12 | %A%AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA |
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[2] | 13 | % Copyright Joel Sommeria, 2008, LEGI / CNRS-UJF-INPG, sommeria@coriolis-legi.org. |
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| 14 | %AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA |
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| 15 | % This file is part of the toolbox UVMAT. |
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| 16 | % |
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| 17 | % UVMAT is free software; you can redistribute it and/or modify |
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| 18 | % it under the terms of the GNU General Public License as published by |
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| 19 | % the Free Software Foundation; either version 2 of the License, or |
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| 20 | % (at your option) any later version. |
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| 21 | % |
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| 22 | % UVMAT is distributed in the hope that it will be useful, |
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| 23 | % but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 24 | % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 25 | % GNU General Public License (file UVMAT/COPYING.txt) for more details. |
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| 26 | %AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA |
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| 27 | |
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| 28 | function varargout = geometry_calib(varargin) |
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| 29 | % GEOMETRY_CALIB M-file for geometry_calib.fig |
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| 30 | % GEOMETRY_CALIB, by itself, creates a MenuCoord GEOMETRY_CALIB or raises the existing |
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| 31 | % singleton*. |
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| 32 | % |
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| 33 | % H = GEOMETRY_CALIB returns the handle to a MenuCoord GEOMETRY_CALIB or the handle to |
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| 34 | % the existing singleton*. |
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| 35 | % |
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| 36 | % GEOMETRY_CALIB('CALLBACK',hObject,eventData,handles,...) calls the local |
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| 37 | % function named CALLBACK in GEOMETRY_CALIB.M with the given input arguments. |
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| 38 | % |
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| 39 | % GEOMETRY_CALIB('Property','Value',...) creates a MenuCoord GEOMETRY_CALIB or raises the |
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| 40 | % existing singleton*. Starting from the left, property value pairs are |
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| 41 | % applied to the GUI before geometry_calib_OpeningFunction gets called. An |
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| 42 | % unrecognized property name or invalid value makes property application |
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| 43 | % stop. All inputs are passed to geometry_calib_OpeningFcn via varargin. |
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| 44 | % |
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| 45 | % *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one |
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| 46 | % instance to run (singleton)". |
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| 47 | % |
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| 48 | % See also: GUIDE, GUIDATA, GUIHANDLES |
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| 49 | |
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| 50 | % Edit the above text to modify the response to help geometry_calib |
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| 51 | |
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[507] | 52 | % Last Modified by GUIDE v2.5 29-Jul-2012 08:46:09 |
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[2] | 53 | |
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| 54 | % Begin initialization code - DO NOT edit |
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| 55 | gui_Singleton = 1; |
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| 56 | gui_State = struct('gui_Name', mfilename, ... |
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| 57 | 'gui_Singleton', gui_Singleton, ... |
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| 58 | 'gui_OpeningFcn', @geometry_calib_OpeningFcn, ... |
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| 59 | 'gui_OutputFcn', @geometry_calib_OutputFcn, ... |
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| 60 | 'gui_LayoutFcn', [] , ... |
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| 61 | 'gui_Callback', []); |
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[128] | 62 | if nargin && ischar(varargin{1}) && ~isempty(regexp(varargin{1},'_Callback','once')) |
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[2] | 63 | gui_State.gui_Callback = str2func(varargin{1}); |
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| 64 | end |
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| 65 | |
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| 66 | if nargout |
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| 67 | [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:}); |
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| 68 | else |
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| 69 | gui_mainfcn(gui_State, varargin{:}); |
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| 70 | end |
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| 71 | % End initialization code - DO NOT edit |
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| 72 | |
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| 73 | |
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| 74 | % --- Executes just before geometry_calib is made visible. |
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| 75 | %INPUT: |
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| 76 | %handles: handles of the geometry_calib interface elements |
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| 77 | % PlotHandles: set of handles of the elements contolling the plotting |
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| 78 | % parameters on the uvmat interface (obtained by 'get_plot_handle.m') |
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[60] | 79 | %------------------------------------------------------------------------ |
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[116] | 80 | function geometry_calib_OpeningFcn(hObject, eventdata, handles,inputfile,pos) |
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[60] | 81 | %------------------------------------------------------------------------ |
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[2] | 82 | % Choose default command line output for geometry_calib |
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[156] | 83 | |
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[2] | 84 | handles.output = hObject; |
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| 85 | |
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| 86 | % Update handles structure |
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| 87 | guidata(hObject, handles); |
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[71] | 88 | set(hObject,'DeleteFcn',{@closefcn})% |
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[252] | 89 | set(hObject,'WindowButtonDownFcn',{'mouse_alt_gui',handles}) % allows mouse action with right button (zoom for uicontrol display) |
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[71] | 90 | |
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[2] | 91 | %set the position of the interface |
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[156] | 92 | if exist('pos','var')&& length(pos)>=4 |
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| 93 | set(hObject,'Position',pos); |
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[2] | 94 | end |
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[109] | 95 | |
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| 96 | %set menu of calibration options |
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[121] | 97 | set(handles.calib_type,'String',{'rescale';'linear';'3D_linear';'3D_quadr';'3D_extrinsic'}) |
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[116] | 98 | if exist('inputfile','var')&& ~isempty(inputfile) |
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[114] | 99 | struct.XmlInputFile=inputfile; |
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[494] | 100 | [RootPath,SubDir,RootFile,tild,tild,tild,tild,FileExt]=fileparts_uvmat(inputfile); |
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[341] | 101 | if ~strcmp(FileExt,'.xml') |
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[494] | 102 | inputfile=fullfile(RootPath,[SubDir '.xml']);%xml file corresponding to the input file |
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| 103 | if ~exist(inputfile,'file')% case of civ files , removes the extension for subdir |
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| 104 | inputfile=fullfile(RootPath,[regexprep(SubDir,'\..+$','') '.xml']); |
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| 105 | if ~exist(inputfile,'file') |
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| 106 | inputfile=[fullfile(RootPath,SubDir,RootFile) '.xml'];%old convention |
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| 107 | if ~exist(inputfile,'file') |
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| 108 | inputfile=''; |
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| 109 | end |
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| 110 | end |
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| 111 | end |
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[116] | 112 | end |
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[156] | 113 | set(handles.ListCoord,'String',{'......'}) |
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| 114 | if exist(inputfile,'file') |
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[498] | 115 | Heading=loadfile(handles,inputfile);% load data from the xml file |
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[156] | 116 | if isfield(Heading,'Campaign')&& ischar(Heading.Campaign) |
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| 117 | struct.Campaign=Heading.Campaign; |
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| 118 | end |
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| 119 | end |
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| 120 | set(hObject,'UserData',struct) |
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[2] | 121 | end |
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[156] | 122 | |
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[2] | 123 | set(handles.ListCoord,'KeyPressFcn',{@key_press_fcn,handles})%set keyboard action function |
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| 124 | |
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[71] | 125 | |
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[17] | 126 | %------------------------------------------------------------------------ |
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[2] | 127 | % --- Outputs from this function are returned to the command line. |
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| 128 | function varargout = geometry_calib_OutputFcn(hObject, eventdata, handles) |
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[17] | 129 | %------------------------------------------------------------------------ |
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[2] | 130 | % Get default command line output from handles structure |
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| 131 | varargout{1} = handles.output; |
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| 132 | varargout{2}=handles; |
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[67] | 133 | % |
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[60] | 134 | %------------------------------------------------------------------------ |
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[2] | 135 | % executed when closing: set the parent interface button to value 0 |
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[67] | 136 | function closefcn(gcbo,eventdata) |
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[60] | 137 | %------------------------------------------------------------------------ |
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[2] | 138 | huvmat=findobj(allchild(0),'Name','uvmat'); |
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[67] | 139 | if ~isempty(huvmat) |
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| 140 | handles=guidata(huvmat); |
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[541] | 141 | hobject=findobj(handles.PlotAxes,'tag','calib_points'); |
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[67] | 142 | if ~isempty(hobject) |
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| 143 | delete(hobject) |
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| 144 | end |
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[541] | 145 | hobject=findobj(handles.PlotAxes,'tag','calib_marker'); |
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[67] | 146 | if ~isempty(hobject) |
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| 147 | delete(hobject) |
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| 148 | end |
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[2] | 149 | end |
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| 150 | |
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[60] | 151 | %------------------------------------------------------------------------ |
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[569] | 152 | % --- Executes on button press APPLY (used to launch the calibration). |
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[2] | 153 | function APPLY_Callback(hObject, eventdata, handles) |
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[60] | 154 | %------------------------------------------------------------------------ |
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[379] | 155 | %% look for the GUI uvmat and check for an image as input |
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| 156 | huvmat=findobj(allchild(0),'Name','uvmat'); |
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| 157 | hhuvmat=guidata(huvmat);%handles of elements in the GUI uvmat |
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| 158 | |
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[569] | 159 | RootPath=''; |
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| 160 | if ~isempty(hhuvmat.RootPath)&& ~isempty(hhuvmat.RootFile) |
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| 161 | RootPath=get(hhuvmat.RootPath,'String'); |
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| 162 | SubDirBase=regexprep(get(hhuvmat.SubDir,'String'),'\..+$',''); |
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| 163 | outputfile=[fullfile(RootPath,SubDirBase) '.xml'];%xml file associated with the currently displayed image |
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| 164 | else |
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| 165 | question={'save the calibration data and point coordinates in'}; |
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| 166 | def={fullfile(RootPath,'ObjectCalib.xml')}; |
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| 167 | options.Resize='on'; |
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| 168 | answer=inputdlg(question,'',1,def,options); |
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| 169 | outputfile=answer{1}; |
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| 170 | end |
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| 171 | [GeometryCalib,index]=calibrate(handles,hhuvmat);% apply calibration |
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| 172 | |
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| 173 | %% copy the xml file from the old location if appropriate, then update with the calibration parameters |
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| 174 | if ~exist(outputfile,'file') && ~isempty(SubDirBase) |
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| 175 | oldxml=[fullfile(RootPath,SubDirBase,get(hhuvmat.RootFile,'String')) '.xml']; |
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| 176 | if exist(oldxml,'file') |
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| 177 | [success,message]=copyfile(oldxml,outputfile);%copy the old xml file to a new one with the new convention |
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| 178 | end |
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| 179 | end |
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| 180 | errormsg=update_imadoc(GeometryCalib,outputfile);% introduce the calibration data in the xml file |
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| 181 | if ~strcmp(errormsg,'') |
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| 182 | msgbox_uvmat('ERROR',errormsg); |
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| 183 | end |
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| 184 | |
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| 185 | %% display image with new calibration in the currently opened uvmat interface |
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| 186 | hhh=findobj(hhuvmat.PlotAxes,'Tag','calib_marker');% delete calib points and markers |
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| 187 | if ~isempty(hhh) |
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| 188 | delete(hhh); |
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| 189 | end |
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| 190 | hhh=findobj(hhuvmat.PlotAxes,'Tag','calib_points'); |
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| 191 | if ~isempty(hhh) |
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| 192 | delete(hhh); |
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| 193 | end |
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| 194 | set(hhuvmat.CheckFixLimits,'Value',0)% put FixedLimits option to 'off' |
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| 195 | set(hhuvmat.CheckFixLimits,'BackgroundColor',[0.7 0.7 0.7]) |
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| 196 | UserData=get(handles.geometry_calib,'UserData'); |
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| 197 | UserData.XmlInputFile=outputfile;%save the current xml file name |
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| 198 | set(handles.geometry_calib,'UserData',UserData) |
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| 199 | uvmat('RootPath_Callback',hObject,eventdata,hhuvmat); %file input with xml reading in uvmat, show the image in phys coordinates |
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| 200 | MenuPlot_Callback(hObject, eventdata, handles) |
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| 201 | set(handles.ListCoord,'Value',index)% indicate in the list the point with max deviation (possible mistake) |
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| 202 | ListCoord_Callback(hObject, eventdata, handles) |
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| 203 | figure(handles.geometry_calib) |
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| 204 | |
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| 205 | %------------------------------------------------------------------------ |
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| 206 | % --- Executes on button press in REPLICATE |
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| 207 | function REPLICATE_Callback(hObject, eventdata, handles) |
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| 208 | %------------------------------------------------------------------------ |
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| 209 | |
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| 210 | %% look for the GUI uvmat and check for an image as input |
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| 211 | huvmat=findobj(allchild(0),'Name','uvmat'); |
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| 212 | hhuvmat=guidata(huvmat);%handles of elements in the GUI uvmat |
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| 213 | GeometryCalib=calibrate(handles,hhuvmat);% apply calibration |
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| 214 | |
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| 215 | %% open the GUI browse_data |
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| 216 | CalibData=get(handles.geometry_calib,'UserData');%read the calibration image source on the interface userdata |
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| 217 | if isfield(CalibData,'XmlInputFile') |
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| 218 | InputDir=fileparts(fileparts(CalibData.XmlInputFile)); |
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| 219 | end |
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| 220 | answer=msgbox_uvmat('INPUT_TXT','Campaign to calibrate?',InputDir); |
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| 221 | if strcmp(answer,'Cancel') |
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| 222 | return |
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| 223 | end |
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| 224 | OutPut=browse_data(answer); |
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| 225 | nbcalib=0; |
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| 226 | for ilist=1:numel(OutPut.Experiment) |
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| 227 | SubDirBase=regexprep(OutPut.Device{1},'\..+$',''); |
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| 228 | XmlName=fullfile(OutPut.Campaign,OutPut.Experiment{ilist},[SubDirBase '.xml']); |
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| 229 | % copy the xml file from the old location if appropriate, then update with the calibration parameters |
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| 230 | if ~exist(XmlName,'file') && ~isempty(SubDirBase) |
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| 231 | oldxml=fullfile(OutPut.Campaign,OutPut.Experiment{ilist},SubDirBase,[get(hhuvmat.RootFile,'String') '.xml']); |
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| 232 | if exist(oldxml,'file') |
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| 233 | [success,message]=copyfile(oldxml,XmlName);%copy the old xml file to a new one with the new convention |
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| 234 | end |
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| 235 | end |
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| 236 | errormsg=update_imadoc(GeometryCalib,XmlName);% introduce the calibration data in the xml file |
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| 237 | if ~strcmp(errormsg,'') |
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| 238 | msgbox_uvmat('ERROR',errormsg); |
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| 239 | else |
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| 240 | display([XmlName ' updated with calibration parameters']) |
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| 241 | nbcalib=nbcalib+1; |
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| 242 | end |
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| 243 | end |
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| 244 | msgbox_uvmat('CONFIMATION',[SubDirBase ' calibrated for ' num2str(nbcalib) ' experiments']); |
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| 245 | |
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| 246 | %------------------------------------------------------------------------ |
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| 247 | % --- activate calibration and store parameters in ouputfile . |
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| 248 | function [GeometryCalib,index]=calibrate(handles,hhuvmat) |
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| 249 | %------------------------------------------------------------------------ |
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[379] | 250 | %% read the current calibration points |
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[2] | 251 | Coord_cell=get(handles.ListCoord,'String'); |
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| 252 | Object=read_geometry_calib(Coord_cell); |
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[109] | 253 | Coord=Object.Coord; |
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| 254 | % apply the calibration, whose type is selected in handles.calib_type |
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| 255 | if ~isempty(Coord) |
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| 256 | calib_cell=get(handles.calib_type,'String'); |
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| 257 | val=get(handles.calib_type,'Value'); |
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| 258 | GeometryCalib=feval(['calib_' calib_cell{val}],Coord,handles); |
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| 259 | else |
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| 260 | msgbox_uvmat('ERROR','No calibration points, abort') |
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| 261 | return |
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| 262 | end |
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[114] | 263 | Z_plane=[]; |
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[109] | 264 | if ~isempty(Coord) |
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[114] | 265 | %check error |
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[109] | 266 | X=Coord(:,1); |
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| 267 | Y=Coord(:,2); |
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| 268 | Z=Coord(:,3); |
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| 269 | x_ima=Coord(:,4); |
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| 270 | y_ima=Coord(:,5); |
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[114] | 271 | [Xpoints,Ypoints]=px_XYZ(GeometryCalib,X,Y,Z); |
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[109] | 272 | GeometryCalib.ErrorRms(1)=sqrt(mean((Xpoints-x_ima).*(Xpoints-x_ima))); |
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| 273 | [GeometryCalib.ErrorMax(1),index(1)]=max(abs(Xpoints-x_ima)); |
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| 274 | GeometryCalib.ErrorRms(2)=sqrt(mean((Ypoints-y_ima).*(Ypoints-y_ima))); |
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| 275 | [GeometryCalib.ErrorMax(2),index(2)]=max(abs(Ypoints-y_ima)); |
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[494] | 276 | [tild,ind_dim]=max(GeometryCalib.ErrorMax); |
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[109] | 277 | index=index(ind_dim); |
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[114] | 278 | %set the Z position of the reference plane used for calibration |
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[109] | 279 | if isequal(max(Z),min(Z))%Z constant |
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[114] | 280 | Z_plane=Z(1); |
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[109] | 281 | GeometryCalib.NbSlice=1; |
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[114] | 282 | GeometryCalib.SliceCoord=[0 0 Z_plane]; |
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[109] | 283 | end |
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| 284 | end |
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[114] | 285 | %set the coordinate unit |
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[2] | 286 | unitlist=get(handles.CoordUnit,'String'); |
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| 287 | unit=unitlist{get(handles.CoordUnit,'value')}; |
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| 288 | GeometryCalib.CoordUnit=unit; |
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[114] | 289 | %record the points |
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[109] | 290 | GeometryCalib.SourceCalib.PointCoord=Coord; |
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[114] | 291 | display_intrinsic(GeometryCalib,handles)%display calibration intrinsic parameters |
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[109] | 292 | |
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[114] | 293 | % Display extrinsinc parameters (rotation and translation of camera with respect to the phys coordiantes) |
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[109] | 294 | set(handles.Tx,'String',num2str(GeometryCalib.Tx_Ty_Tz(1),4)) |
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| 295 | set(handles.Ty,'String',num2str(GeometryCalib.Tx_Ty_Tz(2),4)) |
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| 296 | set(handles.Tz,'String',num2str(GeometryCalib.Tx_Ty_Tz(3),4)) |
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[114] | 297 | set(handles.Phi,'String',num2str(GeometryCalib.omc(1),4)) |
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| 298 | set(handles.Theta,'String',num2str(GeometryCalib.omc(2),4)) |
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| 299 | set(handles.Psi,'String',num2str(GeometryCalib.omc(3),4)) |
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[109] | 300 | |
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[379] | 301 | %% store the calibration data, by default in the xml file of the currently displayed image |
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[569] | 302 | UvData=get(hhuvmat.uvmat,'UserData'); |
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[191] | 303 | NbSlice_j=1;%default |
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| 304 | ZStart=Z_plane; |
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| 305 | ZEnd=Z_plane; |
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[196] | 306 | volume_scan='n'; |
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[191] | 307 | if isfield(UvData,'XmlData') |
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| 308 | if isfield(UvData.XmlData,'TranslationMotor') |
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| 309 | NbSlice_j=UvData.XmlData.TranslationMotor.Nbslice; |
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[196] | 310 | ZStart=UvData.XmlData.TranslationMotor.ZStart/10; |
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| 311 | ZEnd=UvData.XmlData.TranslationMotor.ZEnd/10; |
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| 312 | volume_scan='y'; |
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[191] | 313 | end |
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| 314 | end |
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[569] | 315 | |
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| 316 | answer=msgbox_uvmat('INPUT_Y-N',{'store calibration data';... |
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[2] | 317 | ['Error rms (along x,y)=' num2str(GeometryCalib.ErrorRms) ' pixels'];... |
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[84] | 318 | ['Error max (along x,y)=' num2str(GeometryCalib.ErrorMax) ' pixels']}); |
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[128] | 319 | |
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[569] | 320 | %% get plane position(s) |
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| 321 | if ~strcmp(answer,'Yes') |
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| 322 | return |
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[2] | 323 | end |
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[569] | 324 | if strcmp(calib_cell{val}(1:2),'3D')%set the plane position for 3D (projection) calibration |
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| 325 | input_key={'Z (first position)','Z (last position)','Z (water surface)', 'refractive index','NbSlice','volume scan (y/n)','tilt angle y axis','tilt angle x axis'}; |
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| 326 | input_val=[{num2str(ZEnd)} {num2str(ZStart)} {num2str(ZStart)} {'1.333'} num2str(NbSlice_j) {volume_scan} {'0'} {'0'}]; |
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| 327 | answer=inputdlg(input_key,'slice position(s)',ones(1,8), input_val,'on'); |
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| 328 | GeometryCalib.NbSlice=str2double(answer{5}); |
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| 329 | GeometryCalib.VolumeScan=answer{6}; |
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| 330 | if isempty(answer) |
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| 331 | Z_plane=0; %default |
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| 332 | else |
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| 333 | Z_plane=linspace(str2double(answer{1}),str2double(answer{2}),GeometryCalib.NbSlice); |
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[114] | 334 | end |
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[569] | 335 | GeometryCalib.SliceCoord=Z_plane'*[0 0 1]; |
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| 336 | GeometryCalib.SliceAngle(:,3)=0; |
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| 337 | GeometryCalib.SliceAngle(:,2)=str2double(answer{7})*ones(GeometryCalib.NbSlice,1);%rotation around y axis (to generalise) |
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| 338 | GeometryCalib.SliceAngle(:,1)=str2double(answer{8})*ones(GeometryCalib.NbSlice,1);%rotation around x axis (to generalise) |
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| 339 | GeometryCalib.InterfaceCoord=[0 0 str2double(answer{3})]; |
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| 340 | GeometryCalib.RefractionIndex=str2double(answer{4}); |
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[114] | 341 | end |
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[128] | 342 | |
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[114] | 343 | |
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| 344 | |
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[60] | 345 | %------------------------------------------------------------------------ |
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[2] | 346 | % determine the parameters for a calibration by an affine function (rescaling and offset, no rotation) |
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[109] | 347 | function GeometryCalib=calib_rescale(Coord,handles) |
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[60] | 348 | %------------------------------------------------------------------------ |
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[2] | 349 | X=Coord(:,1); |
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[109] | 350 | Y=Coord(:,2);% Z not used |
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[2] | 351 | x_ima=Coord(:,4); |
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| 352 | y_ima=Coord(:,5); |
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[341] | 353 | [px]=polyfit(X,x_ima,1); |
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| 354 | [py]=polyfit(Y,y_ima,1); |
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| 355 | % T_x=px(2); |
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| 356 | % T_y=py(2); |
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[2] | 357 | GeometryCalib.CalibrationType='rescale'; |
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[121] | 358 | GeometryCalib.fx_fy=[px(1) py(1)];%.fx_fy corresponds to pxcm along x and y |
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[2] | 359 | GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function |
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[114] | 360 | GeometryCalib.Tx_Ty_Tz=[px(2)/px(1) py(2)/py(1) 1]; |
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| 361 | GeometryCalib.omc=[0 0 0]; |
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[2] | 362 | |
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[60] | 363 | %------------------------------------------------------------------------ |
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[2] | 364 | % determine the parameters for a calibration by a linear transform matrix (rescale and rotation) |
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[242] | 365 | |
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| 366 | |
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[227] | 367 | function GeometryCalib=calib_linear(Coord,handles) |
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[60] | 368 | %------------------------------------------------------------------------ |
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[2] | 369 | X=Coord(:,1); |
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[109] | 370 | Y=Coord(:,2);% Z not used |
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[2] | 371 | x_ima=Coord(:,4); |
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| 372 | y_ima=Coord(:,5); |
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| 373 | XY_mat=[ones(size(X)) X Y]; |
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| 374 | a_X1=XY_mat\x_ima; %transformation matrix for X |
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| 375 | a_Y1=XY_mat\y_ima;%transformation matrix for X |
---|
[121] | 376 | R=[a_X1(2),a_X1(3);a_Y1(2),a_Y1(3)]; |
---|
[242] | 377 | epsilon=sign(det(R)); |
---|
[116] | 378 | norm=abs(det(R)); |
---|
[2] | 379 | GeometryCalib.CalibrationType='linear'; |
---|
[238] | 380 | if (a_X1(2)/a_Y1(3))>0 |
---|
[242] | 381 | GeometryCalib.fx_fy(1)=sqrt((a_X1(2)/a_Y1(3))*norm); |
---|
[238] | 382 | else |
---|
[242] | 383 | GeometryCalib.fx_fy(1)=-sqrt(-(a_X1(2)/a_Y1(3))*norm); |
---|
[238] | 384 | end |
---|
[121] | 385 | GeometryCalib.fx_fy(2)=(a_Y1(3)/a_X1(2))*GeometryCalib.fx_fy(1); |
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[2] | 386 | GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function |
---|
[227] | 387 | GeometryCalib.Tx_Ty_Tz=[a_X1(1)/GeometryCalib.fx_fy(1) a_Y1(1)/GeometryCalib.fx_fy(2) 1]; |
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[242] | 388 | R(1,:)=R(1,:)/GeometryCalib.fx_fy(1); |
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[121] | 389 | R(2,:)=R(2,:)/GeometryCalib.fx_fy(2); |
---|
| 390 | R=[R;[0 0]]; |
---|
[242] | 391 | GeometryCalib.R=[R [0;0;-epsilon]]; |
---|
| 392 | GeometryCalib.omc=(180/pi)*[acos(GeometryCalib.R(1,1)) 0 0]; |
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[569] | 393 | |
---|
[109] | 394 | %------------------------------------------------------------------------ |
---|
| 395 | % determine the tsai parameters for a view normal to the grid plane |
---|
[114] | 396 | % NOT USED |
---|
[109] | 397 | function GeometryCalib=calib_normal(Coord,handles) |
---|
| 398 | %------------------------------------------------------------------------ |
---|
| 399 | Calib.f1=str2num(get(handles.fx,'String')); |
---|
| 400 | Calib.f2=str2num(get(handles.fy,'String')); |
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[114] | 401 | Calib.k=str2num(get(handles.kc,'String')); |
---|
[109] | 402 | Calib.Cx=str2num(get(handles.Cx,'String')); |
---|
| 403 | Calib.Cy=str2num(get(handles.Cy,'String')); |
---|
| 404 | %default |
---|
| 405 | if isempty(Calib.f1) |
---|
| 406 | Calib.f1=25/0.012; |
---|
| 407 | end |
---|
| 408 | if isempty(Calib.f2) |
---|
| 409 | Calib.f2=25/0.012; |
---|
| 410 | end |
---|
| 411 | if isempty(Calib.k) |
---|
| 412 | Calib.k=0; |
---|
| 413 | end |
---|
| 414 | if isempty(Calib.Cx)||isempty(Calib.Cy) |
---|
| 415 | huvmat=findobj(allchild(0),'Tag','uvmat'); |
---|
| 416 | hhuvmat=guidata(huvmat); |
---|
[332] | 417 | Calib.Cx=str2num(get(hhuvmat.num_Npx,'String'))/2; |
---|
| 418 | Calib.Cx=str2num(get(hhuvmat.num_Npy,'String'))/2; |
---|
[109] | 419 | end |
---|
| 420 | %tsai parameters |
---|
| 421 | Calib.dpx=0.012;%arbitrary |
---|
| 422 | Calib.dpy=0.012; |
---|
| 423 | Calib.sx=Calib.f1*Calib.dpx/(Calib.f2*Calib.dpy); |
---|
| 424 | Calib.f=Calib.f2*Calib.dpy; |
---|
| 425 | Calib.kappa1=Calib.k/(Calib.f*Calib.f); |
---|
[2] | 426 | |
---|
[109] | 427 | %initial guess |
---|
| 428 | X=Coord(:,1); |
---|
| 429 | Y=Coord(:,2); |
---|
| 430 | Zmean=mean(Coord(:,3)); |
---|
| 431 | x_ima=Coord(:,4)-Calib.Cx; |
---|
| 432 | y_ima=Coord(:,5)-Calib.Cy; |
---|
| 433 | XY_mat=[ones(size(X)) X Y]; |
---|
| 434 | a_X1=XY_mat\x_ima; %transformation matrix for X |
---|
| 435 | a_Y1=XY_mat\y_ima;%transformation matrix for Y |
---|
| 436 | R=[a_X1(2),a_X1(3),0;a_Y1(2),a_Y1(3),0;0,0,-1];% rotation+ z axis reversal (upward) |
---|
| 437 | norm=sqrt(det(-R)); |
---|
| 438 | calib_param(1)=0;% quadratic distortion |
---|
| 439 | calib_param(2)=a_X1(1); |
---|
| 440 | calib_param(3)=a_Y1(1); |
---|
| 441 | calib_param(4)=Calib.f/(norm*Calib.dpx)-R(3,3)*Zmean; |
---|
[121] | 442 | calib_param(5)=angle(a_X1(2)+1i*a_X1(3)); |
---|
[109] | 443 | display(['initial guess=' num2str(calib_param)]) |
---|
| 444 | |
---|
| 445 | %optimise the parameters: minimisation of error |
---|
[121] | 446 | calib_param = fminsearch(@(calib_param) error_calib(calib_param,Calib,Coord),calib_param); |
---|
[109] | 447 | |
---|
| 448 | GeometryCalib.CalibrationType='tsai_normal'; |
---|
| 449 | GeometryCalib.focal=Calib.f; |
---|
| 450 | GeometryCalib.dpx_dpy=[Calib.dpx Calib.dpy]; |
---|
| 451 | GeometryCalib.Cx_Cy=[Calib.Cx Calib.Cy]; |
---|
| 452 | GeometryCalib.sx=Calib.sx; |
---|
| 453 | GeometryCalib.kappa1=calib_param(1); |
---|
| 454 | GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function |
---|
| 455 | GeometryCalib.Tx_Ty_Tz=[calib_param(2) calib_param(3) calib_param(4)]; |
---|
| 456 | alpha=calib_param(5); |
---|
| 457 | GeometryCalib.R=[cos(alpha) sin(alpha) 0;-sin(alpha) cos(alpha) 0;0 0 -1]; |
---|
| 458 | |
---|
[60] | 459 | %------------------------------------------------------------------------ |
---|
[109] | 460 | function GeometryCalib=calib_3D_linear(Coord,handles) |
---|
[69] | 461 | %------------------------------------------------------------------ |
---|
| 462 | path_uvmat=which('uvmat');% check the path detected for source file uvmat |
---|
| 463 | path_UVMAT=fileparts(path_uvmat); %path to UVMAT |
---|
[78] | 464 | huvmat=findobj(allchild(0),'Tag','uvmat'); |
---|
| 465 | hhuvmat=guidata(huvmat); |
---|
[121] | 466 | coord_files=get(handles.coord_files,'String'); |
---|
| 467 | if ischar(coord_files) |
---|
| 468 | coord_files={coord_files}; |
---|
| 469 | end |
---|
| 470 | if isempty(coord_files{1}) || isequal(coord_files,{''}) |
---|
| 471 | coord_files={}; |
---|
| 472 | end |
---|
| 473 | %retrieve the calibration points stored in the files listed in the popup list coord_files |
---|
| 474 | x_1=Coord(:,4:5)';%px coordinates of the ref points |
---|
[332] | 475 | nx=str2num(get(hhuvmat.num_Npx,'String')); |
---|
| 476 | ny=str2num(get(hhuvmat.num_Npy,'String')); |
---|
[121] | 477 | x_1(2,:)=ny-x_1(2,:);%reverse the y image coordinates |
---|
| 478 | X_1=Coord(:,1:3)';%phys coordinates of the ref points |
---|
| 479 | n_ima=numel(coord_files)+1; |
---|
| 480 | if ~isempty(coord_files) |
---|
| 481 | msgbox_uvmat('CONFIRMATION',['The xy coordinates of the calibration points in ' num2str(n_ima) ' planes will be used']) |
---|
| 482 | for ifile=1:numel(coord_files) |
---|
| 483 | t=xmltree(coord_files{ifile}); |
---|
| 484 | s=convert(t);%convert to matlab structure |
---|
| 485 | if isfield(s,'GeometryCalib') |
---|
| 486 | if isfield(s.GeometryCalib,'SourceCalib') |
---|
| 487 | if isfield(s.GeometryCalib.SourceCalib,'PointCoord') |
---|
| 488 | PointCoord=s.GeometryCalib.SourceCalib.PointCoord; |
---|
| 489 | Coord_file=zeros(length(PointCoord),5);%default |
---|
| 490 | for i=1:length(PointCoord) |
---|
| 491 | line=str2num(PointCoord{i}); |
---|
| 492 | Coord_file(i,4:5)=line(4:5);%px x |
---|
| 493 | Coord_file(i,1:3)=line(1:3);%phys x |
---|
| 494 | end |
---|
| 495 | eval(['x_' num2str(ifile+1) '=Coord_file(:,4:5)'';']); |
---|
| 496 | eval(['x_' num2str(ifile+1) '(2,:)=ny-x_' num2str(ifile+1) '(2,:);' ]); |
---|
| 497 | eval(['X_' num2str(ifile+1) '=Coord_file(:,1:3)'';']); |
---|
| 498 | end |
---|
| 499 | end |
---|
| 500 | end |
---|
| 501 | end |
---|
| 502 | end |
---|
| 503 | n_ima=numel(coord_files)+1; |
---|
[109] | 504 | est_dist=[0;0;0;0;0]; |
---|
| 505 | est_aspect_ratio=0; |
---|
| 506 | est_fc=[1;1]; |
---|
| 507 | %fc=[25;25]/0.012; |
---|
| 508 | center_optim=0; |
---|
| 509 | run(fullfile(path_UVMAT,'toolbox_calib','go_calib_optim')); |
---|
| 510 | GeometryCalib.CalibrationType='3D_linear'; |
---|
[121] | 511 | GeometryCalib.fx_fy=fc'; |
---|
| 512 | %GeometryCalib.focal=fc(2); |
---|
| 513 | %GeometryCalib.dpx_dpy=[1 1]; |
---|
[109] | 514 | GeometryCalib.Cx_Cy=cc'; |
---|
[121] | 515 | %GeometryCalib.sx=fc(1)/fc(2); |
---|
| 516 | GeometryCalib.kc=kc(1); |
---|
| 517 | %GeometryCalib.kappa1=-kc(1)/fc(2)^2; |
---|
[109] | 518 | GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function |
---|
| 519 | GeometryCalib.Tx_Ty_Tz=Tc_1'; |
---|
| 520 | GeometryCalib.R=Rc_1; |
---|
[121] | 521 | GeometryCalib.R(2,1:3)=-GeometryCalib.R(2,1:3);%inversion of the y image coordinate |
---|
| 522 | GeometryCalib.Tx_Ty_Tz(2)=-GeometryCalib.Tx_Ty_Tz(2);%inversion of the y image coordinate |
---|
| 523 | GeometryCalib.Cx_Cy(2)=ny-GeometryCalib.Cx_Cy(2);%inversion of the y image coordinate |
---|
| 524 | GeometryCalib.omc=(180/pi)*omc_1;%angles in degrees |
---|
| 525 | GeometryCalib.ErrorRMS=[]; |
---|
| 526 | GeometryCalib.ErrorMax=[]; |
---|
[109] | 527 | |
---|
| 528 | %------------------------------------------------------------------------ |
---|
| 529 | function GeometryCalib=calib_3D_quadr(Coord,handles) |
---|
| 530 | %------------------------------------------------------------------ |
---|
| 531 | |
---|
| 532 | path_uvmat=which('uvmat');% check the path detected for source file uvmat |
---|
| 533 | path_UVMAT=fileparts(path_uvmat); %path to UVMAT |
---|
| 534 | huvmat=findobj(allchild(0),'Tag','uvmat'); |
---|
| 535 | hhuvmat=guidata(huvmat); |
---|
| 536 | % check_cond=0; |
---|
| 537 | coord_files=get(handles.coord_files,'String'); |
---|
| 538 | if ischar(coord_files) |
---|
| 539 | coord_files={coord_files}; |
---|
| 540 | end |
---|
| 541 | if isempty(coord_files{1}) || isequal(coord_files,{''}) |
---|
| 542 | coord_files={}; |
---|
| 543 | end |
---|
| 544 | |
---|
| 545 | %retrieve the calibration points stored in the files listed in the popup list coord_files |
---|
[114] | 546 | x_1=Coord(:,4:5)';%px coordinates of the ref points |
---|
[332] | 547 | nx=str2num(get(hhuvmat.num_Npx,'String')); |
---|
| 548 | ny=str2num(get(hhuvmat.num_Npy,'String')); |
---|
[114] | 549 | x_1(2,:)=ny-x_1(2,:);%reverse the y image coordinates |
---|
| 550 | X_1=Coord(:,1:3)';%phys coordinates of the ref points |
---|
[109] | 551 | n_ima=numel(coord_files)+1; |
---|
| 552 | if ~isempty(coord_files) |
---|
| 553 | msgbox_uvmat('CONFIRMATION',['The xy coordinates of the calibration points in ' num2str(n_ima) ' planes will be used']) |
---|
| 554 | for ifile=1:numel(coord_files) |
---|
| 555 | t=xmltree(coord_files{ifile}); |
---|
| 556 | s=convert(t);%convert to matlab structure |
---|
| 557 | if isfield(s,'GeometryCalib') |
---|
| 558 | if isfield(s.GeometryCalib,'SourceCalib') |
---|
| 559 | if isfield(s.GeometryCalib.SourceCalib,'PointCoord') |
---|
| 560 | PointCoord=s.GeometryCalib.SourceCalib.PointCoord; |
---|
[121] | 561 | Coord_file=zeros(length(PointCoord),5);%default |
---|
[109] | 562 | for i=1:length(PointCoord) |
---|
| 563 | line=str2num(PointCoord{i}); |
---|
| 564 | Coord_file(i,4:5)=line(4:5);%px x |
---|
| 565 | Coord_file(i,1:3)=line(1:3);%phys x |
---|
| 566 | end |
---|
| 567 | eval(['x_' num2str(ifile+1) '=Coord_file(:,4:5)'';']); |
---|
[114] | 568 | eval(['x_' num2str(ifile+1) '(2,:)=ny-x_' num2str(ifile+1) '(2,:);' ]); |
---|
[109] | 569 | eval(['X_' num2str(ifile+1) '=Coord_file(:,1:3)'';']); |
---|
| 570 | end |
---|
| 571 | end |
---|
| 572 | end |
---|
| 573 | end |
---|
| 574 | end |
---|
| 575 | n_ima=numel(coord_files)+1; |
---|
[108] | 576 | est_dist=[1;0;0;0;0]; |
---|
[109] | 577 | est_aspect_ratio=1; |
---|
| 578 | %est_fc=[0;0]; |
---|
| 579 | %fc=[25;25]/0.012; |
---|
| 580 | center_optim=0; |
---|
[83] | 581 | run(fullfile(path_UVMAT,'toolbox_calib','go_calib_optim')); |
---|
[69] | 582 | |
---|
[109] | 583 | GeometryCalib.CalibrationType='3D_quadr'; |
---|
[114] | 584 | GeometryCalib.fx_fy=fc'; |
---|
| 585 | %GeometryCalib.focal=fc(2); |
---|
| 586 | %GeometryCalib.dpx_dpy=[1 1]; |
---|
[69] | 587 | GeometryCalib.Cx_Cy=cc'; |
---|
[114] | 588 | %GeometryCalib.sx=fc(1)/fc(2); |
---|
| 589 | GeometryCalib.kc=kc(1); |
---|
| 590 | %GeometryCalib.kappa1=-kc(1)/fc(2)^2; |
---|
[69] | 591 | GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function |
---|
| 592 | GeometryCalib.Tx_Ty_Tz=Tc_1'; |
---|
| 593 | GeometryCalib.R=Rc_1; |
---|
[114] | 594 | GeometryCalib.R(2,1:3)=-GeometryCalib.R(2,1:3);%inversion of the y image coordinate |
---|
| 595 | GeometryCalib.Tx_Ty_Tz(2)=-GeometryCalib.Tx_Ty_Tz(2);%inversion of the y image coordinate |
---|
| 596 | GeometryCalib.Cx_Cy(2)=ny-GeometryCalib.Cx_Cy(2);%inversion of the y image coordinate |
---|
| 597 | GeometryCalib.omc=(180/pi)*omc_1;%angles in degrees |
---|
[109] | 598 | GeometryCalib.ErrorRMS=[]; |
---|
| 599 | GeometryCalib.ErrorMax=[]; |
---|
[69] | 600 | |
---|
[109] | 601 | |
---|
[60] | 602 | %------------------------------------------------------------------------ |
---|
[109] | 603 | function GeometryCalib=calib_3D_extrinsic(Coord,handles) |
---|
| 604 | %------------------------------------------------------------------ |
---|
| 605 | path_uvmat=which('geometry_calib');% check the path detected for source file uvmat |
---|
| 606 | path_UVMAT=fileparts(path_uvmat); %path to UVMAT |
---|
[116] | 607 | x_1=double(Coord(:,4:5)');%image coordiantes |
---|
| 608 | X_1=double(Coord(:,1:3)');% phys coordinates |
---|
[114] | 609 | huvmat=findobj(allchild(0),'Tag','uvmat'); |
---|
| 610 | hhuvmat=guidata(huvmat); |
---|
[332] | 611 | ny=str2double(get(hhuvmat.num_Npy,'String')); |
---|
[114] | 612 | x_1(2,:)=ny-x_1(2,:);%reverse the y image coordinates |
---|
[109] | 613 | n_ima=1; |
---|
[114] | 614 | GeometryCalib.CalibrationType='3D_extrinsic'; |
---|
| 615 | GeometryCalib.fx_fy(1)=str2num(get(handles.fx,'String')); |
---|
| 616 | GeometryCalib.fx_fy(2)=str2num(get(handles.fy,'String')); |
---|
| 617 | GeometryCalib.Cx_Cy(1)=str2num(get(handles.Cx,'String')); |
---|
| 618 | GeometryCalib.Cx_Cy(2)=str2num(get(handles.Cy,'String')); |
---|
| 619 | GeometryCalib.kc=str2num(get(handles.kc,'String')); |
---|
[109] | 620 | fct_path=fullfile(path_UVMAT,'toolbox_calib'); |
---|
| 621 | addpath(fct_path) |
---|
[116] | 622 | GeometryCalib.Cx_Cy(2)=ny-GeometryCalib.Cx_Cy(2);%reverse Cx_Cy(2) for calibration (inversion of px ordinate) |
---|
[109] | 623 | % [omc1,Tc1,Rc1,H,x,ex,JJ] = compute_extrinsic(x_1,X_1,... |
---|
| 624 | % [Calib.f Calib.f*Calib.sx]',... |
---|
| 625 | % [Calib.Cx Calib.Cy]',... |
---|
| 626 | % [-Calib.kappa1*Calib.f^2 0 0 0 0]); |
---|
[114] | 627 | [omc,Tc1,Rc1,H,x,ex,JJ] = compute_extrinsic(x_1,X_1,... |
---|
[116] | 628 | (GeometryCalib.fx_fy)',GeometryCalib.Cx_Cy',[GeometryCalib.kc 0 0 0 0]); |
---|
[109] | 629 | rmpath(fct_path); |
---|
| 630 | GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function |
---|
| 631 | GeometryCalib.Tx_Ty_Tz=Tc1'; |
---|
| 632 | %inversion of z axis |
---|
| 633 | GeometryCalib.R=Rc1; |
---|
[114] | 634 | GeometryCalib.R(2,1:3)=-GeometryCalib.R(2,1:3);%inversion of the y image coordinate |
---|
| 635 | GeometryCalib.Tx_Ty_Tz(2)=-GeometryCalib.Tx_Ty_Tz(2);%inversion of the y image coordinate |
---|
[116] | 636 | GeometryCalib.Cx_Cy(2)=ny-GeometryCalib.Cx_Cy(2);%inversion of the y image coordinate |
---|
[114] | 637 | GeometryCalib.omc=(180/pi)*omc'; |
---|
[109] | 638 | %GeometryCalib.R(3,1:3)=-GeometryCalib.R(3,1:3);%inversion for z upward |
---|
| 639 | |
---|
| 640 | |
---|
[116] | 641 | |
---|
[109] | 642 | %------------------------------------------------------------------------ |
---|
| 643 | %function GeometryCalib=calib_tsai_heikkila(Coord) |
---|
| 644 | % TEST: NOT IMPLEMENTED |
---|
| 645 | %------------------------------------------------------------------ |
---|
| 646 | % path_uvmat=which('uvmat');% check the path detected for source file uvmat |
---|
| 647 | % path_UVMAT=fileparts(path_uvmat); %path to UVMAT |
---|
| 648 | % path_calib=fullfile(path_UVMAT,'toolbox_calib_heikkila'); |
---|
| 649 | % addpath(path_calib) |
---|
| 650 | % npoints=size(Coord,1); |
---|
| 651 | % Coord(:,1:3)=10*Coord(:,1:3); |
---|
| 652 | % Coord=[Coord zeros(npoints,2) -ones(npoints,1)]; |
---|
| 653 | % [par,pos,iter,res,er,C]=cacal('dalsa',Coord); |
---|
| 654 | % GeometryCalib.CalibrationType='tsai'; |
---|
| 655 | % GeometryCalib.focal=par(2); |
---|
| 656 | |
---|
| 657 | |
---|
| 658 | %------------------------------------------------------------------------ |
---|
| 659 | % --- determine the rms of calibration error |
---|
| 660 | function ErrorRms=error_calib(calib_param,Calib,Coord) |
---|
| 661 | %calib_param: vector of free calibration parameters (to optimise) |
---|
| 662 | %Calib: structure of the given calibration parameters |
---|
| 663 | %Coord: list of phys coordinates (columns 1-3, and pixel coordinates (columns 4-5) |
---|
| 664 | Calib.f=25; |
---|
| 665 | Calib.dpx=0.012; |
---|
| 666 | Calib.dpy=0.012; |
---|
| 667 | Calib.sx=1; |
---|
| 668 | Calib.Cx=512; |
---|
| 669 | Calib.Cy=512; |
---|
| 670 | Calib.kappa1=calib_param(1); |
---|
| 671 | Calib.Tx=calib_param(2); |
---|
| 672 | Calib.Ty=calib_param(3); |
---|
| 673 | Calib.Tz=calib_param(4); |
---|
| 674 | alpha=calib_param(5); |
---|
| 675 | Calib.R=[cos(alpha) sin(alpha) 0;-sin(alpha) cos(alpha) 0;0 0 -1]; |
---|
[2] | 676 | |
---|
[109] | 677 | X=Coord(:,1); |
---|
| 678 | Y=Coord(:,2); |
---|
| 679 | Z=Coord(:,3); |
---|
| 680 | x_ima=Coord(:,4); |
---|
| 681 | y_ima=Coord(:,5); |
---|
| 682 | [Xpoints,Ypoints]=px_XYZ(Calib,X,Y,Z); |
---|
| 683 | ErrorRms(1)=sqrt(mean((Xpoints-x_ima).*(Xpoints-x_ima))); |
---|
| 684 | ErrorRms(2)=sqrt(mean((Ypoints-y_ima).*(Ypoints-y_ima))); |
---|
| 685 | ErrorRms=mean(ErrorRms); |
---|
| 686 | |
---|
[60] | 687 | %------------------------------------------------------------------------ |
---|
[2] | 688 | function XImage_Callback(hObject, eventdata, handles) |
---|
[60] | 689 | %------------------------------------------------------------------------ |
---|
[2] | 690 | update_list(hObject, eventdata,handles) |
---|
| 691 | |
---|
[60] | 692 | %------------------------------------------------------------------------ |
---|
[2] | 693 | function YImage_Callback(hObject, eventdata, handles) |
---|
[60] | 694 | %------------------------------------------------------------------------ |
---|
[2] | 695 | update_list(hObject, eventdata,handles) |
---|
| 696 | |
---|
[109] | 697 | %------------------------------------------------------------------------ |
---|
| 698 | % --- Executes on button press in STORE. |
---|
| 699 | function STORE_Callback(hObject, eventdata, handles) |
---|
| 700 | Coord_cell=get(handles.ListCoord,'String'); |
---|
| 701 | Object=read_geometry_calib(Coord_cell); |
---|
| 702 | unitlist=get(handles.CoordUnit,'String'); |
---|
| 703 | unit=unitlist{get(handles.CoordUnit,'value')}; |
---|
| 704 | GeometryCalib.CoordUnit=unit; |
---|
| 705 | GeometryCalib.SourceCalib.PointCoord=Object.Coord; |
---|
| 706 | huvmat=findobj(allchild(0),'Name','uvmat'); |
---|
| 707 | hhuvmat=guidata(huvmat);%handles of elements in the GUI uvmat |
---|
[128] | 708 | % RootPath=''; |
---|
| 709 | % RootFile=''; |
---|
[121] | 710 | if ~isempty(hhuvmat.RootPath)&& ~isempty(hhuvmat.RootFile) |
---|
[341] | 711 | % testhandle=1; |
---|
[109] | 712 | RootPath=get(hhuvmat.RootPath,'String'); |
---|
| 713 | RootFile=get(hhuvmat.RootFile,'String'); |
---|
| 714 | filebase=fullfile(RootPath,RootFile); |
---|
| 715 | while exist([filebase '.xml'],'file') |
---|
| 716 | filebase=[filebase '~']; |
---|
| 717 | end |
---|
| 718 | outputfile=[filebase '.xml']; |
---|
[114] | 719 | errormsg=update_imadoc(GeometryCalib,outputfile); |
---|
| 720 | if ~strcmp(errormsg,'') |
---|
| 721 | msgbox_uvmat('ERROR',errormsg); |
---|
| 722 | end |
---|
[109] | 723 | listfile=get(handles.coord_files,'string'); |
---|
| 724 | if isequal(listfile,{''}) |
---|
| 725 | listfile={outputfile}; |
---|
| 726 | else |
---|
[128] | 727 | listfile=[listfile;{outputfile}];%update the list of coord files |
---|
[109] | 728 | end |
---|
| 729 | set(handles.coord_files,'string',listfile); |
---|
| 730 | end |
---|
| 731 | set(handles.ListCoord,'Value',1)% refresh the display of coordinates |
---|
| 732 | set(handles.ListCoord,'String',{'......'}) |
---|
| 733 | |
---|
[114] | 734 | % -------------------------------------------------------------------- |
---|
| 735 | % --- Executes on button press in CLEAR_PTS: clear the list of calibration points |
---|
| 736 | function CLEAR_PTS_Callback(hObject, eventdata, handles) |
---|
| 737 | % -------------------------------------------------------------------- |
---|
| 738 | set(handles.ListCoord,'Value',1)% refresh the display of coordinates |
---|
| 739 | set(handles.ListCoord,'String',{'......'}) |
---|
| 740 | MenuPlot_Callback(hObject, eventdata, handles) |
---|
| 741 | |
---|
[109] | 742 | %------------------------------------------------------------------------ |
---|
| 743 | % --- Executes on button press in CLEAR. |
---|
| 744 | function CLEAR_Callback(hObject, eventdata, handles) |
---|
| 745 | %------------------------------------------------------------------------ |
---|
| 746 | set(handles.coord_files,'Value',1) |
---|
| 747 | set(handles.coord_files,'String',{''}) |
---|
| 748 | |
---|
| 749 | %------------------------------------------------------------------------ |
---|
[2] | 750 | function XObject_Callback(hObject, eventdata, handles) |
---|
[109] | 751 | %------------------------------------------------------------------------ |
---|
[2] | 752 | update_list(hObject, eventdata,handles) |
---|
| 753 | |
---|
[109] | 754 | %------------------------------------------------------------------------ |
---|
[2] | 755 | function YObject_Callback(hObject, eventdata, handles) |
---|
[109] | 756 | %------------------------------------------------------------------------ |
---|
[2] | 757 | update_list(hObject, eventdata,handles) |
---|
| 758 | |
---|
[109] | 759 | %------------------------------------------------------------------------ |
---|
[2] | 760 | function ZObject_Callback(hObject, eventdata, handles) |
---|
[109] | 761 | %------------------------------------------------------------------------ |
---|
[2] | 762 | update_list(hObject, eventdata,handles) |
---|
| 763 | |
---|
[60] | 764 | %------------------------------------------------------------------------ |
---|
[2] | 765 | function update_list(hObject, eventdata, handles) |
---|
[60] | 766 | %------------------------------------------------------------------------ |
---|
[149] | 767 | newval(4)=str2double(get(handles.XImage,'String')); |
---|
| 768 | newval(5)=str2double(get(handles.YImage,'String')); |
---|
| 769 | newval(1)=str2double(get(handles.XObject,'String')); |
---|
| 770 | newval(2)=str2double(get(handles.YObject,'String')); |
---|
| 771 | newval(3)=str2double(get(handles.ZObject,'String')); |
---|
| 772 | if isnan(newval(3)) |
---|
| 773 | newval(3)=0;%put z to 0 by default |
---|
[2] | 774 | end |
---|
| 775 | Coord=get(handles.ListCoord,'String'); |
---|
[149] | 776 | Coord(end)=[]; %remove last string '.....' |
---|
[2] | 777 | val=get(handles.ListCoord,'Value'); |
---|
[149] | 778 | data=read_geometry_calib(Coord); |
---|
| 779 | data.Coord(val,:)=newval; |
---|
| 780 | for i=1:size(data.Coord,1) |
---|
| 781 | for j=1:5 |
---|
| 782 | Coord_cell{i,j}=num2str(data.Coord(i,j),4);%display coordiantes with 4 digits |
---|
| 783 | end |
---|
| 784 | end |
---|
| 785 | |
---|
| 786 | Tabchar=cell2tab(Coord_cell,' | '); |
---|
| 787 | Tabchar=[Tabchar ;{'......'}]; |
---|
| 788 | set(handles.ListCoord,'String',Tabchar) |
---|
| 789 | |
---|
[60] | 790 | %update the plot |
---|
| 791 | ListCoord_Callback(hObject, eventdata, handles) |
---|
[67] | 792 | MenuPlot_Callback(hObject, eventdata, handles) |
---|
[71] | 793 | |
---|
[60] | 794 | %------------------------------------------------------------------------ |
---|
[2] | 795 | % --- Executes on selection change in ListCoord. |
---|
| 796 | function ListCoord_Callback(hObject, eventdata, handles) |
---|
[60] | 797 | %------------------------------------------------------------------------ |
---|
[71] | 798 | huvmat=findobj(allchild(0),'Name','uvmat');%find the current uvmat interface handle |
---|
[542] | 799 | hplot=findobj(huvmat,'Tag','PlotAxes');%main plotting axis of uvmat |
---|
[71] | 800 | hhh=findobj(hplot,'Tag','calib_marker'); |
---|
[2] | 801 | Coord_cell=get(handles.ListCoord,'String'); |
---|
| 802 | val=get(handles.ListCoord,'Value'); |
---|
[78] | 803 | if numel(val)>1 |
---|
| 804 | return %no action if several lines have been selected |
---|
| 805 | end |
---|
[71] | 806 | coord_str=Coord_cell{val}; |
---|
[128] | 807 | k=findstr(' | ',coord_str); |
---|
[71] | 808 | if isempty(k)%last line '.....' selected |
---|
| 809 | if ~isempty(hhh) |
---|
| 810 | delete(hhh)%delete the circle marker |
---|
[2] | 811 | end |
---|
[71] | 812 | return |
---|
| 813 | end |
---|
[542] | 814 | %fill the edit boxe |
---|
[149] | 815 | set(handles.XObject,'String',coord_str(1:k(1)-1)) |
---|
| 816 | set(handles.YObject,'String',coord_str(k(1)+3:k(2)-1)) |
---|
| 817 | set(handles.ZObject,'String',coord_str(k(2)+3:k(3)-1)) |
---|
| 818 | set(handles.XImage,'String',coord_str(k(3)+3:k(4)-1)) |
---|
| 819 | set(handles.YImage,'String',coord_str(k(4)+3:end)) |
---|
[71] | 820 | h_menu_coord=findobj(huvmat,'Tag','transform_fct'); |
---|
| 821 | menu=get(h_menu_coord,'String'); |
---|
| 822 | choice=get(h_menu_coord,'Value'); |
---|
| 823 | if iscell(menu) |
---|
| 824 | option=menu{choice}; |
---|
| 825 | else |
---|
| 826 | option='px'; %default |
---|
| 827 | end |
---|
| 828 | if isequal(option,'phys') |
---|
[149] | 829 | XCoord=str2double(coord_str(1:k(1)-1)); |
---|
| 830 | YCoord=str2double(coord_str(k(1)+3:k(2)-1)); |
---|
[71] | 831 | elseif isequal(option,'px')|| isequal(option,'') |
---|
[149] | 832 | XCoord=str2double(coord_str(k(3)+3:k(4)-1)); |
---|
| 833 | YCoord=str2double(coord_str(k(4)+3:end)); |
---|
[71] | 834 | else |
---|
| 835 | msgbox_uvmat('ERROR','the choice in menu_coord of uvmat must be px or phys ') |
---|
| 836 | end |
---|
| 837 | if isempty(XCoord)||isempty(YCoord) |
---|
| 838 | if ~isempty(hhh) |
---|
| 839 | delete(hhh)%delete the circle marker |
---|
[2] | 840 | end |
---|
[71] | 841 | return |
---|
[2] | 842 | end |
---|
[71] | 843 | xlim=get(hplot,'XLim'); |
---|
| 844 | ylim=get(hplot,'YLim'); |
---|
| 845 | ind_range=max(abs(xlim(2)-xlim(1)),abs(ylim(end)-ylim(1)))/20;%defines the size of the circle marker |
---|
| 846 | if isempty(hhh) |
---|
[149] | 847 | set(0,'CurrentFig',huvmat) |
---|
| 848 | set(huvmat,'CurrentAxes',hplot) |
---|
[71] | 849 | rectangle('Curvature',[1 1],... |
---|
| 850 | 'Position',[XCoord-ind_range/2 YCoord-ind_range/2 ind_range ind_range],'EdgeColor','m',... |
---|
| 851 | 'LineStyle','-','Tag','calib_marker'); |
---|
| 852 | else |
---|
| 853 | set(hhh,'Position',[XCoord-ind_range/2 YCoord-ind_range/2 ind_range ind_range]) |
---|
| 854 | end |
---|
[2] | 855 | |
---|
[60] | 856 | %------------------------------------------------------------------------ |
---|
[2] | 857 | % --- Executes on selection change in edit_append. |
---|
| 858 | function edit_append_Callback(hObject, eventdata, handles) |
---|
[60] | 859 | %------------------------------------------------------------------------ |
---|
[2] | 860 | choice=get(handles.edit_append,'Value'); |
---|
[78] | 861 | if choice |
---|
| 862 | set(handles.edit_append,'BackgroundColor',[1 1 0]) |
---|
[177] | 863 | huvmat=findobj(allchild(0),'tag','uvmat'); |
---|
| 864 | if ishandle(huvmat) |
---|
| 865 | hhuvmat=guidata(huvmat); |
---|
| 866 | set(hhuvmat.edit_object,'Value',0) |
---|
| 867 | set(hhuvmat.edit_object,'BackgroundColor',[0.7 0.7 0.7]) |
---|
| 868 | end |
---|
[78] | 869 | else |
---|
| 870 | set(handles.edit_append,'BackgroundColor',[0.7 0.7 0.7]) |
---|
[2] | 871 | end |
---|
| 872 | |
---|
| 873 | function NEW_Callback(hObject, eventdata, handles) |
---|
| 874 | %A METTRE SOUS UN BOUTON |
---|
| 875 | huvmat=findobj(allchild(0),'Name','uvmat'); |
---|
| 876 | hchild=get(huvmat,'children'); |
---|
| 877 | hcoord=findobj(hchild,'Tag','menu_coord'); |
---|
| 878 | coordtype=get(hcoord,'Value'); |
---|
| 879 | haxes=findobj(hchild,'Tag','axes3'); |
---|
| 880 | AxeData=get(haxes,'UserData'); |
---|
| 881 | if ~isequal(hcoord,2) |
---|
| 882 | set(hcoord,'Value',2) |
---|
| 883 | huvmat=uvmat(AxeData); |
---|
| 884 | 'relancer uvmat'; |
---|
| 885 | end |
---|
| 886 | if ~isfield(AxeData,'ZoomAxes') |
---|
[42] | 887 | msgbox_uvmat('ERROR','first draw a window around a grid marker') |
---|
[2] | 888 | return |
---|
| 889 | end |
---|
| 890 | XLim=get(AxeData.ZoomAxes,'XLim'); |
---|
| 891 | YLim=get(AxeData.ZoomAxes,'YLim'); |
---|
| 892 | np=size(AxeData.A); |
---|
| 893 | ind_sub_x=round(XLim); |
---|
| 894 | ind_sub_y=np(1)-round(YLim); |
---|
[227] | 895 | Mfiltre=AxeData.A(ind_sub_y(2):ind_sub_y(1) ,ind_sub_x,:); |
---|
[2] | 896 | Mfiltre_norm=double(Mfiltre); |
---|
| 897 | Mfiltre_norm=Mfiltre_norm/sum(sum(Mfiltre_norm)); |
---|
| 898 | Mfiltre_norm=100*(Mfiltre_norm-mean(mean(Mfiltre_norm))); |
---|
| 899 | Atype=class(AxeData.A); |
---|
| 900 | Data.NbDim=2; |
---|
| 901 | Data.A=filter2(Mfiltre_norm,double(AxeData.A)); |
---|
| 902 | Data.A=feval(Atype,Data.A); |
---|
| 903 | Data.AName='image'; |
---|
| 904 | Data.AX=AxeData.AX; |
---|
| 905 | Data.AY=AxeData.AY; |
---|
| 906 | Data.CoordType='px'; |
---|
| 907 | plot_field(Data) |
---|
| 908 | |
---|
[60] | 909 | %------------------------------------------------------------------------ |
---|
[2] | 910 | function MenuPlot_Callback(hObject, eventdata, handles) |
---|
[60] | 911 | %------------------------------------------------------------------------ |
---|
[2] | 912 | huvmat=findobj(allchild(0),'Name','uvmat');%find the current uvmat interface handle |
---|
[128] | 913 | %UvData=get(huvmat,'UserData');%Data associated to the current uvmat interface |
---|
[2] | 914 | hhuvmat=guidata(huvmat); %handles of GUI elements in uvmat |
---|
[128] | 915 | %hplot=findobj(huvmat,'Tag','axes3');%main plotting axis of uvmat |
---|
[60] | 916 | h_menu_coord=findobj(huvmat,'Tag','transform_fct'); |
---|
[2] | 917 | menu=get(h_menu_coord,'String'); |
---|
| 918 | choice=get(h_menu_coord,'Value'); |
---|
| 919 | if iscell(menu) |
---|
| 920 | option=menu{choice}; |
---|
| 921 | else |
---|
| 922 | option='px'; %default |
---|
| 923 | end |
---|
| 924 | Coord_cell=get(handles.ListCoord,'String'); |
---|
| 925 | ObjectData=read_geometry_calib(Coord_cell); |
---|
| 926 | %ObjectData=read_geometry_calib(handles);%read the interface input parameters defining the object |
---|
[71] | 927 | if ~isempty(ObjectData.Coord) |
---|
| 928 | if isequal(option,'phys') |
---|
[227] | 929 | ObjectData.Coord=ObjectData.Coord(:,1:3); |
---|
[71] | 930 | elseif isequal(option,'px')||isequal(option,'') |
---|
[227] | 931 | ObjectData.Coord=ObjectData.Coord(:,4:5); |
---|
[71] | 932 | else |
---|
| 933 | msgbox_uvmat('ERROR','the choice in menu_coord of uvmat must be '''', px or phys ') |
---|
| 934 | end |
---|
[2] | 935 | end |
---|
[541] | 936 | |
---|
[231] | 937 | set(0,'CurrentFigure',huvmat) |
---|
[517] | 938 | set(huvmat,'CurrentAxes',hhuvmat.PlotAxes) |
---|
[2] | 939 | hh=findobj('Tag','calib_points'); |
---|
[71] | 940 | if ~isempty(ObjectData.Coord) && isempty(hh) |
---|
[2] | 941 | hh=line(ObjectData.Coord(:,1),ObjectData.Coord(:,2),'Color','m','Tag','calib_points','LineStyle','.','Marker','+'); |
---|
[71] | 942 | elseif isempty(ObjectData.Coord)%empty list of points, suppress the plot |
---|
| 943 | delete(hh) |
---|
[2] | 944 | else |
---|
| 945 | set(hh,'XData',ObjectData.Coord(:,1)) |
---|
| 946 | set(hh,'YData',ObjectData.Coord(:,2)) |
---|
| 947 | end |
---|
[61] | 948 | pause(.1) |
---|
| 949 | figure(handles.geometry_calib) |
---|
[2] | 950 | |
---|
| 951 | % -------------------------------------------------------------------- |
---|
| 952 | function MenuHelp_Callback(hObject, eventdata, handles) |
---|
[116] | 953 | path_to_uvmat=which('uvmat');% check the path of uvmat |
---|
[2] | 954 | pathelp=fileparts(path_to_uvmat); |
---|
[116] | 955 | helpfile=fullfile(pathelp,'uvmat_doc','uvmat_doc.html'); |
---|
[36] | 956 | if isempty(dir(helpfile)), msgbox_uvmat('ERROR','Please put the help file uvmat_doc.html in the sub-directory /uvmat_doc of the UVMAT package') |
---|
[2] | 957 | else |
---|
[36] | 958 | addpath (fullfile(pathelp,'uvmat_doc')) |
---|
[2] | 959 | web([helpfile '#geometry_calib']) |
---|
| 960 | end |
---|
| 961 | |
---|
[17] | 962 | %------------------------------------------------------------------------ |
---|
[2] | 963 | function MenuCreateGrid_Callback(hObject, eventdata, handles) |
---|
[17] | 964 | %------------------------------------------------------------------------ |
---|
[36] | 965 | %hcalib=get(handles.calib_type,'parent');%handles of the GUI geometry_calib |
---|
[61] | 966 | CalibData=get(handles.geometry_calib,'UserData'); |
---|
[12] | 967 | Tinput=[];%default |
---|
| 968 | if isfield(CalibData,'grid') |
---|
| 969 | Tinput=CalibData.grid; |
---|
| 970 | end |
---|
[71] | 971 | [T,CalibData.grid]=create_grid(Tinput);%display the GUI create_grid |
---|
[61] | 972 | set(handles.geometry_calib,'UserData',CalibData) |
---|
[2] | 973 | |
---|
[12] | 974 | %grid in phys space |
---|
[71] | 975 | Coord=get(handles.ListCoord,'String'); |
---|
| 976 | val=get(handles.ListCoord,'Value'); |
---|
| 977 | data=read_geometry_calib(Coord); |
---|
| 978 | %nbpoints=size(data.Coord,1); %nbre of calibration points |
---|
| 979 | data.Coord(val:val+size(T,1)-1,1:3)=T(end:-1:1,:);%update the existing list of phys coordinates from the GUI create_grid |
---|
| 980 | % for i=1:nbpoints |
---|
| 981 | % for j=1:5 |
---|
| 982 | % Coord{i,j}=num2str(data.Coord(i,j),4);%display coordiantes with 4 digits |
---|
| 983 | % end |
---|
| 984 | % end |
---|
| 985 | %update the phys coordinates starting from the selected point (down in the |
---|
| 986 | Coord(end,:)=[]; %remove last string '.....' |
---|
| 987 | for i=1:size(data.Coord,1) |
---|
| 988 | for j=1:5 |
---|
[17] | 989 | Coord{i,j}=num2str(data.Coord(i,j),4);%display coordiantes with 4 digits |
---|
| 990 | end |
---|
| 991 | end |
---|
| 992 | |
---|
| 993 | %size(data.Coord,1) |
---|
[128] | 994 | Tabchar=cell2tab(Coord,' | '); |
---|
[71] | 995 | Tabchar=[Tabchar ;{'......'}]; |
---|
[12] | 996 | set(handles.ListCoord,'String',Tabchar) |
---|
[2] | 997 | |
---|
[71] | 998 | % ----------------------------------------------------------------------- |
---|
| 999 | % --- automatic grid dectection from local maxima of the images |
---|
[60] | 1000 | function MenuDetectGrid_Callback(hObject, eventdata, handles) |
---|
[71] | 1001 | %------------------------------------------------------------------------ |
---|
[159] | 1002 | %% read the four last point coordinates in pixels |
---|
[108] | 1003 | Coord_cell=get(handles.ListCoord,'String');%read list of coordinates on geometry_calib |
---|
[60] | 1004 | data=read_geometry_calib(Coord_cell); |
---|
| 1005 | nbpoints=size(data.Coord,1); %nbre of calibration points |
---|
[62] | 1006 | if nbpoints~=4 |
---|
[227] | 1007 | 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') |
---|
[71] | 1008 | return |
---|
[60] | 1009 | end |
---|
[71] | 1010 | corners_X=(data.Coord(end:-1:end-3,4)); %pixel absissa of the four corners |
---|
| 1011 | corners_Y=(data.Coord(end:-1:end-3,5)); |
---|
[60] | 1012 | |
---|
[71] | 1013 | %reorder the last two points (the two first in the list) if needed |
---|
[121] | 1014 | angles=angle((corners_X-corners_X(1))+1i*(corners_Y-corners_Y(1))); |
---|
[62] | 1015 | if abs(angles(4)-angles(2))>abs(angles(3)-angles(2)) |
---|
| 1016 | X_end=corners_X(4); |
---|
| 1017 | Y_end=corners_Y(4); |
---|
| 1018 | corners_X(4)=corners_X(3); |
---|
| 1019 | corners_Y(4)=corners_Y(3); |
---|
| 1020 | corners_X(3)=X_end; |
---|
| 1021 | corners_Y(3)=Y_end; |
---|
| 1022 | end |
---|
| 1023 | |
---|
[227] | 1024 | %% initiate the grid |
---|
| 1025 | CalibData=get(handles.geometry_calib,'UserData');%get information stored on the GUI geometry_calib |
---|
| 1026 | grid_input=[];%default |
---|
| 1027 | if isfield(CalibData,'grid') |
---|
| 1028 | grid_input=CalibData.grid;%retrieve the previously used grid |
---|
| 1029 | end |
---|
| 1030 | [T,CalibData.grid,white_test]=create_grid(grid_input,'detect_grid');%display the GUI create_grid, read the set of phys coordinates T |
---|
| 1031 | set(handles.geometry_calib,'UserData',CalibData)%store the phys grid parameters for later use |
---|
| 1032 | |
---|
| 1033 | |
---|
| 1034 | |
---|
[159] | 1035 | %% read the current image, displayed in the GUI uvmat |
---|
[60] | 1036 | huvmat=findobj(allchild(0),'Name','uvmat'); |
---|
| 1037 | UvData=get(huvmat,'UserData'); |
---|
| 1038 | A=UvData.Field.A; |
---|
| 1039 | npxy=size(A); |
---|
[159] | 1040 | X=[CalibData.grid.x_0 CalibData.grid.x_1 CalibData.grid.x_0 CalibData.grid.x_1]';%corner absissa in the phys coordinates (cm) |
---|
| 1041 | Y=[CalibData.grid.y_0 CalibData.grid.y_0 CalibData.grid.y_1 CalibData.grid.y_1]';%corner ordinates in the phys coordinates (cm) |
---|
[109] | 1042 | |
---|
[159] | 1043 | %calculate transform matrices for plane projection |
---|
[108] | 1044 | % reference: http://alumni.media.mit.edu/~cwren/interpolator/ by Christopher R. Wren |
---|
| 1045 | B = [ X Y ones(size(X)) zeros(4,3) -X.*corners_X -Y.*corners_X ... |
---|
| 1046 | zeros(4,3) X Y ones(size(X)) -X.*corners_Y -Y.*corners_Y ]; |
---|
| 1047 | B = reshape (B', 8 , 8 )'; |
---|
| 1048 | D = [ corners_X , corners_Y ]; |
---|
| 1049 | D = reshape (D', 8 , 1 ); |
---|
[121] | 1050 | l = (B' * B)\B' * D; |
---|
[108] | 1051 | Amat = reshape([l(1:6)' 0 0 1 ],3,3)'; |
---|
| 1052 | C = [l(7:8)' 1]; |
---|
| 1053 | |
---|
[159] | 1054 | % transform grid image into 'phys' coordinates |
---|
[544] | 1055 | GeometryCalib.CalibrationType='linear'; |
---|
[114] | 1056 | GeometryCalib.fx_fy=[1 1]; |
---|
| 1057 | GeometryCalib.Tx_Ty_Tz=[Amat(1,3) Amat(2,3) 1]; |
---|
[108] | 1058 | GeometryCalib.R=[Amat(1,1),Amat(1,2),0;Amat(2,1),Amat(2,2),0;C(1),C(2),0]; |
---|
[159] | 1059 | GeometryCalib.CoordUnit='cm'; |
---|
[114] | 1060 | path_uvmat=which('uvmat');% check the path detected for source file uvmat |
---|
| 1061 | path_UVMAT=fileparts(path_uvmat); %path to UVMAT |
---|
| 1062 | addpath(fullfile(path_UVMAT,'transform_field')) |
---|
| 1063 | Data.ListVarName={'AY','AX','A'}; |
---|
| 1064 | Data.VarDimName={'AY','AX',{'AY','AX'}}; |
---|
| 1065 | if ndims(A)==3 |
---|
| 1066 | A=mean(A,3); |
---|
| 1067 | end |
---|
| 1068 | Data.A=A-min(min(A)); |
---|
| 1069 | Data.AY=[npxy(1)-0.5 0.5]; |
---|
| 1070 | Data.AX=[0.5 npxy(2)]; |
---|
[158] | 1071 | Data.CoordUnit='pixel'; |
---|
[114] | 1072 | Calib.GeometryCalib=GeometryCalib; |
---|
[121] | 1073 | DataOut=phys(Data,Calib); |
---|
[114] | 1074 | rmpath(fullfile(path_UVMAT,'transform_field')) |
---|
| 1075 | Amod=DataOut.A; |
---|
| 1076 | Rangx=DataOut.AX; |
---|
| 1077 | Rangy=DataOut.AY; |
---|
[156] | 1078 | if white_test |
---|
[159] | 1079 | Amod=double(Amod);%case of white grid markers: will look for image maxima |
---|
[156] | 1080 | else |
---|
[159] | 1081 | Amod=-double(Amod);%case of black grid markers: will look for image minima |
---|
[156] | 1082 | end |
---|
[114] | 1083 | % figure(12) %display corrected image |
---|
[109] | 1084 | % Amax=max(max(Amod)); |
---|
| 1085 | % image(Rangx,Rangy,uint8(255*Amod/Amax)) |
---|
[114] | 1086 | |
---|
[159] | 1087 | %% detection of local image extrema in each direction |
---|
[88] | 1088 | Dx=(Rangx(2)-Rangx(1))/(npxy(2)-1); %x mesh in real space |
---|
| 1089 | Dy=(Rangy(2)-Rangy(1))/(npxy(1)-1); %y mesh in real space |
---|
[121] | 1090 | 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 |
---|
| 1091 | 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 |
---|
[60] | 1092 | nbpoints=size(T,1); |
---|
| 1093 | for ipoint=1:nbpoints |
---|
| 1094 | i0=1+round((T(ipoint,1)-Rangx(1))/Dx);%round(Xpx(ipoint)); |
---|
| 1095 | j0=1+round((T(ipoint,2)-Rangy(1))/Dy);%round(Xpx(ipoint)); |
---|
[109] | 1096 | j0min=max(j0-ind_range_y,1); |
---|
| 1097 | j0max=min(j0+ind_range_y,size(Amod,1)); |
---|
| 1098 | i0min=max(i0-ind_range_x,1); |
---|
| 1099 | i0max=min(i0+ind_range_x,size(Amod,2)); |
---|
| 1100 | Asub=Amod(j0min:j0max,i0min:i0max); |
---|
[60] | 1101 | x_profile=sum(Asub,1); |
---|
| 1102 | y_profile=sum(Asub,2); |
---|
| 1103 | [Amax,ind_x_max]=max(x_profile); |
---|
| 1104 | [Amax,ind_y_max]=max(y_profile); |
---|
[61] | 1105 | %sub-pixel improvement using moments |
---|
| 1106 | x_shift=0; |
---|
| 1107 | y_shift=0; |
---|
[109] | 1108 | if ind_x_max+2<=numel(x_profile) && ind_x_max-2>=1 |
---|
[61] | 1109 | Atop=x_profile(ind_x_max-2:ind_x_max+2); |
---|
| 1110 | x_shift=sum(Atop.*[-2 -1 0 1 2])/sum(Atop); |
---|
| 1111 | end |
---|
[114] | 1112 | if ind_y_max+2<=numel(y_profile) && ind_y_max-2>=1 |
---|
[61] | 1113 | Atop=y_profile(ind_y_max-2:ind_y_max+2); |
---|
| 1114 | y_shift=sum(Atop.*[-2 -1 0 1 2]')/sum(Atop); |
---|
| 1115 | end |
---|
[109] | 1116 | Delta(ipoint,1)=(x_shift+ind_x_max+i0min-i0-1)*Dx;%shift from the initial guess |
---|
| 1117 | Delta(ipoint,2)=(y_shift+ind_y_max+j0min-j0-1)*Dy; |
---|
[60] | 1118 | end |
---|
| 1119 | Tmod=T(:,(1:2))+Delta; |
---|
| 1120 | [Xpx,Ypx]=px_XYZ(GeometryCalib,Tmod(:,1),Tmod(:,2)); |
---|
[63] | 1121 | for ipoint=1:nbpoints |
---|
| 1122 | Coord{ipoint,1}=num2str(T(ipoint,1),4);%display coordiantes with 4 digits |
---|
| 1123 | Coord{ipoint,2}=num2str(T(ipoint,2),4);%display coordiantes with 4 digits |
---|
[109] | 1124 | Coord{ipoint,3}=num2str(T(ipoint,3),4);%display coordiantes with 4 digits; |
---|
| 1125 | Coord{ipoint,4}=num2str(Xpx(ipoint),4);%display coordiantes with 4 digits |
---|
| 1126 | Coord{ipoint,5}=num2str(Ypx(ipoint),4);%display coordiantes with 4 digits |
---|
[60] | 1127 | end |
---|
[128] | 1128 | Tabchar=cell2tab(Coord(end:-1:1,:),' | '); |
---|
[71] | 1129 | Tabchar=[Tabchar ;{'......'}]; |
---|
[60] | 1130 | set(handles.ListCoord,'Value',1) |
---|
| 1131 | set(handles.ListCoord,'String',Tabchar) |
---|
[67] | 1132 | MenuPlot_Callback(hObject, eventdata, handles) |
---|
[60] | 1133 | |
---|
[71] | 1134 | %----------------------------------------------------------------------- |
---|
| 1135 | function MenuTranslatePoints_Callback(hObject, eventdata, handles) |
---|
| 1136 | %----------------------------------------------------------------------- |
---|
| 1137 | %hcalib=get(handles.calib_type,'parent');%handles of the GUI geometry_calib |
---|
| 1138 | CalibData=get(handles.geometry_calib,'UserData'); |
---|
| 1139 | Tinput=[];%default |
---|
| 1140 | if isfield(CalibData,'translate') |
---|
| 1141 | Tinput=CalibData.translate; |
---|
| 1142 | end |
---|
| 1143 | T=translate_points(Tinput);%display translate_points GUI and get shift parameters |
---|
| 1144 | CalibData.translate=T; |
---|
| 1145 | set(handles.geometry_calib,'UserData',CalibData) |
---|
| 1146 | %translation |
---|
| 1147 | Coord_cell=get(handles.ListCoord,'String'); |
---|
| 1148 | data=read_geometry_calib(Coord_cell); |
---|
| 1149 | data.Coord(:,1)=T(1)+data.Coord(:,1); |
---|
| 1150 | data.Coord(:,2)=T(2)+data.Coord(:,2); |
---|
| 1151 | data.Coord(:,3)=T(3)+data.Coord(:,3); |
---|
| 1152 | data.Coord(:,[4 5])=data.Coord(:,[4 5]); |
---|
| 1153 | for i=1:size(data.Coord,1) |
---|
| 1154 | for j=1:5 |
---|
| 1155 | Coord{i,j}=num2str(data.Coord(i,j),4);%phys x,y,z |
---|
| 1156 | end |
---|
| 1157 | end |
---|
[128] | 1158 | Tabchar=cell2tab(Coord,' | '); |
---|
[88] | 1159 | Tabchar=[Tabchar; {'.....'}]; |
---|
[71] | 1160 | %set(handles.ListCoord,'Value',1) |
---|
| 1161 | set(handles.ListCoord,'String',Tabchar) |
---|
| 1162 | |
---|
| 1163 | |
---|
| 1164 | % -------------------------------------------------------------------- |
---|
| 1165 | function MenuRotatePoints_Callback(hObject, eventdata, handles) |
---|
| 1166 | %hcalib=get(handles.calib_type,'parent');%handles of the GUI geometry_calib |
---|
| 1167 | CalibData=get(handles.geometry_calib,'UserData'); |
---|
| 1168 | Tinput=[];%default |
---|
| 1169 | if isfield(CalibData,'rotate') |
---|
| 1170 | Tinput=CalibData.rotate; |
---|
| 1171 | end |
---|
[356] | 1172 | T=rotate_points(Tinput);%display rotate_points GUI to introduce rotation parameters |
---|
[71] | 1173 | CalibData.rotate=T; |
---|
| 1174 | set(handles.geometry_calib,'UserData',CalibData) |
---|
| 1175 | %----------------------------------------------------- |
---|
| 1176 | %rotation |
---|
| 1177 | Phi=T(1); |
---|
| 1178 | O_x=0;%default |
---|
| 1179 | O_y=0;%default |
---|
| 1180 | if numel(T)>=2 |
---|
| 1181 | O_x=T(2);%default |
---|
| 1182 | end |
---|
| 1183 | if numel(T)>=3 |
---|
| 1184 | O_y=T(3);%default |
---|
| 1185 | end |
---|
| 1186 | Coord_cell=get(handles.ListCoord,'String'); |
---|
| 1187 | data=read_geometry_calib(Coord_cell); |
---|
| 1188 | r1=cos(pi*Phi/180); |
---|
| 1189 | r2=-sin(pi*Phi/180); |
---|
| 1190 | r3=sin(pi*Phi/180); |
---|
| 1191 | r4=cos(pi*Phi/180); |
---|
| 1192 | x=data.Coord(:,1)-O_x; |
---|
| 1193 | y=data.Coord(:,2)-O_y; |
---|
| 1194 | data.Coord(:,1)=r1*x+r2*y; |
---|
| 1195 | data.Coord(:,2)=r3*x+r4*y; |
---|
| 1196 | % data.Coord(:,[4 5])=data.Coord(:,[4 5]); |
---|
| 1197 | for i=1:size(data.Coord,1) |
---|
| 1198 | for j=1:5 |
---|
| 1199 | Coord{i,j}=num2str(data.Coord(i,j),4);%phys x,y,z |
---|
| 1200 | end |
---|
| 1201 | end |
---|
[148] | 1202 | Tabchar=cell2tab(Coord,' | '); |
---|
[71] | 1203 | Tabchar=[Tabchar;{'......'}]; |
---|
| 1204 | set(handles.ListCoord,'Value',1) |
---|
| 1205 | set(handles.ListCoord,'String',Tabchar) |
---|
| 1206 | |
---|
[109] | 1207 | % -------------------------------------------------------------------- |
---|
| 1208 | function MenuImportPoints_Callback(hObject, eventdata, handles) |
---|
[121] | 1209 | fileinput=browse_xml(hObject, eventdata, handles); |
---|
[109] | 1210 | if isempty(fileinput) |
---|
| 1211 | return |
---|
| 1212 | end |
---|
| 1213 | [s,errormsg]=imadoc2struct(fileinput,'GeometryCalib'); |
---|
| 1214 | GeometryCalib=s.GeometryCalib; |
---|
[114] | 1215 | %GeometryCalib=load_calib(hObject, eventdata, handles) |
---|
[116] | 1216 | calib=reshape(GeometryCalib.PointCoord,[],1); |
---|
[109] | 1217 | for ilist=1:numel(calib) |
---|
| 1218 | CoordCell{ilist}=num2str(calib(ilist)); |
---|
| 1219 | end |
---|
| 1220 | CoordCell=reshape(CoordCell,[],5); |
---|
[128] | 1221 | Tabchar=cell2tab(CoordCell,' | ');%transform cells into table ready for display |
---|
[109] | 1222 | Tabchar=[Tabchar;{'......'}]; |
---|
| 1223 | set(handles.ListCoord,'Value',1) |
---|
| 1224 | set(handles.ListCoord,'String',Tabchar) |
---|
| 1225 | MenuPlot_Callback(handles.geometry_calib, [], handles) |
---|
| 1226 | |
---|
| 1227 | % ----------------------------------------------------------------------- |
---|
| 1228 | function MenuImportIntrinsic_Callback(hObject, eventdata, handles) |
---|
| 1229 | %------------------------------------------------------------------------ |
---|
| 1230 | fileinput=browse_xml(hObject, eventdata, handles); |
---|
| 1231 | if isempty(fileinput) |
---|
| 1232 | return |
---|
| 1233 | end |
---|
| 1234 | [s,errormsg]=imadoc2struct(fileinput,'GeometryCalib'); |
---|
| 1235 | GeometryCalib=s.GeometryCalib; |
---|
[114] | 1236 | display_intrinsic(GeometryCalib,handles) |
---|
[109] | 1237 | |
---|
| 1238 | % ----------------------------------------------------------------------- |
---|
| 1239 | function MenuImportAll_Callback(hObject, eventdata, handles) |
---|
| 1240 | %------------------------------------------------------------------------ |
---|
[121] | 1241 | fileinput=browse_xml(hObject, eventdata, handles); |
---|
[109] | 1242 | if ~isempty(fileinput) |
---|
| 1243 | loadfile(handles,fileinput) |
---|
| 1244 | end |
---|
| 1245 | |
---|
| 1246 | % ----------------------------------------------------------------------- |
---|
| 1247 | % --- Executes on menubar option Import/Grid file: introduce previous grid files |
---|
| 1248 | function MenuGridFile_Callback(hObject, eventdata, handles) |
---|
| 1249 | % ----------------------------------------------------------------------- |
---|
[121] | 1250 | inputfile=browse_xml(hObject, eventdata, handles); |
---|
[109] | 1251 | listfile=get(handles.coord_files,'string'); |
---|
| 1252 | if isequal(listfile,{''}) |
---|
| 1253 | listfile={inputfile}; |
---|
| 1254 | else |
---|
[121] | 1255 | listfile=[listfile;{inputfile}];%update the list of coord files |
---|
[109] | 1256 | end |
---|
| 1257 | set(handles.coord_files,'string',listfile); |
---|
| 1258 | |
---|
| 1259 | %------------------------------------------------------------------------ |
---|
[114] | 1260 | % --- 'key_press_fcn:' function activated when a key is pressed on the keyboard |
---|
| 1261 | function key_press_fcn(hObject,eventdata,handles) |
---|
| 1262 | %------------------------------------------------------------------------ |
---|
| 1263 | xx=double(get(handles.geometry_calib,'CurrentCharacter')); %get the keyboard character |
---|
| 1264 | if ismember(xx,[8 127])%backspace or delete |
---|
| 1265 | Coord_cell=get(handles.ListCoord,'String'); |
---|
| 1266 | val=get(handles.ListCoord,'Value'); |
---|
| 1267 | if max(val)<numel(Coord_cell) % the last element '...' has not been selected |
---|
| 1268 | Coord_cell(val)=[];%remove the selected line |
---|
| 1269 | set(handles.ListCoord,'Value',min(val)) |
---|
| 1270 | set(handles.ListCoord,'String',Coord_cell) |
---|
| 1271 | ListCoord_Callback(hObject, eventdata, handles) |
---|
| 1272 | MenuPlot_Callback(hObject,eventdata,handles) |
---|
| 1273 | end |
---|
| 1274 | end |
---|
| 1275 | |
---|
| 1276 | %------------------------------------------------------------------------ |
---|
[109] | 1277 | function fileinput=browse_xml(hObject, eventdata, handles) |
---|
| 1278 | %------------------------------------------------------------------------ |
---|
| 1279 | fileinput=[];%default |
---|
| 1280 | oldfile=''; %default |
---|
[116] | 1281 | UserData=get(handles.geometry_calib,'UserData'); |
---|
[114] | 1282 | if isfield(UserData,'XmlInputFile') |
---|
| 1283 | oldfile=UserData.XmlInputFile; |
---|
[109] | 1284 | end |
---|
| 1285 | [FileName, PathName, filterindex] = uigetfile( ... |
---|
| 1286 | {'*.xml;*.mat', ' (*.xml,*.mat)'; |
---|
| 1287 | '*.xml', '.xml files '; ... |
---|
| 1288 | '*.mat', '.mat matlab files '}, ... |
---|
| 1289 | 'Pick a file',oldfile); |
---|
| 1290 | fileinput=[PathName FileName];%complete file name |
---|
| 1291 | testblank=findstr(fileinput,' ');%look for blanks |
---|
| 1292 | if ~isempty(testblank) |
---|
| 1293 | msgbox_uvmat('ERROR','forbidden input file name or path: no blank character allowed') |
---|
| 1294 | return |
---|
| 1295 | end |
---|
| 1296 | sizf=size(fileinput); |
---|
| 1297 | if (~ischar(fileinput)||~isequal(sizf(1),1)),return;end |
---|
[114] | 1298 | UserData.XmlInputFile=fileinput; |
---|
[109] | 1299 | set(handles.geometry_calib,'UserData',UserData)%record current file foer further use of browser |
---|
| 1300 | |
---|
| 1301 | % ----------------------------------------------------------------------- |
---|
[128] | 1302 | function Heading=loadfile(handles,fileinput) |
---|
[109] | 1303 | %------------------------------------------------------------------------ |
---|
[128] | 1304 | Heading=[];%default |
---|
[565] | 1305 | [s,errormsg]=imadoc2struct(fileinput,'Heading','GeometryCalib'); |
---|
[128] | 1306 | if ~isempty(errormsg) |
---|
[502] | 1307 | msgbox_uvmat('ERROR',errormsg) |
---|
[128] | 1308 | return |
---|
| 1309 | end |
---|
| 1310 | if ~isempty(s.Heading) |
---|
| 1311 | Heading=s.Heading; |
---|
| 1312 | end |
---|
| 1313 | |
---|
[116] | 1314 | GeometryCalib=s.GeometryCalib; |
---|
[114] | 1315 | fx=1;fy=1;Cx=0;Cy=0;kc=0; %default |
---|
| 1316 | CoordCell={}; |
---|
| 1317 | Tabchar={};%default |
---|
| 1318 | val_cal=1;%default |
---|
| 1319 | if ~isempty(GeometryCalib) |
---|
| 1320 | % choose the calibration option |
---|
| 1321 | if isfield(GeometryCalib,'CalibrationType') |
---|
| 1322 | calib_list=get(handles.calib_type,'String'); |
---|
| 1323 | for ilist=1:numel(calib_list) |
---|
| 1324 | if strcmp(calib_list{ilist},GeometryCalib.CalibrationType) |
---|
| 1325 | val_cal=ilist; |
---|
| 1326 | break |
---|
| 1327 | end |
---|
| 1328 | end |
---|
| 1329 | end |
---|
| 1330 | display_intrinsic(GeometryCalib,handles)%intrinsic param |
---|
| 1331 | %extrinsic param |
---|
| 1332 | if isfield(GeometryCalib,'Tx_Ty_Tz') |
---|
| 1333 | Tx_Ty_Tz=GeometryCalib.Tx_Ty_Tz; |
---|
| 1334 | set(handles.Tx,'String',num2str(GeometryCalib.Tx_Ty_Tz(1),4)) |
---|
| 1335 | set(handles.Ty,'String',num2str(GeometryCalib.Tx_Ty_Tz(2),4)) |
---|
| 1336 | set(handles.Tz,'String',num2str(GeometryCalib.Tx_Ty_Tz(3),4)) |
---|
| 1337 | end |
---|
| 1338 | if isfield(GeometryCalib,'omc') |
---|
| 1339 | set(handles.Phi,'String',num2str(GeometryCalib.omc(1),4)) |
---|
| 1340 | set(handles.Theta,'String',num2str(GeometryCalib.omc(2),4)) |
---|
| 1341 | set(handles.Psi,'String',num2str(GeometryCalib.omc(3),4)) |
---|
| 1342 | end |
---|
[565] | 1343 | calib=reshape(GeometryCalib.SourceCalib.PointCoord,[],1); |
---|
[109] | 1344 | for ilist=1:numel(calib) |
---|
| 1345 | CoordCell{ilist}=num2str(calib(ilist)); |
---|
| 1346 | end |
---|
| 1347 | CoordCell=reshape(CoordCell,[],5); |
---|
[128] | 1348 | Tabchar=cell2tab(CoordCell,' | ');%transform cells into table ready for display |
---|
[109] | 1349 | MenuPlot_Callback(handles.geometry_calib, [], handles) |
---|
| 1350 | end |
---|
[114] | 1351 | set(handles.calib_type,'Value',val_cal) |
---|
[109] | 1352 | Tabchar=[Tabchar;{'......'}]; |
---|
[114] | 1353 | set(handles.ListCoord,'Value',1) |
---|
| 1354 | set(handles.ListCoord,'String',Tabchar) |
---|
| 1355 | |
---|
[109] | 1356 | if isempty(CoordCell)% allow mouse action by default in the absence of input points |
---|
| 1357 | set(handles.edit_append,'Value',1) |
---|
| 1358 | set(handles.edit_append,'BackgroundColor',[1 1 0]) |
---|
| 1359 | else % does not allow mouse action by default in the presence of input points |
---|
| 1360 | set(handles.edit_append,'Value',0) |
---|
| 1361 | set(handles.edit_append,'BackgroundColor',[0.7 0.7 0.7]) |
---|
| 1362 | end |
---|
| 1363 | |
---|
[114] | 1364 | %------------------------------------------------------------------------ |
---|
| 1365 | %---display calibration intrinsic parameters |
---|
| 1366 | function display_intrinsic(GeometryCalib,handles) |
---|
| 1367 | %------------------------------------------------------------------------ |
---|
| 1368 | fx=[]; |
---|
| 1369 | fy=[]; |
---|
| 1370 | if isfield(GeometryCalib,'fx_fy') |
---|
| 1371 | fx=GeometryCalib.fx_fy(1); |
---|
| 1372 | fy=GeometryCalib.fx_fy(2); |
---|
| 1373 | end |
---|
| 1374 | Cx_Cy=[0 0];%default |
---|
| 1375 | if isfield(GeometryCalib,'Cx_Cy') |
---|
| 1376 | Cx_Cy=GeometryCalib.Cx_Cy; |
---|
| 1377 | end |
---|
| 1378 | kc=0; |
---|
| 1379 | if isfield(GeometryCalib,'kc') |
---|
[121] | 1380 | kc=GeometryCalib.kc; %* GeometryCalib.focal*GeometryCalib.focal; |
---|
[114] | 1381 | end |
---|
| 1382 | set(handles.fx,'String',num2str(fx,5)) |
---|
| 1383 | set(handles.fy,'String',num2str(fy,5)) |
---|
| 1384 | set(handles.Cx,'String',num2str(Cx_Cy(1),'%1.1f')) |
---|
| 1385 | set(handles.Cy,'String',num2str(Cx_Cy(2),'%1.1f')) |
---|
| 1386 | set(handles.kc,'String',num2str(kc,'%1.4f')) |
---|
[109] | 1387 | |
---|
| 1388 | |
---|
[507] | 1389 | % --- Executes when user attempts to close geometry_calib. |
---|
| 1390 | function geometry_calib_CloseRequestFcn(hObject, eventdata, handles) |
---|
| 1391 | % hObject handle to geometry_calib (see GCBO) |
---|
| 1392 | % eventdata reserved - to be defined in a future version of MATLAB |
---|
| 1393 | % handles structure with handles and user data (see GUIDATA) |
---|
| 1394 | |
---|
| 1395 | % Hint: delete(hObject) closes the figure |
---|
| 1396 | delete(hObject); |
---|