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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4 | % |
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5 | %OUTPUT: |
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6 | % hgeometry_calib=current handles of the GUI geometry_calib.fig |
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7 | % |
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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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12 | %A%AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA |
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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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52 | % Last Modified by GUIDE v2.5 05-Oct-2010 13:47:00 |
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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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62 | if nargin && ischar(varargin{1}) && ~isempty(regexp(varargin{1},'_Callback','once')) |
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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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79 | %------------------------------------------------------------------------ |
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80 | function geometry_calib_OpeningFcn(hObject, eventdata, handles,inputfile,pos) |
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81 | %------------------------------------------------------------------------ |
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82 | % Choose default command line output for geometry_calib |
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83 | |
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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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88 | set(hObject,'DeleteFcn',{@closefcn})% |
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89 | set(hObject,'WindowButtonDownFcn',{'mouse_alt_gui',handles}) % allows mouse action with right button (zoom for uicontrol display) |
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90 | |
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91 | %set the position of the interface |
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92 | if exist('pos','var')&& length(pos)>=4 |
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93 | % %pos_gui=get(hObject,'Position'); |
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94 | % pos_gui(1)=pos(1); |
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95 | % pos_gui(2)=pos(2); |
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96 | set(hObject,'Position',pos); |
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97 | end |
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98 | |
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99 | %set menu of calibration options |
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100 | set(handles.calib_type,'String',{'rescale';'linear';'3D_linear';'3D_quadr';'3D_extrinsic'}) |
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101 | inputxml=''; |
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102 | if exist('inputfile','var')&& ~isempty(inputfile) |
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103 | struct.XmlInputFile=inputfile; |
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104 | [Pathsub,RootFile,field_count,str2,str_a,str_b,ext]=name2display(inputfile); |
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105 | if ~strcmp(ext,'.xml') |
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106 | inputfile=[fullfile(Pathsub,RootFile) '.xml'];%xml file corresponding to the input file |
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107 | end |
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108 | set(handles.ListCoord,'String',{'......'}) |
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109 | if exist(inputfile,'file') |
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110 | Heading=loadfile(handles,inputfile);% load the point coordiantes existing in the xml file |
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111 | if isfield(Heading,'Campaign')&& ischar(Heading.Campaign) |
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112 | struct.Campaign=Heading.Campaign; |
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113 | end |
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114 | end |
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115 | set(hObject,'UserData',struct) |
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116 | end |
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117 | |
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118 | set(handles.ListCoord,'KeyPressFcn',{@key_press_fcn,handles})%set keyboard action function |
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119 | |
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120 | |
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121 | %------------------------------------------------------------------------ |
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122 | % --- Outputs from this function are returned to the command line. |
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123 | function varargout = geometry_calib_OutputFcn(hObject, eventdata, handles) |
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124 | %------------------------------------------------------------------------ |
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125 | % Get default command line output from handles structure |
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126 | varargout{1} = handles.output; |
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127 | varargout{2}=handles; |
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128 | % |
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129 | %------------------------------------------------------------------------ |
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130 | % executed when closing: set the parent interface button to value 0 |
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131 | function closefcn(gcbo,eventdata) |
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132 | %------------------------------------------------------------------------ |
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133 | huvmat=findobj(allchild(0),'Name','uvmat'); |
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134 | if ~isempty(huvmat) |
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135 | handles=guidata(huvmat); |
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136 | % set(handles.MenuMask,'enable','on') |
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137 | % set(handles.MenuGrid,'enable','on') |
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138 | % set(handles.MenuObject,'enable','on') |
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139 | % set(handles.MenuEdit,'enable','on') |
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140 | % set(handles.edit,'enable','on') |
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141 | hobject=findobj(handles.axes3,'tag','calib_points'); |
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142 | if ~isempty(hobject) |
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143 | delete(hobject) |
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144 | end |
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145 | hobject=findobj(handles.axes3,'tag','calib_marker'); |
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146 | if ~isempty(hobject) |
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147 | delete(hobject) |
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148 | end |
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149 | end |
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150 | |
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151 | %------------------------------------------------------------------------ |
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152 | % --- Executes on button press in calibrate_lin. |
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153 | function APPLY_Callback(hObject, eventdata, handles) |
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154 | %------------------------------------------------------------------------ |
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155 | %read the current calibration points |
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156 | Coord_cell=get(handles.ListCoord,'String'); |
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157 | Object=read_geometry_calib(Coord_cell); |
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158 | Coord=Object.Coord; |
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159 | % apply the calibration, whose type is selected in handles.calib_type |
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160 | if ~isempty(Coord) |
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161 | calib_cell=get(handles.calib_type,'String'); |
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162 | val=get(handles.calib_type,'Value'); |
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163 | GeometryCalib=feval(['calib_' calib_cell{val}],Coord,handles); |
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164 | else |
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165 | msgbox_uvmat('ERROR','No calibration points, abort') |
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166 | return |
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167 | end |
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168 | Z_plane=[]; |
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169 | if ~isempty(Coord) |
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170 | %check error |
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171 | X=Coord(:,1); |
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172 | Y=Coord(:,2); |
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173 | Z=Coord(:,3); |
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174 | x_ima=Coord(:,4); |
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175 | y_ima=Coord(:,5); |
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176 | [Xpoints,Ypoints]=px_XYZ(GeometryCalib,X,Y,Z); |
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177 | GeometryCalib.ErrorRms(1)=sqrt(mean((Xpoints-x_ima).*(Xpoints-x_ima))); |
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178 | [GeometryCalib.ErrorMax(1),index(1)]=max(abs(Xpoints-x_ima)); |
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179 | GeometryCalib.ErrorRms(2)=sqrt(mean((Ypoints-y_ima).*(Ypoints-y_ima))); |
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180 | [GeometryCalib.ErrorMax(2),index(2)]=max(abs(Ypoints-y_ima)); |
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181 | [EM,ind_dim]=max(GeometryCalib.ErrorMax); |
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182 | index=index(ind_dim); |
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183 | %set the Z position of the reference plane used for calibration |
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184 | if isequal(max(Z),min(Z))%Z constant |
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185 | Z_plane=Z(1); |
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186 | GeometryCalib.NbSlice=1; |
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187 | GeometryCalib.SliceCoord=[0 0 Z_plane]; |
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188 | end |
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189 | end |
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190 | %set the coordinate unit |
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191 | unitlist=get(handles.CoordUnit,'String'); |
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192 | unit=unitlist{get(handles.CoordUnit,'value')}; |
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193 | GeometryCalib.CoordUnit=unit; |
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194 | %record the points |
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195 | GeometryCalib.SourceCalib.PointCoord=Coord; |
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196 | display_intrinsic(GeometryCalib,handles)%display calibration intrinsic parameters |
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197 | |
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198 | % Display extrinsinc parameters (rotation and translation of camera with respect to the phys coordiantes) |
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199 | set(handles.Tx,'String',num2str(GeometryCalib.Tx_Ty_Tz(1),4)) |
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200 | set(handles.Ty,'String',num2str(GeometryCalib.Tx_Ty_Tz(2),4)) |
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201 | set(handles.Tz,'String',num2str(GeometryCalib.Tx_Ty_Tz(3),4)) |
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202 | set(handles.Phi,'String',num2str(GeometryCalib.omc(1),4)) |
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203 | set(handles.Theta,'String',num2str(GeometryCalib.omc(2),4)) |
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204 | set(handles.Psi,'String',num2str(GeometryCalib.omc(3),4)) |
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205 | |
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206 | % store the calibration data, by default in the xml file of the currently displayed image |
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207 | huvmat=findobj(allchild(0),'Name','uvmat'); |
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208 | UvData=get(huvmat,'UserData'); |
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209 | NbSlice_j=1;%default |
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210 | ZStart=Z_plane; |
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211 | ZEnd=Z_plane; |
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212 | volume_scan='n'; |
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213 | if isfield(UvData,'XmlData') |
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214 | UvData.XmlData |
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215 | if isfield(UvData.XmlData,'TranslationMotor') |
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216 | NbSlice_j=UvData.XmlData.TranslationMotor.Nbslice; |
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217 | ZStart=UvData.XmlData.TranslationMotor.ZStart/10; |
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218 | ZEnd=UvData.XmlData.TranslationMotor.ZEnd/10; |
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219 | volume_scan='y'; |
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220 | end |
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221 | end |
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222 | hhuvmat=guidata(huvmat);%handles of elements in the GUI uvmat |
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223 | RootPath=''; |
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224 | RootFile=''; |
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225 | if ~isempty(hhuvmat.RootPath)&& ~isempty(hhuvmat.RootFile) |
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226 | testhandle=1; |
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227 | RootPath=get(hhuvmat.RootPath,'String'); |
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228 | RootFile=get(hhuvmat.RootFile,'String'); |
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229 | filebase=fullfile(RootPath,RootFile); |
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230 | outputfile=[filebase '.xml'];%xml file associated with the currently displayed image |
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231 | else |
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232 | question={'save the calibration data and point coordinates in'}; |
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233 | def={fullfile(RootPath,'ObjectCalib.xml')}; |
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234 | options.Resize='on'; |
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235 | answer=inputdlg(question,'save average in a new file',1,def,options); |
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236 | outputfile=answer{1}; |
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237 | end |
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238 | answer=msgbox_uvmat('INPUT_Y-N',{[outputfile ' updated with calibration data'];... |
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239 | ['Error rms (along x,y)=' num2str(GeometryCalib.ErrorRms) ' pixels'];... |
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240 | ['Error max (along x,y)=' num2str(GeometryCalib.ErrorMax) ' pixels']}); |
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241 | |
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242 | %% record the calibration parameters and display the current image of uvmat in the new phys coordinates |
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243 | if strcmp(answer,'Yes') |
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244 | if strcmp(calib_cell{val}(1:2),'3D')%set the plane position for 3D (projection) calibration |
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245 | 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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246 | input_val=[{num2str(ZEnd)} {num2str(ZStart)} {num2str(ZStart)} {'1.333'} num2str(NbSlice_j) {volume_scan} {'0'} {'0'}]; |
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247 | answer=inputdlg(input_key,'slice position(s)',ones(1,8), input_val,'on'); |
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248 | %answer_1=msgbox_uvmat('INPUT_TXT',' Z= ',num2str(Z_plane)); |
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249 | GeometryCalib.NbSlice=str2double(answer{5}); |
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250 | GeometryCalib.VolumeScan=answer{6}; |
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251 | if isempty(answer) |
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252 | Z_plane=0; %default |
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253 | else |
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254 | Z_plane=linspace(str2double(answer{1}),str2double(answer{2}),GeometryCalib.NbSlice); |
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255 | end |
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256 | GeometryCalib.SliceCoord=Z_plane'*[0 0 1]; |
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257 | GeometryCalib.SliceAngle(:,3)=0; |
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258 | GeometryCalib.SliceAngle(:,2)=str2double(answer{7})*ones(GeometryCalib.NbSlice,1);%rotation around y axis (to generalise) |
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259 | GeometryCalib.SliceAngle(:,1)=str2double(answer{8})*ones(GeometryCalib.NbSlice,1);%rotation around x axis (to generalise) |
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260 | GeometryCalib.InterfaceCoord=[0 0 str2double(answer{3})]; |
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261 | GeometryCalib.RefractionIndex=str2double(answer{4}); |
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262 | end |
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263 | errormsg=update_imadoc(GeometryCalib,outputfile);% introduce the calibration data in the xml file |
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264 | if ~strcmp(errormsg,'') |
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265 | msgbox_uvmat('ERROR',errormsg); |
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266 | end |
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267 | |
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268 | %display image with new calibration in the currently opened uvmat interface |
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269 | hhh=findobj(hhuvmat.axes3,'Tag','calib_marker');% delete calib points and markers |
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270 | if ~isempty(hhh) |
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271 | delete(hhh); |
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272 | end |
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273 | hhh=findobj(hhuvmat.axes3,'Tag','calib_points'); |
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274 | if ~isempty(hhh) |
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275 | delete(hhh); |
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276 | end |
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277 | set(hhuvmat.FixLimits,'Value',0)% put FixedLimits option to 'off' |
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278 | set(hhuvmat.FixLimits,'BackgroundColor',[0.7 0.7 0.7]) |
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279 | UserData=get(handles.geometry_calib,'UserData'); |
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280 | UserData.XmlInputFile=outputfile;%save the current xml file name |
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281 | set(handles.geometry_calib,'UserData',UserData) |
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282 | uvmat('RootPath_Callback',hObject,eventdata,hhuvmat); %file input with xml reading in uvmat, show the image in phys coordinates |
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283 | MenuPlot_Callback(hObject, eventdata, handles) |
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284 | set(handles.ListCoord,'Value',index)% indicate in the list the point with max deviation (possible mistake) |
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285 | ListCoord_Callback(hObject, eventdata, handles) |
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286 | figure(handles.geometry_calib) |
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287 | end |
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288 | |
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289 | %------------------------------------------------------------------ |
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290 | % --- Executes on button press in calibrate_lin. |
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291 | |
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292 | function REPLICATE_Callback(hObject, eventdata, handles) |
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293 | %------------------------------------------------------------------------ |
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294 | |
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295 | %% Apply calibration |
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296 | calib_cell=get(handles.calib_type,'String'); %#ok<NASGU> |
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297 | val=get(handles.calib_type,'Value'); %#ok<NASGU> |
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298 | |
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299 | %read the current calibration points |
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300 | Coord_cell=get(handles.ListCoord,'String'); |
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301 | Object=read_geometry_calib(Coord_cell); |
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302 | Coord=Object.Coord; |
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303 | |
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304 | % apply the calibration, whose type is selected in handles.calib_type |
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305 | if ~isempty(Coord) |
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306 | calib_cell=get(handles.calib_type,'String'); |
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307 | val=get(handles.calib_type,'Value'); |
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308 | GeometryCalib=feval(['calib_' calib_cell{val}],Coord,handles); |
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309 | else |
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310 | msgbox_uvmat('ERROR','No calibration points, abort') |
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311 | return |
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312 | end |
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313 | |
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314 | if ~isempty(Coord) |
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315 | %check error |
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316 | X=Coord(:,1); |
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317 | Y=Coord(:,2); |
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318 | Z=Coord(:,3); |
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319 | x_ima=Coord(:,4); |
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320 | y_ima=Coord(:,5); |
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321 | [Xpoints,Ypoints]=px_XYZ(GeometryCalib,X,Y,Z); |
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322 | GeometryCalib.ErrorRms(1)=sqrt(mean((Xpoints-x_ima).*(Xpoints-x_ima))); |
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323 | [GeometryCalib.ErrorMax(1),index(1)]=max(abs(Xpoints-x_ima)); |
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324 | GeometryCalib.ErrorRms(2)=sqrt(mean((Ypoints-y_ima).*(Ypoints-y_ima))); |
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325 | [GeometryCalib.ErrorMax(2),index(2)]=max(abs(Ypoints-y_ima)); |
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326 | [EM,ind_dim]=max(GeometryCalib.ErrorMax); |
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327 | % index=index(ind_dim); |
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328 | %set the Z position of the reference plane used for calibration |
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329 | Z_plane=[]; |
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330 | if isequal(max(Z),min(Z)) |
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331 | Z_plane=Z(1); |
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332 | end |
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333 | answer_1=msgbox_uvmat('INPUT_TXT',' Z= ',num2str(Z_plane)); |
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334 | Z_plane=str2double(answer_1); |
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335 | GeometryCalib.NbSlice=1; |
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336 | GeometryCalib.SliceCoord=[0 0 Z_plane]; |
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337 | %set the coordinate unit |
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338 | unitlist=get(handles.CoordUnit,'String'); |
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339 | unit=unitlist{get(handles.CoordUnit,'value')}; |
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340 | GeometryCalib.CoordUnit=unit; |
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341 | %record the points |
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342 | GeometryCalib.SourceCalib.PointCoord=Coord; |
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343 | end |
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344 | |
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345 | %% display calibration paprameters |
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346 | display_intrinsic(GeometryCalib,handles)%display calibration intrinsic parameters |
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347 | |
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348 | % Display extrinsinc parameters (rotation and translation of camera with respect to the phys coordiantes) |
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349 | set(handles.Tx,'String',num2str(GeometryCalib.Tx_Ty_Tz(1),4)) |
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350 | set(handles.Ty,'String',num2str(GeometryCalib.Tx_Ty_Tz(2),4)) |
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351 | set(handles.Tz,'String',num2str(GeometryCalib.Tx_Ty_Tz(3),4)) |
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352 | set(handles.Phi,'String',num2str(GeometryCalib.omc(1),4)) |
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353 | set(handles.Theta,'String',num2str(GeometryCalib.omc(2),4)) |
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354 | set(handles.Psi,'String',num2str(GeometryCalib.omc(3),4)) |
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355 | |
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356 | %% open the GUI dataview |
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357 | h_dataview=findobj(allchild(0),'name','dataview'); |
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358 | if ~isempty(h_dataview) |
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359 | delete(h_dataview) |
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360 | end |
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361 | CalibData=get(handles.geometry_calib,'UserData');%read the calibration image source on the interface userdata |
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362 | InputFile=''; |
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363 | if isfield(CalibData,'XmlInputFile') |
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364 | InputDir=fileparts(CalibData.XmlInputFile); |
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365 | [InputDir,DirName]=fileparts(InputDir); |
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366 | end |
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367 | SubCampaignTest='n'; %default |
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368 | testup=0; |
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369 | if isfield(CalibData,'SubCampaign') |
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370 | SubCampaignTest='y'; |
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371 | dir_ref=CalibData.SubCampaign; |
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372 | testup=1; |
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373 | elseif isfield(CalibData,'Campaign') |
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374 | dir_ref=CalibData.Campaign; |
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375 | testup=1; |
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376 | end |
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377 | while testup |
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378 | [InputDir,DirName]=fileparts(InputDir); |
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379 | if strcmp(DirName,dir_ref) |
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380 | break |
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381 | end |
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382 | end |
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383 | InputDir=fullfile(InputDir,DirName); |
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384 | answer=msgbox_uvmat('INPUT_TXT','Campaign ?',InputDir); |
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385 | if strcmp(answer,'Cancel') |
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386 | return |
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387 | end |
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388 | |
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389 | dataview(answer,SubCampaignTest,GeometryCalib); |
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390 | |
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391 | % if isfield(Heading,'Device') && isequal([filename ext],Heading.Device) |
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392 | % [XmlInput,filename,ext]=fileparts(XmlInput); |
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393 | % Device=Heading.Device; |
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394 | % end |
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395 | % if isfield(Heading,'Experiment') && isequal([filename ext],Heading.Experiment) |
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396 | % [PP,filename,ext]=fileparts(XmlInput); |
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397 | % end |
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398 | % testinput=0; |
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399 | % if isfield(Heading,'SubCampaign') && isequal([filename ext],Heading.SubCampaign) |
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400 | % SubCampaignTest='y'; |
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401 | % testinput=1; |
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402 | % elseif isfield(Heading,'Campaign') && isequal([filename ext],Heading.Campaign) |
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403 | % testinput=1; |
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404 | % % end |
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405 | % end |
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406 | % if ~testinput |
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407 | % filename='PROJETS';%default |
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408 | % if isfield(CalibData,'XmlInputFile') |
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409 | % [pp,filename]=fileparts(CalibData.XmlInputFile); |
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410 | % end |
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411 | % while ~isequal(filename,'PROJETS') && numel(filename)>1 |
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412 | % filename_1=filename; |
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413 | % pp_1=pp; |
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414 | % [pp,filename]=fileparts(pp); |
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415 | % end |
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416 | % XmlInput=fullfile(pp_1,filename_1); |
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417 | % testinput=1; |
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418 | % end |
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419 | % if testinput |
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420 | % outcome=dataview(XmlInput,SubCampaignTest,GeometryCalib); |
---|
421 | % end |
---|
422 | |
---|
423 | %------------------------------------------------------------------------ |
---|
424 | % determine the parameters for a calibration by an affine function (rescaling and offset, no rotation) |
---|
425 | function GeometryCalib=calib_rescale(Coord,handles) |
---|
426 | %------------------------------------------------------------------------ |
---|
427 | X=Coord(:,1); |
---|
428 | Y=Coord(:,2);% Z not used |
---|
429 | x_ima=Coord(:,4); |
---|
430 | y_ima=Coord(:,5); |
---|
431 | [px,sx]=polyfit(X,x_ima,1); |
---|
432 | [py,sy]=polyfit(Y,y_ima,1); |
---|
433 | T_x=px(2); |
---|
434 | T_y=py(2); |
---|
435 | GeometryCalib.CalibrationType='rescale'; |
---|
436 | GeometryCalib.fx_fy=[px(1) py(1)];%.fx_fy corresponds to pxcm along x and y |
---|
437 | GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function |
---|
438 | GeometryCalib.Tx_Ty_Tz=[px(2)/px(1) py(2)/py(1) 1]; |
---|
439 | %GeometryCalib.R=[1,0,0;0,1,0;0,0,0]; |
---|
440 | GeometryCalib.omc=[0 0 0]; |
---|
441 | |
---|
442 | %------------------------------------------------------------------------ |
---|
443 | % determine the parameters for a calibration by a linear transform matrix (rescale and rotation) |
---|
444 | |
---|
445 | |
---|
446 | function GeometryCalib=calib_linear(Coord,handles) |
---|
447 | %------------------------------------------------------------------------ |
---|
448 | X=Coord(:,1); |
---|
449 | Y=Coord(:,2);% Z not used |
---|
450 | x_ima=Coord(:,4); |
---|
451 | y_ima=Coord(:,5); |
---|
452 | XY_mat=[ones(size(X)) X Y]; |
---|
453 | a_X1=XY_mat\x_ima; %transformation matrix for X |
---|
454 | % x1=XY_mat*a_X1;%reconstruction |
---|
455 | % err_X1=max(abs(x1-x_ima));%error |
---|
456 | a_Y1=XY_mat\y_ima;%transformation matrix for X |
---|
457 | % y1=XY_mat*a_Y1; |
---|
458 | % err_Y1=max(abs(y1-y_ima));%error |
---|
459 | % R=[a_X1(2),a_X1(3),0;a_Y1(2),a_Y1(3),0;0,0,1]; |
---|
460 | R=[a_X1(2),a_X1(3);a_Y1(2),a_Y1(3)]; |
---|
461 | epsilon=sign(det(R)); |
---|
462 | norm=abs(det(R)); |
---|
463 | GeometryCalib.CalibrationType='linear'; |
---|
464 | if (a_X1(2)/a_Y1(3))>0 |
---|
465 | GeometryCalib.fx_fy(1)=sqrt((a_X1(2)/a_Y1(3))*norm); |
---|
466 | else |
---|
467 | GeometryCalib.fx_fy(1)=-sqrt(-(a_X1(2)/a_Y1(3))*norm); |
---|
468 | end |
---|
469 | GeometryCalib.fx_fy(2)=(a_Y1(3)/a_X1(2))*GeometryCalib.fx_fy(1); |
---|
470 | GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function |
---|
471 | %GeometryCalib.Tx_Ty_Tz=[a_X1(1) a_Y1(1) 1]; |
---|
472 | GeometryCalib.Tx_Ty_Tz=[a_X1(1)/GeometryCalib.fx_fy(1) a_Y1(1)/GeometryCalib.fx_fy(2) 1]; |
---|
473 | R(1,:)=R(1,:)/GeometryCalib.fx_fy(1); |
---|
474 | R(2,:)=R(2,:)/GeometryCalib.fx_fy(2); |
---|
475 | R=[R;[0 0]]; |
---|
476 | GeometryCalib.R=[R [0;0;-epsilon]]; |
---|
477 | GeometryCalib.omc=(180/pi)*[acos(GeometryCalib.R(1,1)) 0 0]; |
---|
478 | %------------------------------------------------------------------------ |
---|
479 | % determine the tsai parameters for a view normal to the grid plane |
---|
480 | % NOT USED |
---|
481 | function GeometryCalib=calib_normal(Coord,handles) |
---|
482 | %------------------------------------------------------------------------ |
---|
483 | Calib.f1=str2num(get(handles.fx,'String')); |
---|
484 | Calib.f2=str2num(get(handles.fy,'String')); |
---|
485 | Calib.k=str2num(get(handles.kc,'String')); |
---|
486 | Calib.Cx=str2num(get(handles.Cx,'String')); |
---|
487 | Calib.Cy=str2num(get(handles.Cy,'String')); |
---|
488 | %default |
---|
489 | if isempty(Calib.f1) |
---|
490 | Calib.f1=25/0.012; |
---|
491 | end |
---|
492 | if isempty(Calib.f2) |
---|
493 | Calib.f2=25/0.012; |
---|
494 | end |
---|
495 | if isempty(Calib.k) |
---|
496 | Calib.k=0; |
---|
497 | end |
---|
498 | if isempty(Calib.Cx)||isempty(Calib.Cy) |
---|
499 | huvmat=findobj(allchild(0),'Tag','uvmat'); |
---|
500 | hhuvmat=guidata(huvmat); |
---|
501 | Calib.Cx=str2num(get(hhuvmat.npx,'String'))/2; |
---|
502 | Calib.Cx=str2num(get(hhuvmat.npy,'String'))/2; |
---|
503 | end |
---|
504 | %tsai parameters |
---|
505 | Calib.dpx=0.012;%arbitrary |
---|
506 | Calib.dpy=0.012; |
---|
507 | Calib.sx=Calib.f1*Calib.dpx/(Calib.f2*Calib.dpy); |
---|
508 | Calib.f=Calib.f2*Calib.dpy; |
---|
509 | Calib.kappa1=Calib.k/(Calib.f*Calib.f); |
---|
510 | |
---|
511 | %initial guess |
---|
512 | X=Coord(:,1); |
---|
513 | Y=Coord(:,2); |
---|
514 | Zmean=mean(Coord(:,3)); |
---|
515 | x_ima=Coord(:,4)-Calib.Cx; |
---|
516 | y_ima=Coord(:,5)-Calib.Cy; |
---|
517 | XY_mat=[ones(size(X)) X Y]; |
---|
518 | a_X1=XY_mat\x_ima; %transformation matrix for X |
---|
519 | a_Y1=XY_mat\y_ima;%transformation matrix for Y |
---|
520 | R=[a_X1(2),a_X1(3),0;a_Y1(2),a_Y1(3),0;0,0,-1];% rotation+ z axis reversal (upward) |
---|
521 | norm=sqrt(det(-R)); |
---|
522 | calib_param(1)=0;% quadratic distortion |
---|
523 | calib_param(2)=a_X1(1); |
---|
524 | calib_param(3)=a_Y1(1); |
---|
525 | calib_param(4)=Calib.f/(norm*Calib.dpx)-R(3,3)*Zmean; |
---|
526 | calib_param(5)=angle(a_X1(2)+1i*a_X1(3)); |
---|
527 | display(['initial guess=' num2str(calib_param)]) |
---|
528 | |
---|
529 | %optimise the parameters: minimisation of error |
---|
530 | calib_param = fminsearch(@(calib_param) error_calib(calib_param,Calib,Coord),calib_param); |
---|
531 | |
---|
532 | GeometryCalib.CalibrationType='tsai_normal'; |
---|
533 | GeometryCalib.focal=Calib.f; |
---|
534 | GeometryCalib.dpx_dpy=[Calib.dpx Calib.dpy]; |
---|
535 | GeometryCalib.Cx_Cy=[Calib.Cx Calib.Cy]; |
---|
536 | GeometryCalib.sx=Calib.sx; |
---|
537 | GeometryCalib.kappa1=calib_param(1); |
---|
538 | GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function |
---|
539 | GeometryCalib.Tx_Ty_Tz=[calib_param(2) calib_param(3) calib_param(4)]; |
---|
540 | alpha=calib_param(5); |
---|
541 | GeometryCalib.R=[cos(alpha) sin(alpha) 0;-sin(alpha) cos(alpha) 0;0 0 -1]; |
---|
542 | |
---|
543 | %------------------------------------------------------------------------ |
---|
544 | function GeometryCalib=calib_3D_linear(Coord,handles) |
---|
545 | %------------------------------------------------------------------ |
---|
546 | path_uvmat=which('uvmat');% check the path detected for source file uvmat |
---|
547 | path_UVMAT=fileparts(path_uvmat); %path to UVMAT |
---|
548 | huvmat=findobj(allchild(0),'Tag','uvmat'); |
---|
549 | hhuvmat=guidata(huvmat); |
---|
550 | coord_files=get(handles.coord_files,'String'); |
---|
551 | if ischar(coord_files) |
---|
552 | coord_files={coord_files}; |
---|
553 | end |
---|
554 | if isempty(coord_files{1}) || isequal(coord_files,{''}) |
---|
555 | coord_files={}; |
---|
556 | end |
---|
557 | %retrieve the calibration points stored in the files listed in the popup list coord_files |
---|
558 | x_1=Coord(:,4:5)';%px coordinates of the ref points |
---|
559 | nx=str2num(get(hhuvmat.npx,'String')); |
---|
560 | ny=str2num(get(hhuvmat.npy,'String')); |
---|
561 | x_1(2,:)=ny-x_1(2,:);%reverse the y image coordinates |
---|
562 | X_1=Coord(:,1:3)';%phys coordinates of the ref points |
---|
563 | n_ima=numel(coord_files)+1; |
---|
564 | if ~isempty(coord_files) |
---|
565 | msgbox_uvmat('CONFIRMATION',['The xy coordinates of the calibration points in ' num2str(n_ima) ' planes will be used']) |
---|
566 | for ifile=1:numel(coord_files) |
---|
567 | t=xmltree(coord_files{ifile}); |
---|
568 | s=convert(t);%convert to matlab structure |
---|
569 | if isfield(s,'GeometryCalib') |
---|
570 | if isfield(s.GeometryCalib,'SourceCalib') |
---|
571 | if isfield(s.GeometryCalib.SourceCalib,'PointCoord') |
---|
572 | PointCoord=s.GeometryCalib.SourceCalib.PointCoord; |
---|
573 | Coord_file=zeros(length(PointCoord),5);%default |
---|
574 | for i=1:length(PointCoord) |
---|
575 | line=str2num(PointCoord{i}); |
---|
576 | Coord_file(i,4:5)=line(4:5);%px x |
---|
577 | Coord_file(i,1:3)=line(1:3);%phys x |
---|
578 | end |
---|
579 | eval(['x_' num2str(ifile+1) '=Coord_file(:,4:5)'';']); |
---|
580 | eval(['x_' num2str(ifile+1) '(2,:)=ny-x_' num2str(ifile+1) '(2,:);' ]); |
---|
581 | eval(['X_' num2str(ifile+1) '=Coord_file(:,1:3)'';']); |
---|
582 | end |
---|
583 | end |
---|
584 | end |
---|
585 | end |
---|
586 | end |
---|
587 | n_ima=numel(coord_files)+1; |
---|
588 | est_dist=[0;0;0;0;0]; |
---|
589 | est_aspect_ratio=0; |
---|
590 | est_fc=[1;1]; |
---|
591 | %fc=[25;25]/0.012; |
---|
592 | center_optim=0; |
---|
593 | run(fullfile(path_UVMAT,'toolbox_calib','go_calib_optim')); |
---|
594 | GeometryCalib.CalibrationType='3D_linear'; |
---|
595 | GeometryCalib.fx_fy=fc'; |
---|
596 | %GeometryCalib.focal=fc(2); |
---|
597 | %GeometryCalib.dpx_dpy=[1 1]; |
---|
598 | GeometryCalib.Cx_Cy=cc'; |
---|
599 | %GeometryCalib.sx=fc(1)/fc(2); |
---|
600 | GeometryCalib.kc=kc(1); |
---|
601 | %GeometryCalib.kappa1=-kc(1)/fc(2)^2; |
---|
602 | GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function |
---|
603 | GeometryCalib.Tx_Ty_Tz=Tc_1'; |
---|
604 | GeometryCalib.R=Rc_1; |
---|
605 | GeometryCalib.R(2,1:3)=-GeometryCalib.R(2,1:3);%inversion of the y image coordinate |
---|
606 | GeometryCalib.Tx_Ty_Tz(2)=-GeometryCalib.Tx_Ty_Tz(2);%inversion of the y image coordinate |
---|
607 | GeometryCalib.Cx_Cy(2)=ny-GeometryCalib.Cx_Cy(2);%inversion of the y image coordinate |
---|
608 | GeometryCalib.omc=(180/pi)*omc_1;%angles in degrees |
---|
609 | GeometryCalib.ErrorRMS=[]; |
---|
610 | GeometryCalib.ErrorMax=[]; |
---|
611 | |
---|
612 | %------------------------------------------------------------------------ |
---|
613 | function GeometryCalib=calib_3D_quadr(Coord,handles) |
---|
614 | %------------------------------------------------------------------ |
---|
615 | |
---|
616 | path_uvmat=which('uvmat');% check the path detected for source file uvmat |
---|
617 | path_UVMAT=fileparts(path_uvmat); %path to UVMAT |
---|
618 | huvmat=findobj(allchild(0),'Tag','uvmat'); |
---|
619 | hhuvmat=guidata(huvmat); |
---|
620 | % check_cond=0; |
---|
621 | coord_files=get(handles.coord_files,'String'); |
---|
622 | if ischar(coord_files) |
---|
623 | coord_files={coord_files}; |
---|
624 | end |
---|
625 | if isempty(coord_files{1}) || isequal(coord_files,{''}) |
---|
626 | coord_files={}; |
---|
627 | end |
---|
628 | |
---|
629 | %retrieve the calibration points stored in the files listed in the popup list coord_files |
---|
630 | x_1=Coord(:,4:5)';%px coordinates of the ref points |
---|
631 | nx=str2num(get(hhuvmat.npx,'String')); |
---|
632 | ny=str2num(get(hhuvmat.npy,'String')); |
---|
633 | x_1(2,:)=ny-x_1(2,:);%reverse the y image coordinates |
---|
634 | X_1=Coord(:,1:3)';%phys coordinates of the ref points |
---|
635 | n_ima=numel(coord_files)+1; |
---|
636 | if ~isempty(coord_files) |
---|
637 | msgbox_uvmat('CONFIRMATION',['The xy coordinates of the calibration points in ' num2str(n_ima) ' planes will be used']) |
---|
638 | for ifile=1:numel(coord_files) |
---|
639 | t=xmltree(coord_files{ifile}); |
---|
640 | s=convert(t);%convert to matlab structure |
---|
641 | if isfield(s,'GeometryCalib') |
---|
642 | if isfield(s.GeometryCalib,'SourceCalib') |
---|
643 | if isfield(s.GeometryCalib.SourceCalib,'PointCoord') |
---|
644 | PointCoord=s.GeometryCalib.SourceCalib.PointCoord; |
---|
645 | Coord_file=zeros(length(PointCoord),5);%default |
---|
646 | for i=1:length(PointCoord) |
---|
647 | line=str2num(PointCoord{i}); |
---|
648 | Coord_file(i,4:5)=line(4:5);%px x |
---|
649 | Coord_file(i,1:3)=line(1:3);%phys x |
---|
650 | end |
---|
651 | eval(['x_' num2str(ifile+1) '=Coord_file(:,4:5)'';']); |
---|
652 | eval(['x_' num2str(ifile+1) '(2,:)=ny-x_' num2str(ifile+1) '(2,:);' ]); |
---|
653 | eval(['X_' num2str(ifile+1) '=Coord_file(:,1:3)'';']); |
---|
654 | end |
---|
655 | end |
---|
656 | end |
---|
657 | end |
---|
658 | end |
---|
659 | n_ima=numel(coord_files)+1; |
---|
660 | est_dist=[1;0;0;0;0]; |
---|
661 | est_aspect_ratio=1; |
---|
662 | %est_fc=[0;0]; |
---|
663 | %fc=[25;25]/0.012; |
---|
664 | center_optim=0; |
---|
665 | run(fullfile(path_UVMAT,'toolbox_calib','go_calib_optim')); |
---|
666 | |
---|
667 | GeometryCalib.CalibrationType='3D_quadr'; |
---|
668 | GeometryCalib.fx_fy=fc'; |
---|
669 | %GeometryCalib.focal=fc(2); |
---|
670 | %GeometryCalib.dpx_dpy=[1 1]; |
---|
671 | GeometryCalib.Cx_Cy=cc'; |
---|
672 | %GeometryCalib.sx=fc(1)/fc(2); |
---|
673 | GeometryCalib.kc=kc(1); |
---|
674 | %GeometryCalib.kappa1=-kc(1)/fc(2)^2; |
---|
675 | GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function |
---|
676 | GeometryCalib.Tx_Ty_Tz=Tc_1'; |
---|
677 | GeometryCalib.R=Rc_1; |
---|
678 | GeometryCalib.R(2,1:3)=-GeometryCalib.R(2,1:3);%inversion of the y image coordinate |
---|
679 | GeometryCalib.Tx_Ty_Tz(2)=-GeometryCalib.Tx_Ty_Tz(2);%inversion of the y image coordinate |
---|
680 | GeometryCalib.Cx_Cy(2)=ny-GeometryCalib.Cx_Cy(2);%inversion of the y image coordinate |
---|
681 | GeometryCalib.omc=(180/pi)*omc_1;%angles in degrees |
---|
682 | GeometryCalib.ErrorRMS=[]; |
---|
683 | GeometryCalib.ErrorMax=[]; |
---|
684 | |
---|
685 | |
---|
686 | %------------------------------------------------------------------------ |
---|
687 | function GeometryCalib=calib_3D_extrinsic(Coord,handles) |
---|
688 | %------------------------------------------------------------------ |
---|
689 | path_uvmat=which('geometry_calib');% check the path detected for source file uvmat |
---|
690 | path_UVMAT=fileparts(path_uvmat); %path to UVMAT |
---|
691 | x_1=double(Coord(:,4:5)');%image coordiantes |
---|
692 | X_1=double(Coord(:,1:3)');% phys coordinates |
---|
693 | huvmat=findobj(allchild(0),'Tag','uvmat'); |
---|
694 | hhuvmat=guidata(huvmat); |
---|
695 | ny=str2double(get(hhuvmat.npy,'String')); |
---|
696 | x_1(2,:)=ny-x_1(2,:);%reverse the y image coordinates |
---|
697 | n_ima=1; |
---|
698 | GeometryCalib.CalibrationType='3D_extrinsic'; |
---|
699 | GeometryCalib.fx_fy(1)=str2num(get(handles.fx,'String')); |
---|
700 | GeometryCalib.fx_fy(2)=str2num(get(handles.fy,'String')); |
---|
701 | GeometryCalib.Cx_Cy(1)=str2num(get(handles.Cx,'String')); |
---|
702 | GeometryCalib.Cx_Cy(2)=str2num(get(handles.Cy,'String')); |
---|
703 | GeometryCalib.kc=str2num(get(handles.kc,'String')); |
---|
704 | fct_path=fullfile(path_UVMAT,'toolbox_calib'); |
---|
705 | addpath(fct_path) |
---|
706 | GeometryCalib.Cx_Cy(2)=ny-GeometryCalib.Cx_Cy(2);%reverse Cx_Cy(2) for calibration (inversion of px ordinate) |
---|
707 | % [omc1,Tc1,Rc1,H,x,ex,JJ] = compute_extrinsic(x_1,X_1,... |
---|
708 | % [Calib.f Calib.f*Calib.sx]',... |
---|
709 | % [Calib.Cx Calib.Cy]',... |
---|
710 | % [-Calib.kappa1*Calib.f^2 0 0 0 0]); |
---|
711 | [omc,Tc1,Rc1,H,x,ex,JJ] = compute_extrinsic(x_1,X_1,... |
---|
712 | (GeometryCalib.fx_fy)',GeometryCalib.Cx_Cy',[GeometryCalib.kc 0 0 0 0]); |
---|
713 | rmpath(fct_path); |
---|
714 | GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function |
---|
715 | GeometryCalib.Tx_Ty_Tz=Tc1'; |
---|
716 | %inversion of z axis |
---|
717 | GeometryCalib.R=Rc1; |
---|
718 | GeometryCalib.R(2,1:3)=-GeometryCalib.R(2,1:3);%inversion of the y image coordinate |
---|
719 | GeometryCalib.Tx_Ty_Tz(2)=-GeometryCalib.Tx_Ty_Tz(2);%inversion of the y image coordinate |
---|
720 | GeometryCalib.Cx_Cy(2)=ny-GeometryCalib.Cx_Cy(2);%inversion of the y image coordinate |
---|
721 | GeometryCalib.omc=(180/pi)*omc'; |
---|
722 | %GeometryCalib.R(3,1:3)=-GeometryCalib.R(3,1:3);%inversion for z upward |
---|
723 | |
---|
724 | |
---|
725 | |
---|
726 | %------------------------------------------------------------------------ |
---|
727 | %function GeometryCalib=calib_tsai_heikkila(Coord) |
---|
728 | % TEST: NOT IMPLEMENTED |
---|
729 | %------------------------------------------------------------------ |
---|
730 | % path_uvmat=which('uvmat');% check the path detected for source file uvmat |
---|
731 | % path_UVMAT=fileparts(path_uvmat); %path to UVMAT |
---|
732 | % path_calib=fullfile(path_UVMAT,'toolbox_calib_heikkila'); |
---|
733 | % addpath(path_calib) |
---|
734 | % npoints=size(Coord,1); |
---|
735 | % Coord(:,1:3)=10*Coord(:,1:3); |
---|
736 | % Coord=[Coord zeros(npoints,2) -ones(npoints,1)]; |
---|
737 | % [par,pos,iter,res,er,C]=cacal('dalsa',Coord); |
---|
738 | % GeometryCalib.CalibrationType='tsai'; |
---|
739 | % GeometryCalib.focal=par(2); |
---|
740 | |
---|
741 | |
---|
742 | %-------------------------------------------------------------------------- |
---|
743 | function GeometryCalib=calib_tsai(Coord,handles)% OBSOLETE: old version using gauthier's bianry ccal_fo |
---|
744 | % NOT USED |
---|
745 | %------------------------------------------------------------------------ |
---|
746 | %TSAI |
---|
747 | path_uvmat=which('uvmat');% check the path detected for source file uvmat |
---|
748 | path_UVMAT=fileparts(path_uvmat); %path to UVMAT |
---|
749 | xmlfile=fullfile(path_UVMAT,'PARAM.xml');%name of the file containing names of binary executables |
---|
750 | if exist(xmlfile,'file') |
---|
751 | t=xmltree(xmlfile);% read the (xml) file containing names of binary executables |
---|
752 | sparam=convert(t);% convert to matlab structure |
---|
753 | end |
---|
754 | if ~isfield(sparam,'GeometryCalibBin') |
---|
755 | msgbox_uvmat('ERROR',['calibration program <GeometryCalibBin> undefined in parameter file ' xmlfile]) |
---|
756 | return |
---|
757 | end |
---|
758 | Tsai_exe=sparam.GeometryCalibBin; |
---|
759 | if ~exist(Tsai_exe,'file')%the binary is defined in /bin, default setting |
---|
760 | Tsai_exe=fullfile(path_UVMAT,Tsai_exe); |
---|
761 | end |
---|
762 | if ~exist(Tsai_exe,'file') |
---|
763 | msgbox_uvmat('ERROR',['calibration program ' sparam.GeometryCalibBin ' defined in PARAM.xml does not exist']) |
---|
764 | return |
---|
765 | end |
---|
766 | |
---|
767 | textcoord=num2str(Coord,4); |
---|
768 | dlmwrite('t.txt',textcoord,''); |
---|
769 | % ['!' Tsai_exe ' -fx 0 -fy t.txt'] |
---|
770 | eval(['!' Tsai_exe ' -f t.txt > tsaicalib.log']); |
---|
771 | if ~exist('calib.dat','file') |
---|
772 | msgbox_uvmat('ERROR','no output from calibration program Tsai_exe: possibly too few points') |
---|
773 | end |
---|
774 | calibdat=dlmread('calib.dat'); |
---|
775 | delete('calib.dat') |
---|
776 | %delete('t.txt') |
---|
777 | GeometryCalib.CalibrationType='tsai'; |
---|
778 | GeometryCalib.focal=calibdat(10); |
---|
779 | GeometryCalib.dpx_dpy=[calibdat(5) calibdat(6)]; |
---|
780 | GeometryCalib.Cx_Cy=[calibdat(7) calibdat(8)]; |
---|
781 | GeometryCalib.sx=calibdat(9); |
---|
782 | GeometryCalib.kappa1=calibdat(11); |
---|
783 | GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function |
---|
784 | GeometryCalib.Tx_Ty_Tz=[calibdat(12) calibdat(13) calibdat(14)]; |
---|
785 | Rx_Ry_Rz=calibdat(15:17); |
---|
786 | sa = sin(Rx_Ry_Rz(1)) ; |
---|
787 | ca=cos(Rx_Ry_Rz(1)); |
---|
788 | sb=sin(Rx_Ry_Rz(2)); |
---|
789 | cb =cos(Rx_Ry_Rz(2)); |
---|
790 | sg =sin(Rx_Ry_Rz(3)); |
---|
791 | cg =cos(Rx_Ry_Rz(3)); |
---|
792 | r1 = cb * cg; |
---|
793 | r2 = cg * sa * sb - ca * sg; |
---|
794 | r3 = sa * sg + ca * cg * sb; |
---|
795 | r4 = cb * sg; |
---|
796 | r5 = sa * sb * sg + ca * cg; |
---|
797 | r6 = ca * sb * sg - cg * sa; |
---|
798 | r7 = -sb; |
---|
799 | r8 = cb * sa; |
---|
800 | r9 = ca * cb; |
---|
801 | %EN DEDUIRE MATRICE R ?? |
---|
802 | GeometryCalib.R=[r1,r2,r3;r4,r5,r6;r7,r8,r9]; |
---|
803 | |
---|
804 | %------------------------------------------------------------------------ |
---|
805 | % --- determine the rms of calibration error |
---|
806 | function ErrorRms=error_calib(calib_param,Calib,Coord) |
---|
807 | %calib_param: vector of free calibration parameters (to optimise) |
---|
808 | %Calib: structure of the given calibration parameters |
---|
809 | %Coord: list of phys coordinates (columns 1-3, and pixel coordinates (columns 4-5) |
---|
810 | Calib.f=25; |
---|
811 | Calib.dpx=0.012; |
---|
812 | Calib.dpy=0.012; |
---|
813 | Calib.sx=1; |
---|
814 | Calib.Cx=512; |
---|
815 | Calib.Cy=512; |
---|
816 | Calib.kappa1=calib_param(1); |
---|
817 | Calib.Tx=calib_param(2); |
---|
818 | Calib.Ty=calib_param(3); |
---|
819 | Calib.Tz=calib_param(4); |
---|
820 | alpha=calib_param(5); |
---|
821 | Calib.R=[cos(alpha) sin(alpha) 0;-sin(alpha) cos(alpha) 0;0 0 -1]; |
---|
822 | |
---|
823 | X=Coord(:,1); |
---|
824 | Y=Coord(:,2); |
---|
825 | Z=Coord(:,3); |
---|
826 | x_ima=Coord(:,4); |
---|
827 | y_ima=Coord(:,5); |
---|
828 | [Xpoints,Ypoints]=px_XYZ(Calib,X,Y,Z); |
---|
829 | ErrorRms(1)=sqrt(mean((Xpoints-x_ima).*(Xpoints-x_ima))); |
---|
830 | ErrorRms(2)=sqrt(mean((Ypoints-y_ima).*(Ypoints-y_ima))); |
---|
831 | ErrorRms=mean(ErrorRms); |
---|
832 | |
---|
833 | %------------------------------------------------------------------------ |
---|
834 | function XImage_Callback(hObject, eventdata, handles) |
---|
835 | %------------------------------------------------------------------------ |
---|
836 | update_list(hObject, eventdata,handles) |
---|
837 | |
---|
838 | %------------------------------------------------------------------------ |
---|
839 | function YImage_Callback(hObject, eventdata, handles) |
---|
840 | %------------------------------------------------------------------------ |
---|
841 | update_list(hObject, eventdata,handles) |
---|
842 | |
---|
843 | %------------------------------------------------------------------------ |
---|
844 | % --- Executes on button press in STORE. |
---|
845 | function STORE_Callback(hObject, eventdata, handles) |
---|
846 | Coord_cell=get(handles.ListCoord,'String'); |
---|
847 | Object=read_geometry_calib(Coord_cell); |
---|
848 | unitlist=get(handles.CoordUnit,'String'); |
---|
849 | unit=unitlist{get(handles.CoordUnit,'value')}; |
---|
850 | GeometryCalib.CoordUnit=unit; |
---|
851 | GeometryCalib.SourceCalib.PointCoord=Object.Coord; |
---|
852 | huvmat=findobj(allchild(0),'Name','uvmat'); |
---|
853 | hhuvmat=guidata(huvmat);%handles of elements in the GUI uvmat |
---|
854 | % RootPath=''; |
---|
855 | % RootFile=''; |
---|
856 | if ~isempty(hhuvmat.RootPath)&& ~isempty(hhuvmat.RootFile) |
---|
857 | testhandle=1; |
---|
858 | RootPath=get(hhuvmat.RootPath,'String'); |
---|
859 | RootFile=get(hhuvmat.RootFile,'String'); |
---|
860 | filebase=fullfile(RootPath,RootFile); |
---|
861 | while exist([filebase '.xml'],'file') |
---|
862 | filebase=[filebase '~']; |
---|
863 | end |
---|
864 | outputfile=[filebase '.xml']; |
---|
865 | errormsg=update_imadoc(GeometryCalib,outputfile); |
---|
866 | if ~strcmp(errormsg,'') |
---|
867 | msgbox_uvmat('ERROR',errormsg); |
---|
868 | end |
---|
869 | listfile=get(handles.coord_files,'string'); |
---|
870 | if isequal(listfile,{''}) |
---|
871 | listfile={outputfile}; |
---|
872 | else |
---|
873 | listfile=[listfile;{outputfile}];%update the list of coord files |
---|
874 | end |
---|
875 | set(handles.coord_files,'string',listfile); |
---|
876 | end |
---|
877 | set(handles.ListCoord,'Value',1)% refresh the display of coordinates |
---|
878 | set(handles.ListCoord,'String',{'......'}) |
---|
879 | |
---|
880 | % -------------------------------------------------------------------- |
---|
881 | % --- Executes on button press in CLEAR_PTS: clear the list of calibration points |
---|
882 | function CLEAR_PTS_Callback(hObject, eventdata, handles) |
---|
883 | % -------------------------------------------------------------------- |
---|
884 | set(handles.ListCoord,'Value',1)% refresh the display of coordinates |
---|
885 | set(handles.ListCoord,'String',{'......'}) |
---|
886 | MenuPlot_Callback(hObject, eventdata, handles) |
---|
887 | |
---|
888 | %------------------------------------------------------------------------ |
---|
889 | % --- Executes on button press in CLEAR. |
---|
890 | function CLEAR_Callback(hObject, eventdata, handles) |
---|
891 | %------------------------------------------------------------------------ |
---|
892 | set(handles.coord_files,'Value',1) |
---|
893 | set(handles.coord_files,'String',{''}) |
---|
894 | |
---|
895 | %------------------------------------------------------------------------ |
---|
896 | function XObject_Callback(hObject, eventdata, handles) |
---|
897 | %------------------------------------------------------------------------ |
---|
898 | update_list(hObject, eventdata,handles) |
---|
899 | |
---|
900 | %------------------------------------------------------------------------ |
---|
901 | function YObject_Callback(hObject, eventdata, handles) |
---|
902 | %------------------------------------------------------------------------ |
---|
903 | update_list(hObject, eventdata,handles) |
---|
904 | |
---|
905 | %------------------------------------------------------------------------ |
---|
906 | function ZObject_Callback(hObject, eventdata, handles) |
---|
907 | %------------------------------------------------------------------------ |
---|
908 | update_list(hObject, eventdata,handles) |
---|
909 | |
---|
910 | %------------------------------------------------------------------------ |
---|
911 | function update_list(hObject, eventdata, handles) |
---|
912 | %------------------------------------------------------------------------ |
---|
913 | newval(4)=str2double(get(handles.XImage,'String')); |
---|
914 | newval(5)=str2double(get(handles.YImage,'String')); |
---|
915 | newval(1)=str2double(get(handles.XObject,'String')); |
---|
916 | newval(2)=str2double(get(handles.YObject,'String')); |
---|
917 | newval(3)=str2double(get(handles.ZObject,'String')); |
---|
918 | if isnan(newval(3)) |
---|
919 | newval(3)=0;%put z to 0 by default |
---|
920 | end |
---|
921 | Coord=get(handles.ListCoord,'String'); |
---|
922 | Coord(end)=[]; %remove last string '.....' |
---|
923 | val=get(handles.ListCoord,'Value'); |
---|
924 | data=read_geometry_calib(Coord); |
---|
925 | data.Coord(val,:)=newval; |
---|
926 | for i=1:size(data.Coord,1) |
---|
927 | for j=1:5 |
---|
928 | Coord_cell{i,j}=num2str(data.Coord(i,j),4);%display coordiantes with 4 digits |
---|
929 | end |
---|
930 | end |
---|
931 | |
---|
932 | Tabchar=cell2tab(Coord_cell,' | '); |
---|
933 | Tabchar=[Tabchar ;{'......'}]; |
---|
934 | set(handles.ListCoord,'String',Tabchar) |
---|
935 | |
---|
936 | %update the plot |
---|
937 | ListCoord_Callback(hObject, eventdata, handles) |
---|
938 | MenuPlot_Callback(hObject, eventdata, handles) |
---|
939 | |
---|
940 | %------------------------------------------------------------------------ |
---|
941 | % --- Executes on selection change in ListCoord. |
---|
942 | function ListCoord_Callback(hObject, eventdata, handles) |
---|
943 | %------------------------------------------------------------------------ |
---|
944 | huvmat=findobj(allchild(0),'Name','uvmat');%find the current uvmat interface handle |
---|
945 | hplot=findobj(huvmat,'Tag','axes3');%main plotting axis of uvmat |
---|
946 | hhh=findobj(hplot,'Tag','calib_marker'); |
---|
947 | Coord_cell=get(handles.ListCoord,'String'); |
---|
948 | val=get(handles.ListCoord,'Value'); |
---|
949 | if numel(val)>1 |
---|
950 | return %no action if several lines have been selected |
---|
951 | end |
---|
952 | coord_str=Coord_cell{val}; |
---|
953 | k=findstr(' | ',coord_str); |
---|
954 | if isempty(k)%last line '.....' selected |
---|
955 | if ~isempty(hhh) |
---|
956 | delete(hhh)%delete the circle marker |
---|
957 | end |
---|
958 | return |
---|
959 | end |
---|
960 | %fill the edit boxex |
---|
961 | set(handles.XObject,'String',coord_str(1:k(1)-1)) |
---|
962 | set(handles.YObject,'String',coord_str(k(1)+3:k(2)-1)) |
---|
963 | set(handles.ZObject,'String',coord_str(k(2)+3:k(3)-1)) |
---|
964 | set(handles.XImage,'String',coord_str(k(3)+3:k(4)-1)) |
---|
965 | set(handles.YImage,'String',coord_str(k(4)+3:end)) |
---|
966 | h_menu_coord=findobj(huvmat,'Tag','transform_fct'); |
---|
967 | menu=get(h_menu_coord,'String'); |
---|
968 | choice=get(h_menu_coord,'Value'); |
---|
969 | if iscell(menu) |
---|
970 | option=menu{choice}; |
---|
971 | else |
---|
972 | option='px'; %default |
---|
973 | end |
---|
974 | if isequal(option,'phys') |
---|
975 | XCoord=str2double(coord_str(1:k(1)-1)); |
---|
976 | YCoord=str2double(coord_str(k(1)+3:k(2)-1)); |
---|
977 | elseif isequal(option,'px')|| isequal(option,'') |
---|
978 | XCoord=str2double(coord_str(k(3)+3:k(4)-1)); |
---|
979 | YCoord=str2double(coord_str(k(4)+3:end)); |
---|
980 | else |
---|
981 | msgbox_uvmat('ERROR','the choice in menu_coord of uvmat must be px or phys ') |
---|
982 | end |
---|
983 | if isempty(XCoord)||isempty(YCoord) |
---|
984 | if ~isempty(hhh) |
---|
985 | delete(hhh)%delete the circle marker |
---|
986 | end |
---|
987 | return |
---|
988 | end |
---|
989 | xlim=get(hplot,'XLim'); |
---|
990 | ylim=get(hplot,'YLim'); |
---|
991 | ind_range=max(abs(xlim(2)-xlim(1)),abs(ylim(end)-ylim(1)))/20;%defines the size of the circle marker |
---|
992 | if isempty(hhh) |
---|
993 | set(0,'CurrentFig',huvmat) |
---|
994 | set(huvmat,'CurrentAxes',hplot) |
---|
995 | rectangle('Curvature',[1 1],... |
---|
996 | 'Position',[XCoord-ind_range/2 YCoord-ind_range/2 ind_range ind_range],'EdgeColor','m',... |
---|
997 | 'LineStyle','-','Tag','calib_marker'); |
---|
998 | else |
---|
999 | set(hhh,'Position',[XCoord-ind_range/2 YCoord-ind_range/2 ind_range ind_range]) |
---|
1000 | end |
---|
1001 | |
---|
1002 | %------------------------------------------------------------------------ |
---|
1003 | % --- Executes on selection change in edit_append. |
---|
1004 | function edit_append_Callback(hObject, eventdata, handles) |
---|
1005 | %------------------------------------------------------------------------ |
---|
1006 | choice=get(handles.edit_append,'Value'); |
---|
1007 | if choice |
---|
1008 | set(handles.edit_append,'BackgroundColor',[1 1 0]) |
---|
1009 | huvmat=findobj(allchild(0),'tag','uvmat'); |
---|
1010 | if ishandle(huvmat) |
---|
1011 | hhuvmat=guidata(huvmat); |
---|
1012 | set(hhuvmat.edit_object,'Value',0) |
---|
1013 | set(hhuvmat.edit_object,'BackgroundColor',[0.7 0.7 0.7]) |
---|
1014 | end |
---|
1015 | else |
---|
1016 | set(handles.edit_append,'BackgroundColor',[0.7 0.7 0.7]) |
---|
1017 | end |
---|
1018 | |
---|
1019 | function NEW_Callback(hObject, eventdata, handles) |
---|
1020 | %A METTRE SOUS UN BOUTON |
---|
1021 | huvmat=findobj(allchild(0),'Name','uvmat'); |
---|
1022 | hchild=get(huvmat,'children'); |
---|
1023 | hcoord=findobj(hchild,'Tag','menu_coord'); |
---|
1024 | coordtype=get(hcoord,'Value'); |
---|
1025 | haxes=findobj(hchild,'Tag','axes3'); |
---|
1026 | AxeData=get(haxes,'UserData'); |
---|
1027 | if ~isequal(hcoord,2) |
---|
1028 | set(hcoord,'Value',2) |
---|
1029 | huvmat=uvmat(AxeData); |
---|
1030 | 'relancer uvmat'; |
---|
1031 | end |
---|
1032 | if ~isfield(AxeData,'ZoomAxes') |
---|
1033 | msgbox_uvmat('ERROR','first draw a window around a grid marker') |
---|
1034 | return |
---|
1035 | end |
---|
1036 | XLim=get(AxeData.ZoomAxes,'XLim'); |
---|
1037 | YLim=get(AxeData.ZoomAxes,'YLim'); |
---|
1038 | np=size(AxeData.A); |
---|
1039 | ind_sub_x=round(XLim); |
---|
1040 | ind_sub_y=np(1)-round(YLim); |
---|
1041 | Mfiltre=AxeData.A(ind_sub_y(2):ind_sub_y(1) ,ind_sub_x,:); |
---|
1042 | Mfiltre_norm=double(Mfiltre); |
---|
1043 | Mfiltre_norm=Mfiltre_norm/sum(sum(Mfiltre_norm)); |
---|
1044 | Mfiltre_norm=100*(Mfiltre_norm-mean(mean(Mfiltre_norm))); |
---|
1045 | Atype=class(AxeData.A); |
---|
1046 | Data.NbDim=2; |
---|
1047 | Data.A=filter2(Mfiltre_norm,double(AxeData.A)); |
---|
1048 | Data.A=feval(Atype,Data.A); |
---|
1049 | Data.AName='image'; |
---|
1050 | Data.AX=AxeData.AX; |
---|
1051 | Data.AY=AxeData.AY; |
---|
1052 | Data.CoordType='px'; |
---|
1053 | plot_field(Data) |
---|
1054 | |
---|
1055 | %------------------------------------------------------------------------ |
---|
1056 | function MenuPlot_Callback(hObject, eventdata, handles) |
---|
1057 | %------------------------------------------------------------------------ |
---|
1058 | huvmat=findobj(allchild(0),'Name','uvmat');%find the current uvmat interface handle |
---|
1059 | %UvData=get(huvmat,'UserData');%Data associated to the current uvmat interface |
---|
1060 | hhuvmat=guidata(huvmat); %handles of GUI elements in uvmat |
---|
1061 | %hplot=findobj(huvmat,'Tag','axes3');%main plotting axis of uvmat |
---|
1062 | h_menu_coord=findobj(huvmat,'Tag','transform_fct'); |
---|
1063 | menu=get(h_menu_coord,'String'); |
---|
1064 | choice=get(h_menu_coord,'Value'); |
---|
1065 | if iscell(menu) |
---|
1066 | option=menu{choice}; |
---|
1067 | else |
---|
1068 | option='px'; %default |
---|
1069 | end |
---|
1070 | Coord_cell=get(handles.ListCoord,'String'); |
---|
1071 | ObjectData=read_geometry_calib(Coord_cell); |
---|
1072 | %ObjectData=read_geometry_calib(handles);%read the interface input parameters defining the object |
---|
1073 | if ~isempty(ObjectData.Coord) |
---|
1074 | if isequal(option,'phys') |
---|
1075 | ObjectData.Coord=ObjectData.Coord(:,1:3); |
---|
1076 | elseif isequal(option,'px')||isequal(option,'') |
---|
1077 | ObjectData.Coord=ObjectData.Coord(:,4:5); |
---|
1078 | else |
---|
1079 | msgbox_uvmat('ERROR','the choice in menu_coord of uvmat must be '''', px or phys ') |
---|
1080 | end |
---|
1081 | end |
---|
1082 | %axes(hhuvmat.axes3) |
---|
1083 | set(0,'CurrentFigure',huvmat) |
---|
1084 | set(huvmat,'CurrentAxes',hhuvmat.axes3) |
---|
1085 | hh=findobj('Tag','calib_points'); |
---|
1086 | if ~isempty(ObjectData.Coord) && isempty(hh) |
---|
1087 | hh=line(ObjectData.Coord(:,1),ObjectData.Coord(:,2),'Color','m','Tag','calib_points','LineStyle','.','Marker','+'); |
---|
1088 | elseif isempty(ObjectData.Coord)%empty list of points, suppress the plot |
---|
1089 | delete(hh) |
---|
1090 | else |
---|
1091 | set(hh,'XData',ObjectData.Coord(:,1)) |
---|
1092 | set(hh,'YData',ObjectData.Coord(:,2)) |
---|
1093 | end |
---|
1094 | pause(.1) |
---|
1095 | figure(handles.geometry_calib) |
---|
1096 | |
---|
1097 | % -------------------------------------------------------------------- |
---|
1098 | function MenuHelp_Callback(hObject, eventdata, handles) |
---|
1099 | path_to_uvmat=which('uvmat');% check the path of uvmat |
---|
1100 | pathelp=fileparts(path_to_uvmat); |
---|
1101 | helpfile=fullfile(pathelp,'uvmat_doc','uvmat_doc.html'); |
---|
1102 | 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') |
---|
1103 | else |
---|
1104 | addpath (fullfile(pathelp,'uvmat_doc')) |
---|
1105 | web([helpfile '#geometry_calib']) |
---|
1106 | end |
---|
1107 | |
---|
1108 | %------------------------------------------------------------------------ |
---|
1109 | function MenuCreateGrid_Callback(hObject, eventdata, handles) |
---|
1110 | %------------------------------------------------------------------------ |
---|
1111 | %hcalib=get(handles.calib_type,'parent');%handles of the GUI geometry_calib |
---|
1112 | CalibData=get(handles.geometry_calib,'UserData'); |
---|
1113 | Tinput=[];%default |
---|
1114 | if isfield(CalibData,'grid') |
---|
1115 | Tinput=CalibData.grid; |
---|
1116 | end |
---|
1117 | [T,CalibData.grid]=create_grid(Tinput);%display the GUI create_grid |
---|
1118 | set(handles.geometry_calib,'UserData',CalibData) |
---|
1119 | |
---|
1120 | %grid in phys space |
---|
1121 | Coord=get(handles.ListCoord,'String'); |
---|
1122 | val=get(handles.ListCoord,'Value'); |
---|
1123 | data=read_geometry_calib(Coord); |
---|
1124 | %nbpoints=size(data.Coord,1); %nbre of calibration points |
---|
1125 | 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 |
---|
1126 | % for i=1:nbpoints |
---|
1127 | % for j=1:5 |
---|
1128 | % Coord{i,j}=num2str(data.Coord(i,j),4);%display coordiantes with 4 digits |
---|
1129 | % end |
---|
1130 | % end |
---|
1131 | %update the phys coordinates starting from the selected point (down in the |
---|
1132 | Coord(end,:)=[]; %remove last string '.....' |
---|
1133 | for i=1:size(data.Coord,1) |
---|
1134 | for j=1:5 |
---|
1135 | Coord{i,j}=num2str(data.Coord(i,j),4);%display coordiantes with 4 digits |
---|
1136 | end |
---|
1137 | end |
---|
1138 | |
---|
1139 | %size(data.Coord,1) |
---|
1140 | Tabchar=cell2tab(Coord,' | '); |
---|
1141 | Tabchar=[Tabchar ;{'......'}]; |
---|
1142 | set(handles.ListCoord,'String',Tabchar) |
---|
1143 | |
---|
1144 | % ----------------------------------------------------------------------- |
---|
1145 | % --- automatic grid dectection from local maxima of the images |
---|
1146 | function MenuDetectGrid_Callback(hObject, eventdata, handles) |
---|
1147 | %------------------------------------------------------------------------ |
---|
1148 | %% read the four last point coordinates in pixels |
---|
1149 | Coord_cell=get(handles.ListCoord,'String');%read list of coordinates on geometry_calib |
---|
1150 | data=read_geometry_calib(Coord_cell); |
---|
1151 | nbpoints=size(data.Coord,1); %nbre of calibration points |
---|
1152 | if nbpoints~=4 |
---|
1153 | 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') |
---|
1154 | return |
---|
1155 | end |
---|
1156 | corners_X=(data.Coord(end:-1:end-3,4)); %pixel absissa of the four corners |
---|
1157 | corners_Y=(data.Coord(end:-1:end-3,5)); |
---|
1158 | |
---|
1159 | %reorder the last two points (the two first in the list) if needed |
---|
1160 | angles=angle((corners_X-corners_X(1))+1i*(corners_Y-corners_Y(1))); |
---|
1161 | if abs(angles(4)-angles(2))>abs(angles(3)-angles(2)) |
---|
1162 | X_end=corners_X(4); |
---|
1163 | Y_end=corners_Y(4); |
---|
1164 | corners_X(4)=corners_X(3); |
---|
1165 | corners_Y(4)=corners_Y(3); |
---|
1166 | corners_X(3)=X_end; |
---|
1167 | corners_Y(3)=Y_end; |
---|
1168 | end |
---|
1169 | |
---|
1170 | %% initiate the grid |
---|
1171 | CalibData=get(handles.geometry_calib,'UserData');%get information stored on the GUI geometry_calib |
---|
1172 | grid_input=[];%default |
---|
1173 | if isfield(CalibData,'grid') |
---|
1174 | grid_input=CalibData.grid;%retrieve the previously used grid |
---|
1175 | end |
---|
1176 | [T,CalibData.grid,white_test]=create_grid(grid_input,'detect_grid');%display the GUI create_grid, read the set of phys coordinates T |
---|
1177 | set(handles.geometry_calib,'UserData',CalibData)%store the phys grid parameters for later use |
---|
1178 | |
---|
1179 | |
---|
1180 | |
---|
1181 | %% read the current image, displayed in the GUI uvmat |
---|
1182 | huvmat=findobj(allchild(0),'Name','uvmat'); |
---|
1183 | UvData=get(huvmat,'UserData'); |
---|
1184 | A=UvData.Field.A; |
---|
1185 | npxy=size(A); |
---|
1186 | X=[CalibData.grid.x_0 CalibData.grid.x_1 CalibData.grid.x_0 CalibData.grid.x_1]';%corner absissa in the phys coordinates (cm) |
---|
1187 | Y=[CalibData.grid.y_0 CalibData.grid.y_0 CalibData.grid.y_1 CalibData.grid.y_1]';%corner ordinates in the phys coordinates (cm) |
---|
1188 | |
---|
1189 | %calculate transform matrices for plane projection |
---|
1190 | % reference: http://alumni.media.mit.edu/~cwren/interpolator/ by Christopher R. Wren |
---|
1191 | B = [ X Y ones(size(X)) zeros(4,3) -X.*corners_X -Y.*corners_X ... |
---|
1192 | zeros(4,3) X Y ones(size(X)) -X.*corners_Y -Y.*corners_Y ]; |
---|
1193 | B = reshape (B', 8 , 8 )'; |
---|
1194 | D = [ corners_X , corners_Y ]; |
---|
1195 | D = reshape (D', 8 , 1 ); |
---|
1196 | l = (B' * B)\B' * D; |
---|
1197 | Amat = reshape([l(1:6)' 0 0 1 ],3,3)'; |
---|
1198 | C = [l(7:8)' 1]; |
---|
1199 | |
---|
1200 | % transform grid image into 'phys' coordinates |
---|
1201 | GeometryCalib.fx_fy=[1 1]; |
---|
1202 | GeometryCalib.Tx_Ty_Tz=[Amat(1,3) Amat(2,3) 1]; |
---|
1203 | GeometryCalib.R=[Amat(1,1),Amat(1,2),0;Amat(2,1),Amat(2,2),0;C(1),C(2),0]; |
---|
1204 | GeometryCalib.CoordUnit='cm'; |
---|
1205 | path_uvmat=which('uvmat');% check the path detected for source file uvmat |
---|
1206 | path_UVMAT=fileparts(path_uvmat); %path to UVMAT |
---|
1207 | addpath(fullfile(path_UVMAT,'transform_field')) |
---|
1208 | Data.ListVarName={'AY','AX','A'}; |
---|
1209 | Data.VarDimName={'AY','AX',{'AY','AX'}}; |
---|
1210 | if ndims(A)==3 |
---|
1211 | A=mean(A,3); |
---|
1212 | end |
---|
1213 | Data.A=A-min(min(A)); |
---|
1214 | Data.AY=[npxy(1)-0.5 0.5]; |
---|
1215 | Data.AX=[0.5 npxy(2)]; |
---|
1216 | Data.CoordUnit='pixel'; |
---|
1217 | Calib.GeometryCalib=GeometryCalib; |
---|
1218 | DataOut=phys(Data,Calib); |
---|
1219 | rmpath(fullfile(path_UVMAT,'transform_field')) |
---|
1220 | Amod=DataOut.A; |
---|
1221 | Rangx=DataOut.AX; |
---|
1222 | Rangy=DataOut.AY; |
---|
1223 | if white_test |
---|
1224 | Amod=double(Amod);%case of white grid markers: will look for image maxima |
---|
1225 | else |
---|
1226 | Amod=-double(Amod);%case of black grid markers: will look for image minima |
---|
1227 | end |
---|
1228 | % figure(12) %display corrected image |
---|
1229 | % Amax=max(max(Amod)); |
---|
1230 | % image(Rangx,Rangy,uint8(255*Amod/Amax)) |
---|
1231 | |
---|
1232 | %% detection of local image extrema in each direction |
---|
1233 | Dx=(Rangx(2)-Rangx(1))/(npxy(2)-1); %x mesh in real space |
---|
1234 | Dy=(Rangy(2)-Rangy(1))/(npxy(1)-1); %y mesh in real space |
---|
1235 | 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 |
---|
1236 | 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 |
---|
1237 | nbpoints=size(T,1); |
---|
1238 | for ipoint=1:nbpoints |
---|
1239 | i0=1+round((T(ipoint,1)-Rangx(1))/Dx);%round(Xpx(ipoint)); |
---|
1240 | j0=1+round((T(ipoint,2)-Rangy(1))/Dy);%round(Xpx(ipoint)); |
---|
1241 | j0min=max(j0-ind_range_y,1); |
---|
1242 | j0max=min(j0+ind_range_y,size(Amod,1)); |
---|
1243 | i0min=max(i0-ind_range_x,1); |
---|
1244 | i0max=min(i0+ind_range_x,size(Amod,2)); |
---|
1245 | Asub=Amod(j0min:j0max,i0min:i0max); |
---|
1246 | x_profile=sum(Asub,1); |
---|
1247 | y_profile=sum(Asub,2); |
---|
1248 | [Amax,ind_x_max]=max(x_profile); |
---|
1249 | [Amax,ind_y_max]=max(y_profile); |
---|
1250 | %sub-pixel improvement using moments |
---|
1251 | x_shift=0; |
---|
1252 | y_shift=0; |
---|
1253 | if ind_x_max+2<=numel(x_profile) && ind_x_max-2>=1 |
---|
1254 | Atop=x_profile(ind_x_max-2:ind_x_max+2); |
---|
1255 | x_shift=sum(Atop.*[-2 -1 0 1 2])/sum(Atop); |
---|
1256 | end |
---|
1257 | if ind_y_max+2<=numel(y_profile) && ind_y_max-2>=1 |
---|
1258 | Atop=y_profile(ind_y_max-2:ind_y_max+2); |
---|
1259 | y_shift=sum(Atop.*[-2 -1 0 1 2]')/sum(Atop); |
---|
1260 | end |
---|
1261 | Delta(ipoint,1)=(x_shift+ind_x_max+i0min-i0-1)*Dx;%shift from the initial guess |
---|
1262 | Delta(ipoint,2)=(y_shift+ind_y_max+j0min-j0-1)*Dy; |
---|
1263 | end |
---|
1264 | Tmod=T(:,(1:2))+Delta; |
---|
1265 | [Xpx,Ypx]=px_XYZ(GeometryCalib,Tmod(:,1),Tmod(:,2)); |
---|
1266 | for ipoint=1:nbpoints |
---|
1267 | Coord{ipoint,1}=num2str(T(ipoint,1),4);%display coordiantes with 4 digits |
---|
1268 | Coord{ipoint,2}=num2str(T(ipoint,2),4);%display coordiantes with 4 digits |
---|
1269 | Coord{ipoint,3}=num2str(T(ipoint,3),4);%display coordiantes with 4 digits; |
---|
1270 | Coord{ipoint,4}=num2str(Xpx(ipoint),4);%display coordiantes with 4 digits |
---|
1271 | Coord{ipoint,5}=num2str(Ypx(ipoint),4);%display coordiantes with 4 digits |
---|
1272 | end |
---|
1273 | Tabchar=cell2tab(Coord(end:-1:1,:),' | '); |
---|
1274 | Tabchar=[Tabchar ;{'......'}]; |
---|
1275 | set(handles.ListCoord,'Value',1) |
---|
1276 | set(handles.ListCoord,'String',Tabchar) |
---|
1277 | MenuPlot_Callback(hObject, eventdata, handles) |
---|
1278 | |
---|
1279 | %----------------------------------------------------------------------- |
---|
1280 | function MenuTranslatePoints_Callback(hObject, eventdata, handles) |
---|
1281 | %----------------------------------------------------------------------- |
---|
1282 | %hcalib=get(handles.calib_type,'parent');%handles of the GUI geometry_calib |
---|
1283 | CalibData=get(handles.geometry_calib,'UserData'); |
---|
1284 | Tinput=[];%default |
---|
1285 | if isfield(CalibData,'translate') |
---|
1286 | Tinput=CalibData.translate; |
---|
1287 | end |
---|
1288 | T=translate_points(Tinput);%display translate_points GUI and get shift parameters |
---|
1289 | CalibData.translate=T; |
---|
1290 | set(handles.geometry_calib,'UserData',CalibData) |
---|
1291 | %translation |
---|
1292 | Coord_cell=get(handles.ListCoord,'String'); |
---|
1293 | data=read_geometry_calib(Coord_cell); |
---|
1294 | data.Coord(:,1)=T(1)+data.Coord(:,1); |
---|
1295 | data.Coord(:,2)=T(2)+data.Coord(:,2); |
---|
1296 | data.Coord(:,3)=T(3)+data.Coord(:,3); |
---|
1297 | data.Coord(:,[4 5])=data.Coord(:,[4 5]); |
---|
1298 | for i=1:size(data.Coord,1) |
---|
1299 | for j=1:5 |
---|
1300 | Coord{i,j}=num2str(data.Coord(i,j),4);%phys x,y,z |
---|
1301 | end |
---|
1302 | end |
---|
1303 | Tabchar=cell2tab(Coord,' | '); |
---|
1304 | Tabchar=[Tabchar; {'.....'}]; |
---|
1305 | %set(handles.ListCoord,'Value',1) |
---|
1306 | set(handles.ListCoord,'String',Tabchar) |
---|
1307 | |
---|
1308 | |
---|
1309 | % -------------------------------------------------------------------- |
---|
1310 | function MenuRotatePoints_Callback(hObject, eventdata, handles) |
---|
1311 | %hcalib=get(handles.calib_type,'parent');%handles of the GUI geometry_calib |
---|
1312 | CalibData=get(handles.geometry_calib,'UserData'); |
---|
1313 | Tinput=[];%default |
---|
1314 | if isfield(CalibData,'rotate') |
---|
1315 | Tinput=CalibData.rotate; |
---|
1316 | end |
---|
1317 | T=rotate_points(Tinput);%display translate_points GUI and get shift parameters |
---|
1318 | CalibData.rotate=T; |
---|
1319 | set(handles.geometry_calib,'UserData',CalibData) |
---|
1320 | %----------------------------------------------------- |
---|
1321 | %rotation |
---|
1322 | Phi=T(1); |
---|
1323 | O_x=0;%default |
---|
1324 | O_y=0;%default |
---|
1325 | if numel(T)>=2 |
---|
1326 | O_x=T(2);%default |
---|
1327 | end |
---|
1328 | if numel(T)>=3 |
---|
1329 | O_y=T(3);%default |
---|
1330 | end |
---|
1331 | Coord_cell=get(handles.ListCoord,'String'); |
---|
1332 | data=read_geometry_calib(Coord_cell); |
---|
1333 | r1=cos(pi*Phi/180); |
---|
1334 | r2=-sin(pi*Phi/180); |
---|
1335 | r3=sin(pi*Phi/180); |
---|
1336 | r4=cos(pi*Phi/180); |
---|
1337 | x=data.Coord(:,1)-O_x; |
---|
1338 | y=data.Coord(:,2)-O_y; |
---|
1339 | data.Coord(:,1)=r1*x+r2*y; |
---|
1340 | data.Coord(:,2)=r3*x+r4*y; |
---|
1341 | % data.Coord(:,[4 5])=data.Coord(:,[4 5]); |
---|
1342 | for i=1:size(data.Coord,1) |
---|
1343 | for j=1:5 |
---|
1344 | Coord{i,j}=num2str(data.Coord(i,j),4);%phys x,y,z |
---|
1345 | end |
---|
1346 | end |
---|
1347 | Tabchar=cell2tab(Coord,' | '); |
---|
1348 | Tabchar=[Tabchar;{'......'}]; |
---|
1349 | set(handles.ListCoord,'Value',1) |
---|
1350 | set(handles.ListCoord,'String',Tabchar) |
---|
1351 | |
---|
1352 | |
---|
1353 | % %------------------------------------------------------------------------ |
---|
1354 | % % --- Executes on button press in rotation. |
---|
1355 | % function rotation_Callback(hObject, eventdata, handles) |
---|
1356 | % %------------------------------------------------------------------------ |
---|
1357 | % angle_rot=(pi/180)*str2num(get(handles.Phi,'String')); |
---|
1358 | % Coord_cell=get(handles.ListCoord,'String'); |
---|
1359 | % data=read_geometry_calib(Coord_cell); |
---|
1360 | % data.Coord(:,1)=cos(angle_rot)*data.Coord(:,1)+sin(angle_rot)*data.Coord(:,2); |
---|
1361 | % data.Coord(:,1)=-sin(angle_rot)*data.Coord(:,1)+cos(angle_rot)*data.Coord(:,2); |
---|
1362 | % set(handles.XObject,'String',num2str(data.Coord(:,1),4)); |
---|
1363 | % set(handles.YObject,'String',num2str(data.Coord(:,2),4)); |
---|
1364 | |
---|
1365 | |
---|
1366 | %------------------------------------------------------------------------ |
---|
1367 | % image transform from px to phys |
---|
1368 | %INPUT: |
---|
1369 | %Zindex: index of plane |
---|
1370 | % function [A_out,Rangx,Rangy]=phys_Ima(A,Calib,ZIndex) |
---|
1371 | % %------------------------------------------------------------------------ |
---|
1372 | % xcorner=[]; |
---|
1373 | % ycorner=[]; |
---|
1374 | % npx=[]; |
---|
1375 | % npy=[]; |
---|
1376 | % siz=size(A) |
---|
1377 | % npx=[npx siz(2)]; |
---|
1378 | % npy=[npy siz(1)] |
---|
1379 | % xima=[0.5 siz(2)-0.5 0.5 siz(2)-0.5];%image coordinates of corners |
---|
1380 | % yima=[0.5 0.5 siz(1)-0.5 siz(1)-0.5]; |
---|
1381 | % [xcorner,ycorner]=phys_XYZ(Calib,xima,yima,ZIndex);%corresponding physical coordinates |
---|
1382 | % Rangx(1)=min(xcorner); |
---|
1383 | % Rangx(2)=max(xcorner); |
---|
1384 | % Rangy(2)=min(ycorner); |
---|
1385 | % Rangy(1)=max(ycorner); |
---|
1386 | % test_multi=(max(npx)~=min(npx)) | (max(npy)~=min(npy)); |
---|
1387 | % npx=max(npx); |
---|
1388 | % npy=max(npy); |
---|
1389 | % x=linspace(Rangx(1),Rangx(2),npx); |
---|
1390 | % y=linspace(Rangy(1),Rangy(2),npy); |
---|
1391 | % [X,Y]=meshgrid(x,y);%grid in physical coordiantes |
---|
1392 | % vec_B=[]; |
---|
1393 | % |
---|
1394 | % zphys=0; %default |
---|
1395 | % if isfield(Calib,'SliceCoord') %.Z= index of plane |
---|
1396 | % SliceCoord=Calib.SliceCoord(ZIndex,:); |
---|
1397 | % zphys=SliceCoord(3); %to generalize for non-parallel planes |
---|
1398 | % end |
---|
1399 | % [XIMA,YIMA]=px_XYZ(Calib,X,Y,zphys);%corresponding image indices for each point in the real space grid |
---|
1400 | % XIMA=reshape(round(XIMA),1,npx*npy);%indices reorganized in 'line' |
---|
1401 | % YIMA=reshape(round(YIMA),1,npx*npy); |
---|
1402 | % flagin=XIMA>=1 & XIMA<=npx & YIMA >=1 & YIMA<=npy;%flagin=1 inside the original image |
---|
1403 | % testuint8=isa(A,'uint8'); |
---|
1404 | % testuint16=isa(A,'uint16'); |
---|
1405 | % if numel(siz)==2 %(B/W images) |
---|
1406 | % vec_A=reshape(A,1,npx*npy);%put the original image in line |
---|
1407 | % ind_in=find(flagin); |
---|
1408 | % ind_out=find(~flagin); |
---|
1409 | % ICOMB=((XIMA-1)*npy+(npy+1-YIMA)); |
---|
1410 | % ICOMB=ICOMB(flagin);%index corresponding to XIMA and YIMA in the aligned original image vec_A |
---|
1411 | % vec_B(ind_in)=vec_A(ICOMB); |
---|
1412 | % vec_B(ind_out)=zeros(size(ind_out)); |
---|
1413 | % A_out=reshape(vec_B,npy,npx);%new image in real coordinates |
---|
1414 | % elseif numel(siz)==3 |
---|
1415 | % for icolor=1:siz(3) |
---|
1416 | % vec_A=reshape(A{icell}(:,:,icolor),1,npx*npy);%put the original image in line |
---|
1417 | % ind_in=find(flagin); |
---|
1418 | % ind_out=find(~flagin); |
---|
1419 | % ICOMB=((XIMA-1)*npy+(npy+1-YIMA)); |
---|
1420 | % ICOMB=ICOMB(flagin);%index corresponding to XIMA and YIMA in the aligned original image vec_A |
---|
1421 | % vec_B(ind_in)=vec_A(ICOMB); |
---|
1422 | % vec_B(ind_out)=zeros(size(ind_out)); |
---|
1423 | % A_out(:,:,icolor)=reshape(vec_B,npy,npx);%new image in real coordinates |
---|
1424 | % end |
---|
1425 | % end |
---|
1426 | % if testuint8 |
---|
1427 | % A_out=uint8(A_out); |
---|
1428 | % end |
---|
1429 | % if testuint16 |
---|
1430 | % A_out=uint16(A_out); |
---|
1431 | % end |
---|
1432 | |
---|
1433 | %------------------------------------------------------------------------ |
---|
1434 | % pointwise transform from px to phys |
---|
1435 | %INPUT: |
---|
1436 | %Z: index of plane |
---|
1437 | % function [Xphys,Yphys,Zphys]=phys_XYZ(Calib,X,Y,Z) |
---|
1438 | % %------------------------------------------------------------------------ |
---|
1439 | % if exist('Z','var')& isequal(Z,round(Z))& Z>0 & isfield(Calib,'SliceCoord')&length(Calib.SliceCoord)>=Z |
---|
1440 | % Zindex=Z; |
---|
1441 | % Zphys=Calib.SliceCoord(Zindex,3);%GENERALISER AUX CAS AVEC ANGLE |
---|
1442 | % else |
---|
1443 | % Zphys=0; |
---|
1444 | % end |
---|
1445 | % if ~exist('X','var')||~exist('Y','var') |
---|
1446 | % Xphys=[]; |
---|
1447 | % Yphys=[];%default |
---|
1448 | % return |
---|
1449 | % end |
---|
1450 | % Xphys=X;%default |
---|
1451 | % Yphys=Y; |
---|
1452 | % %image transform |
---|
1453 | % if isfield(Calib,'R') |
---|
1454 | % R=(Calib.R)'; |
---|
1455 | % Dx=R(5)*R(7)-R(4)*R(8); |
---|
1456 | % Dy=R(1)*R(8)-R(2)*R(7); |
---|
1457 | % D0=Calib.f*(R(2)*R(4)-R(1)*R(5)); |
---|
1458 | % Z11=R(6)*R(8)-R(5)*R(9); |
---|
1459 | % Z12=R(2)*R(9)-R(3)*R(8); |
---|
1460 | % Z21=R(4)*R(9)-R(6)*R(7); |
---|
1461 | % Z22=R(3)*R(7)-R(1)*R(9); |
---|
1462 | % Zx0=R(3)*R(5)-R(2)*R(6); |
---|
1463 | % Zy0=R(1)*R(6)-R(3)*R(4); |
---|
1464 | % A11=R(8)*Calib.Ty-R(5)*Calib.Tz+Z11*Zphys; |
---|
1465 | % A12=R(2)*Calib.Tz-R(8)*Calib.Tx+Z12*Zphys; |
---|
1466 | % A21=-R(7)*Calib.Ty+R(4)*Calib.Tz+Z21*Zphys; |
---|
1467 | % A22=-R(1)*Calib.Tz+R(7)*Calib.Tx+Z11*Zphys; |
---|
1468 | % X0=Calib.f*(R(5)*Calib.Tx-R(2)*Calib.Ty+Zx0*Zphys); |
---|
1469 | % Y0=Calib.f*(-R(4)*Calib.Tx+R(1)*Calib.Ty+Zy0*Zphys); |
---|
1470 | % %px to camera: |
---|
1471 | % Xd=(Calib.dpx/Calib.sx)*(X-Calib.Cx); % sensor coordinates |
---|
1472 | % Yd=Calib.dpy*(Y-Calib.Cy); |
---|
1473 | % dist_fact=1+Calib.kappa1*(Xd.*Xd+Yd.*Yd); %distortion factor |
---|
1474 | % Xu=dist_fact.*Xd;%undistorted sensor coordinates |
---|
1475 | % Yu=dist_fact.*Yd; |
---|
1476 | % denom=Dx*Xu+Dy*Yu+D0; |
---|
1477 | % % denom2=denom.*denom; |
---|
1478 | % Xphys=(A11.*Xu+A12.*Yu+X0)./denom;%world coordinates |
---|
1479 | % Yphys=(A21.*Xu+A22.*Yu+Y0)./denom; |
---|
1480 | % end |
---|
1481 | |
---|
1482 | |
---|
1483 | % -------------------------------------------------------------------- |
---|
1484 | function MenuImportPoints_Callback(hObject, eventdata, handles) |
---|
1485 | fileinput=browse_xml(hObject, eventdata, handles); |
---|
1486 | if isempty(fileinput) |
---|
1487 | return |
---|
1488 | end |
---|
1489 | [s,errormsg]=imadoc2struct(fileinput,'GeometryCalib'); |
---|
1490 | GeometryCalib=s.GeometryCalib; |
---|
1491 | %GeometryCalib=load_calib(hObject, eventdata, handles) |
---|
1492 | calib=reshape(GeometryCalib.PointCoord,[],1); |
---|
1493 | for ilist=1:numel(calib) |
---|
1494 | CoordCell{ilist}=num2str(calib(ilist)); |
---|
1495 | end |
---|
1496 | CoordCell=reshape(CoordCell,[],5); |
---|
1497 | Tabchar=cell2tab(CoordCell,' | ');%transform cells into table ready for display |
---|
1498 | Tabchar=[Tabchar;{'......'}]; |
---|
1499 | set(handles.ListCoord,'Value',1) |
---|
1500 | set(handles.ListCoord,'String',Tabchar) |
---|
1501 | MenuPlot_Callback(handles.geometry_calib, [], handles) |
---|
1502 | |
---|
1503 | % ----------------------------------------------------------------------- |
---|
1504 | function MenuImportIntrinsic_Callback(hObject, eventdata, handles) |
---|
1505 | %------------------------------------------------------------------------ |
---|
1506 | fileinput=browse_xml(hObject, eventdata, handles); |
---|
1507 | if isempty(fileinput) |
---|
1508 | return |
---|
1509 | end |
---|
1510 | [s,errormsg]=imadoc2struct(fileinput,'GeometryCalib'); |
---|
1511 | GeometryCalib=s.GeometryCalib; |
---|
1512 | display_intrinsic(GeometryCalib,handles) |
---|
1513 | |
---|
1514 | % ----------------------------------------------------------------------- |
---|
1515 | function MenuImportAll_Callback(hObject, eventdata, handles) |
---|
1516 | %------------------------------------------------------------------------ |
---|
1517 | fileinput=browse_xml(hObject, eventdata, handles); |
---|
1518 | if ~isempty(fileinput) |
---|
1519 | loadfile(handles,fileinput) |
---|
1520 | end |
---|
1521 | |
---|
1522 | % ----------------------------------------------------------------------- |
---|
1523 | % --- Executes on menubar option Import/Grid file: introduce previous grid files |
---|
1524 | function MenuGridFile_Callback(hObject, eventdata, handles) |
---|
1525 | % ----------------------------------------------------------------------- |
---|
1526 | inputfile=browse_xml(hObject, eventdata, handles); |
---|
1527 | listfile=get(handles.coord_files,'string'); |
---|
1528 | if isequal(listfile,{''}) |
---|
1529 | listfile={inputfile}; |
---|
1530 | else |
---|
1531 | listfile=[listfile;{inputfile}];%update the list of coord files |
---|
1532 | end |
---|
1533 | set(handles.coord_files,'string',listfile); |
---|
1534 | |
---|
1535 | %------------------------------------------------------------------------ |
---|
1536 | % --- 'key_press_fcn:' function activated when a key is pressed on the keyboard |
---|
1537 | function key_press_fcn(hObject,eventdata,handles) |
---|
1538 | %------------------------------------------------------------------------ |
---|
1539 | xx=double(get(handles.geometry_calib,'CurrentCharacter')); %get the keyboard character |
---|
1540 | if ismember(xx,[8 127])%backspace or delete |
---|
1541 | Coord_cell=get(handles.ListCoord,'String'); |
---|
1542 | val=get(handles.ListCoord,'Value'); |
---|
1543 | if max(val)<numel(Coord_cell) % the last element '...' has not been selected |
---|
1544 | Coord_cell(val)=[];%remove the selected line |
---|
1545 | set(handles.ListCoord,'Value',min(val)) |
---|
1546 | set(handles.ListCoord,'String',Coord_cell) |
---|
1547 | ListCoord_Callback(hObject, eventdata, handles) |
---|
1548 | MenuPlot_Callback(hObject,eventdata,handles) |
---|
1549 | end |
---|
1550 | end |
---|
1551 | |
---|
1552 | %------------------------------------------------------------------------ |
---|
1553 | function fileinput=browse_xml(hObject, eventdata, handles) |
---|
1554 | %------------------------------------------------------------------------ |
---|
1555 | fileinput=[];%default |
---|
1556 | oldfile=''; %default |
---|
1557 | UserData=get(handles.geometry_calib,'UserData'); |
---|
1558 | if isfield(UserData,'XmlInputFile') |
---|
1559 | oldfile=UserData.XmlInputFile; |
---|
1560 | end |
---|
1561 | [FileName, PathName, filterindex] = uigetfile( ... |
---|
1562 | {'*.xml;*.mat', ' (*.xml,*.mat)'; |
---|
1563 | '*.xml', '.xml files '; ... |
---|
1564 | '*.mat', '.mat matlab files '}, ... |
---|
1565 | 'Pick a file',oldfile); |
---|
1566 | fileinput=[PathName FileName];%complete file name |
---|
1567 | testblank=findstr(fileinput,' ');%look for blanks |
---|
1568 | if ~isempty(testblank) |
---|
1569 | msgbox_uvmat('ERROR','forbidden input file name or path: no blank character allowed') |
---|
1570 | return |
---|
1571 | end |
---|
1572 | sizf=size(fileinput); |
---|
1573 | if (~ischar(fileinput)||~isequal(sizf(1),1)),return;end |
---|
1574 | UserData.XmlInputFile=fileinput; |
---|
1575 | set(handles.geometry_calib,'UserData',UserData)%record current file foer further use of browser |
---|
1576 | |
---|
1577 | % ----------------------------------------------------------------------- |
---|
1578 | function Heading=loadfile(handles,fileinput) |
---|
1579 | %------------------------------------------------------------------------ |
---|
1580 | Heading=[];%default |
---|
1581 | [s,errormsg]=imadoc2struct(fileinput,'GeometryCalib'); |
---|
1582 | if ~isempty(errormsg) |
---|
1583 | msgbox_uvmat('ERROR',['Error for reading ' fileinput ': ' errormsg]) |
---|
1584 | return |
---|
1585 | end |
---|
1586 | if ~isempty(s.Heading) |
---|
1587 | Heading=s.Heading; |
---|
1588 | end |
---|
1589 | |
---|
1590 | GeometryCalib=s.GeometryCalib; |
---|
1591 | fx=1;fy=1;Cx=0;Cy=0;kc=0; %default |
---|
1592 | % Tabchar={}; |
---|
1593 | CoordCell={}; |
---|
1594 | % kc=0;%default |
---|
1595 | % f1=1000; |
---|
1596 | % f2=1000; |
---|
1597 | % hhuvmat=guidata(findobj(allchild(0),'Name','uvmat')); |
---|
1598 | % Cx=str2num(get(hhuvmat.npx,'String'))/2; |
---|
1599 | % Cy=str2num(get(hhuvmat.npy,'String'))/2; |
---|
1600 | Tabchar={};%default |
---|
1601 | val_cal=1;%default |
---|
1602 | if ~isempty(GeometryCalib) |
---|
1603 | % choose the calibration option |
---|
1604 | if isfield(GeometryCalib,'CalibrationType') |
---|
1605 | calib_list=get(handles.calib_type,'String'); |
---|
1606 | for ilist=1:numel(calib_list) |
---|
1607 | if strcmp(calib_list{ilist},GeometryCalib.CalibrationType) |
---|
1608 | val_cal=ilist; |
---|
1609 | break |
---|
1610 | end |
---|
1611 | end |
---|
1612 | end |
---|
1613 | display_intrinsic(GeometryCalib,handles)%intrinsic param |
---|
1614 | %extrinsic param |
---|
1615 | if isfield(GeometryCalib,'Tx_Ty_Tz') |
---|
1616 | Tx_Ty_Tz=GeometryCalib.Tx_Ty_Tz; |
---|
1617 | set(handles.Tx,'String',num2str(GeometryCalib.Tx_Ty_Tz(1),4)) |
---|
1618 | set(handles.Ty,'String',num2str(GeometryCalib.Tx_Ty_Tz(2),4)) |
---|
1619 | set(handles.Tz,'String',num2str(GeometryCalib.Tx_Ty_Tz(3),4)) |
---|
1620 | end |
---|
1621 | if isfield(GeometryCalib,'omc') |
---|
1622 | set(handles.Phi,'String',num2str(GeometryCalib.omc(1),4)) |
---|
1623 | set(handles.Theta,'String',num2str(GeometryCalib.omc(2),4)) |
---|
1624 | set(handles.Psi,'String',num2str(GeometryCalib.omc(3),4)) |
---|
1625 | end |
---|
1626 | calib=reshape(GeometryCalib.PointCoord,[],1); |
---|
1627 | for ilist=1:numel(calib) |
---|
1628 | CoordCell{ilist}=num2str(calib(ilist)); |
---|
1629 | end |
---|
1630 | CoordCell=reshape(CoordCell,[],5); |
---|
1631 | Tabchar=cell2tab(CoordCell,' | ');%transform cells into table ready for display |
---|
1632 | MenuPlot_Callback(handles.geometry_calib, [], handles) |
---|
1633 | end |
---|
1634 | set(handles.calib_type,'Value',val_cal) |
---|
1635 | Tabchar=[Tabchar;{'......'}]; |
---|
1636 | set(handles.ListCoord,'Value',1) |
---|
1637 | set(handles.ListCoord,'String',Tabchar) |
---|
1638 | |
---|
1639 | if isempty(CoordCell)% allow mouse action by default in the absence of input points |
---|
1640 | set(handles.edit_append,'Value',1) |
---|
1641 | set(handles.edit_append,'BackgroundColor',[1 1 0]) |
---|
1642 | else % does not allow mouse action by default in the presence of input points |
---|
1643 | set(handles.edit_append,'Value',0) |
---|
1644 | set(handles.edit_append,'BackgroundColor',[0.7 0.7 0.7]) |
---|
1645 | end |
---|
1646 | |
---|
1647 | %------------------------------------------------------------------------ |
---|
1648 | %---display calibration intrinsic parameters |
---|
1649 | function display_intrinsic(GeometryCalib,handles) |
---|
1650 | %------------------------------------------------------------------------ |
---|
1651 | fx=[]; |
---|
1652 | fy=[]; |
---|
1653 | if isfield(GeometryCalib,'fx_fy') |
---|
1654 | fx=GeometryCalib.fx_fy(1); |
---|
1655 | fy=GeometryCalib.fx_fy(2); |
---|
1656 | end |
---|
1657 | Cx_Cy=[0 0];%default |
---|
1658 | if isfield(GeometryCalib,'Cx_Cy') |
---|
1659 | Cx_Cy=GeometryCalib.Cx_Cy; |
---|
1660 | end |
---|
1661 | kc=0; |
---|
1662 | if isfield(GeometryCalib,'kc') |
---|
1663 | kc=GeometryCalib.kc; %* GeometryCalib.focal*GeometryCalib.focal; |
---|
1664 | end |
---|
1665 | set(handles.fx,'String',num2str(fx,5)) |
---|
1666 | set(handles.fy,'String',num2str(fy,5)) |
---|
1667 | set(handles.Cx,'String',num2str(Cx_Cy(1),'%1.1f')) |
---|
1668 | set(handles.Cy,'String',num2str(Cx_Cy(2),'%1.1f')) |
---|
1669 | set(handles.kc,'String',num2str(kc,'%1.4f')) |
---|
1670 | |
---|
1671 | |
---|