1 | %'geometry_calib': performs geometric calibration from a set of reference points |
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2 | % |
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3 | % function varargout = geometry_calib(varargin) |
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4 | % |
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5 | %A%AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA |
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6 | % Copyright Joel Sommeria, 2008, LEGI / CNRS-UJF-INPG, sommeria@coriolis-legi.org. |
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7 | %AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA |
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8 | % This file is part of the toolbox UVMAT. |
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9 | % |
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10 | % UVMAT is free software; you can redistribute it and/or modify |
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11 | % it under the terms of the GNU General Public License as published by |
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12 | % the Free Software Foundation; either version 2 of the License, or |
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13 | % (at your option) any later version. |
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14 | % |
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15 | % UVMAT is distributed in the hope that it will be useful, |
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16 | % but WITHOUT ANY WARRANTY; without even the implied warranty of |
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17 | % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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18 | % GNU General Public License (file UVMAT/COPYING.txt) for more details. |
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19 | %AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA |
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20 | |
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21 | function varargout = geometry_calib(varargin) |
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22 | % GEOMETRY_CALIB M-file for geometry_calib.fig |
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23 | % GEOMETRY_CALIB, by itself, creates a MenuCoord GEOMETRY_CALIB or raises the existing |
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24 | % singleton*. |
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25 | % |
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26 | % H = GEOMETRY_CALIB returns the handle to a MenuCoord GEOMETRY_CALIB or the handle to |
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27 | % the existing singleton*. |
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28 | % |
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29 | % GEOMETRY_CALIB('CALLBACK',hObject,eventData,handles,...) calls the local |
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30 | % function named CALLBACK in GEOMETRY_CALIB.M with the given input arguments. |
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31 | % |
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32 | % GEOMETRY_CALIB('Property','Value',...) creates a MenuCoord GEOMETRY_CALIB or raises the |
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33 | % existing singleton*. Starting from the left, property value pairs are |
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34 | % applied to the GUI before geometry_calib_OpeningFunction gets called. An |
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35 | % unrecognized property name or invalid value makes property application |
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36 | % stop. All inputs are passed to geometry_calib_OpeningFcn via varargin. |
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37 | % |
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38 | % *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one |
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39 | % instance to run (singleton)". |
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40 | % |
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41 | % See also: GUIDE, GUIDATA, GUIHANDLES |
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42 | |
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43 | % Edit the above text to modify the response to help geometry_calib |
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44 | |
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45 | % Last Modified by GUIDE v2.5 25-Mar-2010 19:10:05 |
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46 | |
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47 | % Begin initialization code - DO NOT edit |
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48 | gui_Singleton = 1; |
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49 | gui_State = struct('gui_Name', mfilename, ... |
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50 | 'gui_Singleton', gui_Singleton, ... |
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51 | 'gui_OpeningFcn', @geometry_calib_OpeningFcn, ... |
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52 | 'gui_OutputFcn', @geometry_calib_OutputFcn, ... |
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53 | 'gui_LayoutFcn', [] , ... |
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54 | 'gui_Callback', []); |
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55 | if nargin & isstr(varargin{1}) |
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56 | gui_State.gui_Callback = str2func(varargin{1}); |
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57 | end |
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58 | |
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59 | if nargout |
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60 | [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:}); |
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61 | else |
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62 | gui_mainfcn(gui_State, varargin{:}); |
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63 | end |
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64 | % End initialization code - DO NOT edit |
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65 | |
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66 | |
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67 | % --- Executes just before geometry_calib is made visible. |
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68 | %INPUT: |
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69 | %handles: handles of the geometry_calib interface elements |
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70 | % PlotHandles: set of handles of the elements contolling the plotting |
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71 | % parameters on the uvmat interface (obtained by 'get_plot_handle.m') |
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72 | %------------------------------------------------------------------------ |
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73 | function geometry_calib_OpeningFcn(hObject, eventdata, handles, handles_uvmat,pos,inputfile) |
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74 | %------------------------------------------------------------------------ |
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75 | % Choose default command line output for geometry_calib |
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76 | handles.output = hObject; |
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77 | |
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78 | % Update handles structure |
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79 | guidata(hObject, handles); |
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80 | set(hObject,'DeleteFcn',{@closefcn})% |
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81 | |
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82 | %set the position of the interface |
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83 | if exist('pos','var')& length(pos)>2 |
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84 | pos_gui=get(hObject,'Position'); |
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85 | pos_gui(1)=pos(1); |
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86 | pos_gui(2)=pos(2); |
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87 | set(hObject,'Position',pos_gui); |
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88 | end |
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89 | inputxml=''; |
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90 | if exist('inputfile','var')& ~isempty(inputfile) |
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91 | [Path,Name,ext]=fileparts(inputfile); |
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92 | form=imformats(ext([2:end])); |
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93 | if ~isempty(form)% if the input file is an image |
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94 | struct.XmlInputfile=inputfile; |
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95 | set(hObject,'UserData',struct) |
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96 | [Pathsub,RootFile,field_count,str2,str_a,str_b,ext,nom_type,subdir]=name2display(inputfile); |
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97 | inputxml=[fullfile(Pathsub,RootFile) '.xml']; |
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98 | end |
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99 | end |
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100 | set(handles.ListCoord,'String',{'......'}) |
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101 | if exist(inputxml,'file') |
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102 | loadfile(handles,inputxml)% load the point coordiantes existing in the xml file |
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103 | end |
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104 | |
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105 | set(handles.ListCoord,'KeyPressFcn',{@key_press_fcn,handles})%set keyboard action function |
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106 | |
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107 | |
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108 | %------------------------------------------------------------------------ |
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109 | % --- Outputs from this function are returned to the command line. |
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110 | function varargout = geometry_calib_OutputFcn(hObject, eventdata, handles) |
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111 | %------------------------------------------------------------------------ |
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112 | % Get default command line output from handles structure |
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113 | varargout{1} = handles.output; |
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114 | varargout{2}=handles; |
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115 | |
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116 | %------------ |
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117 | function Phi_Callback(hObject, eventdata, handles) |
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118 | |
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119 | %------------------------------------------------------------------------ |
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120 | %read input xml file and update the edit boxes |
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121 | function loadfile(handles,fileinput) |
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122 | %------------------------------------------------------------------------ |
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123 | %read the input xml file |
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124 | t=xmltree(fileinput); |
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125 | s=convert(t);%convert to matlab structure |
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126 | %read data currently displayed on the interface |
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127 | PointCoord=[]; |
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128 | Coord_cell=get(handles.ListCoord,'String'); |
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129 | data=read_geometry_calib(Coord_cell); |
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130 | %data=read_geometry_calib(handles); |
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131 | Coord=[]; %default |
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132 | if isfield(data,'Coord') |
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133 | Coord=data.Coord; |
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134 | end |
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135 | TabChar_0=get(handles.ListCoord,'String'); |
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136 | nbcoord_0=size(TabChar_0,1); |
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137 | if isequal(get(handles.edit_append,'Value'),2) %edit mode A REVOIR |
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138 | val=get(handles.ListCoord,'Value')-1; |
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139 | else |
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140 | val=length(TabChar_0); |
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141 | end |
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142 | nbcoord=0; |
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143 | |
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144 | %case of calibration (ImaDoc) input file |
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145 | % hcalib=get(handles.calib_type,'parent'); |
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146 | CalibData=get(handles.geometry_calib,'UserData'); |
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147 | CalibData.XmlInput=fileinput; |
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148 | if isfield(s,'Heading') |
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149 | CalibData.Heading=s.Heading; |
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150 | end |
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151 | |
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152 | set(handles.geometry_calib,'UserData',CalibData);%store the heading in the interface 'UserData' |
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153 | if isfield(s,'GeometryCalib') |
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154 | Calib=s.GeometryCalib; |
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155 | if isfield(Calib,'CalibrationType') |
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156 | CalibrationType=Calib.CalibrationType; |
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157 | switch CalibrationType |
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158 | case 'linear' |
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159 | set(handles.calib_type,'Value',2) |
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160 | case 'tsai' |
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161 | set(handles.calib_type,'Value',3) |
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162 | end |
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163 | end |
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164 | if isfield(Calib,'SourceCalib') |
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165 | if isfield(Calib.SourceCalib,'PointCoord') |
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166 | PointCoord=Calib.SourceCalib.PointCoord; |
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167 | end |
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168 | end |
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169 | nbcoord=length(PointCoord); |
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170 | if ~isfield(Calib,'ErrorRms')&~isfield(Calib,'ErrorMax') %old convention of Gauthier (cord in mm) |
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171 | for i=1:length(PointCoord) |
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172 | line=str2num(PointCoord{i}); |
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173 | Coord(i+val,4:5)=line(4:5);%px x |
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174 | Coord(i+val,1:3)=line(1:3)/10;%phys x |
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175 | end |
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176 | else |
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177 | for i=1:length(PointCoord) |
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178 | line=str2num(PointCoord{i}); |
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179 | Coord(i,4:5)=line(4:5);%px x |
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180 | Coord(i,1:3)=line(1:3);%phys x |
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181 | end |
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182 | end |
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183 | end |
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184 | %case of xml files of points |
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185 | if isfield(s,'Coord') |
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186 | PointCoord=s.Coord; |
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187 | nbcoord=length(PointCoord); |
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188 | %case of image coordinates |
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189 | if isfield(s,'CoordType')& isequal(s.CoordType,'px') |
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190 | for i=1:nbcoord |
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191 | line=str2num(PointCoord{i}); |
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192 | Coord(i+val,4:5)=line(1:2); |
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193 | end |
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194 | %case of physical coordinates |
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195 | else |
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196 | for i=1:nbcoord |
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197 | line=str2num(PointCoord{i}); |
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198 | Coord(i+val,1:3)=line(1:3); |
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199 | nbcolumn=size(Coord,2); |
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200 | if nbcolumn<5 |
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201 | Coord(i+val,nbcolumn+1:5)=zeros(1,5-nbcolumn); |
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202 | end |
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203 | end |
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204 | end |
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205 | end |
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206 | CoordCell={}; |
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207 | for iline=1:size(Coord,1) |
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208 | for j=1:5 |
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209 | CoordCell{iline,j}=num2str(Coord(iline,j),4); |
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210 | end |
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211 | end |
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212 | % CoordCell=[CoordCell;{' ',' ',' ',' ',' '}]; |
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213 | Tabchar=cell2tab(CoordCell,' | ');%transform cells into table ready for display |
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214 | Tabchar=[Tabchar;{'......'}]; |
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215 | set(handles.ListCoord,'Value',1) |
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216 | set(handles.ListCoord,'String',Tabchar) |
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217 | MenuPlot_Callback(handles.geometry_calib, [], handles) |
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218 | |
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219 | % |
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220 | %------------------------------------------------------------------------ |
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221 | % executed when closing: set the parent interface button to value 0 |
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222 | function closefcn(gcbo,eventdata) |
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223 | %------------------------------------------------------------------------ |
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224 | huvmat=findobj(allchild(0),'Name','uvmat'); |
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225 | if ~isempty(huvmat) |
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226 | handles=guidata(huvmat); |
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227 | set(handles.MenuMask,'enable','on') |
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228 | set(handles.MenuGrid,'enable','on') |
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229 | set(handles.MenuObject,'enable','on') |
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230 | set(handles.MenuEdit,'enable','on') |
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231 | set(handles.edit,'enable','on') |
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232 | hobject=findobj(handles.axes3,'tag','calib_points'); |
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233 | if ~isempty(hobject) |
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234 | delete(hobject) |
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235 | end |
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236 | hobject=findobj(handles.axes3,'tag','calib_marker'); |
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237 | if ~isempty(hobject) |
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238 | delete(hobject) |
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239 | end |
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240 | end |
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241 | |
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242 | %------------------------------------------------------------------------ |
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243 | % --- Executes on button press in calibrate_lin. |
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244 | function APPLY_Callback(hObject, eventdata, handles) |
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245 | %------------------------------------------------------------------------ |
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246 | calib_cell=get(handles.calib_type,'String'); |
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247 | val=get(handles.calib_type,'Value'); |
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248 | calib_type=calib_cell{val}; |
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249 | Coord_cell=get(handles.ListCoord,'String'); |
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250 | Object=read_geometry_calib(Coord_cell); |
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251 | |
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252 | if isequal(calib_type,'rescale') |
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253 | GeometryCalib=calib_rescale(Object.Coord); |
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254 | elseif isequal(calib_type,'linear') |
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255 | GeometryCalib=calib_linear(Object.Coord); |
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256 | elseif isequal(calib_type,'tsai_cpp') |
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257 | GeometryCalib=calib_tsai(Object.Coord); |
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258 | elseif isequal(calib_type,'tsai_matlab') |
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259 | GeometryCalib=calib_tsai2(Object.Coord); |
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260 | end |
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261 | unitlist=get(handles.CoordUnit,'String'); |
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262 | unit=unitlist{get(handles.CoordUnit,'value')}; |
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263 | GeometryCalib.CoordUnit=unit; |
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264 | GeometryCalib.SourceCalib.PointCoord=Object.Coord; |
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265 | huvmat=findobj(allchild(0),'Name','uvmat'); |
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266 | hhuvmat=guidata(huvmat);%handles of elements in the GUI uvmat |
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267 | RootPath=''; |
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268 | RootFile=''; |
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269 | if ~isempty(hhuvmat.RootPath)& ~isempty(hhuvmat.RootFile) |
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270 | testhandle=1; |
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271 | RootPath=get(hhuvmat.RootPath,'String'); |
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272 | RootFile=get(hhuvmat.RootFile,'String'); |
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273 | filebase=fullfile(RootPath,RootFile); |
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274 | outputfile=[filebase '.xml']; |
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275 | else |
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276 | question={'save the calibration data and point coordinates in'}; |
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277 | def={fullfile(RootPath,['ObjectCalib.xml'])}; |
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278 | options.Resize='on'; |
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279 | answer=inputdlg(question,'save average in a new file',1,def,options); |
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280 | outputfile=answer{1}; |
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281 | end |
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282 | update_imadoc(GeometryCalib,outputfile) |
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283 | msgbox_uvmat('CONFIRMATION',{[outputfile ' updated with calibration data'];... |
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284 | ['Error rms (along x,y)=' num2str(GeometryCalib.ErrorRms) ' pixels'];... |
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285 | ['Error max (along x,y)=' num2str(GeometryCalib.ErrorMax) ' pixels']}) |
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286 | |
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287 | %display image with new calibration in the currently opened uvmat interface |
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288 | hhh=findobj(hhuvmat.axes3,'Tag','calib_marker');% delete calib points and markers |
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289 | if ~isempty(hhh) |
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290 | delete(hhh); |
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291 | end |
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292 | hhh=findobj(hhuvmat.axes3,'Tag','calib_points'); |
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293 | if ~isempty(hhh) |
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294 | delete(hhh); |
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295 | end |
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296 | set(hhuvmat.FixedLimits,'Value',0)% put FixedLimits option to 'off' |
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297 | set(hhuvmat.FixedLimits,'BackgroundColor',[0.7 0.7 0.7]) |
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298 | uvmat('RootPath_Callback',hObject,eventdata,hhuvmat); %file input with xml reading in uvmat |
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299 | MenuPlot_Callback(hObject, eventdata, handles) |
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300 | figure(handles.geometry_calib) |
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301 | |
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302 | %------------------------------------------------------------------ |
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303 | % --- Executes on button press in calibrate_lin. |
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304 | function REPLICATE_Callback(hObject, eventdata, handles) |
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305 | %------------------------------------------------------------------------ |
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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 | calib_type=calib_cell{val}; |
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309 | Coord_cell=get(handles.ListCoord,'String'); |
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310 | Object=read_geometry_calib(Coord_cell); |
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311 | |
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312 | if isequal(calib_type,'rescale') |
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313 | GeometryCalib=calib_rescale(Object.Coord); |
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314 | elseif isequal(calib_type,'linear') |
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315 | GeometryCalib=calib_linear(Object.Coord); |
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316 | elseif isequal(calib_type,'tsai') |
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317 | GeometryCalib=calib_tsai(Object.Coord); |
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318 | end |
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319 | % %record image source |
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320 | GeometryCalib.SourceCalib.PointCoord=Object.Coord; |
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321 | |
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322 | %open and read the dataview GUI |
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323 | h_dataview=findobj(allchild(0),'name','dataview'); |
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324 | if ~isempty(h_dataview) |
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325 | delete(h_dataview) |
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326 | end |
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327 | CalibData=get(handles.geometry_calib,'UserData');%read the calibration image source on the interface userdata |
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328 | |
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329 | if isfield(CalibData,'XmlInput') |
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330 | XmlInput=fileparts(CalibData.XmlInput); |
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331 | [XmlInput,filename,ext]=fileparts(XmlInput); |
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332 | end |
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333 | SubCampaignTest='n'; %default |
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334 | testinput=0; |
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335 | if isfield(CalibData,'Heading') |
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336 | Heading=CalibData.Heading; |
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337 | if isfield(Heading,'Record') && isequal([filename ext],Heading.Record) |
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338 | [XmlInput,filename,ext]=fileparts(XmlInput); |
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339 | end |
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340 | if isfield(Heading,'Device') && isequal([filename ext],Heading.Device) |
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341 | [XmlInput,filename,ext]=fileparts(XmlInput); |
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342 | Device=Heading.Device; |
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343 | end |
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344 | if isfield(Heading,'Experiment') && isequal([filename ext],Heading.Experiment) |
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345 | [PP,filename,ext]=fileparts(XmlInput); |
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346 | end |
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347 | testinput=0; |
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348 | if isfield(Heading,'SubCampaign') && isequal([filename ext],Heading.SubCampaign) |
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349 | SubCampaignTest='y'; |
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350 | testinput=1; |
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351 | elseif isfield(Heading,'Campaign') && isequal([filename ext],Heading.Campaign) |
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352 | testinput=1; |
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353 | end |
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354 | end |
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355 | if ~testinput |
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356 | filename='PROJETS';%default |
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357 | if isfield(CalibData,'XmlInput') |
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358 | [pp,filename]=fileparts(CalibData.XmlInput); |
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359 | end |
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360 | while ~isequal(filename,'PROJETS') && numel(filename)>1 |
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361 | filename_1=filename; |
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362 | pp_1=pp; |
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363 | [pp,filename]=fileparts(pp); |
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364 | end |
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365 | XmlInput=fullfile(pp_1,filename_1); |
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366 | testinput=1; |
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367 | end |
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368 | if testinput |
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369 | outcome=dataview(XmlInput,SubCampaignTest,GeometryCalib); |
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370 | end |
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371 | |
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372 | %------------------------------------------------------------------------ |
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373 | % determine the parameters for a calibration by an affine function (rescaling and offset, no rotation) |
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374 | function GeometryCalib=calib_rescale(Coord) |
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375 | %------------------------------------------------------------------------ |
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376 | |
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377 | X=Coord(:,1); |
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378 | Y=Coord(:,2); |
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379 | x_ima=Coord(:,4); |
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380 | y_ima=Coord(:,5); |
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381 | [px,sx]=polyfit(X,x_ima,1); |
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382 | [py,sy]=polyfit(Y,y_ima,1); |
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383 | T_x=px(2); |
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384 | T_y=py(2); |
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385 | GeometryCalib.CalibrationType='rescale'; |
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386 | GeometryCalib.focal=1; |
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387 | GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function |
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388 | GeometryCalib.Tx_Ty_Tz=[T_x T_y 1]; |
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389 | GeometryCalib.R=[px(1),0,0;0,py(1),0;0,0,1]; |
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390 | |
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391 | %check error |
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392 | Calib.dpx=1; |
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393 | Calib.dpy=1; |
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394 | Calib.sx=1; |
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395 | Calib.Cx=0; |
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396 | Calib.Cy=0; |
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397 | Calib.Tz=1; |
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398 | Calib.kappa1=0; |
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399 | Calib.f=GeometryCalib.focal; |
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400 | Calib.Tx=T_x; |
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401 | Calib.Ty=T_y; |
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402 | Calib.R=GeometryCalib.R; |
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403 | [Xpoints,Ypoints]=px_XYZ(Calib,X,Y,0); |
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404 | GeometryCalib.ErrorRms(1)=sqrt(mean((Xpoints-x_ima).*(Xpoints-x_ima))); |
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405 | GeometryCalib.ErrorMax(1)=max(abs(Xpoints-x_ima)); |
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406 | GeometryCalib.ErrorRms(2)=sqrt(mean((Ypoints-y_ima).*(Ypoints-y_ima))); |
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407 | GeometryCalib.ErrorMax(2)=max(abs(Ypoints-y_ima)); |
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408 | |
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409 | %------------------------------------------------------------------------ |
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410 | % determine the parameters for a calibration by a linear transform matrix (rescale and rotation) |
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411 | function GeometryCalib=calib_linear(Coord) |
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412 | %------------------------------------------------------------------------ |
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413 | X=Coord(:,1); |
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414 | Y=Coord(:,2); |
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415 | x_ima=Coord(:,4); |
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416 | y_ima=Coord(:,5); |
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417 | XY_mat=[ones(size(X)) X Y]; |
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418 | a_X1=XY_mat\x_ima; %transformation matrix for X |
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419 | x1=XY_mat*a_X1;%reconstruction |
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420 | err_X1=max(abs(x1-x_ima));%error |
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421 | a_Y1=XY_mat\y_ima;%transformation matrix for X |
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422 | y1=XY_mat*a_Y1; |
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423 | err_Y1=max(abs(y1-y_ima));%error |
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424 | T_x=a_X1(1); |
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425 | T_y=a_Y1(1); |
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426 | GeometryCalib.CalibrationType='linear'; |
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427 | GeometryCalib.focal=1; |
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428 | GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function |
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429 | GeometryCalib.Tx_Ty_Tz=[T_x T_y 1]; |
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430 | GeometryCalib.R=[a_X1(2),a_X1(3),0;a_Y1(2),a_Y1(3),0;0,0,1]; |
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431 | |
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432 | %check error |
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433 | GeometryCalib.ErrorRms(1)=sqrt(mean((x1-x_ima).*(x1-x_ima))); |
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434 | GeometryCalib.ErrorMax(1)=max(abs(x1-x_ima)); |
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435 | GeometryCalib.ErrorRms(2)=sqrt(mean((y1-y_ima).*(y1-y_ima))); |
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436 | GeometryCalib.ErrorMax(2)=max(abs(y1-y_ima)); |
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437 | |
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438 | %------------------------------------------------------------------------ |
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439 | function GeometryCalib=calib_tsai2(Coord) |
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440 | %------------------------------------------------------------------ |
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441 | path_uvmat=which('uvmat');% check the path detected for source file uvmat |
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442 | path_UVMAT=fileparts(path_uvmat); %path to UVMAT |
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443 | |
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444 | x_1=Coord(:,4:5)'; |
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445 | X_1=Coord(:,1:3)'; |
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446 | n_ima=1; |
---|
447 | % check_cond=0; |
---|
448 | nx=1024;ny=1024; |
---|
449 | % est_kc=[1;0;0;0;0]; |
---|
450 | est_dist=[1;0;0;0;0]; |
---|
451 | run(fullfile(path_UVMAT,'TOOLBOX_calib','go_calib_optim')); |
---|
452 | |
---|
453 | GeometryCalib.CalibrationType='tsai'; |
---|
454 | GeometryCalib.focal=f(2); |
---|
455 | GeometryCalib.dpx_dpy=[1 1]; |
---|
456 | GeometryCalib.Cx_Cy=cc'; |
---|
457 | GeometryCalib.sx=fc(1)/fc(2); |
---|
458 | GeometryCalib.kappa1=-k(1)/f(2)^2; |
---|
459 | GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function |
---|
460 | GeometryCalib.Tx_Ty_Tz=Tc_1'; |
---|
461 | GeometryCalib.R=Rc_1; |
---|
462 | Calib.dpx=GeometryCalib.dpx_dpy(1); |
---|
463 | Calib.dpy=GeometryCalib.dpx_dpy(2); |
---|
464 | Calib.sx=GeometryCalib.sx; |
---|
465 | Calib.Cx=GeometryCalib.Cx_Cy(1); |
---|
466 | Calib.Cy=GeometryCalib.Cx_Cy(2); |
---|
467 | Calib.kappa1=GeometryCalib.kappa1; |
---|
468 | Calib.f=GeometryCalib.focal; |
---|
469 | Calib.Tx=GeometryCalib.Tx_Ty_Tz(1); |
---|
470 | Calib.Ty=GeometryCalib.Tx_Ty_Tz(2); |
---|
471 | Calib.Tz=GeometryCalib.Tx_Ty_Tz(3); |
---|
472 | Calib.R=GeometryCalib.R; |
---|
473 | X=Coord(:,1); |
---|
474 | Y=Coord(:,2); |
---|
475 | Z=Coord(:,3); |
---|
476 | x_ima=Coord(:,4); |
---|
477 | y_ima=Coord(:,5); |
---|
478 | [Xpoints,Ypoints]=px_XYZ(Calib,X,Y,Z); |
---|
479 | |
---|
480 | GeometryCalib.ErrorRms(1)=sqrt(mean((Xpoints-x_ima).*(Xpoints-x_ima))); |
---|
481 | GeometryCalib.ErrorMax(1)=max(abs(Xpoints-x_ima)); |
---|
482 | GeometryCalib.ErrorRms(2)=sqrt(mean((Ypoints-y_ima).*(Ypoints-y_ima))); |
---|
483 | GeometryCalib.ErrorMax(2)=max(abs(Ypoints-y_ima)); |
---|
484 | |
---|
485 | function GeometryCalib=calib_tsai(Coord) |
---|
486 | %------------------------------------------------------------------------ |
---|
487 | %TSAI |
---|
488 | % 'calibration_lin' provides a linear transform on coordinates, |
---|
489 | path_uvmat=which('uvmat');% check the path detected for source file uvmat |
---|
490 | path_UVMAT=fileparts(path_uvmat); %path to UVMAT |
---|
491 | % if isunix |
---|
492 | %fid = fopen(fullfile(path_UVMAT,'PARAM_LINUX.txt'),'r');%open the file with civ binary names |
---|
493 | xmlfile=fullfile(path_UVMAT,'PARAM.xml'); |
---|
494 | if exist(xmlfile,'file') |
---|
495 | t=xmltree(xmlfile); |
---|
496 | sparam=convert(t); |
---|
497 | end |
---|
498 | if ~isfield(sparam,'GeometryCalibBin') |
---|
499 | msgbox_uvmat('ERROR',['calibration program <GeometryCalibBin> undefined in parameter file ' xmlfile]) |
---|
500 | return |
---|
501 | end |
---|
502 | Tsai_exe=sparam.GeometryCalibBin; |
---|
503 | if ~exist(Tsai_exe,'file')%the binary is defined in /bin, default setting |
---|
504 | Tsai_exe=fullfile(path_UVMAT,Tsai_exe); |
---|
505 | end |
---|
506 | if ~exist(Tsai_exe,'file') |
---|
507 | msgbox_uvmat('ERROR',['calibration program ' sparam.GeometryCalibBin ' defined in PARAM.xml does not exist']) |
---|
508 | return |
---|
509 | end |
---|
510 | |
---|
511 | textcoord=num2str(Coord,4); |
---|
512 | dlmwrite('t.txt',textcoord,''); |
---|
513 | % ['!' Tsai_exe ' -f1 0 -f2 t.txt'] |
---|
514 | eval(['!' Tsai_exe ' -f t.txt > tsaicalib.log']); |
---|
515 | if ~exist('calib.dat','file') |
---|
516 | msgbox_uvmat('ERROR','no output from calibration program Tsai_exe: possibly too few points') |
---|
517 | end |
---|
518 | calibdat=dlmread('calib.dat'); |
---|
519 | delete('calib.dat') |
---|
520 | delete('t.txt') |
---|
521 | GeometryCalib.CalibrationType='tsai'; |
---|
522 | GeometryCalib.focal=calibdat(10); |
---|
523 | GeometryCalib.dpx_dpy=[calibdat(5) calibdat(6)]; |
---|
524 | GeometryCalib.Cx_Cy=[calibdat(7) calibdat(8)]; |
---|
525 | GeometryCalib.sx=calibdat(9); |
---|
526 | GeometryCalib.kappa1=calibdat(11); |
---|
527 | GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function |
---|
528 | GeometryCalib.Tx_Ty_Tz=[calibdat(12) calibdat(13) calibdat(14)]; |
---|
529 | Rx_Ry_Rz=calibdat([15:17]); |
---|
530 | sa = sin(Rx_Ry_Rz(1)) ; |
---|
531 | ca=cos(Rx_Ry_Rz(1)); |
---|
532 | sb=sin(Rx_Ry_Rz(2)); |
---|
533 | cb =cos(Rx_Ry_Rz(2)); |
---|
534 | sg =sin(Rx_Ry_Rz(3)); |
---|
535 | cg =cos(Rx_Ry_Rz(3)); |
---|
536 | r1 = cb * cg; |
---|
537 | r2 = cg * sa * sb - ca * sg; |
---|
538 | r3 = sa * sg + ca * cg * sb; |
---|
539 | r4 = cb * sg; |
---|
540 | r5 = sa * sb * sg + ca * cg; |
---|
541 | r6 = ca * sb * sg - cg * sa; |
---|
542 | r7 = -sb; |
---|
543 | r8 = cb * sa; |
---|
544 | r9 = ca * cb; |
---|
545 | %EN DEDUIRE MATRICE R ?? |
---|
546 | GeometryCalib.R=[r1,r2,r3;r4,r5,r6;r7,r8,r9]; |
---|
547 | %erreur a caracteriser? |
---|
548 | %check error |
---|
549 | Calib.dpx=GeometryCalib.dpx_dpy(1); |
---|
550 | Calib.dpy=GeometryCalib.dpx_dpy(2); |
---|
551 | Calib.sx=GeometryCalib.sx; |
---|
552 | Calib.Cx=GeometryCalib.Cx_Cy(1); |
---|
553 | Calib.Cy=GeometryCalib.Cx_Cy(2); |
---|
554 | Calib.kappa1=GeometryCalib.kappa1; |
---|
555 | Calib.f=GeometryCalib.focal; |
---|
556 | Calib.Tx=GeometryCalib.Tx_Ty_Tz(1); |
---|
557 | Calib.Ty=GeometryCalib.Tx_Ty_Tz(2); |
---|
558 | Calib.Tz=GeometryCalib.Tx_Ty_Tz(3); |
---|
559 | Calib.R=GeometryCalib.R; |
---|
560 | X=Coord(:,1); |
---|
561 | Y=Coord(:,2); |
---|
562 | Z=Coord(:,3); |
---|
563 | x_ima=Coord(:,4); |
---|
564 | y_ima=Coord(:,5); |
---|
565 | [Xpoints,Ypoints]=px_XYZ(Calib,X,Y,Z); |
---|
566 | |
---|
567 | GeometryCalib.ErrorRms(1)=sqrt(mean((Xpoints-x_ima).*(Xpoints-x_ima))); |
---|
568 | GeometryCalib.ErrorMax(1)=max(abs(Xpoints-x_ima)); |
---|
569 | GeometryCalib.ErrorRms(2)=sqrt(mean((Ypoints-y_ima).*(Ypoints-y_ima))); |
---|
570 | GeometryCalib.ErrorMax(2)=max(abs(Ypoints-y_ima)); |
---|
571 | % Nfx |
---|
572 | % dx |
---|
573 | % dy |
---|
574 | % 5 dpx |
---|
575 | % 6 dpy |
---|
576 | % cx |
---|
577 | % cy |
---|
578 | % sx |
---|
579 | % f |
---|
580 | % kappa1 |
---|
581 | % tx |
---|
582 | % ty |
---|
583 | % tz |
---|
584 | % rx |
---|
585 | % ry |
---|
586 | % rz |
---|
587 | % p1 |
---|
588 | % p2 |
---|
589 | |
---|
590 | %calibcoeff=str2num(calibdat) |
---|
591 | |
---|
592 | |
---|
593 | %------------------------------------------------------------------------ |
---|
594 | % --- Executes on button press in rotation. |
---|
595 | function rotation_Callback(hObject, eventdata, handles) |
---|
596 | %------------------------------------------------------------------------ |
---|
597 | angle_rot=(pi/180)*str2num(get(handles.Phi,'String')); |
---|
598 | Coord_cell=get(handles.ListCoord,'String'); |
---|
599 | data=read_geometry_calib(Coord_cell); |
---|
600 | data.Coord(:,1)=cos(angle_rot)*data.Coord(:,1)+sin(angle_rot)*data.Coord(:,2); |
---|
601 | data.Coord(:,1)=-sin(angle_rot)*data.Coord(:,1)+cos(angle_rot)*data.Coord(:,2); |
---|
602 | set(handles.XObject,'String',num2str(data.Coord(:,1),4)); |
---|
603 | set(handles.YObject,'String',num2str(data.Coord(:,2),4)); |
---|
604 | |
---|
605 | %------------------------------------------------------------------------ |
---|
606 | function XImage_Callback(hObject, eventdata, handles) |
---|
607 | %------------------------------------------------------------------------ |
---|
608 | update_list(hObject, eventdata,handles) |
---|
609 | |
---|
610 | %------------------------------------------------------------------------ |
---|
611 | function YImage_Callback(hObject, eventdata, handles) |
---|
612 | %------------------------------------------------------------------------ |
---|
613 | update_list(hObject, eventdata,handles) |
---|
614 | |
---|
615 | function XObject_Callback(hObject, eventdata, handles) |
---|
616 | update_list(hObject, eventdata,handles) |
---|
617 | |
---|
618 | function YObject_Callback(hObject, eventdata, handles) |
---|
619 | update_list(hObject, eventdata,handles) |
---|
620 | |
---|
621 | function ZObject_Callback(hObject, eventdata, handles) |
---|
622 | update_list(hObject, eventdata,handles) |
---|
623 | |
---|
624 | %------------------------------------------------------------------------ |
---|
625 | function update_list(hObject, eventdata, handles) |
---|
626 | %------------------------------------------------------------------------ |
---|
627 | str4=get(handles.XImage,'String'); |
---|
628 | str5=get(handles.YImage,'String'); |
---|
629 | str1=get(handles.XObject,'String'); |
---|
630 | tt=double(str1); |
---|
631 | str2=get(handles.YObject,'String'); |
---|
632 | str3=get(handles.ZObject,'String'); |
---|
633 | if ~isempty(str1) & ~isequal(double(str1),32) & (isempty(str3)|isequal(double(str3),32)) |
---|
634 | str3='0';%put z to 0 by default |
---|
635 | end |
---|
636 | strline=[str1 ' | ' str2 ' | ' str3 ' | ' str4 ' | ' str5]; |
---|
637 | Coord=get(handles.ListCoord,'String'); |
---|
638 | val=get(handles.ListCoord,'Value'); |
---|
639 | Coord{val}=strline; |
---|
640 | set(handles.ListCoord,'String',Coord) |
---|
641 | %update the plot |
---|
642 | ListCoord_Callback(hObject, eventdata, handles) |
---|
643 | MenuPlot_Callback(hObject, eventdata, handles) |
---|
644 | |
---|
645 | %------------------------------------------------------------------------ |
---|
646 | % --- Executes on selection change in ListCoord. |
---|
647 | function ListCoord_Callback(hObject, eventdata, handles) |
---|
648 | %------------------------------------------------------------------------ |
---|
649 | huvmat=findobj(allchild(0),'Name','uvmat');%find the current uvmat interface handle |
---|
650 | hplot=findobj(huvmat,'Tag','axes3');%main plotting axis of uvmat |
---|
651 | hhh=findobj(hplot,'Tag','calib_marker'); |
---|
652 | Coord_cell=get(handles.ListCoord,'String'); |
---|
653 | val=get(handles.ListCoord,'Value'); |
---|
654 | coord_str=Coord_cell{val}; |
---|
655 | k=findstr('|',coord_str); |
---|
656 | if isempty(k)%last line '.....' selected |
---|
657 | if ~isempty(hhh) |
---|
658 | delete(hhh)%delete the circle marker |
---|
659 | end |
---|
660 | return |
---|
661 | end |
---|
662 | %fill the edit boxex |
---|
663 | set(handles.XObject,'String',coord_str(1:k(1)-5)) |
---|
664 | set(handles.YObject,'String',coord_str(k(1)+5:k(2)-5)) |
---|
665 | set(handles.ZObject,'String',coord_str(k(2)+5:k(3)-5)) |
---|
666 | set(handles.XImage,'String',coord_str(k(3)+5:k(4)-5)) |
---|
667 | set(handles.YImage,'String',coord_str(k(4)+5:end)) |
---|
668 | h_menu_coord=findobj(huvmat,'Tag','transform_fct'); |
---|
669 | menu=get(h_menu_coord,'String'); |
---|
670 | choice=get(h_menu_coord,'Value'); |
---|
671 | if iscell(menu) |
---|
672 | option=menu{choice}; |
---|
673 | else |
---|
674 | option='px'; %default |
---|
675 | end |
---|
676 | if isequal(option,'phys') |
---|
677 | XCoord=str2num(coord_str(1:k(1)-5)); |
---|
678 | YCoord=str2num(coord_str(k(1)+5:k(2)-5)); |
---|
679 | elseif isequal(option,'px')|| isequal(option,'') |
---|
680 | XCoord=str2num(coord_str(k(3)+5:k(4)-5)); |
---|
681 | YCoord=str2num(coord_str(k(4)+5:end)); |
---|
682 | else |
---|
683 | msgbox_uvmat('ERROR','the choice in menu_coord of uvmat must be px or phys ') |
---|
684 | end |
---|
685 | if isempty(XCoord)||isempty(YCoord) |
---|
686 | if ~isempty(hhh) |
---|
687 | delete(hhh)%delete the circle marker |
---|
688 | end |
---|
689 | return |
---|
690 | end |
---|
691 | xlim=get(hplot,'XLim'); |
---|
692 | ylim=get(hplot,'YLim'); |
---|
693 | ind_range=max(abs(xlim(2)-xlim(1)),abs(ylim(end)-ylim(1)))/20;%defines the size of the circle marker |
---|
694 | if isempty(hhh) |
---|
695 | axes(hplot) |
---|
696 | rectangle('Curvature',[1 1],... |
---|
697 | 'Position',[XCoord-ind_range/2 YCoord-ind_range/2 ind_range ind_range],'EdgeColor','m',... |
---|
698 | 'LineStyle','-','Tag','calib_marker'); |
---|
699 | else |
---|
700 | set(hhh,'Position',[XCoord-ind_range/2 YCoord-ind_range/2 ind_range ind_range]) |
---|
701 | end |
---|
702 | |
---|
703 | %------------------------------------------------------------------------ |
---|
704 | % --- Executes on selection change in edit_append. |
---|
705 | function edit_append_Callback(hObject, eventdata, handles) |
---|
706 | %------------------------------------------------------------------------ |
---|
707 | choice=get(handles.edit_append,'Value'); |
---|
708 | if choice==1 |
---|
709 | Coord=get(handles.ListCoord,'String'); |
---|
710 | val=length(Coord); |
---|
711 | if val>=1 & isequal(Coord{val},'') |
---|
712 | val=val-1; %do not take into account blank |
---|
713 | end |
---|
714 | Coord{val+1}=''; |
---|
715 | set(handles.ListCoord,'String',Coord) |
---|
716 | set(handles.ListCoord,'Value',val+1) |
---|
717 | end |
---|
718 | |
---|
719 | |
---|
720 | |
---|
721 | function NEW_Callback(hObject, eventdata, handles) |
---|
722 | %A METTRE SOUS UN BOUTON |
---|
723 | huvmat=findobj(allchild(0),'Name','uvmat'); |
---|
724 | hchild=get(huvmat,'children'); |
---|
725 | hcoord=findobj(hchild,'Tag','menu_coord'); |
---|
726 | coordtype=get(hcoord,'Value'); |
---|
727 | haxes=findobj(hchild,'Tag','axes3'); |
---|
728 | AxeData=get(haxes,'UserData'); |
---|
729 | if ~isequal(hcoord,2) |
---|
730 | set(hcoord,'Value',2) |
---|
731 | huvmat=uvmat(AxeData); |
---|
732 | 'relancer uvmat'; |
---|
733 | end |
---|
734 | if ~isfield(AxeData,'ZoomAxes') |
---|
735 | msgbox_uvmat('ERROR','first draw a window around a grid marker') |
---|
736 | return |
---|
737 | end |
---|
738 | XLim=get(AxeData.ZoomAxes,'XLim'); |
---|
739 | YLim=get(AxeData.ZoomAxes,'YLim'); |
---|
740 | np=size(AxeData.A); |
---|
741 | ind_sub_x=round(XLim); |
---|
742 | ind_sub_y=np(1)-round(YLim); |
---|
743 | Mfiltre=AxeData.A([ind_sub_y(2):ind_sub_y(1)] ,ind_sub_x,:); |
---|
744 | Mfiltre_norm=double(Mfiltre); |
---|
745 | Mfiltre_norm=Mfiltre_norm/sum(sum(Mfiltre_norm)); |
---|
746 | Mfiltre_norm=100*(Mfiltre_norm-mean(mean(Mfiltre_norm))); |
---|
747 | Atype=class(AxeData.A); |
---|
748 | Data.NbDim=2; |
---|
749 | Data.A=filter2(Mfiltre_norm,double(AxeData.A)); |
---|
750 | Data.A=feval(Atype,Data.A); |
---|
751 | Data.AName='image'; |
---|
752 | Data.AX=AxeData.AX; |
---|
753 | Data.AY=AxeData.AY; |
---|
754 | Data.CoordType='px'; |
---|
755 | plot_field(Data) |
---|
756 | |
---|
757 | %------------------------------------------------------------------------ |
---|
758 | % --- 'key_press_fcn:' function activated when a key is pressed on the keyboard |
---|
759 | function key_press_fcn(hObject,eventdata,handles) |
---|
760 | %------------------------------------------------------------------------ |
---|
761 | xx=double(get(handles.geometry_calib,'CurrentCharacter')); %get the keyboard character |
---|
762 | if ismember(xx,[8 127])%backspace or delete |
---|
763 | Coord_cell=get(handles.ListCoord,'String'); |
---|
764 | val=get(handles.ListCoord,'Value'); |
---|
765 | if val<numel(Coord_cell) % the last element '...' has not been selected |
---|
766 | Coord_cell(val)=[];%remove the selected line |
---|
767 | set(handles.ListCoord,'String',Coord_cell) |
---|
768 | ListCoord_Callback(hObject, eventdata, handles) |
---|
769 | MenuPlot_Callback(hObject,eventdata,handles) |
---|
770 | end |
---|
771 | end |
---|
772 | |
---|
773 | % %------------------------------------------------------------------------ |
---|
774 | % % --- Executes on button press in append_point. |
---|
775 | % function append_point_Callback(hObject, eventdata, handles) |
---|
776 | % %------------------------------------------------------------------------ |
---|
777 | % Coord=get(handles.ListCoord,'String'); |
---|
778 | % val=length(Coord); |
---|
779 | % if val>=1 & isequal(Coord{val},'') |
---|
780 | % val=val-1; %do not take into account blank |
---|
781 | % end |
---|
782 | % Coord{val+1}=''; |
---|
783 | % set(handles.ListCoord,'String',Coord) |
---|
784 | % set(handles.ListCoord,'Value',val+1) |
---|
785 | |
---|
786 | %------------------------------------------------------------------------ |
---|
787 | function MenuOpen_Callback(hObject, eventdata, handles) |
---|
788 | %------------------------------------------------------------------------ |
---|
789 | %get the object file |
---|
790 | huvmat=findobj(allchild(0),'Name','uvmat'); |
---|
791 | UvData=get(huvmat,'UserData'); |
---|
792 | hchild=get(huvmat,'Children'); |
---|
793 | hrootpath=findobj(hchild,'Tag','RootPath'); |
---|
794 | oldfile=get(hrootpath,'String'); |
---|
795 | if isempty(oldfile) |
---|
796 | oldfile=''; |
---|
797 | end |
---|
798 | %[FileName,PathName] = uigetfile('*.civ','Select a .civ file',oldfile) |
---|
799 | [FileName, PathName, filterindex] = uigetfile( ... |
---|
800 | {'*.xml;*.mat', ' (*.xml,*.mat)'; |
---|
801 | '*.xml', '.xml files '; ... |
---|
802 | '*.mat', '.mat matlab files '}, ... |
---|
803 | 'Pick a file',oldfile); |
---|
804 | fileinput=[PathName FileName];%complete file name |
---|
805 | testblank=findstr(fileinput,' ');%look for blanks |
---|
806 | if ~isempty(testblank) |
---|
807 | msgbox_uvmat('ERROR','forbidden input file name or path: no blank character allowed') |
---|
808 | return |
---|
809 | end |
---|
810 | sizf=size(fileinput); |
---|
811 | if (~ischar(fileinput)|~isequal(sizf(1),1)),return;end |
---|
812 | loadfile(handles,fileinput) |
---|
813 | |
---|
814 | |
---|
815 | %------------------------------------------------------------------------ |
---|
816 | function MenuPlot_Callback(hObject, eventdata, handles) |
---|
817 | %------------------------------------------------------------------------ |
---|
818 | huvmat=findobj(allchild(0),'Name','uvmat');%find the current uvmat interface handle |
---|
819 | UvData=get(huvmat,'UserData');%Data associated to the current uvmat interface |
---|
820 | hhuvmat=guidata(huvmat); %handles of GUI elements in uvmat |
---|
821 | hplot=findobj(huvmat,'Tag','axes3');%main plotting axis of uvmat |
---|
822 | h_menu_coord=findobj(huvmat,'Tag','transform_fct'); |
---|
823 | menu=get(h_menu_coord,'String'); |
---|
824 | choice=get(h_menu_coord,'Value'); |
---|
825 | if iscell(menu) |
---|
826 | option=menu{choice}; |
---|
827 | else |
---|
828 | option='px'; %default |
---|
829 | end |
---|
830 | Coord_cell=get(handles.ListCoord,'String'); |
---|
831 | ObjectData=read_geometry_calib(Coord_cell); |
---|
832 | %ObjectData=read_geometry_calib(handles);%read the interface input parameters defining the object |
---|
833 | if ~isempty(ObjectData.Coord) |
---|
834 | if isequal(option,'phys') |
---|
835 | ObjectData.Coord=ObjectData.Coord(:,[1:3]); |
---|
836 | elseif isequal(option,'px')||isequal(option,'') |
---|
837 | ObjectData.Coord=ObjectData.Coord(:,[4:5]); |
---|
838 | else |
---|
839 | msgbox_uvmat('ERROR','the choice in menu_coord of uvmat must be '''', px or phys ') |
---|
840 | end |
---|
841 | end |
---|
842 | axes(hhuvmat.axes3) |
---|
843 | hh=findobj('Tag','calib_points'); |
---|
844 | if ~isempty(ObjectData.Coord) && isempty(hh) |
---|
845 | hh=line(ObjectData.Coord(:,1),ObjectData.Coord(:,2),'Color','m','Tag','calib_points','LineStyle','.','Marker','+'); |
---|
846 | elseif isempty(ObjectData.Coord)%empty list of points, suppress the plot |
---|
847 | delete(hh) |
---|
848 | else |
---|
849 | set(hh,'XData',ObjectData.Coord(:,1)) |
---|
850 | set(hh,'YData',ObjectData.Coord(:,2)) |
---|
851 | end |
---|
852 | pause(.1) |
---|
853 | figure(handles.geometry_calib) |
---|
854 | |
---|
855 | % -------------------------------------------------------------------- |
---|
856 | function MenuHelp_Callback(hObject, eventdata, handles) |
---|
857 | path_to_uvmat=which ('uvmat');% check the path of uvmat |
---|
858 | pathelp=fileparts(path_to_uvmat); |
---|
859 | helpfile=fullfile(pathelp,'uvmat_doc','uvmat_doc.html'); |
---|
860 | 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') |
---|
861 | else |
---|
862 | addpath (fullfile(pathelp,'uvmat_doc')) |
---|
863 | web([helpfile '#geometry_calib']) |
---|
864 | end |
---|
865 | |
---|
866 | %------------------------------------------------------------------------ |
---|
867 | function MenuCreateGrid_Callback(hObject, eventdata, handles) |
---|
868 | %------------------------------------------------------------------------ |
---|
869 | %hcalib=get(handles.calib_type,'parent');%handles of the GUI geometry_calib |
---|
870 | CalibData=get(handles.geometry_calib,'UserData'); |
---|
871 | Tinput=[];%default |
---|
872 | if isfield(CalibData,'grid') |
---|
873 | Tinput=CalibData.grid; |
---|
874 | end |
---|
875 | [T,CalibData.grid]=create_grid(Tinput);%display the GUI create_grid |
---|
876 | set(handles.geometry_calib,'UserData',CalibData) |
---|
877 | |
---|
878 | %grid in phys space |
---|
879 | Coord=get(handles.ListCoord,'String'); |
---|
880 | val=get(handles.ListCoord,'Value'); |
---|
881 | data=read_geometry_calib(Coord); |
---|
882 | %nbpoints=size(data.Coord,1); %nbre of calibration points |
---|
883 | 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 |
---|
884 | % for i=1:nbpoints |
---|
885 | % for j=1:5 |
---|
886 | % Coord{i,j}=num2str(data.Coord(i,j),4);%display coordiantes with 4 digits |
---|
887 | % end |
---|
888 | % end |
---|
889 | %update the phys coordinates starting from the selected point (down in the |
---|
890 | Coord(end,:)=[]; %remove last string '.....' |
---|
891 | for i=1:size(data.Coord,1) |
---|
892 | for j=1:5 |
---|
893 | Coord{i,j}=num2str(data.Coord(i,j),4);%display coordiantes with 4 digits |
---|
894 | end |
---|
895 | end |
---|
896 | |
---|
897 | %size(data.Coord,1) |
---|
898 | Tabchar=cell2tab(Coord,' | '); |
---|
899 | Tabchar=[Tabchar ;{'......'}]; |
---|
900 | set(handles.ListCoord,'String',Tabchar) |
---|
901 | |
---|
902 | % ----------------------------------------------------------------------- |
---|
903 | % --- automatic grid dectection from local maxima of the images |
---|
904 | function MenuDetectGrid_Callback(hObject, eventdata, handles) |
---|
905 | %------------------------------------------------------------------------ |
---|
906 | CalibData=get(handles.geometry_calib,'UserData'); |
---|
907 | grid_input=[];%default |
---|
908 | if isfield(CalibData,'grid') |
---|
909 | grid_input=CalibData.grid;%retrieve the previously used grid |
---|
910 | end |
---|
911 | [T,CalibData.grid]=create_grid(grid_input);%display the GUI create_grid |
---|
912 | set(handles.geometry_calib,'UserData',CalibData)%store the phys grid for later use |
---|
913 | |
---|
914 | %read the four last point coordiantes in pixels |
---|
915 | Coord_cell=get(handles.ListCoord,'String');%read list of coordiantes on geometry_calib |
---|
916 | data=read_geometry_calib(Coord_cell); |
---|
917 | nbpoints=size(data.Coord,1); %nbre of calibration points |
---|
918 | if nbpoints~=4 |
---|
919 | msgbox_uvmat('ERROR','four points must be selected by the mouse, beginning by the new x axis, to delimitate the phs grid area') |
---|
920 | return |
---|
921 | end |
---|
922 | corners_X=(data.Coord(end:-1:end-3,4)); %pixel absissa of the four corners |
---|
923 | corners_Y=(data.Coord(end:-1:end-3,5)); |
---|
924 | |
---|
925 | %reorder the last two points (the two first in the list) if needed |
---|
926 | angles=angle((corners_X-corners_X(1))+i*(corners_Y-corners_Y(1))); |
---|
927 | if abs(angles(4)-angles(2))>abs(angles(3)-angles(2)) |
---|
928 | X_end=corners_X(4); |
---|
929 | Y_end=corners_Y(4); |
---|
930 | corners_X(4)=corners_X(3); |
---|
931 | corners_Y(4)=corners_Y(3); |
---|
932 | corners_X(3)=X_end; |
---|
933 | corners_Y(3)=Y_end; |
---|
934 | end |
---|
935 | |
---|
936 | %read the current image |
---|
937 | huvmat=findobj(allchild(0),'Name','uvmat'); |
---|
938 | UvData=get(huvmat,'UserData'); |
---|
939 | A=UvData.Field.A; |
---|
940 | npxy=size(A); |
---|
941 | %linear transform on the current image |
---|
942 | X=[CalibData.grid.x_0 CalibData.grid.x_1 CalibData.grid.x_0 CalibData.grid.x_1]';%corner absissa in the rectified image |
---|
943 | Y=[CalibData.grid.y_0 CalibData.grid.y_0 CalibData.grid.y_1 CalibData.grid.y_1]';%corner absissa in the rectified image |
---|
944 | XY_mat=[ones(size(X)) X Y]; |
---|
945 | a_X1=XY_mat\corners_X; %transformation matrix for X |
---|
946 | x1=XY_mat*a_X1;%reconstruction |
---|
947 | err_X1=max(abs(x1-corners_X));%error |
---|
948 | a_Y1=XY_mat\corners_Y;%transformation matrix for X |
---|
949 | y1=XY_mat*a_Y1; |
---|
950 | err_Y1=max(abs(y1-corners_Y));%error |
---|
951 | GeometryCalib.CalibrationType='linear'; |
---|
952 | GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function |
---|
953 | GeometryCalib.f=1; |
---|
954 | GeometryCalib.dpx=1; |
---|
955 | GeometryCalib.dpy=1; |
---|
956 | GeometryCalib.sx=1; |
---|
957 | GeometryCalib.Cx=0; |
---|
958 | GeometryCalib.Cy=0; |
---|
959 | GeometryCalib.kappa1=0; |
---|
960 | GeometryCalib.Tx=a_X1(1); |
---|
961 | GeometryCalib.Ty=a_Y1(1); |
---|
962 | GeometryCalib.Tz=1; |
---|
963 | GeometryCalib.R=[a_X1(2),a_X1(3),0;a_Y1(2),a_Y1(3),0;0,0,1]; |
---|
964 | [Amod,Rangx,Rangy]=phys_Ima(A-min(min(A)),GeometryCalib,0); |
---|
965 | Amod=double(Amod); |
---|
966 | %figure(12) |
---|
967 | %Amax=max(max(Amod)) |
---|
968 | %image(Rangx,Rangy,uint8(255*Amod/Amax)) |
---|
969 | ind_range=10;% range of search of image ma around each point obtained by linear interpolation from the marked points |
---|
970 | nbpoints=size(T,1); |
---|
971 | for ipoint=1:nbpoints |
---|
972 | Dx=(Rangx(2)-Rangx(1))/(npxy(2)-1); %x mesh in real space |
---|
973 | Dy=(Rangy(2)-Rangy(1))/(npxy(1)-1); %y mesh in real space |
---|
974 | i0=1+round((T(ipoint,1)-Rangx(1))/Dx);%round(Xpx(ipoint)); |
---|
975 | j0=1+round((T(ipoint,2)-Rangy(1))/Dy);%round(Xpx(ipoint)); |
---|
976 | Asub=Amod(j0-ind_range:j0+ind_range,i0-ind_range:i0+ind_range); |
---|
977 | x_profile=sum(Asub,1); |
---|
978 | y_profile=sum(Asub,2); |
---|
979 | [Amax,ind_x_max]=max(x_profile); |
---|
980 | [Amax,ind_y_max]=max(y_profile); |
---|
981 | %sub-pixel improvement using moments |
---|
982 | x_shift=0; |
---|
983 | y_shift=0; |
---|
984 | if ind_x_max+2<=2*ind_range+1 && ind_x_max-2>=1 |
---|
985 | Atop=x_profile(ind_x_max-2:ind_x_max+2); |
---|
986 | x_shift=sum(Atop.*[-2 -1 0 1 2])/sum(Atop); |
---|
987 | end |
---|
988 | if ind_y_max+2<=2*ind_range+1 && ind_y_max-2>=1 |
---|
989 | Atop=y_profile(ind_y_max-2:ind_y_max+2); |
---|
990 | y_shift=sum(Atop.*[-2 -1 0 1 2]')/sum(Atop); |
---|
991 | end |
---|
992 | Delta(ipoint,1)=(x_shift+ind_x_max-ind_range-1)*Dx;%shift from the initial guess |
---|
993 | Delta(ipoint,2)=(y_shift+ind_y_max-ind_range-1)*Dy; |
---|
994 | end |
---|
995 | Tmod=T(:,(1:2))+Delta; |
---|
996 | [Xpx,Ypx]=px_XYZ(GeometryCalib,Tmod(:,1),Tmod(:,2)); |
---|
997 | for ipoint=1:nbpoints |
---|
998 | Coord{ipoint,1}=num2str(T(ipoint,1),4);%display coordiantes with 4 digits |
---|
999 | Coord{ipoint,2}=num2str(T(ipoint,2),4);%display coordiantes with 4 digits |
---|
1000 | Coord{ipoint,3}='0'; |
---|
1001 | Coord{ipoint,4}=num2str(Xpx(ipoint),4);%display coordiantes with 4 digi |
---|
1002 | Coord{ipoint,5}=num2str(Ypx(ipoint),4);%display coordiantes with 4 digi |
---|
1003 | end |
---|
1004 | Tabchar=cell2tab(Coord(end:-1:1,:),' | '); |
---|
1005 | Tabchar=[Tabchar ;{'......'}]; |
---|
1006 | set(handles.ListCoord,'Value',1) |
---|
1007 | set(handles.ListCoord,'String',Tabchar) |
---|
1008 | MenuPlot_Callback(hObject, eventdata, handles) |
---|
1009 | |
---|
1010 | %----------------------------------------------------------------------- |
---|
1011 | function MenuTranslatePoints_Callback(hObject, eventdata, handles) |
---|
1012 | %----------------------------------------------------------------------- |
---|
1013 | %hcalib=get(handles.calib_type,'parent');%handles of the GUI geometry_calib |
---|
1014 | CalibData=get(handles.geometry_calib,'UserData'); |
---|
1015 | Tinput=[];%default |
---|
1016 | if isfield(CalibData,'translate') |
---|
1017 | Tinput=CalibData.translate; |
---|
1018 | end |
---|
1019 | T=translate_points(Tinput);%display translate_points GUI and get shift parameters |
---|
1020 | CalibData.translate=T; |
---|
1021 | set(handles.geometry_calib,'UserData',CalibData) |
---|
1022 | %translation |
---|
1023 | Coord_cell=get(handles.ListCoord,'String'); |
---|
1024 | data=read_geometry_calib(Coord_cell); |
---|
1025 | data.Coord(:,1)=T(1)+data.Coord(:,1); |
---|
1026 | data.Coord(:,2)=T(2)+data.Coord(:,2); |
---|
1027 | data.Coord(:,3)=T(3)+data.Coord(:,3); |
---|
1028 | data.Coord(:,[4 5])=data.Coord(:,[4 5]); |
---|
1029 | for i=1:size(data.Coord,1) |
---|
1030 | for j=1:5 |
---|
1031 | Coord{i,j}=num2str(data.Coord(i,j),4);%phys x,y,z |
---|
1032 | end |
---|
1033 | end |
---|
1034 | Tabchar=cell2tab(Coord,' | '); |
---|
1035 | Tabchar=[Tabchar {'.....'}]; |
---|
1036 | %set(handles.ListCoord,'Value',1) |
---|
1037 | set(handles.ListCoord,'String',Tabchar) |
---|
1038 | |
---|
1039 | |
---|
1040 | % -------------------------------------------------------------------- |
---|
1041 | function MenuRotatePoints_Callback(hObject, eventdata, handles) |
---|
1042 | %hcalib=get(handles.calib_type,'parent');%handles of the GUI geometry_calib |
---|
1043 | CalibData=get(handles.geometry_calib,'UserData'); |
---|
1044 | Tinput=[];%default |
---|
1045 | if isfield(CalibData,'rotate') |
---|
1046 | Tinput=CalibData.rotate; |
---|
1047 | end |
---|
1048 | T=rotate_points(Tinput);%display translate_points GUI and get shift parameters |
---|
1049 | CalibData.rotate=T; |
---|
1050 | set(handles.geometry_calib,'UserData',CalibData) |
---|
1051 | %----------------------------------------------------- |
---|
1052 | %rotation |
---|
1053 | Phi=T(1); |
---|
1054 | O_x=0;%default |
---|
1055 | O_y=0;%default |
---|
1056 | if numel(T)>=2 |
---|
1057 | O_x=T(2);%default |
---|
1058 | end |
---|
1059 | if numel(T)>=3 |
---|
1060 | O_y=T(3);%default |
---|
1061 | end |
---|
1062 | Coord_cell=get(handles.ListCoord,'String'); |
---|
1063 | data=read_geometry_calib(Coord_cell); |
---|
1064 | r1=cos(pi*Phi/180); |
---|
1065 | r2=-sin(pi*Phi/180); |
---|
1066 | r3=sin(pi*Phi/180); |
---|
1067 | r4=cos(pi*Phi/180); |
---|
1068 | x=data.Coord(:,1)-O_x; |
---|
1069 | y=data.Coord(:,2)-O_y; |
---|
1070 | data.Coord(:,1)=r1*x+r2*y; |
---|
1071 | data.Coord(:,2)=r3*x+r4*y; |
---|
1072 | % data.Coord(:,[4 5])=data.Coord(:,[4 5]); |
---|
1073 | for i=1:size(data.Coord,1) |
---|
1074 | for j=1:5 |
---|
1075 | Coord{i,j}=num2str(data.Coord(i,j),4);%phys x,y,z |
---|
1076 | end |
---|
1077 | end |
---|
1078 | Tabchar=cell2tab(Coord,' | '); |
---|
1079 | Tabchar=[Tabchar;{'......'}]; |
---|
1080 | set(handles.ListCoord,'Value',1) |
---|
1081 | set(handles.ListCoord,'String',Tabchar) |
---|
1082 | |
---|
1083 | |
---|
1084 | %%%%%%%%%%%%%%%%%%%% |
---|
1085 | function [A_out,Rangx,Rangy]=phys_Ima(A,Calib,ZIndex) |
---|
1086 | xcorner=[]; |
---|
1087 | ycorner=[]; |
---|
1088 | npx=[]; |
---|
1089 | npy=[]; |
---|
1090 | siz=size(A); |
---|
1091 | npx=[npx siz(2)]; |
---|
1092 | npy=[npy siz(1)]; |
---|
1093 | xima=[0.5 siz(2)-0.5 0.5 siz(2)-0.5];%image coordiantes of corners |
---|
1094 | yima=[0.5 0.5 siz(1)-0.5 siz(1)-0.5]; |
---|
1095 | [xcorner,ycorner]=phys_XYZ(Calib,xima,yima,ZIndex);%corresponding physical coordinates |
---|
1096 | Rangx(1)=min(xcorner); |
---|
1097 | Rangx(2)=max(xcorner); |
---|
1098 | Rangy(2)=min(ycorner); |
---|
1099 | Rangy(1)=max(ycorner); |
---|
1100 | test_multi=(max(npx)~=min(npx)) | (max(npy)~=min(npy)); |
---|
1101 | npx=max(npx); |
---|
1102 | npy=max(npy); |
---|
1103 | x=linspace(Rangx(1),Rangx(2),npx); |
---|
1104 | y=linspace(Rangy(1),Rangy(2),npy); |
---|
1105 | [X,Y]=meshgrid(x,y);%grid in physical coordiantes |
---|
1106 | vec_B=[]; |
---|
1107 | |
---|
1108 | zphys=0; %default |
---|
1109 | if isfield(Calib,'SliceCoord') %.Z= index of plane |
---|
1110 | SliceCoord=Calib.SliceCoord(ZIndex,:); |
---|
1111 | zphys=SliceCoord(3); %to generalize for non-parallel planes |
---|
1112 | end |
---|
1113 | [XIMA,YIMA]=px_XYZ(Calib,X,Y,zphys);%corresponding image indices for each point in the real space grid |
---|
1114 | XIMA=reshape(round(XIMA),1,npx*npy);%indices reorganized in 'line' |
---|
1115 | YIMA=reshape(round(YIMA),1,npx*npy); |
---|
1116 | flagin=XIMA>=1 & XIMA<=npx & YIMA >=1 & YIMA<=npy;%flagin=1 inside the original image |
---|
1117 | testuint8=isa(A,'uint8'); |
---|
1118 | testuint16=isa(A,'uint16'); |
---|
1119 | if numel(siz)==2 %(B/W images) |
---|
1120 | vec_A=reshape(A,1,npx*npy);%put the original image in line |
---|
1121 | ind_in=find(flagin); |
---|
1122 | ind_out=find(~flagin); |
---|
1123 | ICOMB=((XIMA-1)*npy+(npy+1-YIMA)); |
---|
1124 | ICOMB=ICOMB(flagin);%index corresponding to XIMA and YIMA in the aligned original image vec_A |
---|
1125 | vec_B(ind_in)=vec_A(ICOMB); |
---|
1126 | vec_B(ind_out)=zeros(size(ind_out)); |
---|
1127 | A_out=reshape(vec_B,npy,npx);%new image in real coordinates |
---|
1128 | elseif numel(siz)==3 |
---|
1129 | for icolor=1:siz(3) |
---|
1130 | vec_A=reshape(A{icell}(:,:,icolor),1,npx*npy);%put the original image in line |
---|
1131 | ind_in=find(flagin); |
---|
1132 | ind_out=find(~flagin); |
---|
1133 | ICOMB=((XIMA-1)*npy+(npy+1-YIMA)); |
---|
1134 | ICOMB=ICOMB(flagin);%index corresponding to XIMA and YIMA in the aligned original image vec_A |
---|
1135 | vec_B(ind_in)=vec_A(ICOMB); |
---|
1136 | vec_B(ind_out)=zeros(size(ind_out)); |
---|
1137 | A_out(:,:,icolor)=reshape(vec_B,npy,npx);%new image in real coordinates |
---|
1138 | end |
---|
1139 | end |
---|
1140 | if testuint8 |
---|
1141 | A_out=uint8(A_out); |
---|
1142 | end |
---|
1143 | if testuint16 |
---|
1144 | A_out=uint16(A_out); |
---|
1145 | end |
---|
1146 | |
---|
1147 | %INPUT: |
---|
1148 | %Z: index of plane |
---|
1149 | function [Xphys,Yphys,Zphys]=phys_XYZ(Calib,X,Y,Z) |
---|
1150 | if exist('Z','var')& isequal(Z,round(Z))& Z>0 & isfield(Calib,'SliceCoord')&length(Calib.SliceCoord)>=Z |
---|
1151 | Zindex=Z; |
---|
1152 | Zphys=Calib.SliceCoord(Zindex,3);%GENERALISER AUX CAS AVEC ANGLE |
---|
1153 | else |
---|
1154 | % if exist('Z','var') |
---|
1155 | % Zphys=Z; |
---|
1156 | % else |
---|
1157 | Zphys=0; |
---|
1158 | % end |
---|
1159 | end |
---|
1160 | if ~exist('X','var')||~exist('Y','var') |
---|
1161 | Xphys=[]; |
---|
1162 | Yphys=[];%default |
---|
1163 | return |
---|
1164 | end |
---|
1165 | Xphys=X;%default |
---|
1166 | Yphys=Y; |
---|
1167 | %image transform |
---|
1168 | if isfield(Calib,'R') |
---|
1169 | R=(Calib.R)'; |
---|
1170 | Dx=R(5)*R(7)-R(4)*R(8); |
---|
1171 | Dy=R(1)*R(8)-R(2)*R(7); |
---|
1172 | D0=Calib.f*(R(2)*R(4)-R(1)*R(5)); |
---|
1173 | Z11=R(6)*R(8)-R(5)*R(9); |
---|
1174 | Z12=R(2)*R(9)-R(3)*R(8); |
---|
1175 | Z21=R(4)*R(9)-R(6)*R(7); |
---|
1176 | Z22=R(3)*R(7)-R(1)*R(9); |
---|
1177 | Zx0=R(3)*R(5)-R(2)*R(6); |
---|
1178 | Zy0=R(1)*R(6)-R(3)*R(4); |
---|
1179 | A11=R(8)*Calib.Ty-R(5)*Calib.Tz+Z11*Zphys; |
---|
1180 | A12=R(2)*Calib.Tz-R(8)*Calib.Tx+Z12*Zphys; |
---|
1181 | A21=-R(7)*Calib.Ty+R(4)*Calib.Tz+Z21*Zphys; |
---|
1182 | A22=-R(1)*Calib.Tz+R(7)*Calib.Tx+Z11*Zphys; |
---|
1183 | X0=Calib.f*(R(5)*Calib.Tx-R(2)*Calib.Ty+Zx0*Zphys); |
---|
1184 | Y0=Calib.f*(-R(4)*Calib.Tx+R(1)*Calib.Ty+Zy0*Zphys); |
---|
1185 | %px to camera: |
---|
1186 | Xd=(Calib.dpx/Calib.sx)*(X-Calib.Cx); % sensor coordinates |
---|
1187 | Yd=Calib.dpy*(Y-Calib.Cy); |
---|
1188 | dist_fact=1+Calib.kappa1*(Xd.*Xd+Yd.*Yd); %distortion factor |
---|
1189 | Xu=dist_fact.*Xd;%undistorted sensor coordinates |
---|
1190 | Yu=dist_fact.*Yd; |
---|
1191 | denom=Dx*Xu+Dy*Yu+D0; |
---|
1192 | % denom2=denom.*denom; |
---|
1193 | Xphys=(A11.*Xu+A12.*Yu+X0)./denom;%world coordinates |
---|
1194 | Yphys=(A21.*Xu+A22.*Yu+Y0)./denom; |
---|
1195 | end |
---|