1 | %'geometry_calib': performs geometric calibration from a set of reference points |
---|
2 | % |
---|
3 | % function varargout = geometry_calib(varargin) |
---|
4 | % |
---|
5 | %A%AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA |
---|
6 | % Copyright Joel Sommeria, 2008, LEGI / CNRS-UJF-INPG, sommeria@coriolis-legi.org. |
---|
7 | %AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA |
---|
8 | % This file is part of the toolbox UVMAT. |
---|
9 | % |
---|
10 | % UVMAT is free software; you can redistribute it and/or modify |
---|
11 | % it under the terms of the GNU General Public License as published by |
---|
12 | % the Free Software Foundation; either version 2 of the License, or |
---|
13 | % (at your option) any later version. |
---|
14 | % |
---|
15 | % UVMAT is distributed in the hope that it will be useful, |
---|
16 | % but WITHOUT ANY WARRANTY; without even the implied warranty of |
---|
17 | % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
---|
18 | % GNU General Public License (file UVMAT/COPYING.txt) for more details. |
---|
19 | %AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA |
---|
20 | |
---|
21 | function varargout = geometry_calib(varargin) |
---|
22 | % GEOMETRY_CALIB M-file for geometry_calib.fig |
---|
23 | % GEOMETRY_CALIB, by itself, creates a MenuCoord GEOMETRY_CALIB or raises the existing |
---|
24 | % singleton*. |
---|
25 | % |
---|
26 | % H = GEOMETRY_CALIB returns the handle to a MenuCoord GEOMETRY_CALIB or the handle to |
---|
27 | % the existing singleton*. |
---|
28 | % |
---|
29 | % GEOMETRY_CALIB('CALLBACK',hObject,eventData,handles,...) calls the local |
---|
30 | % function named CALLBACK in GEOMETRY_CALIB.M with the given input arguments. |
---|
31 | % |
---|
32 | % GEOMETRY_CALIB('Property','Value',...) creates a MenuCoord GEOMETRY_CALIB or raises the |
---|
33 | % existing singleton*. Starting from the left, property value pairs are |
---|
34 | % applied to the GUI before geometry_calib_OpeningFunction gets called. An |
---|
35 | % unrecognized property name or invalid value makes property application |
---|
36 | % stop. All inputs are passed to geometry_calib_OpeningFcn via varargin. |
---|
37 | % |
---|
38 | % *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one |
---|
39 | % instance to run (singleton)". |
---|
40 | % |
---|
41 | % See also: GUIDE, GUIDATA, GUIHANDLES |
---|
42 | |
---|
43 | % Edit the above text to modify the response to help geometry_calib |
---|
44 | |
---|
45 | % Last Modified by GUIDE v2.5 25-Mar-2010 19:10:05 |
---|
46 | |
---|
47 | % Begin initialization code - DO NOT edit |
---|
48 | gui_Singleton = 1; |
---|
49 | gui_State = struct('gui_Name', mfilename, ... |
---|
50 | 'gui_Singleton', gui_Singleton, ... |
---|
51 | 'gui_OpeningFcn', @geometry_calib_OpeningFcn, ... |
---|
52 | 'gui_OutputFcn', @geometry_calib_OutputFcn, ... |
---|
53 | 'gui_LayoutFcn', [] , ... |
---|
54 | 'gui_Callback', []); |
---|
55 | if nargin & isstr(varargin{1}) |
---|
56 | gui_State.gui_Callback = str2func(varargin{1}); |
---|
57 | end |
---|
58 | |
---|
59 | if nargout |
---|
60 | [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:}); |
---|
61 | else |
---|
62 | gui_mainfcn(gui_State, varargin{:}); |
---|
63 | end |
---|
64 | % End initialization code - DO NOT edit |
---|
65 | |
---|
66 | |
---|
67 | % --- Executes just before geometry_calib is made visible. |
---|
68 | %INPUT: |
---|
69 | %handles: handles of the geometry_calib interface elements |
---|
70 | % PlotHandles: set of handles of the elements contolling the plotting |
---|
71 | % parameters on the uvmat interface (obtained by 'get_plot_handle.m') |
---|
72 | %------------------------------------------------------------------------ |
---|
73 | function geometry_calib_OpeningFcn(hObject, eventdata, handles, handles_uvmat,pos,inputfile) |
---|
74 | %------------------------------------------------------------------------ |
---|
75 | % Choose default command line output for geometry_calib |
---|
76 | handles.output = hObject; |
---|
77 | |
---|
78 | % Update handles structure |
---|
79 | guidata(hObject, handles); |
---|
80 | set(hObject,'DeleteFcn',{@closefcn})% |
---|
81 | |
---|
82 | %set the position of the interface |
---|
83 | if exist('pos','var')& length(pos)>2 |
---|
84 | pos_gui=get(hObject,'Position'); |
---|
85 | pos_gui(1)=pos(1); |
---|
86 | pos_gui(2)=pos(2); |
---|
87 | set(hObject,'Position',pos_gui); |
---|
88 | end |
---|
89 | inputxml=''; |
---|
90 | if exist('inputfile','var')& ~isempty(inputfile) |
---|
91 | % [Path,Name,ext]=fileparts(inputfile); |
---|
92 | % form=imformats(ext([2:end])); |
---|
93 | % if ~isempty(form)% if the input file is an image |
---|
94 | struct.XmlInputfile=inputfile; |
---|
95 | set(hObject,'UserData',struct) |
---|
96 | [Pathsub,RootFile,field_count,str2,str_a,str_b,ext,nom_type,subdir]=name2display(inputfile); |
---|
97 | inputxml=[fullfile(Pathsub,RootFile) '.xml']; |
---|
98 | % end |
---|
99 | end |
---|
100 | set(handles.ListCoord,'String',{'......'}) |
---|
101 | if exist(inputxml,'file') |
---|
102 | loadfile(handles,inputxml)% load the point coordiantes existing in the xml file |
---|
103 | end |
---|
104 | |
---|
105 | set(handles.ListCoord,'KeyPressFcn',{@key_press_fcn,handles})%set keyboard action function |
---|
106 | |
---|
107 | |
---|
108 | %------------------------------------------------------------------------ |
---|
109 | % --- Outputs from this function are returned to the command line. |
---|
110 | function varargout = geometry_calib_OutputFcn(hObject, eventdata, handles) |
---|
111 | %------------------------------------------------------------------------ |
---|
112 | % Get default command line output from handles structure |
---|
113 | varargout{1} = handles.output; |
---|
114 | varargout{2}=handles; |
---|
115 | |
---|
116 | %------------ |
---|
117 | function Phi_Callback(hObject, eventdata, handles) |
---|
118 | |
---|
119 | %------------------------------------------------------------------------ |
---|
120 | %read input xml file and update the edit boxes |
---|
121 | function loadfile(handles,fileinput) |
---|
122 | %------------------------------------------------------------------------ |
---|
123 | %read the input xml file |
---|
124 | t=xmltree(fileinput); |
---|
125 | s=convert(t);%convert to matlab structure |
---|
126 | %read data currently displayed on the interface |
---|
127 | PointCoord=[]; |
---|
128 | Coord_cell=get(handles.ListCoord,'String'); |
---|
129 | data=read_geometry_calib(Coord_cell); |
---|
130 | %data=read_geometry_calib(handles); |
---|
131 | Coord=[]; %default |
---|
132 | if isfield(data,'Coord') |
---|
133 | Coord=data.Coord; |
---|
134 | end |
---|
135 | TabChar_0=get(handles.ListCoord,'String'); |
---|
136 | nbcoord_0=size(TabChar_0,1); |
---|
137 | if isequal(get(handles.edit_append,'Value'),2) %edit mode A REVOIR |
---|
138 | val=get(handles.ListCoord,'Value')-1; |
---|
139 | else |
---|
140 | val=length(TabChar_0); |
---|
141 | end |
---|
142 | nbcoord=0; |
---|
143 | |
---|
144 | %case of calibration (ImaDoc) input file |
---|
145 | % hcalib=get(handles.calib_type,'parent'); |
---|
146 | CalibData=get(handles.geometry_calib,'UserData'); |
---|
147 | CalibData.XmlInput=fileinput; |
---|
148 | if isfield(s,'Heading') |
---|
149 | CalibData.Heading=s.Heading; |
---|
150 | end |
---|
151 | |
---|
152 | set(handles.geometry_calib,'UserData',CalibData);%store the heading in the interface 'UserData' |
---|
153 | if isfield(s,'GeometryCalib') |
---|
154 | Calib=s.GeometryCalib; |
---|
155 | if isfield(Calib,'CalibrationType') |
---|
156 | CalibrationType=Calib.CalibrationType; |
---|
157 | switch CalibrationType |
---|
158 | case 'linear' |
---|
159 | set(handles.calib_type,'Value',2) |
---|
160 | case 'tsai' |
---|
161 | set(handles.calib_type,'Value',3) |
---|
162 | case 'tsai_matlab' |
---|
163 | set(handles.calib_type,'Value',4) |
---|
164 | end |
---|
165 | end |
---|
166 | if isfield(Calib,'SourceCalib') |
---|
167 | if isfield(Calib.SourceCalib,'PointCoord') |
---|
168 | PointCoord=Calib.SourceCalib.PointCoord; |
---|
169 | end |
---|
170 | end |
---|
171 | nbcoord=length(PointCoord); |
---|
172 | if ~isfield(Calib,'ErrorRms')&~isfield(Calib,'ErrorMax') %old convention of Gauthier (cord in mm) |
---|
173 | for i=1:length(PointCoord) |
---|
174 | line=str2num(PointCoord{i}); |
---|
175 | Coord(i+val,4:5)=line(4:5);%px x |
---|
176 | Coord(i+val,1:3)=line(1:3)/10;%phys x |
---|
177 | end |
---|
178 | else |
---|
179 | for i=1:length(PointCoord) |
---|
180 | line=str2num(PointCoord{i}); |
---|
181 | Coord(i,4:5)=line(4:5);%px x |
---|
182 | Coord(i,1:3)=line(1:3);%phys x |
---|
183 | end |
---|
184 | end |
---|
185 | end |
---|
186 | %case of xml files of points |
---|
187 | if isfield(s,'Coord') |
---|
188 | PointCoord=s.Coord; |
---|
189 | nbcoord=length(PointCoord); |
---|
190 | %case of image coordinates |
---|
191 | if isfield(s,'CoordType')& isequal(s.CoordType,'px') |
---|
192 | for i=1:nbcoord |
---|
193 | line=str2num(PointCoord{i}); |
---|
194 | Coord(i+val,4:5)=line(1:2); |
---|
195 | end |
---|
196 | %case of physical coordinates |
---|
197 | else |
---|
198 | for i=1:nbcoord |
---|
199 | line=str2num(PointCoord{i}); |
---|
200 | Coord(i+val,1:3)=line(1:3); |
---|
201 | nbcolumn=size(Coord,2); |
---|
202 | if nbcolumn<5 |
---|
203 | Coord(i+val,nbcolumn+1:5)=zeros(1,5-nbcolumn); |
---|
204 | end |
---|
205 | end |
---|
206 | end |
---|
207 | end |
---|
208 | CoordCell={}; |
---|
209 | for iline=1:size(Coord,1) |
---|
210 | for j=1:5 |
---|
211 | CoordCell{iline,j}=num2str(Coord(iline,j),4); |
---|
212 | end |
---|
213 | end |
---|
214 | % CoordCell=[CoordCell;{' ',' ',' ',' ',' '}]; |
---|
215 | Tabchar=cell2tab(CoordCell,' | ');%transform cells into table ready for display |
---|
216 | Tabchar=[Tabchar;{'......'}]; |
---|
217 | set(handles.ListCoord,'Value',1) |
---|
218 | set(handles.ListCoord,'String',Tabchar) |
---|
219 | MenuPlot_Callback(handles.geometry_calib, [], handles) |
---|
220 | if isempty(Coord) |
---|
221 | set(handles.edit_append,'Value',1) |
---|
222 | set(handles.edit_append,'BackgroundColor',[1 1 0]) |
---|
223 | else |
---|
224 | set(handles.edit_append,'Value',0) |
---|
225 | set(handles.edit_append,'BackgroundColor',[0.7 0.7 0.7]) |
---|
226 | end |
---|
227 | % |
---|
228 | %------------------------------------------------------------------------ |
---|
229 | % executed when closing: set the parent interface button to value 0 |
---|
230 | function closefcn(gcbo,eventdata) |
---|
231 | %------------------------------------------------------------------------ |
---|
232 | huvmat=findobj(allchild(0),'Name','uvmat'); |
---|
233 | if ~isempty(huvmat) |
---|
234 | handles=guidata(huvmat); |
---|
235 | set(handles.MenuMask,'enable','on') |
---|
236 | set(handles.MenuGrid,'enable','on') |
---|
237 | set(handles.MenuObject,'enable','on') |
---|
238 | set(handles.MenuEdit,'enable','on') |
---|
239 | set(handles.edit,'enable','on') |
---|
240 | hobject=findobj(handles.axes3,'tag','calib_points'); |
---|
241 | if ~isempty(hobject) |
---|
242 | delete(hobject) |
---|
243 | end |
---|
244 | hobject=findobj(handles.axes3,'tag','calib_marker'); |
---|
245 | if ~isempty(hobject) |
---|
246 | delete(hobject) |
---|
247 | end |
---|
248 | end |
---|
249 | |
---|
250 | %------------------------------------------------------------------------ |
---|
251 | % --- Executes on button press in calibrate_lin. |
---|
252 | function APPLY_Callback(hObject, eventdata, handles) |
---|
253 | %------------------------------------------------------------------------ |
---|
254 | calib_cell=get(handles.calib_type,'String'); |
---|
255 | val=get(handles.calib_type,'Value'); |
---|
256 | calib_type=calib_cell{val}; |
---|
257 | Coord_cell=get(handles.ListCoord,'String'); |
---|
258 | Object=read_geometry_calib(Coord_cell); |
---|
259 | X=Object.Coord(:,1); |
---|
260 | Y=Object.Coord(:,2); |
---|
261 | Z=Object.Coord(:,3); |
---|
262 | if isequal(calib_type,'rescale') |
---|
263 | GeometryCalib=calib_rescale(Object.Coord); |
---|
264 | Z=0;%Z not taken into account |
---|
265 | elseif isequal(calib_type,'linear') |
---|
266 | GeometryCalib=calib_linear(Object.Coord); |
---|
267 | Z=0; %Z not taken into account |
---|
268 | elseif isequal(calib_type,'tsai_cpp') |
---|
269 | GeometryCalib=calib_tsai(Object.Coord); |
---|
270 | elseif isequal(calib_type,'tsai_matlab') |
---|
271 | GeometryCalib=calib_tsai2(Object.Coord); |
---|
272 | end |
---|
273 | |
---|
274 | %check error |
---|
275 | if isfield(GeometryCalib,'dpx_dpy') |
---|
276 | Calib.dpx=GeometryCalib.dpx_dpy(1); |
---|
277 | Calib.dpy=GeometryCalib.dpx_dpy(2); |
---|
278 | end |
---|
279 | if isfield(GeometryCalib,'sx') |
---|
280 | Calib.sx=GeometryCalib.sx; |
---|
281 | end |
---|
282 | if isfield(GeometryCalib,'Cx_Cy') |
---|
283 | Calib.Cx=GeometryCalib.Cx_Cy(1); |
---|
284 | Calib.Cy=GeometryCalib.Cx_Cy(2); |
---|
285 | end |
---|
286 | if isfield(GeometryCalib,'kappa1') |
---|
287 | Calib.kappa1=GeometryCalib.kappa1; |
---|
288 | end |
---|
289 | if isfield(GeometryCalib,'focal') |
---|
290 | Calib.f=GeometryCalib.focal; |
---|
291 | end |
---|
292 | if isfield(GeometryCalib,'Tx_Ty_Tz') |
---|
293 | Calib.Tx=GeometryCalib.Tx_Ty_Tz(1); |
---|
294 | Calib.Ty=GeometryCalib.Tx_Ty_Tz(2); |
---|
295 | Calib.Tz=GeometryCalib.Tx_Ty_Tz(3); |
---|
296 | end |
---|
297 | if isfield(GeometryCalib,'R') |
---|
298 | Calib.R=GeometryCalib.R; |
---|
299 | end |
---|
300 | x_ima=Object.Coord(:,4); |
---|
301 | y_ima=Object.Coord(:,5); |
---|
302 | [Xpoints,Ypoints]=px_XYZ(Calib,X,Y,Z); |
---|
303 | GeometryCalib.ErrorRms(1)=sqrt(mean((Xpoints-x_ima).*(Xpoints-x_ima))); |
---|
304 | [GeometryCalib.ErrorMax(1),index(1)]=max(abs(Xpoints-x_ima)); |
---|
305 | GeometryCalib.ErrorRms(2)=sqrt(mean((Ypoints-y_ima).*(Ypoints-y_ima))); |
---|
306 | [GeometryCalib.ErrorMax(2),index(2)]=max(abs(Ypoints-y_ima)); |
---|
307 | [EM,ind_dim]=max(GeometryCalib.ErrorMax); |
---|
308 | index=index(ind_dim); |
---|
309 | |
---|
310 | unitlist=get(handles.CoordUnit,'String'); |
---|
311 | unit=unitlist{get(handles.CoordUnit,'value')}; |
---|
312 | GeometryCalib.CoordUnit=unit; |
---|
313 | GeometryCalib.SourceCalib.PointCoord=Object.Coord; |
---|
314 | huvmat=findobj(allchild(0),'Name','uvmat'); |
---|
315 | hhuvmat=guidata(huvmat);%handles of elements in the GUI uvmat |
---|
316 | RootPath=''; |
---|
317 | RootFile=''; |
---|
318 | if ~isempty(hhuvmat.RootPath)& ~isempty(hhuvmat.RootFile) |
---|
319 | testhandle=1; |
---|
320 | RootPath=get(hhuvmat.RootPath,'String'); |
---|
321 | RootFile=get(hhuvmat.RootFile,'String'); |
---|
322 | filebase=fullfile(RootPath,RootFile); |
---|
323 | outputfile=[filebase '.xml']; |
---|
324 | else |
---|
325 | question={'save the calibration data and point coordinates in'}; |
---|
326 | def={fullfile(RootPath,['ObjectCalib.xml'])}; |
---|
327 | options.Resize='on'; |
---|
328 | answer=inputdlg(question,'save average in a new file',1,def,options); |
---|
329 | outputfile=answer{1}; |
---|
330 | end |
---|
331 | answer=msgbox_uvmat('INPUT_Y-N',{[outputfile ' updated with calibration data'];... |
---|
332 | ['Error rms (along x,y)=' num2str(GeometryCalib.ErrorRms) ' pixels'];... |
---|
333 | ['Error max (along x,y)=' num2str(GeometryCalib.ErrorMax) ' pixels']}); |
---|
334 | if isequal(answer,'Yes') |
---|
335 | update_imadoc(GeometryCalib,outputfile) |
---|
336 | %display image with new calibration in the currently opened uvmat interface |
---|
337 | hhh=findobj(hhuvmat.axes3,'Tag','calib_marker');% delete calib points and markers |
---|
338 | if ~isempty(hhh) |
---|
339 | delete(hhh); |
---|
340 | end |
---|
341 | hhh=findobj(hhuvmat.axes3,'Tag','calib_points'); |
---|
342 | if ~isempty(hhh) |
---|
343 | delete(hhh); |
---|
344 | end |
---|
345 | set(hhuvmat.FixedLimits,'Value',0)% put FixedLimits option to 'off' |
---|
346 | set(hhuvmat.FixedLimits,'BackgroundColor',[0.7 0.7 0.7]) |
---|
347 | uvmat('RootPath_Callback',hObject,eventdata,hhuvmat); %file input with xml reading in uvmat |
---|
348 | MenuPlot_Callback(hObject, eventdata, handles) |
---|
349 | set(handles.ListCoord,'Value',index)% indicate in the list the point with max deviation (possible mistake) |
---|
350 | ListCoord_Callback(hObject, eventdata, handles) |
---|
351 | figure(handles.geometry_calib) |
---|
352 | end |
---|
353 | |
---|
354 | %------------------------------------------------------------------ |
---|
355 | % --- Executes on button press in calibrate_lin. |
---|
356 | function REPLICATE_Callback(hObject, eventdata, handles) |
---|
357 | %------------------------------------------------------------------------ |
---|
358 | calib_cell=get(handles.calib_type,'String'); |
---|
359 | val=get(handles.calib_type,'Value'); |
---|
360 | calib_type=calib_cell{val}; |
---|
361 | Coord_cell=get(handles.ListCoord,'String'); |
---|
362 | Object=read_geometry_calib(Coord_cell); |
---|
363 | |
---|
364 | if isequal(calib_type,'rescale') |
---|
365 | GeometryCalib=calib_rescale(Object.Coord); |
---|
366 | elseif isequal(calib_type,'linear') |
---|
367 | GeometryCalib=calib_linear(Object.Coord); |
---|
368 | elseif isequal(calib_type,'tsai') |
---|
369 | GeometryCalib=calib_tsai(Object.Coord); |
---|
370 | end |
---|
371 | % %record image source |
---|
372 | GeometryCalib.SourceCalib.PointCoord=Object.Coord; |
---|
373 | |
---|
374 | %open and read the dataview GUI |
---|
375 | h_dataview=findobj(allchild(0),'name','dataview'); |
---|
376 | if ~isempty(h_dataview) |
---|
377 | delete(h_dataview) |
---|
378 | end |
---|
379 | CalibData=get(handles.geometry_calib,'UserData');%read the calibration image source on the interface userdata |
---|
380 | |
---|
381 | if isfield(CalibData,'XmlInput') |
---|
382 | XmlInput=fileparts(CalibData.XmlInput); |
---|
383 | [XmlInput,filename,ext]=fileparts(XmlInput); |
---|
384 | end |
---|
385 | SubCampaignTest='n'; %default |
---|
386 | testinput=0; |
---|
387 | if isfield(CalibData,'Heading') |
---|
388 | Heading=CalibData.Heading; |
---|
389 | if isfield(Heading,'Record') && isequal([filename ext],Heading.Record) |
---|
390 | [XmlInput,filename,ext]=fileparts(XmlInput); |
---|
391 | end |
---|
392 | if isfield(Heading,'Device') && isequal([filename ext],Heading.Device) |
---|
393 | [XmlInput,filename,ext]=fileparts(XmlInput); |
---|
394 | Device=Heading.Device; |
---|
395 | end |
---|
396 | if isfield(Heading,'Experiment') && isequal([filename ext],Heading.Experiment) |
---|
397 | [PP,filename,ext]=fileparts(XmlInput); |
---|
398 | end |
---|
399 | testinput=0; |
---|
400 | if isfield(Heading,'SubCampaign') && isequal([filename ext],Heading.SubCampaign) |
---|
401 | SubCampaignTest='y'; |
---|
402 | testinput=1; |
---|
403 | elseif isfield(Heading,'Campaign') && isequal([filename ext],Heading.Campaign) |
---|
404 | testinput=1; |
---|
405 | end |
---|
406 | end |
---|
407 | if ~testinput |
---|
408 | filename='PROJETS';%default |
---|
409 | if isfield(CalibData,'XmlInput') |
---|
410 | [pp,filename]=fileparts(CalibData.XmlInput); |
---|
411 | end |
---|
412 | while ~isequal(filename,'PROJETS') && numel(filename)>1 |
---|
413 | filename_1=filename; |
---|
414 | pp_1=pp; |
---|
415 | [pp,filename]=fileparts(pp); |
---|
416 | end |
---|
417 | XmlInput=fullfile(pp_1,filename_1); |
---|
418 | testinput=1; |
---|
419 | end |
---|
420 | if testinput |
---|
421 | outcome=dataview(XmlInput,SubCampaignTest,GeometryCalib); |
---|
422 | end |
---|
423 | |
---|
424 | %------------------------------------------------------------------------ |
---|
425 | % determine the parameters for a calibration by an affine function (rescaling and offset, no rotation) |
---|
426 | function GeometryCalib=calib_rescale(Coord) |
---|
427 | %------------------------------------------------------------------------ |
---|
428 | |
---|
429 | X=Coord(:,1); |
---|
430 | Y=Coord(:,2); |
---|
431 | x_ima=Coord(:,4); |
---|
432 | y_ima=Coord(:,5); |
---|
433 | [px,sx]=polyfit(X,x_ima,1); |
---|
434 | [py,sy]=polyfit(Y,y_ima,1); |
---|
435 | T_x=px(2); |
---|
436 | T_y=py(2); |
---|
437 | GeometryCalib.CalibrationType='rescale'; |
---|
438 | GeometryCalib.focal=1; |
---|
439 | GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function |
---|
440 | GeometryCalib.Tx_Ty_Tz=[T_x T_y 1]; |
---|
441 | GeometryCalib.R=[px(1),0,0;0,py(1),0;0,0,1]; |
---|
442 | |
---|
443 | % %check error |
---|
444 | % Calib.dpx=1; |
---|
445 | % Calib.dpy=1; |
---|
446 | % Calib.sx=1; |
---|
447 | % Calib.Cx=0; |
---|
448 | % Calib.Cy=0; |
---|
449 | % Calib.Tz=1; |
---|
450 | % Calib.kappa1=0; |
---|
451 | % Calib.f=GeometryCalib.focal; |
---|
452 | % Calib.Tx=T_x; |
---|
453 | % Calib.Ty=T_y; |
---|
454 | % Calib.R=GeometryCalib.R; |
---|
455 | % [Xpoints,Ypoints]=px_XYZ(Calib,X,Y,0); |
---|
456 | % GeometryCalib.ErrorRms(1)=sqrt(mean((Xpoints-x_ima).*(Xpoints-x_ima))); |
---|
457 | % GeometryCalib.ErrorMax(1)=max(abs(Xpoints-x_ima)); |
---|
458 | % GeometryCalib.ErrorRms(2)=sqrt(mean((Ypoints-y_ima).*(Ypoints-y_ima))); |
---|
459 | % GeometryCalib.ErrorMax(2)=max(abs(Ypoints-y_ima)); |
---|
460 | |
---|
461 | %------------------------------------------------------------------------ |
---|
462 | % determine the parameters for a calibration by a linear transform matrix (rescale and rotation) |
---|
463 | function GeometryCalib=calib_linear(Coord) |
---|
464 | %------------------------------------------------------------------------ |
---|
465 | X=Coord(:,1); |
---|
466 | Y=Coord(:,2); |
---|
467 | x_ima=Coord(:,4); |
---|
468 | y_ima=Coord(:,5); |
---|
469 | XY_mat=[ones(size(X)) X Y]; |
---|
470 | a_X1=XY_mat\x_ima; %transformation matrix for X |
---|
471 | x1=XY_mat*a_X1;%reconstruction |
---|
472 | err_X1=max(abs(x1-x_ima));%error |
---|
473 | a_Y1=XY_mat\y_ima;%transformation matrix for X |
---|
474 | y1=XY_mat*a_Y1; |
---|
475 | err_Y1=max(abs(y1-y_ima));%error |
---|
476 | T_x=a_X1(1); |
---|
477 | T_y=a_Y1(1); |
---|
478 | GeometryCalib.CalibrationType='linear'; |
---|
479 | GeometryCalib.focal=1; |
---|
480 | GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function |
---|
481 | GeometryCalib.Tx_Ty_Tz=[T_x T_y 1]; |
---|
482 | GeometryCalib.R=[a_X1(2),a_X1(3),0;a_Y1(2),a_Y1(3),0;0,0,1]; |
---|
483 | |
---|
484 | % %check error |
---|
485 | % GeometryCalib.ErrorRms(1)=sqrt(mean((x1-x_ima).*(x1-x_ima))); |
---|
486 | % GeometryCalib.ErrorMax(1)=max(abs(x1-x_ima)); |
---|
487 | % GeometryCalib.ErrorRms(2)=sqrt(mean((y1-y_ima).*(y1-y_ima))); |
---|
488 | % GeometryCalib.ErrorMax(2)=max(abs(y1-y_ima)); |
---|
489 | |
---|
490 | %------------------------------------------------------------------------ |
---|
491 | function GeometryCalib=calib_tsai2(Coord) |
---|
492 | %------------------------------------------------------------------ |
---|
493 | path_uvmat=which('uvmat');% check the path detected for source file uvmat |
---|
494 | path_UVMAT=fileparts(path_uvmat); %path to UVMAT |
---|
495 | huvmat=findobj(allchild(0),'Tag','uvmat'); |
---|
496 | hhuvmat=guidata(huvmat); |
---|
497 | x_1=Coord(:,4:5)'; |
---|
498 | X_1=Coord(:,1:3)'; |
---|
499 | n_ima=1; |
---|
500 | % check_cond=0; |
---|
501 | |
---|
502 | |
---|
503 | nx=str2num(get(hhuvmat.npx,'String')); |
---|
504 | ny=str2num(get(hhuvmat.npy,'String')); |
---|
505 | |
---|
506 | |
---|
507 | % est_kc=[1;0;0;0;0]; |
---|
508 | est_dist=[0;0;0;0;0]; |
---|
509 | run(fullfile(path_UVMAT,'toolbox_calib','go_calib_optim')); |
---|
510 | |
---|
511 | GeometryCalib.CalibrationType='tsai_matlab'; |
---|
512 | GeometryCalib.focal=f(2); |
---|
513 | GeometryCalib.dpx_dpy=[1 1]; |
---|
514 | GeometryCalib.Cx_Cy=cc'; |
---|
515 | GeometryCalib.sx=fc(1)/fc(2); |
---|
516 | GeometryCalib.kappa1=-k(1)/f(2)^2; |
---|
517 | GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function |
---|
518 | GeometryCalib.Tx_Ty_Tz=Tc_1'; |
---|
519 | GeometryCalib.R=Rc_1; |
---|
520 | % Calib.dpx=GeometryCalib.dpx_dpy(1); |
---|
521 | % Calib.dpy=GeometryCalib.dpx_dpy(2); |
---|
522 | % Calib.sx=GeometryCalib.sx; |
---|
523 | % Calib.Cx=GeometryCalib.Cx_Cy(1); |
---|
524 | % Calib.Cy=GeometryCalib.Cx_Cy(2); |
---|
525 | % Calib.kappa1=GeometryCalib.kappa1; |
---|
526 | % Calib.f=GeometryCalib.focal; |
---|
527 | % Calib.Tx=GeometryCalib.Tx_Ty_Tz(1); |
---|
528 | % Calib.Ty=GeometryCalib.Tx_Ty_Tz(2); |
---|
529 | % Calib.Tz=GeometryCalib.Tx_Ty_Tz(3); |
---|
530 | % Calib.R=GeometryCalib.R; |
---|
531 | % X=Coord(:,1); |
---|
532 | % Y=Coord(:,2); |
---|
533 | % Z=Coord(:,3); |
---|
534 | % x_ima=Coord(:,4); |
---|
535 | % y_ima=Coord(:,5); |
---|
536 | % [Xpoints,Ypoints]=px_XYZ(Calib,X,Y,Z); |
---|
537 | % |
---|
538 | % GeometryCalib.ErrorRms(1)=sqrt(mean((Xpoints-x_ima).*(Xpoints-x_ima))); |
---|
539 | % [GeometryCalib.ErrorMax(1),GeometryCalib.IndexMax(1)]=max(abs(Xpoints-x_ima)); |
---|
540 | % GeometryCalib.ErrorRms(2)=sqrt(mean((Ypoints-y_ima).*(Ypoints-y_ima))); |
---|
541 | % [GeometryCalib.ErrorMax(2),GeometryCalib.IndexMax(2)]=max(abs(Ypoints-y_ima)); |
---|
542 | |
---|
543 | function GeometryCalib=calib_tsai(Coord) |
---|
544 | %------------------------------------------------------------------------ |
---|
545 | %TSAI |
---|
546 | % 'calibration_lin' provides a linear transform on coordinates, |
---|
547 | path_uvmat=which('uvmat');% check the path detected for source file uvmat |
---|
548 | path_UVMAT=fileparts(path_uvmat); %path to UVMAT |
---|
549 | % if isunix |
---|
550 | %fid = fopen(fullfile(path_UVMAT,'PARAM_LINUX.txt'),'r');%open the file with civ binary names |
---|
551 | xmlfile=fullfile(path_UVMAT,'PARAM.xml'); |
---|
552 | if exist(xmlfile,'file') |
---|
553 | t=xmltree(xmlfile); |
---|
554 | sparam=convert(t); |
---|
555 | end |
---|
556 | if ~isfield(sparam,'GeometryCalibBin') |
---|
557 | msgbox_uvmat('ERROR',['calibration program <GeometryCalibBin> undefined in parameter file ' xmlfile]) |
---|
558 | return |
---|
559 | end |
---|
560 | Tsai_exe=sparam.GeometryCalibBin; |
---|
561 | if ~exist(Tsai_exe,'file')%the binary is defined in /bin, default setting |
---|
562 | Tsai_exe=fullfile(path_UVMAT,Tsai_exe); |
---|
563 | end |
---|
564 | if ~exist(Tsai_exe,'file') |
---|
565 | msgbox_uvmat('ERROR',['calibration program ' sparam.GeometryCalibBin ' defined in PARAM.xml does not exist']) |
---|
566 | return |
---|
567 | end |
---|
568 | |
---|
569 | textcoord=num2str(Coord,4); |
---|
570 | dlmwrite('t.txt',textcoord,''); |
---|
571 | % ['!' Tsai_exe ' -f1 0 -f2 t.txt'] |
---|
572 | eval(['!' Tsai_exe ' -f t.txt > tsaicalib.log']); |
---|
573 | if ~exist('calib.dat','file') |
---|
574 | msgbox_uvmat('ERROR','no output from calibration program Tsai_exe: possibly too few points') |
---|
575 | end |
---|
576 | calibdat=dlmread('calib.dat'); |
---|
577 | delete('calib.dat') |
---|
578 | delete('t.txt') |
---|
579 | GeometryCalib.CalibrationType='tsai'; |
---|
580 | GeometryCalib.focal=calibdat(10); |
---|
581 | GeometryCalib.dpx_dpy=[calibdat(5) calibdat(6)]; |
---|
582 | GeometryCalib.Cx_Cy=[calibdat(7) calibdat(8)]; |
---|
583 | GeometryCalib.sx=calibdat(9); |
---|
584 | GeometryCalib.kappa1=calibdat(11); |
---|
585 | GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function |
---|
586 | GeometryCalib.Tx_Ty_Tz=[calibdat(12) calibdat(13) calibdat(14)]; |
---|
587 | Rx_Ry_Rz=calibdat([15:17]); |
---|
588 | sa = sin(Rx_Ry_Rz(1)) ; |
---|
589 | ca=cos(Rx_Ry_Rz(1)); |
---|
590 | sb=sin(Rx_Ry_Rz(2)); |
---|
591 | cb =cos(Rx_Ry_Rz(2)); |
---|
592 | sg =sin(Rx_Ry_Rz(3)); |
---|
593 | cg =cos(Rx_Ry_Rz(3)); |
---|
594 | r1 = cb * cg; |
---|
595 | r2 = cg * sa * sb - ca * sg; |
---|
596 | r3 = sa * sg + ca * cg * sb; |
---|
597 | r4 = cb * sg; |
---|
598 | r5 = sa * sb * sg + ca * cg; |
---|
599 | r6 = ca * sb * sg - cg * sa; |
---|
600 | r7 = -sb; |
---|
601 | r8 = cb * sa; |
---|
602 | r9 = ca * cb; |
---|
603 | %EN DEDUIRE MATRICE R ?? |
---|
604 | GeometryCalib.R=[r1,r2,r3;r4,r5,r6;r7,r8,r9]; |
---|
605 | %erreur a caracteriser? |
---|
606 | % %check error |
---|
607 | % Calib.dpx=GeometryCalib.dpx_dpy(1); |
---|
608 | % Calib.dpy=GeometryCalib.dpx_dpy(2); |
---|
609 | % Calib.sx=GeometryCalib.sx; |
---|
610 | % Calib.Cx=GeometryCalib.Cx_Cy(1); |
---|
611 | % Calib.Cy=GeometryCalib.Cx_Cy(2); |
---|
612 | % Calib.kappa1=GeometryCalib.kappa1; |
---|
613 | % Calib.f=GeometryCalib.focal; |
---|
614 | % Calib.Tx=GeometryCalib.Tx_Ty_Tz(1); |
---|
615 | % Calib.Ty=GeometryCalib.Tx_Ty_Tz(2); |
---|
616 | % Calib.Tz=GeometryCalib.Tx_Ty_Tz(3); |
---|
617 | % Calib.R=GeometryCalib.R; |
---|
618 | % X=Coord(:,1); |
---|
619 | % Y=Coord(:,2); |
---|
620 | % Z=Coord(:,3); |
---|
621 | % x_ima=Coord(:,4); |
---|
622 | % y_ima=Coord(:,5); |
---|
623 | % [Xpoints,Ypoints]=px_XYZ(Calib,X,Y,Z); |
---|
624 | % |
---|
625 | % GeometryCalib.ErrorRms(1)=sqrt(mean((Xpoints-x_ima).*(Xpoints-x_ima))); |
---|
626 | % GeometryCalib.ErrorMax(1)=max(abs(Xpoints-x_ima)); |
---|
627 | % GeometryCalib.ErrorRms(2)=sqrt(mean((Ypoints-y_ima).*(Ypoints-y_ima))); |
---|
628 | % GeometryCalib.ErrorMax(2)=max(abs(Ypoints-y_ima)); |
---|
629 | |
---|
630 | |
---|
631 | %------------------------------------------------------------------------ |
---|
632 | % --- Executes on button press in rotation. |
---|
633 | function rotation_Callback(hObject, eventdata, handles) |
---|
634 | %------------------------------------------------------------------------ |
---|
635 | angle_rot=(pi/180)*str2num(get(handles.Phi,'String')); |
---|
636 | Coord_cell=get(handles.ListCoord,'String'); |
---|
637 | data=read_geometry_calib(Coord_cell); |
---|
638 | data.Coord(:,1)=cos(angle_rot)*data.Coord(:,1)+sin(angle_rot)*data.Coord(:,2); |
---|
639 | data.Coord(:,1)=-sin(angle_rot)*data.Coord(:,1)+cos(angle_rot)*data.Coord(:,2); |
---|
640 | set(handles.XObject,'String',num2str(data.Coord(:,1),4)); |
---|
641 | set(handles.YObject,'String',num2str(data.Coord(:,2),4)); |
---|
642 | |
---|
643 | %------------------------------------------------------------------------ |
---|
644 | function XImage_Callback(hObject, eventdata, handles) |
---|
645 | %------------------------------------------------------------------------ |
---|
646 | update_list(hObject, eventdata,handles) |
---|
647 | |
---|
648 | %------------------------------------------------------------------------ |
---|
649 | function YImage_Callback(hObject, eventdata, handles) |
---|
650 | %------------------------------------------------------------------------ |
---|
651 | update_list(hObject, eventdata,handles) |
---|
652 | |
---|
653 | function XObject_Callback(hObject, eventdata, handles) |
---|
654 | update_list(hObject, eventdata,handles) |
---|
655 | |
---|
656 | function YObject_Callback(hObject, eventdata, handles) |
---|
657 | update_list(hObject, eventdata,handles) |
---|
658 | |
---|
659 | function ZObject_Callback(hObject, eventdata, handles) |
---|
660 | update_list(hObject, eventdata,handles) |
---|
661 | |
---|
662 | %------------------------------------------------------------------------ |
---|
663 | function update_list(hObject, eventdata, handles) |
---|
664 | %------------------------------------------------------------------------ |
---|
665 | str4=get(handles.XImage,'String'); |
---|
666 | str5=get(handles.YImage,'String'); |
---|
667 | str1=get(handles.XObject,'String'); |
---|
668 | tt=double(str1); |
---|
669 | str2=get(handles.YObject,'String'); |
---|
670 | str3=get(handles.ZObject,'String'); |
---|
671 | if ~isempty(str1) & ~isequal(double(str1),32) & (isempty(str3)|isequal(double(str3),32)) |
---|
672 | str3='0';%put z to 0 by default |
---|
673 | end |
---|
674 | strline=[str1 ' | ' str2 ' | ' str3 ' | ' str4 ' | ' str5]; |
---|
675 | Coord=get(handles.ListCoord,'String'); |
---|
676 | val=get(handles.ListCoord,'Value'); |
---|
677 | Coord{val}=strline; |
---|
678 | set(handles.ListCoord,'String',Coord) |
---|
679 | %update the plot |
---|
680 | ListCoord_Callback(hObject, eventdata, handles) |
---|
681 | MenuPlot_Callback(hObject, eventdata, handles) |
---|
682 | |
---|
683 | %------------------------------------------------------------------------ |
---|
684 | % --- Executes on selection change in ListCoord. |
---|
685 | function ListCoord_Callback(hObject, eventdata, handles) |
---|
686 | %------------------------------------------------------------------------ |
---|
687 | huvmat=findobj(allchild(0),'Name','uvmat');%find the current uvmat interface handle |
---|
688 | hplot=findobj(huvmat,'Tag','axes3');%main plotting axis of uvmat |
---|
689 | hhh=findobj(hplot,'Tag','calib_marker'); |
---|
690 | Coord_cell=get(handles.ListCoord,'String'); |
---|
691 | val=get(handles.ListCoord,'Value'); |
---|
692 | if numel(val)>1 |
---|
693 | return %no action if several lines have been selected |
---|
694 | end |
---|
695 | coord_str=Coord_cell{val}; |
---|
696 | k=findstr('|',coord_str); |
---|
697 | if isempty(k)%last line '.....' selected |
---|
698 | if ~isempty(hhh) |
---|
699 | delete(hhh)%delete the circle marker |
---|
700 | end |
---|
701 | return |
---|
702 | end |
---|
703 | %fill the edit boxex |
---|
704 | set(handles.XObject,'String',coord_str(1:k(1)-5)) |
---|
705 | set(handles.YObject,'String',coord_str(k(1)+5:k(2)-5)) |
---|
706 | set(handles.ZObject,'String',coord_str(k(2)+5:k(3)-5)) |
---|
707 | set(handles.XImage,'String',coord_str(k(3)+5:k(4)-5)) |
---|
708 | set(handles.YImage,'String',coord_str(k(4)+5:end)) |
---|
709 | h_menu_coord=findobj(huvmat,'Tag','transform_fct'); |
---|
710 | menu=get(h_menu_coord,'String'); |
---|
711 | choice=get(h_menu_coord,'Value'); |
---|
712 | if iscell(menu) |
---|
713 | option=menu{choice}; |
---|
714 | else |
---|
715 | option='px'; %default |
---|
716 | end |
---|
717 | if isequal(option,'phys') |
---|
718 | XCoord=str2num(coord_str(1:k(1)-5)); |
---|
719 | YCoord=str2num(coord_str(k(1)+5:k(2)-5)); |
---|
720 | elseif isequal(option,'px')|| isequal(option,'') |
---|
721 | XCoord=str2num(coord_str(k(3)+5:k(4)-5)); |
---|
722 | YCoord=str2num(coord_str(k(4)+5:end)); |
---|
723 | else |
---|
724 | msgbox_uvmat('ERROR','the choice in menu_coord of uvmat must be px or phys ') |
---|
725 | end |
---|
726 | if isempty(XCoord)||isempty(YCoord) |
---|
727 | if ~isempty(hhh) |
---|
728 | delete(hhh)%delete the circle marker |
---|
729 | end |
---|
730 | return |
---|
731 | end |
---|
732 | xlim=get(hplot,'XLim'); |
---|
733 | ylim=get(hplot,'YLim'); |
---|
734 | ind_range=max(abs(xlim(2)-xlim(1)),abs(ylim(end)-ylim(1)))/20;%defines the size of the circle marker |
---|
735 | if isempty(hhh) |
---|
736 | axes(hplot) |
---|
737 | rectangle('Curvature',[1 1],... |
---|
738 | 'Position',[XCoord-ind_range/2 YCoord-ind_range/2 ind_range ind_range],'EdgeColor','m',... |
---|
739 | 'LineStyle','-','Tag','calib_marker'); |
---|
740 | else |
---|
741 | set(hhh,'Position',[XCoord-ind_range/2 YCoord-ind_range/2 ind_range ind_range]) |
---|
742 | end |
---|
743 | |
---|
744 | %------------------------------------------------------------------------ |
---|
745 | % --- Executes on selection change in edit_append. |
---|
746 | function edit_append_Callback(hObject, eventdata, handles) |
---|
747 | %------------------------------------------------------------------------ |
---|
748 | choice=get(handles.edit_append,'Value'); |
---|
749 | % if choice==1 |
---|
750 | % Coord=get(handles.ListCoord,'String'); |
---|
751 | % val=length(Coord); |
---|
752 | % if val>=1 & isequal(Coord{val},'') |
---|
753 | % val=val-1; %do not take into account blank |
---|
754 | % end |
---|
755 | % Coord{val+1}=''; |
---|
756 | % set(handles.ListCoord,'String',Coord) |
---|
757 | % set(handles.ListCoord,'Value',val+1) |
---|
758 | % end |
---|
759 | if choice |
---|
760 | set(handles.edit_append,'BackgroundColor',[1 1 0]) |
---|
761 | else |
---|
762 | set(handles.edit_append,'BackgroundColor',[0.7 0.7 0.7]) |
---|
763 | end |
---|
764 | |
---|
765 | function NEW_Callback(hObject, eventdata, handles) |
---|
766 | %A METTRE SOUS UN BOUTON |
---|
767 | huvmat=findobj(allchild(0),'Name','uvmat'); |
---|
768 | hchild=get(huvmat,'children'); |
---|
769 | hcoord=findobj(hchild,'Tag','menu_coord'); |
---|
770 | coordtype=get(hcoord,'Value'); |
---|
771 | haxes=findobj(hchild,'Tag','axes3'); |
---|
772 | AxeData=get(haxes,'UserData'); |
---|
773 | if ~isequal(hcoord,2) |
---|
774 | set(hcoord,'Value',2) |
---|
775 | huvmat=uvmat(AxeData); |
---|
776 | 'relancer uvmat'; |
---|
777 | end |
---|
778 | if ~isfield(AxeData,'ZoomAxes') |
---|
779 | msgbox_uvmat('ERROR','first draw a window around a grid marker') |
---|
780 | return |
---|
781 | end |
---|
782 | XLim=get(AxeData.ZoomAxes,'XLim'); |
---|
783 | YLim=get(AxeData.ZoomAxes,'YLim'); |
---|
784 | np=size(AxeData.A); |
---|
785 | ind_sub_x=round(XLim); |
---|
786 | ind_sub_y=np(1)-round(YLim); |
---|
787 | Mfiltre=AxeData.A([ind_sub_y(2):ind_sub_y(1)] ,ind_sub_x,:); |
---|
788 | Mfiltre_norm=double(Mfiltre); |
---|
789 | Mfiltre_norm=Mfiltre_norm/sum(sum(Mfiltre_norm)); |
---|
790 | Mfiltre_norm=100*(Mfiltre_norm-mean(mean(Mfiltre_norm))); |
---|
791 | Atype=class(AxeData.A); |
---|
792 | Data.NbDim=2; |
---|
793 | Data.A=filter2(Mfiltre_norm,double(AxeData.A)); |
---|
794 | Data.A=feval(Atype,Data.A); |
---|
795 | Data.AName='image'; |
---|
796 | Data.AX=AxeData.AX; |
---|
797 | Data.AY=AxeData.AY; |
---|
798 | Data.CoordType='px'; |
---|
799 | plot_field(Data) |
---|
800 | |
---|
801 | %------------------------------------------------------------------------ |
---|
802 | % --- 'key_press_fcn:' function activated when a key is pressed on the keyboard |
---|
803 | function key_press_fcn(hObject,eventdata,handles) |
---|
804 | %------------------------------------------------------------------------ |
---|
805 | xx=double(get(handles.geometry_calib,'CurrentCharacter')); %get the keyboard character |
---|
806 | if ismember(xx,[8 127])%backspace or delete |
---|
807 | Coord_cell=get(handles.ListCoord,'String'); |
---|
808 | val=get(handles.ListCoord,'Value'); |
---|
809 | if max(val)<numel(Coord_cell) % the last element '...' has not been selected |
---|
810 | Coord_cell(val)=[];%remove the selected line |
---|
811 | set(handles.ListCoord,'Value',min(val)) |
---|
812 | set(handles.ListCoord,'String',Coord_cell) |
---|
813 | ListCoord_Callback(hObject, eventdata, handles) |
---|
814 | MenuPlot_Callback(hObject,eventdata,handles) |
---|
815 | end |
---|
816 | end |
---|
817 | |
---|
818 | % %------------------------------------------------------------------------ |
---|
819 | % % --- Executes on button press in append_point. |
---|
820 | % function append_point_Callback(hObject, eventdata, handles) |
---|
821 | % %------------------------------------------------------------------------ |
---|
822 | % Coord=get(handles.ListCoord,'String'); |
---|
823 | % val=length(Coord); |
---|
824 | % if val>=1 & isequal(Coord{val},'') |
---|
825 | % val=val-1; %do not take into account blank |
---|
826 | % end |
---|
827 | % Coord{val+1}=''; |
---|
828 | % set(handles.ListCoord,'String',Coord) |
---|
829 | % set(handles.ListCoord,'Value',val+1) |
---|
830 | |
---|
831 | %------------------------------------------------------------------------ |
---|
832 | function MenuOpen_Callback(hObject, eventdata, handles) |
---|
833 | %------------------------------------------------------------------------ |
---|
834 | %get the object file |
---|
835 | huvmat=findobj(allchild(0),'Name','uvmat'); |
---|
836 | UvData=get(huvmat,'UserData'); |
---|
837 | hchild=get(huvmat,'Children'); |
---|
838 | hrootpath=findobj(hchild,'Tag','RootPath'); |
---|
839 | oldfile=get(hrootpath,'String'); |
---|
840 | if isempty(oldfile) |
---|
841 | oldfile=''; |
---|
842 | end |
---|
843 | %[FileName,PathName] = uigetfile('*.civ','Select a .civ file',oldfile) |
---|
844 | [FileName, PathName, filterindex] = uigetfile( ... |
---|
845 | {'*.xml;*.mat', ' (*.xml,*.mat)'; |
---|
846 | '*.xml', '.xml files '; ... |
---|
847 | '*.mat', '.mat matlab files '}, ... |
---|
848 | 'Pick a file',oldfile); |
---|
849 | fileinput=[PathName FileName];%complete file name |
---|
850 | testblank=findstr(fileinput,' ');%look for blanks |
---|
851 | if ~isempty(testblank) |
---|
852 | msgbox_uvmat('ERROR','forbidden input file name or path: no blank character allowed') |
---|
853 | return |
---|
854 | end |
---|
855 | sizf=size(fileinput); |
---|
856 | if (~ischar(fileinput)|~isequal(sizf(1),1)),return;end |
---|
857 | loadfile(handles,fileinput) |
---|
858 | |
---|
859 | |
---|
860 | %------------------------------------------------------------------------ |
---|
861 | function MenuPlot_Callback(hObject, eventdata, handles) |
---|
862 | %------------------------------------------------------------------------ |
---|
863 | huvmat=findobj(allchild(0),'Name','uvmat');%find the current uvmat interface handle |
---|
864 | UvData=get(huvmat,'UserData');%Data associated to the current uvmat interface |
---|
865 | hhuvmat=guidata(huvmat); %handles of GUI elements in uvmat |
---|
866 | hplot=findobj(huvmat,'Tag','axes3');%main plotting axis of uvmat |
---|
867 | h_menu_coord=findobj(huvmat,'Tag','transform_fct'); |
---|
868 | menu=get(h_menu_coord,'String'); |
---|
869 | choice=get(h_menu_coord,'Value'); |
---|
870 | if iscell(menu) |
---|
871 | option=menu{choice}; |
---|
872 | else |
---|
873 | option='px'; %default |
---|
874 | end |
---|
875 | Coord_cell=get(handles.ListCoord,'String'); |
---|
876 | ObjectData=read_geometry_calib(Coord_cell); |
---|
877 | %ObjectData=read_geometry_calib(handles);%read the interface input parameters defining the object |
---|
878 | if ~isempty(ObjectData.Coord) |
---|
879 | if isequal(option,'phys') |
---|
880 | ObjectData.Coord=ObjectData.Coord(:,[1:3]); |
---|
881 | elseif isequal(option,'px')||isequal(option,'') |
---|
882 | ObjectData.Coord=ObjectData.Coord(:,[4:5]); |
---|
883 | else |
---|
884 | msgbox_uvmat('ERROR','the choice in menu_coord of uvmat must be '''', px or phys ') |
---|
885 | end |
---|
886 | end |
---|
887 | axes(hhuvmat.axes3) |
---|
888 | hh=findobj('Tag','calib_points'); |
---|
889 | if ~isempty(ObjectData.Coord) && isempty(hh) |
---|
890 | hh=line(ObjectData.Coord(:,1),ObjectData.Coord(:,2),'Color','m','Tag','calib_points','LineStyle','.','Marker','+'); |
---|
891 | elseif isempty(ObjectData.Coord)%empty list of points, suppress the plot |
---|
892 | delete(hh) |
---|
893 | else |
---|
894 | set(hh,'XData',ObjectData.Coord(:,1)) |
---|
895 | set(hh,'YData',ObjectData.Coord(:,2)) |
---|
896 | end |
---|
897 | pause(.1) |
---|
898 | figure(handles.geometry_calib) |
---|
899 | |
---|
900 | % -------------------------------------------------------------------- |
---|
901 | function MenuHelp_Callback(hObject, eventdata, handles) |
---|
902 | path_to_uvmat=which ('uvmat');% check the path of uvmat |
---|
903 | pathelp=fileparts(path_to_uvmat); |
---|
904 | helpfile=fullfile(pathelp,'uvmat_doc','uvmat_doc.html'); |
---|
905 | 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') |
---|
906 | else |
---|
907 | addpath (fullfile(pathelp,'uvmat_doc')) |
---|
908 | web([helpfile '#geometry_calib']) |
---|
909 | end |
---|
910 | |
---|
911 | %------------------------------------------------------------------------ |
---|
912 | function MenuCreateGrid_Callback(hObject, eventdata, handles) |
---|
913 | %------------------------------------------------------------------------ |
---|
914 | %hcalib=get(handles.calib_type,'parent');%handles of the GUI geometry_calib |
---|
915 | CalibData=get(handles.geometry_calib,'UserData'); |
---|
916 | Tinput=[];%default |
---|
917 | if isfield(CalibData,'grid') |
---|
918 | Tinput=CalibData.grid; |
---|
919 | end |
---|
920 | [T,CalibData.grid]=create_grid(Tinput);%display the GUI create_grid |
---|
921 | set(handles.geometry_calib,'UserData',CalibData) |
---|
922 | |
---|
923 | %grid in phys space |
---|
924 | Coord=get(handles.ListCoord,'String'); |
---|
925 | val=get(handles.ListCoord,'Value'); |
---|
926 | data=read_geometry_calib(Coord); |
---|
927 | %nbpoints=size(data.Coord,1); %nbre of calibration points |
---|
928 | 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 |
---|
929 | % for i=1:nbpoints |
---|
930 | % for j=1:5 |
---|
931 | % Coord{i,j}=num2str(data.Coord(i,j),4);%display coordiantes with 4 digits |
---|
932 | % end |
---|
933 | % end |
---|
934 | %update the phys coordinates starting from the selected point (down in the |
---|
935 | Coord(end,:)=[]; %remove last string '.....' |
---|
936 | for i=1:size(data.Coord,1) |
---|
937 | for j=1:5 |
---|
938 | Coord{i,j}=num2str(data.Coord(i,j),4);%display coordiantes with 4 digits |
---|
939 | end |
---|
940 | end |
---|
941 | |
---|
942 | %size(data.Coord,1) |
---|
943 | Tabchar=cell2tab(Coord,' | '); |
---|
944 | Tabchar=[Tabchar ;{'......'}]; |
---|
945 | set(handles.ListCoord,'String',Tabchar) |
---|
946 | |
---|
947 | % ----------------------------------------------------------------------- |
---|
948 | % --- automatic grid dectection from local maxima of the images |
---|
949 | function MenuDetectGrid_Callback(hObject, eventdata, handles) |
---|
950 | %------------------------------------------------------------------------ |
---|
951 | CalibData=get(handles.geometry_calib,'UserData'); |
---|
952 | grid_input=[];%default |
---|
953 | if isfield(CalibData,'grid') |
---|
954 | grid_input=CalibData.grid;%retrieve the previously used grid |
---|
955 | end |
---|
956 | [T,CalibData.grid]=create_grid(grid_input);%display the GUI create_grid |
---|
957 | set(handles.geometry_calib,'UserData',CalibData)%store the phys grid for later use |
---|
958 | |
---|
959 | %read the four last point coordiantes in pixels |
---|
960 | Coord_cell=get(handles.ListCoord,'String');%read list of coordiantes on geometry_calib |
---|
961 | data=read_geometry_calib(Coord_cell); |
---|
962 | nbpoints=size(data.Coord,1); %nbre of calibration points |
---|
963 | if nbpoints~=4 |
---|
964 | msgbox_uvmat('ERROR','four points must be selected by the mouse, beginning by the new x axis, to delimitate the phs grid area') |
---|
965 | return |
---|
966 | end |
---|
967 | corners_X=(data.Coord(end:-1:end-3,4)); %pixel absissa of the four corners |
---|
968 | corners_Y=(data.Coord(end:-1:end-3,5)); |
---|
969 | |
---|
970 | %reorder the last two points (the two first in the list) if needed |
---|
971 | angles=angle((corners_X-corners_X(1))+i*(corners_Y-corners_Y(1))); |
---|
972 | if abs(angles(4)-angles(2))>abs(angles(3)-angles(2)) |
---|
973 | X_end=corners_X(4); |
---|
974 | Y_end=corners_Y(4); |
---|
975 | corners_X(4)=corners_X(3); |
---|
976 | corners_Y(4)=corners_Y(3); |
---|
977 | corners_X(3)=X_end; |
---|
978 | corners_Y(3)=Y_end; |
---|
979 | end |
---|
980 | |
---|
981 | %read the current image |
---|
982 | huvmat=findobj(allchild(0),'Name','uvmat'); |
---|
983 | UvData=get(huvmat,'UserData'); |
---|
984 | A=UvData.Field.A; |
---|
985 | npxy=size(A); |
---|
986 | %linear transform on the current image |
---|
987 | X=[CalibData.grid.x_0 CalibData.grid.x_1 CalibData.grid.x_0 CalibData.grid.x_1]';%corner absissa in the rectified image |
---|
988 | Y=[CalibData.grid.y_0 CalibData.grid.y_0 CalibData.grid.y_1 CalibData.grid.y_1]';%corner absissa in the rectified image |
---|
989 | XY_mat=[ones(size(X)) X Y]; |
---|
990 | a_X1=XY_mat\corners_X; %transformation matrix for X |
---|
991 | x1=XY_mat*a_X1;%reconstruction |
---|
992 | err_X1=max(abs(x1-corners_X));%error |
---|
993 | a_Y1=XY_mat\corners_Y;%transformation matrix for X |
---|
994 | y1=XY_mat*a_Y1; |
---|
995 | err_Y1=max(abs(y1-corners_Y));%error |
---|
996 | GeometryCalib.CalibrationType='linear'; |
---|
997 | GeometryCalib.CoordUnit=[];% default value, to be updated by the calling function |
---|
998 | GeometryCalib.f=1; |
---|
999 | GeometryCalib.dpx=1; |
---|
1000 | GeometryCalib.dpy=1; |
---|
1001 | GeometryCalib.sx=1; |
---|
1002 | GeometryCalib.Cx=0; |
---|
1003 | GeometryCalib.Cy=0; |
---|
1004 | GeometryCalib.kappa1=0; |
---|
1005 | GeometryCalib.Tx=a_X1(1); |
---|
1006 | GeometryCalib.Ty=a_Y1(1); |
---|
1007 | GeometryCalib.Tz=1; |
---|
1008 | GeometryCalib.R=[a_X1(2),a_X1(3),0;a_Y1(2),a_Y1(3),0;0,0,1]; |
---|
1009 | [Amod,Rangx,Rangy]=phys_Ima(A-min(min(A)),GeometryCalib,0); |
---|
1010 | Amod=double(Amod); |
---|
1011 | %figure(12) |
---|
1012 | %Amax=max(max(Amod)) |
---|
1013 | %image(Rangx,Rangy,uint8(255*Amod/Amax)) |
---|
1014 | ind_range=10;% range of search of image ma around each point obtained by linear interpolation from the marked points |
---|
1015 | nbpoints=size(T,1); |
---|
1016 | for ipoint=1:nbpoints |
---|
1017 | Dx=(Rangx(2)-Rangx(1))/(npxy(2)-1); %x mesh in real space |
---|
1018 | Dy=(Rangy(2)-Rangy(1))/(npxy(1)-1); %y mesh in real space |
---|
1019 | i0=1+round((T(ipoint,1)-Rangx(1))/Dx);%round(Xpx(ipoint)); |
---|
1020 | j0=1+round((T(ipoint,2)-Rangy(1))/Dy);%round(Xpx(ipoint)); |
---|
1021 | Asub=Amod(j0-ind_range:j0+ind_range,i0-ind_range:i0+ind_range); |
---|
1022 | x_profile=sum(Asub,1); |
---|
1023 | y_profile=sum(Asub,2); |
---|
1024 | [Amax,ind_x_max]=max(x_profile); |
---|
1025 | [Amax,ind_y_max]=max(y_profile); |
---|
1026 | %sub-pixel improvement using moments |
---|
1027 | x_shift=0; |
---|
1028 | y_shift=0; |
---|
1029 | if ind_x_max+2<=2*ind_range+1 && ind_x_max-2>=1 |
---|
1030 | Atop=x_profile(ind_x_max-2:ind_x_max+2); |
---|
1031 | x_shift=sum(Atop.*[-2 -1 0 1 2])/sum(Atop); |
---|
1032 | end |
---|
1033 | if ind_y_max+2<=2*ind_range+1 && ind_y_max-2>=1 |
---|
1034 | Atop=y_profile(ind_y_max-2:ind_y_max+2); |
---|
1035 | y_shift=sum(Atop.*[-2 -1 0 1 2]')/sum(Atop); |
---|
1036 | end |
---|
1037 | Delta(ipoint,1)=(x_shift+ind_x_max-ind_range-1)*Dx;%shift from the initial guess |
---|
1038 | Delta(ipoint,2)=(y_shift+ind_y_max-ind_range-1)*Dy; |
---|
1039 | end |
---|
1040 | Tmod=T(:,(1:2))+Delta; |
---|
1041 | [Xpx,Ypx]=px_XYZ(GeometryCalib,Tmod(:,1),Tmod(:,2)); |
---|
1042 | for ipoint=1:nbpoints |
---|
1043 | Coord{ipoint,1}=num2str(T(ipoint,1),4);%display coordiantes with 4 digits |
---|
1044 | Coord{ipoint,2}=num2str(T(ipoint,2),4);%display coordiantes with 4 digits |
---|
1045 | Coord{ipoint,3}='0'; |
---|
1046 | Coord{ipoint,4}=num2str(Xpx(ipoint),4);%display coordiantes with 4 digi |
---|
1047 | Coord{ipoint,5}=num2str(Ypx(ipoint),4);%display coordiantes with 4 digi |
---|
1048 | end |
---|
1049 | Tabchar=cell2tab(Coord(end:-1:1,:),' | '); |
---|
1050 | Tabchar=[Tabchar ;{'......'}]; |
---|
1051 | set(handles.ListCoord,'Value',1) |
---|
1052 | set(handles.ListCoord,'String',Tabchar) |
---|
1053 | MenuPlot_Callback(hObject, eventdata, handles) |
---|
1054 | |
---|
1055 | %----------------------------------------------------------------------- |
---|
1056 | function MenuTranslatePoints_Callback(hObject, eventdata, handles) |
---|
1057 | %----------------------------------------------------------------------- |
---|
1058 | %hcalib=get(handles.calib_type,'parent');%handles of the GUI geometry_calib |
---|
1059 | CalibData=get(handles.geometry_calib,'UserData'); |
---|
1060 | Tinput=[];%default |
---|
1061 | if isfield(CalibData,'translate') |
---|
1062 | Tinput=CalibData.translate; |
---|
1063 | end |
---|
1064 | T=translate_points(Tinput);%display translate_points GUI and get shift parameters |
---|
1065 | CalibData.translate=T; |
---|
1066 | set(handles.geometry_calib,'UserData',CalibData) |
---|
1067 | %translation |
---|
1068 | Coord_cell=get(handles.ListCoord,'String'); |
---|
1069 | data=read_geometry_calib(Coord_cell); |
---|
1070 | data.Coord(:,1)=T(1)+data.Coord(:,1); |
---|
1071 | data.Coord(:,2)=T(2)+data.Coord(:,2); |
---|
1072 | data.Coord(:,3)=T(3)+data.Coord(:,3); |
---|
1073 | data.Coord(:,[4 5])=data.Coord(:,[4 5]); |
---|
1074 | for i=1:size(data.Coord,1) |
---|
1075 | for j=1:5 |
---|
1076 | Coord{i,j}=num2str(data.Coord(i,j),4);%phys x,y,z |
---|
1077 | end |
---|
1078 | end |
---|
1079 | Tabchar=cell2tab(Coord,' | '); |
---|
1080 | Tabchar=[Tabchar {'.....'}]; |
---|
1081 | %set(handles.ListCoord,'Value',1) |
---|
1082 | set(handles.ListCoord,'String',Tabchar) |
---|
1083 | |
---|
1084 | |
---|
1085 | % -------------------------------------------------------------------- |
---|
1086 | function MenuRotatePoints_Callback(hObject, eventdata, handles) |
---|
1087 | %hcalib=get(handles.calib_type,'parent');%handles of the GUI geometry_calib |
---|
1088 | CalibData=get(handles.geometry_calib,'UserData'); |
---|
1089 | Tinput=[];%default |
---|
1090 | if isfield(CalibData,'rotate') |
---|
1091 | Tinput=CalibData.rotate; |
---|
1092 | end |
---|
1093 | T=rotate_points(Tinput);%display translate_points GUI and get shift parameters |
---|
1094 | CalibData.rotate=T; |
---|
1095 | set(handles.geometry_calib,'UserData',CalibData) |
---|
1096 | %----------------------------------------------------- |
---|
1097 | %rotation |
---|
1098 | Phi=T(1); |
---|
1099 | O_x=0;%default |
---|
1100 | O_y=0;%default |
---|
1101 | if numel(T)>=2 |
---|
1102 | O_x=T(2);%default |
---|
1103 | end |
---|
1104 | if numel(T)>=3 |
---|
1105 | O_y=T(3);%default |
---|
1106 | end |
---|
1107 | Coord_cell=get(handles.ListCoord,'String'); |
---|
1108 | data=read_geometry_calib(Coord_cell); |
---|
1109 | r1=cos(pi*Phi/180); |
---|
1110 | r2=-sin(pi*Phi/180); |
---|
1111 | r3=sin(pi*Phi/180); |
---|
1112 | r4=cos(pi*Phi/180); |
---|
1113 | x=data.Coord(:,1)-O_x; |
---|
1114 | y=data.Coord(:,2)-O_y; |
---|
1115 | data.Coord(:,1)=r1*x+r2*y; |
---|
1116 | data.Coord(:,2)=r3*x+r4*y; |
---|
1117 | % data.Coord(:,[4 5])=data.Coord(:,[4 5]); |
---|
1118 | for i=1:size(data.Coord,1) |
---|
1119 | for j=1:5 |
---|
1120 | Coord{i,j}=num2str(data.Coord(i,j),4);%phys x,y,z |
---|
1121 | end |
---|
1122 | end |
---|
1123 | Tabchar=cell2tab(Coord,' | '); |
---|
1124 | Tabchar=[Tabchar;{'......'}]; |
---|
1125 | set(handles.ListCoord,'Value',1) |
---|
1126 | set(handles.ListCoord,'String',Tabchar) |
---|
1127 | |
---|
1128 | |
---|
1129 | %%%%%%%%%%%%%%%%%%%% |
---|
1130 | function [A_out,Rangx,Rangy]=phys_Ima(A,Calib,ZIndex) |
---|
1131 | xcorner=[]; |
---|
1132 | ycorner=[]; |
---|
1133 | npx=[]; |
---|
1134 | npy=[]; |
---|
1135 | siz=size(A); |
---|
1136 | npx=[npx siz(2)]; |
---|
1137 | npy=[npy siz(1)]; |
---|
1138 | xima=[0.5 siz(2)-0.5 0.5 siz(2)-0.5];%image coordiantes of corners |
---|
1139 | yima=[0.5 0.5 siz(1)-0.5 siz(1)-0.5]; |
---|
1140 | [xcorner,ycorner]=phys_XYZ(Calib,xima,yima,ZIndex);%corresponding physical coordinates |
---|
1141 | Rangx(1)=min(xcorner); |
---|
1142 | Rangx(2)=max(xcorner); |
---|
1143 | Rangy(2)=min(ycorner); |
---|
1144 | Rangy(1)=max(ycorner); |
---|
1145 | test_multi=(max(npx)~=min(npx)) | (max(npy)~=min(npy)); |
---|
1146 | npx=max(npx); |
---|
1147 | npy=max(npy); |
---|
1148 | x=linspace(Rangx(1),Rangx(2),npx); |
---|
1149 | y=linspace(Rangy(1),Rangy(2),npy); |
---|
1150 | [X,Y]=meshgrid(x,y);%grid in physical coordiantes |
---|
1151 | vec_B=[]; |
---|
1152 | |
---|
1153 | zphys=0; %default |
---|
1154 | if isfield(Calib,'SliceCoord') %.Z= index of plane |
---|
1155 | SliceCoord=Calib.SliceCoord(ZIndex,:); |
---|
1156 | zphys=SliceCoord(3); %to generalize for non-parallel planes |
---|
1157 | end |
---|
1158 | [XIMA,YIMA]=px_XYZ(Calib,X,Y,zphys);%corresponding image indices for each point in the real space grid |
---|
1159 | XIMA=reshape(round(XIMA),1,npx*npy);%indices reorganized in 'line' |
---|
1160 | YIMA=reshape(round(YIMA),1,npx*npy); |
---|
1161 | flagin=XIMA>=1 & XIMA<=npx & YIMA >=1 & YIMA<=npy;%flagin=1 inside the original image |
---|
1162 | testuint8=isa(A,'uint8'); |
---|
1163 | testuint16=isa(A,'uint16'); |
---|
1164 | if numel(siz)==2 %(B/W images) |
---|
1165 | vec_A=reshape(A,1,npx*npy);%put the original image in line |
---|
1166 | ind_in=find(flagin); |
---|
1167 | ind_out=find(~flagin); |
---|
1168 | ICOMB=((XIMA-1)*npy+(npy+1-YIMA)); |
---|
1169 | ICOMB=ICOMB(flagin);%index corresponding to XIMA and YIMA in the aligned original image vec_A |
---|
1170 | vec_B(ind_in)=vec_A(ICOMB); |
---|
1171 | vec_B(ind_out)=zeros(size(ind_out)); |
---|
1172 | A_out=reshape(vec_B,npy,npx);%new image in real coordinates |
---|
1173 | elseif numel(siz)==3 |
---|
1174 | for icolor=1:siz(3) |
---|
1175 | vec_A=reshape(A{icell}(:,:,icolor),1,npx*npy);%put the original image in line |
---|
1176 | ind_in=find(flagin); |
---|
1177 | ind_out=find(~flagin); |
---|
1178 | ICOMB=((XIMA-1)*npy+(npy+1-YIMA)); |
---|
1179 | ICOMB=ICOMB(flagin);%index corresponding to XIMA and YIMA in the aligned original image vec_A |
---|
1180 | vec_B(ind_in)=vec_A(ICOMB); |
---|
1181 | vec_B(ind_out)=zeros(size(ind_out)); |
---|
1182 | A_out(:,:,icolor)=reshape(vec_B,npy,npx);%new image in real coordinates |
---|
1183 | end |
---|
1184 | end |
---|
1185 | if testuint8 |
---|
1186 | A_out=uint8(A_out); |
---|
1187 | end |
---|
1188 | if testuint16 |
---|
1189 | A_out=uint16(A_out); |
---|
1190 | end |
---|
1191 | |
---|
1192 | %INPUT: |
---|
1193 | %Z: index of plane |
---|
1194 | function [Xphys,Yphys,Zphys]=phys_XYZ(Calib,X,Y,Z) |
---|
1195 | if exist('Z','var')& isequal(Z,round(Z))& Z>0 & isfield(Calib,'SliceCoord')&length(Calib.SliceCoord)>=Z |
---|
1196 | Zindex=Z; |
---|
1197 | Zphys=Calib.SliceCoord(Zindex,3);%GENERALISER AUX CAS AVEC ANGLE |
---|
1198 | else |
---|
1199 | % if exist('Z','var') |
---|
1200 | % Zphys=Z; |
---|
1201 | % else |
---|
1202 | Zphys=0; |
---|
1203 | % end |
---|
1204 | end |
---|
1205 | if ~exist('X','var')||~exist('Y','var') |
---|
1206 | Xphys=[]; |
---|
1207 | Yphys=[];%default |
---|
1208 | return |
---|
1209 | end |
---|
1210 | Xphys=X;%default |
---|
1211 | Yphys=Y; |
---|
1212 | %image transform |
---|
1213 | if isfield(Calib,'R') |
---|
1214 | R=(Calib.R)'; |
---|
1215 | Dx=R(5)*R(7)-R(4)*R(8); |
---|
1216 | Dy=R(1)*R(8)-R(2)*R(7); |
---|
1217 | D0=Calib.f*(R(2)*R(4)-R(1)*R(5)); |
---|
1218 | Z11=R(6)*R(8)-R(5)*R(9); |
---|
1219 | Z12=R(2)*R(9)-R(3)*R(8); |
---|
1220 | Z21=R(4)*R(9)-R(6)*R(7); |
---|
1221 | Z22=R(3)*R(7)-R(1)*R(9); |
---|
1222 | Zx0=R(3)*R(5)-R(2)*R(6); |
---|
1223 | Zy0=R(1)*R(6)-R(3)*R(4); |
---|
1224 | A11=R(8)*Calib.Ty-R(5)*Calib.Tz+Z11*Zphys; |
---|
1225 | A12=R(2)*Calib.Tz-R(8)*Calib.Tx+Z12*Zphys; |
---|
1226 | A21=-R(7)*Calib.Ty+R(4)*Calib.Tz+Z21*Zphys; |
---|
1227 | A22=-R(1)*Calib.Tz+R(7)*Calib.Tx+Z11*Zphys; |
---|
1228 | X0=Calib.f*(R(5)*Calib.Tx-R(2)*Calib.Ty+Zx0*Zphys); |
---|
1229 | Y0=Calib.f*(-R(4)*Calib.Tx+R(1)*Calib.Ty+Zy0*Zphys); |
---|
1230 | %px to camera: |
---|
1231 | Xd=(Calib.dpx/Calib.sx)*(X-Calib.Cx); % sensor coordinates |
---|
1232 | Yd=Calib.dpy*(Y-Calib.Cy); |
---|
1233 | dist_fact=1+Calib.kappa1*(Xd.*Xd+Yd.*Yd); %distortion factor |
---|
1234 | Xu=dist_fact.*Xd;%undistorted sensor coordinates |
---|
1235 | Yu=dist_fact.*Yd; |
---|
1236 | denom=Dx*Xu+Dy*Yu+D0; |
---|
1237 | % denom2=denom.*denom; |
---|
1238 | Xphys=(A11.*Xu+A12.*Yu+X0)./denom;%world coordinates |
---|
1239 | Yphys=(A21.*Xu+A22.*Yu+Y0)./denom; |
---|
1240 | end |
---|