Last change
on this file since 102 was
92,
checked in by gostiaux, 14 years ago

Plotting vectors centered on the middle of the arrow. Apparently this does not create any bug.

File size:
1.3 KB

Line  

1  

2  function [X,Y]=px_XYZ(Calib,Xphys,Yphys,Zphys) 

3  X=[];%default 

4  Y=[]; 

5  % if exist('Z','var')& isequal(Z,round(Z))& Z>0 & isfield(Calib,'PlanePos')&length(Calib.PlanePos)>=Z 

6  % Zindex=Z; 

7  % planepos=Calib.PlanePos{Zindex}; 

8  % zphys=planepos(3);%A GENERALISER CAS AVEC ANGLE 

9  % else 

10  % zphys=0; 

11  % end 

12  if ~exist('Zphys','var') 

13  Zphys=0; 

14  end 

15  if ~isfield(Calib,'f') 

16  Calib.f=1; 

17  end 

18  if ~isfield(Calib,'kappa1') 

19  Calib.kappa1=0; 

20  end 

21  if ~isfield(Calib,'sx') 

22  Calib.sx=1; 

23  end 

24  if ~isfield(Calib,'dpx') 

25  Calib.dpx=1; 

26  end 

27  if ~isfield(Calib,'dpy') 

28  Calib.dpy=1; 

29  end 

30  if ~isfield(Calib,'Cx') 

31  Calib.Cx=0; 

32  end 

33  if ~isfield(Calib,'Cy') 

34  Calib.Cy=0; 

35  end 

36  %%%%%%%%%%%%% 

37  if isfield(Calib,'R') 

38  R=(Calib.R)'; 

39  xc=R(1)*Xphys+R(2)*Yphys+R(3)*Zphys+Calib.Tx; 

40  yc=R(4)*Xphys+R(5)*Yphys+R(6)*Zphys+Calib.Ty; 

41  zc=R(7)*Xphys+R(8)*Yphys+R(9)*Zphys+Calib.Tz; 

42  %undistorted image coordinates 

43  Xu=Calib.f*xc./zc; 

44  Yu=Calib.f*yc./zc; 

45  %distorted image coordinates 

46  distortion=(Calib.kappa1)*(Xu.*Xu+Yu.*Yu)+1; %A REVOIR 

47  % distortion=1; 

48  Xd=Xu./distortion; 

49  Yd=Yu./distortion; 

50  %pixel coordinates 

51  X=Xd*Calib.sx/Calib.dpx+Calib.Cx; 

52  Y=Yd/Calib.dpy+Calib.Cy; 

53  

54  elseif isfield(Calib,'Pxcmx')&isfield(Calib,'Pxcmy')%old calib 

55  X=Xphys*Calib.Pxcmx; 

56  Y=Yphys*Calib.Pxcmy; 

57  end 

58  

59  

60  

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