function [X,Y]=px_XYZ(Calib,Xphys,Yphys,Zphys) X=[];%default Y=[]; % if exist('Z','var')& isequal(Z,round(Z))& Z>0 & isfield(Calib,'PlanePos')&length(Calib.PlanePos)>=Z % Zindex=Z; % planepos=Calib.PlanePos{Zindex}; % zphys=planepos(3);%A GENERALISER CAS AVEC ANGLE % else % zphys=0; % end if ~exist('Zphys','var') Zphys=0; end %%%%%%%%%%%%% if isfield(Calib,'R') R=(Calib.R)'; xc=R(1)*Xphys+R(2)*Yphys+R(3)*Zphys+Calib.Tx; yc=R(4)*Xphys+R(5)*Yphys+R(6)*Zphys+Calib.Ty; zc=R(7)*Xphys+R(8)*Yphys+R(9)*Zphys+Calib.Tz; %undistorted image coordinates Xu=Calib.f*xc./zc; Yu=Calib.f*yc./zc; %distorted image coordinates distortion=(Calib.kappa1)*(Xu.*Xu+Yu.*Yu)+1; %A REVOIR % distortion=1; Xd=Xu./distortion; Yd=Yu./distortion; %pixel coordinates X=Xd*Calib.sx/Calib.dpx+Calib.Cx; Y=Yd/Calib.dpy+Calib.Cy; elseif isfield(Calib,'Pxcmx')&isfield(Calib,'Pxcmy')%old calib X=Xphys*Calib.Pxcmx; Y=Yphys*Calib.Pxcmy; end