source: trunk/src/series/civ2vel_3C.m @ 908

Last change on this file since 908 was 908, checked in by g7moreau, 9 years ago
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1%'civ2vel_3C': combine velocity fields from two cameras to get three velocity components
2%------------------------------------------------------------------------
3% function ParamOut=civ2vel_3C(Param)
4%
5%OUTPUT
6% ParamOut: sets options in the GUI series.fig needed for the function
7%
8%INPUT:
9% In run mode, the input parameters are given as a Matlab structure Param copied from the GUI series.
10% In batch mode, Param is the name of the corresponding xml file containing the same information
11% when Param.Action.RUN=0 (as activated when the current Action is selected
12% in series), the function ouput paramOut set the activation of the needed GUI elements
13%
14% Param contains the elements:(use the menu bar command 'export/GUI config' in series to
15% see the current structure Param)
16%    .InputTable: cell of input file names, (several lines for multiple input)
17%                      each line decomposed as {RootPath,SubDir,Rootfile,NomType,Extension}
18%    .OutputSubDir: name of the subdirectory for data outputs
19%    .OutputDirExt: directory extension for data outputs
20%    .Action: .ActionName: name of the current activated function
21%             .ActionPath:   path of the current activated function
22%             .ActionExt: fct extension ('.m', Matlab fct, '.sh', compiled   Matlab fct
23%             .RUN =0 for GUI input, =1 for function activation
24%             .RunMode='local','background', 'cluster': type of function  use
25%             
26%    .IndexRange: set the file or frame indices on which the action must be performed
27%    .InputFields: sub structure describing the input fields withfields
28%              .FieldName: name(s) of the field
29%              .VelType: velocity type
30%              .FieldName_1: name of the second field in case of two input series
31%              .VelType_1: velocity type of the second field in case of two input series
32%              .Coord_y: name of y coordinate variable
33%              .Coord_x: name of x coordinate variable'
34
35%=======================================================================
36% Copyright 2008-2015, LEGI UMR 5519 / CNRS UJF G-INP, Grenoble, France
37%   http://www.legi.grenoble-inp.fr
38%   Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr
39%
40%     This file is part of the toolbox UVMAT.
41%
42%     UVMAT is free software; you can redistribute it and/or modify
43%     it under the terms of the GNU General Public License as published
44%     by the Free Software Foundation; either version 2 of the license,
45%     or (at your option) any later version.
46%
47%     UVMAT is distributed in the hope that it will be useful,
48%     but WITHOUT ANY WARRANTY; without even the implied warranty of
49%     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
50%     GNU General Public License (see LICENSE.txt) for more details.
51%=======================================================================
52
53function ParamOut=civ2vel_3C(Param)
54
55%% set the input elements needed on the GUI series when the function is selected in the menu ActionName or InputTable refreshed
56if isstruct(Param) && isequal(Param.Action.RUN,0)
57    ParamOut.AllowInputSort='off';% allow alphabetic sorting of the list of input file SubDir (options 'off'/'on', 'off' by default)
58    ParamOut.WholeIndexRange='off';% prescribes the file index ranges from min to max (options 'off'/'on', 'off' by default)
59    ParamOut.NbSlice='off'; %nbre of slices ('off' by default)
60    ParamOut.VelType='one';% menu for selecting the velocity type (options 'off'/'one'/'two',  'off' by default)
61    ParamOut.FieldName='off';% menu for selecting the field (s) in the input file(options 'off'/'one'/'two', 'off' by default)
62    ParamOut.FieldTransform = 'off';%use the phys  transform function without choice
63    %ParamOut.TransformPath=fullfile(fileparts(which('uvmat')),'transform_field');% path to transform functions (needed for compilation only)
64    ParamOut.ProjObject='on';%can use projection object(option 'off'/'on',
65    ParamOut.Mask='off';%can use mask option   (option 'off'/'on', 'off' by default)
66    ParamOut.OutputDirExt='.vel3C';%set the output dir extension
67    ParamOut.OutputSubDirMode='two'; % the two first input lines are used to define the output subfolder
68    ParamOut.OutputFileMode='NbInput';% '=NbInput': 1 output file per input file index, '=NbInput_i': 1 file per input file index i, '=NbSlice': 1 file per slice
69    %check the input files
70    first_j=[];
71    if size(Param.InputTable,1)<2
72        msgbox_uvmat('WARNING',['two or three input file series are needed'])
73    end
74    if isfield(Param.IndexRange,'first_j'); first_j=Param.IndexRange.first_j; end
75    PairString='';
76    if isfield(Param.IndexRange,'PairString'); PairString=Param.IndexRange.PairString; end
77    [i1,i2,j1,j2] = get_file_index(Param.IndexRange.first_i,first_j,PairString);
78    FirstFileName=fullfile_uvmat(Param.InputTable{1,1},Param.InputTable{1,2},Param.InputTable{1,3},...
79        Param.InputTable{1,5},Param.InputTable{1,4},i1,i2,j1,j2);
80    if ~exist(FirstFileName,'file')
81        msgbox_uvmat('WARNING',['the first input file ' FirstFileName ' does not exist'])
82    elseif isequal(size(Param.InputTable,1),1) && ~isfield(Param,'ProjObject')
83        msgbox_uvmat('WARNING','You may need a projection object of type plane for merge_proj')
84    end
85    return
86end
87
88%%%%%%%%%%%% STANDARD PART (DO NOT EDIT) %%%%%%%%%%%%
89ParamOut=[]; %default output
90%% read input parameters from an xml file if input is a file name (batch mode)
91checkrun=1;
92if ischar(Param)
93    Param=xml2struct(Param);% read Param as input file (batch case)
94    checkrun=0;
95end
96hseries=findobj(allchild(0),'Tag','series');
97RUNHandle=findobj(hseries,'Tag','RUN');%handle of RUN button in GUI series
98WaitbarHandle=findobj(hseries,'Tag','Waitbar');%handle of waitbar in GUI series
99
100
101%% root input file(s) name, type and index series
102RootPath=Param.InputTable(:,1);
103RootFile=Param.InputTable(:,3);
104SubDir=Param.InputTable(:,2);
105NomType=Param.InputTable(:,4);
106FileExt=Param.InputTable(:,5);
107hdisp=disp_uvmat('WAITING...','checking the file series',checkrun);
108[filecell,i1_series,i2_series,j1_series,j2_series]=get_file_series(Param);
109if ~isempty(hdisp),delete(hdisp),end;
110%%%%%%%%%%%%
111% The cell array filecell is the list of input file names, while
112% filecell{iview,fileindex}:
113%        iview: line in the table corresponding to a given file series
114%        fileindex: file index within  the file series,
115% i1_series(iview,ref_j,ref_i)... are the corresponding arrays of indices i1,i2,j1,j2, depending on the input line iview and the two reference indices ref_i,ref_j
116% i1_series(iview,fileindex) expresses the same indices as a 1D array in file indices
117%%%%%%%%%%%%
118NbView=numel(i1_series);%number of input file series (lines in InputTable)
119NbField_j=size(i1_series{1},1); %nb of fields for the j index (bursts or volume slices)
120NbField_i=size(i1_series{1},2); %nb of fields for the i index
121NbField=NbField_j*NbField_i; %total number of fields
122
123%% define the directory for result file (with path=RootPath{1})
124OutputDir=[Param.OutputSubDir Param.OutputDirExt];% subdirectory for output files
125%
126% if ~isfield(Param,'InputFields')
127%     Param.InputFields.FieldName='';
128% end
129
130%% calibration data and timing: read the ImaDoc files
131[XmlData,NbSlice_calib,time,errormsg]=read_multimadoc(RootPath,SubDir,RootFile,FileExt,i1_series,i2_series,j1_series,j2_series);
132if size(time,1)>1
133    diff_time=max(max(diff(time)));
134    if diff_time>0
135        disp_uvmat('WARNING',['times of series differ by (max) ' num2str(diff_time) ': the mean time is chosen in result'],checkrun)
136    end
137end
138if ~isempty(errormsg)
139    disp_uvmat('WARNING',errormsg,checkrun)
140end
141time=mean(time,1); %averaged time taken for the merged field
142if isfield(XmlData{1},'GeometryCalib')
143    tsaiA=XmlData{1}.GeometryCalib;
144else
145    disp_uvmat('ERROR','no geometric calibration available for image A',checkrun)
146    return
147end
148if isfield(XmlData{2},'GeometryCalib')
149    tsaiB=XmlData{2}.GeometryCalib;
150else
151    disp_uvmat('ERROR','no geometric calibration available for image B',checkrun)
152    return
153end
154[filecell,i1_series,i2_series,j1_series,j2_series]=get_file_series(Param);
155
156%% grid of physical positions (given by projection plane)
157if ~Param.CheckObject
158    disp_uvmat('ERROR','a projection plane with interpolation is needed',checkrun)
159    return
160end
161ObjectData=Param.ProjObject;
162xI=ObjectData.RangeX(1):ObjectData.DX:ObjectData.RangeX(2);
163yI=ObjectData.RangeY(1):ObjectData.DY:ObjectData.RangeY(2);
164[XI,YI]=meshgrid(xI,yI);
165U=zeros(size(XI,1),size(XI,2));
166V=zeros(size(XI,1),size(XI,2));
167W=zeros(size(XI,1),size(XI,2));
168
169%% MAIN LOOP ON FIELDS
170warning off
171
172for index=1:NbField
173    update_waitbar(WaitbarHandle,index/NbField)
174    if ~isempty(RUNHandle) && ~strcmp(get(RUNHandle,'BusyAction'),'queue')
175        disp('program stopped by user')
176        return
177    end
178   
179    %%%%%%%%%%%%%%%% loop on views (input lines) %%%%%%%%%%%%%%%%
180    Data=cell(1,NbView);%initiate the set Data
181    timeread=zeros(1,NbView);
182   
183    %get Xphys,Yphys,Zphys from 1 or 2 stereo folders. Positions are taken
184    %at the middle between to time step
185   clear ZItemp
186   ZItemp=zeros(size(XI,1),size(XI,2),2);
187 for indextemp=index:index+1;
188    if NbView==3 % if there is only 1 stereo folder, extract directly Xphys,Yphys and Zphys
189       
190        [Data{3},tild,errormsg] = nc2struct([Param.InputTable{3,1},'/',Param.InputTable{3,2},'/',Param.InputTable{3,3},'_',int2str(indextemp),'.nc']);
191       
192       
193        if  exist('Data{3}.Civ3_FF','var') % FF is present, remove wrong vector
194            temp=find(Data{3}.Civ3_FF==0);
195            Zphys=Data{3}.Zphys(temp);
196            Yphys=Data{3}.Yphys(temp);
197            Xphys=Data{3}.Xphys(temp);
198        else
199            Zphys=Data{3}.Zphys;
200            Yphys=Data{3}.Yphys;
201            Xphys=Data{3}.Xphys;
202        end
203       
204       
205       
206    elseif NbView==4 % is there is 2 stereo folders, get global U and V and compute Zphys
207       
208       
209        %test if the seconde camera is the same for both folder
210        for i=3:4
211        indpt(i)=strfind(Param.InputTable{i,2},'.'); % indice of the "." is the folder name 1
212        indline(i)=strfind(Param.InputTable{i,2},'-'); % indice of the "-" is the folder name1
213        camname{i}=Param.InputTable{i,2}(indline(i)+1:indpt(i)-1);% extract the second camera name
214        end
215       
216        if strcmp(camname{3},camname{4})==0
217            disp_uvmat('ERROR','The 2 stereo folders should have the same camera for the second position',checkrun)
218            return
219        end
220       
221        [Data{3},tild,errormsg] = nc2struct([Param.InputTable{3,1},'/',Param.InputTable{3,2},'/',Param.InputTable{3,3},'_',int2str(indextemp),'.nc']);
222        if exist('Data{3}.Civ3_FF','var') % if FF is present, remove wrong vector
223            temp=find(Data{3}.Civ3_FF==0);
224            Xmid3=Data{3}.Xmid(temp);
225            Ymid3=Data{3}.Ymid(temp);
226            U3=Data{3}.Uphys(temp);
227            V3=Data{3}.Vphys(temp);
228        else
229            Xmid3=Data{3}.Xmid;
230            Ymid3=Data{3}.Ymid;
231            U3=Data{3}.Uphys;
232            V3=Data{3}.Vphys;
233        end
234        %temporary gridd of merging the 2 stereos datas
235        [xq,yq] = meshgrid(min(Xmid3+(U3)/2):(max(Xmid3+(U3)/2)-min(Xmid3+(U3)/2))/128:max(Xmid3+(U3)/2),min(Ymid3+(V3)/2):(max(Ymid3+(V3)/2)-min(Ymid3+(V3)/2))/128:max(Ymid3+(V3)/2));
236       
237        %1st folder : interpolate the first camera (Dalsa1) points on the second (common) camera
238        %(Dalsa 3)
239        x3Q=griddata(Xmid3+(U3)/2,Ymid3+(V3)/2,Xmid3-(U3)/2,xq,yq);
240        y3Q=griddata(Xmid3+(U3)/2,Ymid3+(V3)/2,Ymid3-(V3)/2,xq,yq);
241       
242       
243        [Data{4},tild,errormsg] = nc2struct([Param.InputTable{4,1},'/',Param.InputTable{4,2},'/',Param.InputTable{4,3},'_',int2str(indextemp),'.nc']);
244        if exist('Data{4}.Civ3_FF','var') % if FF is present, remove wrong vector
245            temp=find(Data{4}.Civ3_FF==0);
246            Xmid4=Data{4}.Xmid(temp);
247            Ymid4=Data{4}.Ymid(temp);
248            U4=Data{4}.Uphys(temp);
249            V4=Data{4}.Vphys(temp);
250        else
251            Xmid4=Data{4}.Xmid;
252            Ymid4=Data{4}.Ymid;
253            U4=Data{4}.Uphys;
254            V4=Data{4}.Vphys;
255        end
256       
257        %2nd folder :interpolate the first camera (Dalsa2) points on the second (common) camera
258        %(Dalsa 3)
259        x4Q=griddata(Xmid4+(U4)/2,Ymid4+(V4)/2,Xmid4-(U4)/2,xq,yq);
260        y4Q=griddata(Xmid4+(U4)/2,Ymid4+(V4)/2,Ymid4-(V4)/2,xq,yq);
261       
262        xmid=reshape((x4Q+x3Q)/2,length(xq(:,1)).*length(xq(1,:)),1);
263        ymid=reshape((y4Q+y3Q)/2,length(yq(:,1)).*length(yq(1,:)),1);
264        u=reshape(x4Q-x3Q,length(xq(:,1)).*length(xq(1,:)),1);
265        v=reshape(y4Q-y3Q,length(yq(:,1)).*length(yq(1,:)),1);
266       
267       
268        [Zphys,Xphys,Yphys,error]=shift2z(xmid, ymid, u, v,XmlData); %get Xphy,Yphy and Zphys
269        %remove NaN
270        tempNaN=isnan(Zphys);tempind=find(tempNaN==1);
271        Zphys(tempind)=[];
272        Xphys(tempind)=[];
273        Yphys(tempind)=[];
274        error(tempind)=[];
275         
276    end
277   
278   
279   
280   
281       ZItemp(:,:,indextemp)=griddata(Xphys,Yphys,Zphys,XI,YI); %interpolation on the choosen gridd
282   
283end
284    ZI=mean(ZItemp,3); %mean between two the two time step
285    Vtest=ZItemp(:,:,2)-ZItemp(:,:,1);
286   
287    [Xa,Ya]=px_XYZ(XmlData{1}.GeometryCalib,XI,YI,ZI);% set of image coordinates on view a
288    [Xb,Yb]=px_XYZ(XmlData{2}.GeometryCalib,XI,YI,ZI);% set of image coordinates on view b
289   
290   
291    for iview=1:2
292        %% reading input file(s)
293        [Data{iview},tild,errormsg]=read_civdata(filecell{iview,index},{'vec(U,V)'},'*');
294        if ~isempty(errormsg)
295            disp_uvmat('ERROR',['ERROR in civ2vel_3C/read_field/' errormsg],checkrun)
296            return
297        end
298        % get the time defined in the current file if not already defined from the xml file
299        if isfield(Data{iview},'Time')&& isequal(Data{iview}.Time,Data{1}.Time)
300            Time=Data{iview}.Time;
301        else
302            disp_uvmat('ERROR','Time undefined or not synchronous',checkrun)
303            return
304        end
305        if isfield(Data{iview},'Dt')&& isequal(Data{iview}.Dt,Data{1}.Dt)
306            Dt=Data{iview}.Dt;
307        else
308            disp_uvmat('ERROR','Dt undefined or not synchronous',checkrun)
309            return
310        end
311    end
312    %remove wrong vector
313    temp=find(Data{1}.FF==0);
314    X1=Data{1}.X(temp);
315    Y1=Data{1}.Y(temp);
316    U1=Data{1}.U(temp);
317    V1=Data{1}.V(temp);
318   
319    Ua=griddata(X1,Y1,U1,Xa,Ya);
320    Va=griddata(X1,Y1,V1,Xa,Ya);
321   
322    [Ua,Va,Xa,Ya]=Ud2U(XmlData{1}.GeometryCalib,Xa,Ya,Ua,Va); % convert Xd data to X
323    [A]=get_coeff(XmlData{1}.GeometryCalib,Xa,Ya,XI,YI,ZI); %get coef A~
324   
325    %remove wrong vector
326    temp=find(Data{2}.FF==0);
327    X2=Data{2}.X(temp);
328    Y2=Data{2}.Y(temp);
329    U2=Data{2}.U(temp);
330    V2=Data{2}.V(temp);
331    Ub=griddata(X2,Y2,U2,Xb,Yb);
332    Vb=griddata(X2,Y2,V2,Xb,Yb);
333
334    [Ub,Vb,Xb,Yb]=Ud2U(XmlData{2}.GeometryCalib,Xb,Yb,Ub,Vb); % convert Xd data to X
335    [B]=get_coeff(XmlData{2}.GeometryCalib,Xb,Yb,XI,YI,ZI); %get coef B~
336   
337   
338    % System to solve
339    S=ones(size(XI,1),size(XI,2),3);
340    D=ones(size(XI,1),size(XI,2),3,3);
341
342    S(:,:,1)=A(:,:,1,1).*Ua+A(:,:,2,1).*Va+B(:,:,1,1).*Ub+B(:,:,2,1).*Vb;
343    S(:,:,2)=A(:,:,1,2).*Ua+A(:,:,2,2).*Va+B(:,:,1,2).*Ub+B(:,:,2,2).*Vb;
344    S(:,:,3)=A(:,:,1,3).*Ua+A(:,:,2,3).*Va+B(:,:,1,3).*Ub+B(:,:,2,3).*Vb;
345    D(:,:,1,1)=A(:,:,1,1).*A(:,:,1,1)+A(:,:,2,1).*A(:,:,2,1)+B(:,:,1,1).*B(:,:,1,1)+B(:,:,2,1).*B(:,:,2,1);
346    D(:,:,1,2)=A(:,:,1,1).*A(:,:,1,2)+A(:,:,2,1).*A(:,:,2,2)+B(:,:,1,1).*B(:,:,1,2)+B(:,:,2,1).*B(:,:,2,2);
347    D(:,:,1,3)=A(:,:,1,1).*A(:,:,1,3)+A(:,:,2,1).*A(:,:,2,3)+B(:,:,1,1).*B(:,:,1,3)+B(:,:,2,1).*B(:,:,2,3);
348    D(:,:,2,1)=A(:,:,1,2).*A(:,:,1,1)+A(:,:,2,2).*A(:,:,2,1)+B(:,:,1,2).*B(:,:,1,1)+B(:,:,2,2).*B(:,:,2,1);
349    D(:,:,2,2)=A(:,:,1,2).*A(:,:,1,2)+A(:,:,2,2).*A(:,:,2,2)+B(:,:,1,2).*B(:,:,1,2)+B(:,:,2,2).*B(:,:,2,2);
350    D(:,:,2,3)=A(:,:,1,2).*A(:,:,1,3)+A(:,:,2,2).*A(:,:,2,3)+B(:,:,1,2).*B(:,:,1,3)+B(:,:,2,2).*B(:,:,2,3);
351    D(:,:,3,1)=A(:,:,1,3).*A(:,:,1,1)+A(:,:,2,3).*A(:,:,2,1)+B(:,:,1,3).*B(:,:,1,1)+B(:,:,2,3).*B(:,:,2,1);
352    D(:,:,3,2)=A(:,:,1,3).*A(:,:,1,2)+A(:,:,2,3).*A(:,:,2,2)+B(:,:,1,3).*B(:,:,1,2)+B(:,:,2,3).*B(:,:,2,2);
353    D(:,:,3,3)=A(:,:,1,3).*A(:,:,1,3)+A(:,:,2,3).*A(:,:,2,3)+B(:,:,1,3).*B(:,:,1,3)+B(:,:,2,3).*B(:,:,2,3);
354    for indj=1:size(XI,1)
355        for indi=1:size(XI,2)
356            dxyz=(squeeze(D(indj,indi,:,:))*1000)\(squeeze(S(indj,indi,:))*1000); % solving...
357            U(indj,indi)=dxyz(1);
358            V(indj,indi)=dxyz(2);
359            W(indj,indi)=dxyz(3);
360        end
361    end   
362    Error=zeros(size(XI,1),size(XI,2),4);
363    Error(:,:,1)=A(:,:,1,1).*U+A(:,:,1,2).*V+A(:,:,1,3).*W-Ua;
364    Error(:,:,2)=A(:,:,2,1).*U+A(:,:,2,2).*V+A(:,:,2,3).*W-Va;
365    Error(:,:,3)=B(:,:,1,1).*U+B(:,:,1,2).*V+B(:,:,1,3).*W-Ub;
366    Error(:,:,4)=B(:,:,2,1).*U+B(:,:,2,2).*V+B(:,:,2,3).*W-Vb;
367   
368   
369
370   
371    %% generating the name of the merged field
372    i1=i1_series{1}(index);
373    if ~isempty(i2_series{end})
374        i2=i2_series{end}(index);
375    else
376        i2=i1;
377    end
378    j1=1;
379    j2=1;
380    if ~isempty(j1_series{1})
381        j1=j1_series{1}(index);
382        if ~isempty(j2_series{end})
383            j2=j2_series{end}(index);
384        else
385            j2=j1;
386        end
387    end
388    OutputFile=fullfile_uvmat(RootPath{1},OutputDir,RootFile{1},'.nc','_1-2',i1,i2,j1,j2);
389   
390    %% recording the merged field
391    if index==1% initiate the structure at first index
392        MergeData.ListGlobalAttribute={'Conventions','Time','Dt'};
393        MergeData.Conventions='uvmat';
394        MergeData.Time=Time;
395        MergeData.Dt=Dt;
396        MergeData.ListVarName={'coord_x','coord_y','Z','U','V','W','Error'};
397        MergeData.VarDimName={'coord_x','coord_y',{'coord_y','coord_x'},{'coord_y','coord_x'}...
398                {'coord_y','coord_x'},{'coord_y','coord_x'},{'coord_y','coord_x'}};
399        MergeData.coord_x=xI;
400        MergeData.coord_y=yI;
401        MergeData.Z=ZI;
402    end
403    MergeData.U=U/Dt;
404    MergeData.V=V/Dt;
405    MergeData.W=W/Dt;
406   
407    mfx=(XmlData{1}.GeometryCalib.fx_fy(1)+XmlData{2}.GeometryCalib.fx_fy(1))/2;
408    mfy=(XmlData{1}.GeometryCalib.fx_fy(2)+XmlData{2}.GeometryCalib.fx_fy(2))/2;
409    MergeData.Error=(sqrt(mfx^2+mfy^2)/4).*sqrt(sum(Error.*Error,3));
410    errormsg=struct2nc(OutputFile,MergeData);%save result file
411    if isempty(errormsg)
412        disp(['output file ' OutputFile ' written'])
413    else
414        disp(errormsg)
415    end
416end
417
418
419function [A]=get_coeff(Calib,X,Y,x,y,z) % compute A~ coefficients
420R=(Calib.R)';%rotation matrix
421T_z=Calib.Tx_Ty_Tz(3);
422T=R(7)*x+R(8)*y+R(9)*z+T_z;
423
424A(:,:,1,1)=(R(1)-R(7)*X)./T;
425A(:,:,1,2)=(R(2)-R(8)*X)./T;
426A(:,:,1,3)=(R(3)-R(9)*X)./T;
427A(:,:,2,1)=(R(4)-R(7)*Y)./T;
428A(:,:,2,2)=(R(5)-R(8)*Y)./T;
429A(:,:,2,3)=(R(6)-R(9)*Y)./T;
430
431function [U,V,X,Y]=Ud2U(Calib,Xd,Yd,Ud,Vd) % convert Xd to X  and Ud to U
432
433X1d=Xd-Ud/2;
434X2d=Xd+Ud/2;
435Y1d=Yd-Vd/2;
436Y2d=Yd+Vd/2;
437
438X1=(X1d-Calib.Cx_Cy(1))./Calib.fx_fy(1).*(1 + Calib.kc.*Calib.fx_fy(1).^(-2).*(X1d-Calib.Cx_Cy(1)).^2 + Calib.kc.*Calib.fx_fy(2).^(-2).*(Y1d-Calib.Cx_Cy(2)).^2 ).^(-1);
439X2=(X2d-Calib.Cx_Cy(1))./Calib.fx_fy(1).*(1 + Calib.kc.*Calib.fx_fy(1).^(-2).*(X2d-Calib.Cx_Cy(1)).^2 + Calib.kc.*Calib.fx_fy(2).^(-2).*(Y2d-Calib.Cx_Cy(2)).^2 ).^(-1);
440Y1=(Y1d-Calib.Cx_Cy(2))./Calib.fx_fy(2).*(1 + Calib.kc.*Calib.fx_fy(1).^(-2).*(X1d-Calib.Cx_Cy(1)).^2 + Calib.kc.*Calib.fx_fy(2).^(-2).*(Y1d-Calib.Cx_Cy(2)).^2 ).^(-1);
441Y2=(Y2d-Calib.Cx_Cy(2))./Calib.fx_fy(2).*(1 + Calib.kc.*Calib.fx_fy(1).^(-2).*(X2d-Calib.Cx_Cy(1)).^2 + Calib.kc.*Calib.fx_fy(2).^(-2).*(Y2d-Calib.Cx_Cy(2)).^2 ).^(-1);
442
443U=X2-X1;
444V=Y2-Y1;
445X=X1+U/2;
446Y=Y1+V/2;
447
448
449
450function [z,Xphy,Yphy,error]=shift2z(xmid, ymid, u, v,XmlData) % get H from stereo data
451z=0;
452error=0;
453
454
455%% first image
456Calib_A=XmlData{1}.GeometryCalib;
457R=(Calib_A.R)';
458x_a=xmid- u/2;
459y_a=ymid- v/2;
460z_a=R(7)*x_a+R(8)*y_a+Calib_A.Tx_Ty_Tz(1,3);
461Xa=(R(1)*x_a+R(2)*y_a+Calib_A.Tx_Ty_Tz(1,1))./z_a;
462Ya=(R(4)*x_a+R(5)*y_a+Calib_A.Tx_Ty_Tz(1,2))./z_a;
463
464A_1_1=R(1)-R(7)*Xa;
465A_1_2=R(2)-R(8)*Xa;
466A_1_3=R(3)-R(9)*Xa;
467A_2_1=R(4)-R(7)*Ya;
468A_2_2=R(5)-R(8)*Ya;
469A_2_3=R(6)-R(9)*Ya;
470Det=A_1_1.*A_2_2-A_1_2.*A_2_1;
471Dxa=(A_1_2.*A_2_3-A_2_2.*A_1_3)./Det;
472Dya=(A_2_1.*A_1_3-A_1_1.*A_2_3)./Det;
473
474%% second image
475%loading shift angle
476
477Calib_B=XmlData{2}.GeometryCalib;
478R=(Calib_B.R)';
479
480
481x_b=xmid+ u/2;
482y_b=ymid+ v/2;
483z_b=R(7)*x_b+R(8)*y_b+Calib_B.Tx_Ty_Tz(1,3);
484Xb=(R(1)*x_b+R(2)*y_b+Calib_B.Tx_Ty_Tz(1,1))./z_b;
485Yb=(R(4)*x_b+R(5)*y_b+Calib_B.Tx_Ty_Tz(1,2))./z_b;
486B_1_1=R(1)-R(7)*Xb;
487B_1_2=R(2)-R(8)*Xb;
488B_1_3=R(3)-R(9)*Xb;
489B_2_1=R(4)-R(7)*Yb;
490B_2_2=R(5)-R(8)*Yb;
491B_2_3=R(6)-R(9)*Yb;
492Det=B_1_1.*B_2_2-B_1_2.*B_2_1;
493Dxb=(B_1_2.*B_2_3-B_2_2.*B_1_3)./Det;
494Dyb=(B_2_1.*B_1_3-B_1_1.*B_2_3)./Det;
495
496%% result
497Den=(Dxb-Dxa).*(Dxb-Dxa)+(Dyb-Dya).*(Dyb-Dya);
498error=((Dyb-Dya).*(-u)-(Dxb-Dxa).*(-v))./Den;
499% ex=-error.*(Dyb-Dya);
500% ey=-error.*(Dxb-Dxa);
501
502% z1=-u./(Dxb-Dxa);
503% z2=-v./(Dyb-Dya);
504z=((Dxb-Dxa).*(-u)+(Dyb-Dya).*(-v))./Den;
505
506xnew(1,:)=Dxa.*z+x_a;
507xnew(2,:)=Dxb.*z+x_b;
508ynew(1,:)=Dya.*z+y_a;
509ynew(2,:)=Dyb.*z+y_b;
510Xphy=mean(xnew,1);
511Yphy=mean(ynew,1);
512
513
514
515
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