%'civ2vel_3C': combine velocity fields from two cameras to get three velocity components %------------------------------------------------------------------------ % function ParamOut=civ2vel_3C(Param) % %OUTPUT % ParamOut: sets options in the GUI series.fig needed for the function % %INPUT: % In run mode, the input parameters are given as a Matlab structure Param copied from the GUI series. % In batch mode, Param is the name of the corresponding xml file containing the same information % when Param.Action.RUN=0 (as activated when the current Action is selected % in series), the function ouput paramOut set the activation of the needed GUI elements % % Param contains the elements:(use the menu bar command 'export/GUI config' in series to % see the current structure Param) % .InputTable: cell of input file names, (several lines for multiple input) % each line decomposed as {RootPath,SubDir,Rootfile,NomType,Extension} % .OutputSubDir: name of the subdirectory for data outputs % .OutputDirExt: directory extension for data outputs % .Action: .ActionName: name of the current activated function % .ActionPath: path of the current activated function % .ActionExt: fct extension ('.m', Matlab fct, '.sh', compiled Matlab fct % .RUN =0 for GUI input, =1 for function activation % .RunMode='local','background', 'cluster': type of function use % % .IndexRange: set the file or frame indices on which the action must be performed % .InputFields: sub structure describing the input fields withfields % .FieldName: name(s) of the field % .VelType: velocity type % .FieldName_1: name of the second field in case of two input series % .VelType_1: velocity type of the second field in case of two input series % .Coord_y: name of y coordinate variable % .Coord_x: name of x coordinate variable' %======================================================================= % Copyright 2008-2015, LEGI UMR 5519 / CNRS UJF G-INP, Grenoble, France % http://www.legi.grenoble-inp.fr % Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr % % This file is part of the toolbox UVMAT. % % UVMAT is free software; you can redistribute it and/or modify % it under the terms of the GNU General Public License as published % by the Free Software Foundation; either version 2 of the license, % or (at your option) any later version. % % UVMAT is distributed in the hope that it will be useful, % but WITHOUT ANY WARRANTY; without even the implied warranty of % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the % GNU General Public License (see LICENSE.txt) for more details. %======================================================================= function ParamOut=civ2vel_3C(Param) disp('test') %% set the input elements needed on the GUI series when the function is selected in the menu ActionName or InputTable refreshed if isstruct(Param) && isequal(Param.Action.RUN,0) ParamOut.AllowInputSort='off';% allow alphabetic sorting of the list of input file SubDir (options 'off'/'on', 'off' by default) ParamOut.WholeIndexRange='off';% prescribes the file index ranges from min to max (options 'off'/'on', 'off' by default) ParamOut.NbSlice='off'; %nbre of slices ('off' by default) ParamOut.VelType='one';% menu for selecting the velocity type (options 'off'/'one'/'two', 'off' by default) ParamOut.FieldName='off';% menu for selecting the field (s) in the input file(options 'off'/'one'/'two', 'off' by default) ParamOut.FieldTransform = 'off';%use the phys transform function without choice %ParamOut.TransformPath=fullfile(fileparts(which('uvmat')),'transform_field');% path to transform functions (needed for compilation only) ParamOut.ProjObject='on';%can use projection object(option 'off'/'on', ParamOut.Mask='off';%can use mask option (option 'off'/'on', 'off' by default) ParamOut.OutputDirExt='.vel3C';%set the output dir extension ParamOut.OutputSubDirMode='two'; % the two first input lines are used to define the output subfolder 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 %check the input files ParamOut.CheckOverwriteVisible='on'; % manage the overwrite of existing files (default=1) first_j=[]; if size(Param.InputTable,1)<2 msgbox_uvmat('WARNING',['two or three input file series are needed']) end if isfield(Param.IndexRange,'first_j'); first_j=Param.IndexRange.first_j; end PairString=''; if isfield(Param.IndexRange,'PairString'); PairString=Param.IndexRange.PairString; end [i1,i2,j1,j2] = get_file_index(Param.IndexRange.first_i,first_j,PairString); FirstFileName=fullfile_uvmat(Param.InputTable{1,1},Param.InputTable{1,2},Param.InputTable{1,3},... Param.InputTable{1,5},Param.InputTable{1,4},i1,i2,j1,j2); if ~exist(FirstFileName,'file') msgbox_uvmat('WARNING',['the first input file ' FirstFileName ' does not exist']) elseif isequal(size(Param.InputTable,1),1) && ~isfield(Param,'ProjObject') msgbox_uvmat('WARNING','You may need a projection object of type plane for merge_proj') end return end %%%%%%%%%%%% STANDARD PART (DO NOT EDIT) %%%%%%%%%%%% ParamOut=[]; %default output %% read input parameters from an xml file if input is a file name (batch mode) checkrun=1; if ischar(Param) Param=xml2struct(Param);% read Param as input file (batch case) checkrun=0; end hseries=findobj(allchild(0),'Tag','series'); RUNHandle=findobj(hseries,'Tag','RUN');%handle of RUN button in GUI series WaitbarHandle=findobj(hseries,'Tag','Waitbar');%handle of waitbar in GUI series %% root input file(s) name, type and index series RootPath=Param.InputTable(:,1); RootFile=Param.InputTable(:,3); SubDir=Param.InputTable(:,2); NomType=Param.InputTable(:,4); FileExt=Param.InputTable(:,5); hdisp=disp_uvmat('WAITING...','checking the file series',checkrun); [filecell,i1_series,i2_series,j1_series,j2_series]=get_file_series(Param); if ~isempty(hdisp),delete(hdisp),end; %%%%%%%%%%%% % The cell array filecell is the list of input file names, while % filecell{iview,fileindex}: % iview: line in the table corresponding to a given file series % fileindex: file index within the file series, % 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 % i1_series(iview,fileindex) expresses the same indices as a 1D array in file indices %%%%%%%%%%%% NbView=numel(i1_series);%number of input file series (lines in InputTable) NbField_j=size(i1_series{1},1); %nb of fields for the j index (bursts or volume slices) NbField_i=size(i1_series{1},2); %nb of fields for the i index NbField=NbField_j*NbField_i; %total number of fields %% define the directory for result file (with path=RootPath{1}) OutputDir=[Param.OutputSubDir Param.OutputDirExt];% subdirectory for output files % % if ~isfield(Param,'InputFields') % Param.InputFields.FieldName=''; % end %% calibration data and timing: read the ImaDoc files [XmlData,NbSlice_calib,time,errormsg]=read_multimadoc(RootPath,SubDir,RootFile,FileExt,i1_series,i2_series,j1_series,j2_series); if size(time,1)>1 diff_time=max(max(diff(time))); if diff_time>0 disp_uvmat('WARNING',['times of series differ by (max) ' num2str(diff_time) ': the mean time is chosen in result'],checkrun) end end if ~isempty(errormsg) disp_uvmat('WARNING',errormsg,checkrun) end time=mean(time,1); %averaged time taken for the merged field if isfield(XmlData{1},'GeometryCalib') tsaiA=XmlData{1}.GeometryCalib; else disp_uvmat('ERROR','no geometric calibration available for image A',checkrun) return end if isfield(XmlData{2},'GeometryCalib') tsaiB=XmlData{2}.GeometryCalib; else disp_uvmat('ERROR','no geometric calibration available for image B',checkrun) return end [filecell,i1_series,i2_series,j1_series,j2_series]=get_file_series(Param); %% grid of physical positions (given by projection plane) if ~Param.CheckObject disp_uvmat('ERROR','a projection plane with interpolation is needed',checkrun) return end ObjectData=Param.ProjObject; xI=ObjectData.RangeX(1):ObjectData.DX:ObjectData.RangeX(2); yI=ObjectData.RangeY(1):ObjectData.DY:ObjectData.RangeY(2); [XI,YI]=meshgrid(xI,yI); U=zeros(size(XI,1),size(XI,2)); V=zeros(size(XI,1),size(XI,2)); W=zeros(size(XI,1),size(XI,2)); %% MAIN LOOP ON FIELDS warning off CheckOverwrite=1;%default if isfield(Param,'CheckOverwrite') CheckOverwrite=Param.CheckOverwrite; end for index=1:NbField update_waitbar(WaitbarHandle,index/NbField) %% generating the name of the merged field i1=i1_series{1}(index); if ~isempty(i2_series{end}) i2=i2_series{end}(index); else i2=i1; end j1=1; j2=1; if ~isempty(j1_series{1}) j1=j1_series{1}(index); if ~isempty(j2_series{end}) j2=j2_series{end}(index); else j2=j1; end end OutputFile=fullfile_uvmat(RootPath{1},OutputDir,RootFile{1},'.nc','_1-2',i1,i2,j1,j2); %% if ~isempty(RUNHandle) && ~strcmp(get(RUNHandle,'BusyAction'),'queue') disp('program stopped by user') return end if (~CheckOverwrite && exist(OutputFile,'file')) disp('existing output file already exists, skip to next field') continue% skip iteration if the mode overwrite is desactivated and the result file already exists end %%%%%%%%%%%%%%%% loop on views (input lines) %%%%%%%%%%%%%%%% Data=cell(1,NbView);%initiate the set Data timeread=zeros(1,NbView); %get Xphys,Yphys,Zphys from 1 or 2 stereo folders. Positions are taken %at the middle between to time step clear ZItemp ZItemp=zeros(size(XI,1),size(XI,2),2); if index==1 first_img=i1_series{1,1}(1,1); %id of the first image of the series end idtemp=0; for indextemp=index:index+1; idtemp=idtemp+1; if NbView==3 % if there is only 1 stereo folder, extract directly Xphys,Yphys and Zphys [Data{3},tild,errormsg] = nc2struct([Param.InputTable{3,1},'/',Param.InputTable{3,2},'/',Param.InputTable{3,3},'_',int2str(first_img+indextemp-1),'.nc']); if exist('Data{3}.Civ3_FF','var') % FF is present, remove wrong vector temp=find(Data{3}.Civ3_FF==0); Zphys=Data{3}.Zphys(temp); Yphys=Data{3}.Yphys(temp); Xphys=Data{3}.Xphys(temp); else Zphys=Data{3}.Zphys; Yphys=Data{3}.Yphys; Xphys=Data{3}.Xphys; end elseif NbView==4 % is there is 2 stereo folders, get global U and V and compute Zphys %test if the seconde camera is the same for both folder for i=3:4 indpt(i)=strfind(Param.InputTable{i,2},'.'); % indice of the "." is the folder name 1 indline(i)=strfind(Param.InputTable{i,2},'-'); % indice of the "-" is the folder name1 camname{i}=Param.InputTable{i,2}(indline(i)+1:indpt(i)-1);% extract the second camera name end if strcmp(camname{3},camname{4})==0 disp_uvmat('ERROR','The 2 stereo folders should have the same camera for the second position',checkrun) return end [Data{3},tild,errormsg] = nc2struct([Param.InputTable{3,1},'/',Param.InputTable{3,2},'/',Param.InputTable{3,3},'_',int2str(first_img+indextemp-1),'.nc']); if exist('Data{3}.Civ3_FF','var') % if FF is present, remove wrong vector temp=find(Data{3}.Civ3_FF==0); Xmid3=Data{3}.Xmid(temp); Ymid3=Data{3}.Ymid(temp); U3=Data{3}.Uphys(temp); V3=Data{3}.Vphys(temp); else Xmid3=Data{3}.Xmid; Ymid3=Data{3}.Ymid; U3=Data{3}.Uphys; V3=Data{3}.Vphys; end %temporary gridd of merging the 2 stereos datas [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)); %1st folder : interpolate the first camera (Dalsa1) points on the second (common) camera %(Dalsa 3) x3Q=griddata(Xmid3+(U3)/2,Ymid3+(V3)/2,Xmid3-(U3)/2,xq,yq); y3Q=griddata(Xmid3+(U3)/2,Ymid3+(V3)/2,Ymid3-(V3)/2,xq,yq); [Data{4},tild,errormsg] = nc2struct([Param.InputTable{4,1},'/',Param.InputTable{4,2},'/',Param.InputTable{4,3},'_',int2str(first_img+indextemp-1),'.nc']); if exist('Data{4}.Civ3_FF','var') % if FF is present, remove wrong vector temp=find(Data{4}.Civ3_FF==0); Xmid4=Data{4}.Xmid(temp); Ymid4=Data{4}.Ymid(temp); U4=Data{4}.Uphys(temp); V4=Data{4}.Vphys(temp); else Xmid4=Data{4}.Xmid; Ymid4=Data{4}.Ymid; U4=Data{4}.Uphys; V4=Data{4}.Vphys; end %2nd folder :interpolate the first camera (Dalsa2) points on the second (common) camera %(Dalsa 3) x4Q=griddata(Xmid4+(U4)/2,Ymid4+(V4)/2,Xmid4-(U4)/2,xq,yq); y4Q=griddata(Xmid4+(U4)/2,Ymid4+(V4)/2,Ymid4-(V4)/2,xq,yq); xmid=reshape((x4Q+x3Q)/2,length(xq(:,1)).*length(xq(1,:)),1); ymid=reshape((y4Q+y3Q)/2,length(yq(:,1)).*length(yq(1,:)),1); u=reshape(x4Q-x3Q,length(xq(:,1)).*length(xq(1,:)),1); v=reshape(y4Q-y3Q,length(yq(:,1)).*length(yq(1,:)),1); [Zphys,Xphys,Yphys,error]=shift2z(xmid, ymid, u, v,XmlData); %get Xphy,Yphy and Zphys %remove NaN tempNaN=isnan(Zphys);tempind=find(tempNaN==1); Zphys(tempind)=[]; Xphys(tempind)=[]; Yphys(tempind)=[]; error(tempind)=[]; end ZItemp(:,:,idtemp)=griddata(Xphys,Yphys,Zphys,XI,YI); %interpolation on the choosen gridd end ZI=mean(ZItemp,3); %mean between two the two time step Vtest=ZItemp(:,:,2)-ZItemp(:,:,1); [Xa,Ya]=px_XYZ(XmlData{1}.GeometryCalib,XI,YI,ZI);% set of image coordinates on view a [Xb,Yb]=px_XYZ(XmlData{2}.GeometryCalib,XI,YI,ZI);% set of image coordinates on view b for iview=1:2 %% reading input file(s) [Data{iview},tild,errormsg]=read_civdata(filecell{iview,index},{'vec(U,V)'},'*'); if ~isempty(errormsg) disp_uvmat('ERROR',['ERROR in civ2vel_3C/read_field/' errormsg],checkrun) return end % get the time defined in the current file if not already defined from the xml file if isfield(Data{iview},'Time')&& isequal(Data{iview}.Time,Data{1}.Time) Time=Data{iview}.Time; else disp_uvmat('ERROR','Time undefined or not synchronous',checkrun) return end if isfield(Data{iview},'Dt')&& isequal(Data{iview}.Dt,Data{1}.Dt) Dt=Data{iview}.Dt; else disp_uvmat('ERROR','Dt undefined or not synchronous',checkrun) return end end %remove wrong vector temp=find(Data{1}.FF==0); X1=Data{1}.X(temp); Y1=Data{1}.Y(temp); U1=Data{1}.U(temp); V1=Data{1}.V(temp); Ua=griddata(X1,Y1,U1,Xa,Ya); Va=griddata(X1,Y1,V1,Xa,Ya); % [Ua,Va,Xa,Ya]=Ud2U(XmlData{1}.GeometryCalib,Xa,Ya,Ua,Va); % convert Xd data to X [A]=get_coeff(XmlData{1}.GeometryCalib,Xa,Ya,XI,YI,ZI); %get coef A~ %remove wrong vector temp=find(Data{2}.FF==0); X2=Data{2}.X(temp); Y2=Data{2}.Y(temp); U2=Data{2}.U(temp); V2=Data{2}.V(temp); Ub=griddata(X2,Y2,U2,Xb,Yb); Vb=griddata(X2,Y2,V2,Xb,Yb); % [Ub,Vb,Xb,Yb]=Ud2U(XmlData{2}.GeometryCalib,Xb,Yb,Ub,Vb); % convert Xd data to X [B]=get_coeff(XmlData{2}.GeometryCalib,Xb,Yb,XI,YI,ZI); %get coef B~ % System to solve S=ones(size(XI,1),size(XI,2),3); D=ones(size(XI,1),size(XI,2),3,3); S(:,:,1)=A(:,:,1,1).*Ua+A(:,:,2,1).*Va+B(:,:,1,1).*Ub+B(:,:,2,1).*Vb; S(:,:,2)=A(:,:,1,2).*Ua+A(:,:,2,2).*Va+B(:,:,1,2).*Ub+B(:,:,2,2).*Vb; S(:,:,3)=A(:,:,1,3).*Ua+A(:,:,2,3).*Va+B(:,:,1,3).*Ub+B(:,:,2,3).*Vb; 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); 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); 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); 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); 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); 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); 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); 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); 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); for indj=1:size(XI,1) for indi=1:size(XI,2) dxyz=(squeeze(D(indj,indi,:,:))*1000)\(squeeze(S(indj,indi,:))*1000); % solving... U(indj,indi)=dxyz(1); V(indj,indi)=dxyz(2); W(indj,indi)=dxyz(3); end end Error=zeros(size(XI,1),size(XI,2),4); Error(:,:,1)=A(:,:,1,1).*U+A(:,:,1,2).*V+A(:,:,1,3).*W-Ua; Error(:,:,2)=A(:,:,2,1).*U+A(:,:,2,2).*V+A(:,:,2,3).*W-Va; Error(:,:,3)=B(:,:,1,1).*U+B(:,:,1,2).*V+B(:,:,1,3).*W-Ub; Error(:,:,4)=B(:,:,2,1).*U+B(:,:,2,2).*V+B(:,:,2,3).*W-Vb; %% recording the merged field if index==1% initiate the structure at first index MergeData.ListGlobalAttribute={'Conventions','Time','Dt'}; MergeData.Conventions='uvmat'; MergeData.Time=Time; MergeData.Dt=Dt; MergeData.ListVarName={'coord_x','coord_y','Z','U','V','W','Error'}; MergeData.VarDimName={'coord_x','coord_y',{'coord_y','coord_x'},{'coord_y','coord_x'}... {'coord_y','coord_x'},{'coord_y','coord_x'},{'coord_y','coord_x'}}; MergeData.coord_x=xI; MergeData.coord_y=yI; end MergeData.U=U/Dt; MergeData.V=V/Dt; MergeData.W=W/Dt; MergeData.Z=ZI; % mfx=(XmlData{1}.GeometryCalib.fx_fy(1)+XmlData{2}.GeometryCalib.fx_fy(1))/2; % mfy=(XmlData{1}.GeometryCalib.fx_fy(2)+XmlData{2}.GeometryCalib.fx_fy(2))/2; MergeData.Error=0.5*sqrt(sum(Error.^2,3)); errormsg=struct2nc(OutputFile,MergeData);%save result file if isempty(errormsg) disp(['output file ' OutputFile ' written']) else disp(errormsg) end end function [A]=get_coeff(Calib,X,Y,x,y,z) % compute A~ coefficients R=(Calib.R)';%rotation matrix T_z=Calib.Tx_Ty_Tz(3); T=R(7)*x+R(8)*y+R(9)*z+T_z; A(:,:,1,1)=(R(1)-R(7)*X)./T; A(:,:,1,2)=(R(2)-R(8)*X)./T; A(:,:,1,3)=(R(3)-R(9)*X)./T; A(:,:,2,1)=(R(4)-R(7)*Y)./T; A(:,:,2,2)=(R(5)-R(8)*Y)./T; A(:,:,2,3)=(R(6)-R(9)*Y)./T; function [U,V,X,Y]=Ud2U(Calib,Xd,Yd,Ud,Vd) % convert Xd to X and Ud to U X1d=Xd-Ud/2; X2d=Xd+Ud/2; Y1d=Yd-Vd/2; Y2d=Yd+Vd/2; X1=(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); X2=(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); Y1=(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); Y2=(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); U=X2-X1; V=Y2-Y1; X=X1+U/2; Y=Y1+V/2; function [z,Xphy,Yphy,error]=shift2z(xmid, ymid, u, v,XmlData) % get H from stereo data z=0; error=0; %% first image Calib_A=XmlData{1}.GeometryCalib; R=(Calib_A.R)'; x_a=xmid- u/2; y_a=ymid- v/2; z_a=R(7)*x_a+R(8)*y_a+Calib_A.Tx_Ty_Tz(1,3); Xa=(R(1)*x_a+R(2)*y_a+Calib_A.Tx_Ty_Tz(1,1))./z_a; Ya=(R(4)*x_a+R(5)*y_a+Calib_A.Tx_Ty_Tz(1,2))./z_a; A_1_1=R(1)-R(7)*Xa; A_1_2=R(2)-R(8)*Xa; A_1_3=R(3)-R(9)*Xa; A_2_1=R(4)-R(7)*Ya; A_2_2=R(5)-R(8)*Ya; A_2_3=R(6)-R(9)*Ya; Det=A_1_1.*A_2_2-A_1_2.*A_2_1; Dxa=(A_1_2.*A_2_3-A_2_2.*A_1_3)./Det; Dya=(A_2_1.*A_1_3-A_1_1.*A_2_3)./Det; %% second image %loading shift angle Calib_B=XmlData{2}.GeometryCalib; R=(Calib_B.R)'; x_b=xmid+ u/2; y_b=ymid+ v/2; z_b=R(7)*x_b+R(8)*y_b+Calib_B.Tx_Ty_Tz(1,3); Xb=(R(1)*x_b+R(2)*y_b+Calib_B.Tx_Ty_Tz(1,1))./z_b; Yb=(R(4)*x_b+R(5)*y_b+Calib_B.Tx_Ty_Tz(1,2))./z_b; B_1_1=R(1)-R(7)*Xb; B_1_2=R(2)-R(8)*Xb; B_1_3=R(3)-R(9)*Xb; B_2_1=R(4)-R(7)*Yb; B_2_2=R(5)-R(8)*Yb; B_2_3=R(6)-R(9)*Yb; Det=B_1_1.*B_2_2-B_1_2.*B_2_1; Dxb=(B_1_2.*B_2_3-B_2_2.*B_1_3)./Det; Dyb=(B_2_1.*B_1_3-B_1_1.*B_2_3)./Det; %% result Den=(Dxb-Dxa).*(Dxb-Dxa)+(Dyb-Dya).*(Dyb-Dya); error=abs(((Dyb-Dya).*(-u)-(Dxb-Dxa).*(-v)))./Den; % ex=-error.*(Dyb-Dya); % ey=-error.*(Dxb-Dxa); % z1=-u./(Dxb-Dxa); % z2=-v./(Dyb-Dya); z=((Dxb-Dxa).*(-u)+(Dyb-Dya).*(-v))./Den; xnew(1,:)=Dxa.*z+x_a; xnew(2,:)=Dxb.*z+x_b; ynew(1,:)=Dya.*z+y_a; ynew(2,:)=Dyb.*z+y_b; Xphy=mean(xnew,1); Yphy=mean(ynew,1);