1 | %'civ2vel_3C': combine velocity fields from two cameras to get three velocity components
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2 | %------------------------------------------------------------------------
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3 | % function ParamOut=civ2vel_3C(Param)
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4 | %
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5 | %OUTPUT
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6 | % ParamOut: sets options in the GUI series.fig needed for the function
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7 | %
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8 | %INPUT:
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9 | % In run mode, the input parameters are given as a Matlab structure Param copied from the GUI series.
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10 | % In batch mode, Param is the name of the corresponding xml file containing the same information
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11 | % when Param.Action.RUN=0 (as activated when the current Action is selected
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12 | % in series), the function ouput paramOut set the activation of the needed GUI elements
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13 | %
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14 | % Param contains the elements:(use the menu bar command 'export/GUI config' in series to
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15 | % see the current structure Param)
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16 | % .InputTable: cell of input file names, (several lines for multiple input)
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17 | % each line decomposed as {RootPath,SubDir,Rootfile,NomType,Extension}
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18 | % .OutputSubDir: name of the subdirectory for data outputs
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19 | % .OutputDirExt: directory extension for data outputs
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20 | % .Action: .ActionName: name of the current activated function
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21 | % .ActionPath: path of the current activated function
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22 | % .ActionExt: fct extension ('.m', Matlab fct, '.sh', compiled Matlab fct
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23 | % .RUN =0 for GUI input, =1 for function activation
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24 | % .RunMode='local','background', 'cluster': type of function use
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25 | %
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26 | % .IndexRange: set the file or frame indices on which the action must be performed
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27 | % .InputFields: sub structure describing the input fields withfields
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28 | % .FieldName: name(s) of the field
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29 | % .VelType: velocity type
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30 | % .FieldName_1: name of the second field in case of two input series
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31 | % .VelType_1: velocity type of the second field in case of two input series
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32 | % .Coord_y: name of y coordinate variable
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33 | % .Coord_x: name of x coordinate variable'
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34 |
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35 | %=======================================================================
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36 | % Copyright 2008-2015, LEGI UMR 5519 / CNRS UJF G-INP, Grenoble, France
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37 | % http://www.legi.grenoble-inp.fr
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38 | % Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr
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39 | %
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40 | % This file is part of the toolbox UVMAT.
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41 | %
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42 | % UVMAT is free software; you can redistribute it and/or modify
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43 | % it under the terms of the GNU General Public License as published
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44 | % by the Free Software Foundation; either version 2 of the license,
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45 | % or (at your option) any later version.
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46 | %
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47 | % UVMAT is distributed in the hope that it will be useful,
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48 | % but WITHOUT ANY WARRANTY; without even the implied warranty of
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49 | % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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50 | % GNU General Public License (see LICENSE.txt) for more details.
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51 | %=======================================================================
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52 |
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53 | function ParamOut=civ2vel_3C(Param)
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54 | disp('test')
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55 | %% set the input elements needed on the GUI series when the function is selected in the menu ActionName or InputTable refreshed
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56 | if isstruct(Param) && isequal(Param.Action.RUN,0)
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57 | ParamOut.AllowInputSort='off';% allow alphabetic sorting of the list of input file SubDir (options 'off'/'on', 'off' by default)
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58 | ParamOut.WholeIndexRange='off';% prescribes the file index ranges from min to max (options 'off'/'on', 'off' by default)
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59 | ParamOut.NbSlice='off'; %nbre of slices ('off' by default)
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60 | ParamOut.VelType='one';% menu for selecting the velocity type (options 'off'/'one'/'two', 'off' by default)
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61 | ParamOut.FieldName='off';% menu for selecting the field (s) in the input file(options 'off'/'one'/'two', 'off' by default)
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62 | ParamOut.FieldTransform = 'off';%use the phys transform function without choice
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63 | %ParamOut.TransformPath=fullfile(fileparts(which('uvmat')),'transform_field');% path to transform functions (needed for compilation only)
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64 | ParamOut.ProjObject='on';%can use projection object(option 'off'/'on',
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65 | ParamOut.Mask='off';%can use mask option (option 'off'/'on', 'off' by default)
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66 | ParamOut.OutputDirExt='.vel3C';%set the output dir extension
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67 | ParamOut.OutputSubDirMode='two'; % the two first input lines are used to define the output subfolder
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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
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69 | %check the input files
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70 | ParamOut.CheckOverwriteVisible='on'; % manage the overwrite of existing files (default=1)
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71 | first_j=[];
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72 | if size(Param.InputTable,1)<2
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73 | msgbox_uvmat('WARNING',['two or three input file series are needed'])
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74 | end
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75 | if isfield(Param.IndexRange,'first_j'); first_j=Param.IndexRange.first_j; end
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76 | PairString='';
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77 | if isfield(Param.IndexRange,'PairString'); PairString=Param.IndexRange.PairString; end
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78 | [i1,i2,j1,j2] = get_file_index(Param.IndexRange.first_i,first_j,PairString);
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79 | FirstFileName=fullfile_uvmat(Param.InputTable{1,1},Param.InputTable{1,2},Param.InputTable{1,3},...
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80 | Param.InputTable{1,5},Param.InputTable{1,4},i1,i2,j1,j2);
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81 | if ~exist(FirstFileName,'file')
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82 | msgbox_uvmat('WARNING',['the first input file ' FirstFileName ' does not exist'])
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83 | elseif isequal(size(Param.InputTable,1),1) && ~isfield(Param,'ProjObject')
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84 | msgbox_uvmat('WARNING','You may need a projection object of type plane for merge_proj')
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85 | end
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86 | return
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87 | end
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88 |
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89 | %%%%%%%%%%%% STANDARD PART (DO NOT EDIT) %%%%%%%%%%%%
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90 | ParamOut=[]; %default output
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91 | %% read input parameters from an xml file if input is a file name (batch mode)
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92 | checkrun=1;
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93 | if ischar(Param)
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94 | Param=xml2struct(Param);% read Param as input file (batch case)
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95 | checkrun=0;
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96 | end
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97 | hseries=findobj(allchild(0),'Tag','series');
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98 | RUNHandle=findobj(hseries,'Tag','RUN');%handle of RUN button in GUI series
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99 | WaitbarHandle=findobj(hseries,'Tag','Waitbar');%handle of waitbar in GUI series
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100 |
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101 |
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102 | %% root input file(s) name, type and index series
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103 | RootPath=Param.InputTable(:,1);
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104 | RootFile=Param.InputTable(:,3);
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105 | SubDir=Param.InputTable(:,2);
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106 | NomType=Param.InputTable(:,4);
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107 | FileExt=Param.InputTable(:,5);
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108 | hdisp=disp_uvmat('WAITING...','checking the file series',checkrun);
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109 | [filecell,i1_series,i2_series,j1_series,j2_series]=get_file_series(Param);
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110 | if ~isempty(hdisp),delete(hdisp),end;
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111 | %%%%%%%%%%%%
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112 | % The cell array filecell is the list of input file names, while
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113 | % filecell{iview,fileindex}:
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114 | % iview: line in the table corresponding to a given file series
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115 | % fileindex: file index within the file series,
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116 | % 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
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117 | % i1_series(iview,fileindex) expresses the same indices as a 1D array in file indices
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118 | %%%%%%%%%%%%
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119 | NbView=numel(i1_series);%number of input file series (lines in InputTable)
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120 | NbField_j=size(i1_series{1},1); %nb of fields for the j index (bursts or volume slices)
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121 | NbField_i=size(i1_series{1},2); %nb of fields for the i index
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122 | NbField=NbField_j*NbField_i; %total number of fields
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123 |
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124 | %% define the directory for result file (with path=RootPath{1})
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125 | OutputDir=[Param.OutputSubDir Param.OutputDirExt];% subdirectory for output files
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126 | %
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127 | % if ~isfield(Param,'InputFields')
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128 | % Param.InputFields.FieldName='';
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129 | % end
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130 |
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131 | %% calibration data and timing: read the ImaDoc files
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132 | [XmlData,NbSlice_calib,time,errormsg]=read_multimadoc(RootPath,SubDir,RootFile,FileExt,i1_series,i2_series,j1_series,j2_series);
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133 | if size(time,1)>1
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134 | diff_time=max(max(diff(time)));
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135 | if diff_time>0
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136 | disp_uvmat('WARNING',['times of series differ by (max) ' num2str(diff_time) ': the mean time is chosen in result'],checkrun)
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137 | end
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138 | end
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139 | if ~isempty(errormsg)
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140 | disp_uvmat('WARNING',errormsg,checkrun)
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141 | end
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142 | time=mean(time,1); %averaged time taken for the merged field
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143 | if isfield(XmlData{1},'GeometryCalib')
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144 | tsaiA=XmlData{1}.GeometryCalib;
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145 | else
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146 | disp_uvmat('ERROR','no geometric calibration available for image A',checkrun)
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147 | return
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148 | end
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149 | if isfield(XmlData{2},'GeometryCalib')
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150 | tsaiB=XmlData{2}.GeometryCalib;
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151 | else
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152 | disp_uvmat('ERROR','no geometric calibration available for image B',checkrun)
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153 | return
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154 | end
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155 | [filecell,i1_series,i2_series,j1_series,j2_series]=get_file_series(Param);
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156 |
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157 | %% grid of physical positions (given by projection plane)
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158 | if ~Param.CheckObject
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159 | disp_uvmat('ERROR','a projection plane with interpolation is needed',checkrun)
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160 | return
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161 | end
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162 | ObjectData=Param.ProjObject;
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163 | xI=ObjectData.RangeX(1):ObjectData.DX:ObjectData.RangeX(2);
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164 | yI=ObjectData.RangeY(1):ObjectData.DY:ObjectData.RangeY(2);
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165 | [XI,YI]=meshgrid(xI,yI);
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166 | U=zeros(size(XI,1),size(XI,2));
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167 | V=zeros(size(XI,1),size(XI,2));
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168 | W=zeros(size(XI,1),size(XI,2));
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169 |
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170 | %% MAIN LOOP ON FIELDS
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171 | warning off
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172 |
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173 | CheckOverwrite=1;%default
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174 | if isfield(Param,'CheckOverwrite')
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175 | CheckOverwrite=Param.CheckOverwrite;
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176 | end
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177 | for index=1:NbField
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178 |
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179 | update_waitbar(WaitbarHandle,index/NbField)
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180 |
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181 |
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182 |
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183 |
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184 | %% generating the name of the merged field
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185 | i1=i1_series{1}(index);
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186 | if ~isempty(i2_series{end})
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187 | i2=i2_series{end}(index);
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188 | else
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189 | i2=i1;
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190 | end
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191 | j1=1;
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192 | j2=1;
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193 | if ~isempty(j1_series{1})
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194 | j1=j1_series{1}(index);
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195 | if ~isempty(j2_series{end})
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196 | j2=j2_series{end}(index);
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197 | else
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198 | j2=j1;
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199 | end
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200 | end
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201 | OutputFile=fullfile_uvmat(RootPath{1},OutputDir,RootFile{1},'.nc','_1-2',i1,i2,j1,j2);
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202 |
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203 | %%
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204 |
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205 |
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206 | if ~isempty(RUNHandle) && ~strcmp(get(RUNHandle,'BusyAction'),'queue')
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207 | disp('program stopped by user')
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208 | return
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209 | end
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210 |
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211 | if (~CheckOverwrite && exist(OutputFile,'file'))
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212 | disp('existing output file already exists, skip to next field')
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213 | continue% skip iteration if the mode overwrite is desactivated and the result file already exists
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214 | end
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215 |
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216 | %%%%%%%%%%%%%%%% loop on views (input lines) %%%%%%%%%%%%%%%%
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217 | Data=cell(1,NbView);%initiate the set Data
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218 | timeread=zeros(1,NbView);
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219 |
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220 | %get Xphys,Yphys,Zphys from 1 or 2 stereo folders. Positions are taken
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221 | %at the middle between to time step
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222 | clear ZItemp
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223 | ZItemp=zeros(size(XI,1),size(XI,2),2);
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224 |
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225 | if index==1
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226 | first_img=i1_series{1,1}(1,1); %id of the first image of the series
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227 | end
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228 |
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229 | idtemp=0;
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230 | for indextemp=index:index+1;
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231 | idtemp=idtemp+1;
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232 | if NbView==3 % if there is only 1 stereo folder, extract directly Xphys,Yphys and Zphys
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233 |
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234 |
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235 |
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236 | [Data{3},tild,errormsg] = nc2struct([Param.InputTable{3,1},'/',Param.InputTable{3,2},'/',Param.InputTable{3,3},'_',int2str(first_img+indextemp-1),'.nc']);
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237 |
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238 | if exist('Data{3}.Civ3_FF','var') % FF is present, remove wrong vector
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239 | temp=find(Data{3}.Civ3_FF==0);
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240 | Zphys=Data{3}.Zphys(temp);
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241 | Yphys=Data{3}.Yphys(temp);
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242 | Xphys=Data{3}.Xphys(temp);
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243 | else
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244 | Zphys=Data{3}.Zphys;
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245 | Yphys=Data{3}.Yphys;
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246 | Xphys=Data{3}.Xphys;
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247 | end
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248 |
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249 |
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250 |
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251 | elseif NbView==4 % is there is 2 stereo folders, get global U and V and compute Zphys
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252 |
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253 |
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254 | %test if the seconde camera is the same for both folder
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255 | for i=3:4
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256 | indpt(i)=strfind(Param.InputTable{i,2},'.'); % indice of the "." is the folder name 1
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257 | indline(i)=strfind(Param.InputTable{i,2},'-'); % indice of the "-" is the folder name1
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258 | camname{i}=Param.InputTable{i,2}(indline(i)+1:indpt(i)-1);% extract the second camera name
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259 | end
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260 |
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261 | if strcmp(camname{3},camname{4})==0
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262 | disp_uvmat('ERROR','The 2 stereo folders should have the same camera for the second position',checkrun)
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263 | return
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264 | end
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265 |
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266 |
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267 |
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268 | [Data{3},tild,errormsg] = nc2struct([Param.InputTable{3,1},'/',Param.InputTable{3,2},'/',Param.InputTable{3,3},'_',int2str(first_img+indextemp-1),'.nc']);
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269 |
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270 | if exist('Data{3}.Civ3_FF','var') % if FF is present, remove wrong vector
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271 | temp=find(Data{3}.Civ3_FF==0);
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272 | Xmid3=Data{3}.Xmid(temp);
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273 | Ymid3=Data{3}.Ymid(temp);
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274 | U3=Data{3}.Uphys(temp);
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275 | V3=Data{3}.Vphys(temp);
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276 | else
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277 | Xmid3=Data{3}.Xmid;
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278 | Ymid3=Data{3}.Ymid;
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279 | U3=Data{3}.Uphys;
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280 | V3=Data{3}.Vphys;
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281 | end
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282 | %temporary gridd of merging the 2 stereos datas
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283 | [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));
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284 |
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285 | %1st folder : interpolate the first camera (Dalsa1) points on the second (common) camera
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286 | %(Dalsa 3)
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287 | x3Q=griddata(Xmid3+(U3)/2,Ymid3+(V3)/2,Xmid3-(U3)/2,xq,yq);
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288 | y3Q=griddata(Xmid3+(U3)/2,Ymid3+(V3)/2,Ymid3-(V3)/2,xq,yq);
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289 |
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290 |
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291 |
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292 | [Data{4},tild,errormsg] = nc2struct([Param.InputTable{4,1},'/',Param.InputTable{4,2},'/',Param.InputTable{4,3},'_',int2str(first_img+indextemp-1),'.nc']);
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293 | if exist('Data{4}.Civ3_FF','var') % if FF is present, remove wrong vector
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294 | temp=find(Data{4}.Civ3_FF==0);
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295 | Xmid4=Data{4}.Xmid(temp);
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296 | Ymid4=Data{4}.Ymid(temp);
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297 | U4=Data{4}.Uphys(temp);
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298 | V4=Data{4}.Vphys(temp);
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299 | else
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300 | Xmid4=Data{4}.Xmid;
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301 | Ymid4=Data{4}.Ymid;
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302 | U4=Data{4}.Uphys;
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303 | V4=Data{4}.Vphys;
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304 | end
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305 |
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306 | %2nd folder :interpolate the first camera (Dalsa2) points on the second (common) camera
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307 | %(Dalsa 3)
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308 | x4Q=griddata(Xmid4+(U4)/2,Ymid4+(V4)/2,Xmid4-(U4)/2,xq,yq);
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309 | y4Q=griddata(Xmid4+(U4)/2,Ymid4+(V4)/2,Ymid4-(V4)/2,xq,yq);
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310 |
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311 | xmid=reshape((x4Q+x3Q)/2,length(xq(:,1)).*length(xq(1,:)),1);
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312 | ymid=reshape((y4Q+y3Q)/2,length(yq(:,1)).*length(yq(1,:)),1);
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313 | u=reshape(x4Q-x3Q,length(xq(:,1)).*length(xq(1,:)),1);
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314 | v=reshape(y4Q-y3Q,length(yq(:,1)).*length(yq(1,:)),1);
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315 |
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316 |
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317 | [Zphys,Xphys,Yphys,error]=shift2z(xmid, ymid, u, v,XmlData); %get Xphy,Yphy and Zphys
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318 | %remove NaN
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319 | tempNaN=isnan(Zphys);tempind=find(tempNaN==1);
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320 | Zphys(tempind)=[];
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321 | Xphys(tempind)=[];
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322 | Yphys(tempind)=[];
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323 | error(tempind)=[];
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324 |
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325 | end
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326 |
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327 | if NbView>2
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328 | ZItemp(:,:,idtemp)=griddata(Xphys,Yphys,Zphys,XI,YI); %interpolation on the choosen gridd
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329 | end
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330 |
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331 | end
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332 | ZI=mean(ZItemp,3); %mean between two the two time step
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333 | Vtest=ZItemp(:,:,2)-ZItemp(:,:,1);
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334 |
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335 | [Xa,Ya]=px_XYZ(XmlData{1}.GeometryCalib,XI,YI,ZI);% set of image coordinates on view a
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336 | [Xb,Yb]=px_XYZ(XmlData{2}.GeometryCalib,XI,YI,ZI);% set of image coordinates on view b
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337 |
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338 |
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339 | for iview=1:2
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340 | %% reading input file(s)
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341 | [Data{iview},tild,errormsg]=read_civdata(filecell{iview,index},{'vec(U,V)'},'*');
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342 | if ~isempty(errormsg)
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343 | disp_uvmat('ERROR',['ERROR in civ2vel_3C/read_field/' errormsg],checkrun)
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344 | return
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345 | end
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346 | % get the time defined in the current file if not already defined from the xml file
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347 | if isfield(Data{iview},'Time')&& isequal(Data{iview}.Time,Data{1}.Time)
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348 | Time=Data{iview}.Time;
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349 | else
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350 | disp_uvmat('ERROR','Time undefined or not synchronous',checkrun)
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351 | return
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352 | end
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353 | if isfield(Data{iview},'Dt')&& isequal(Data{iview}.Dt,Data{1}.Dt)
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354 | Dt=Data{iview}.Dt;
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355 | else
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356 | disp_uvmat('ERROR','Dt undefined or not synchronous',checkrun)
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357 | return
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358 | end
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359 | end
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360 | %remove wrong vector
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361 | temp=find(Data{1}.FF==0);
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362 | X1=Data{1}.X(temp);
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363 | Y1=Data{1}.Y(temp);
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364 | U1=Data{1}.U(temp);
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365 | V1=Data{1}.V(temp);
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366 |
|
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367 | Ua=griddata(X1,Y1,U1,Xa,Ya);
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368 | Va=griddata(X1,Y1,V1,Xa,Ya);
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369 |
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370 | [Ua,Va,Xa,Ya]=Ud2U(XmlData{1}.GeometryCalib,Xa,Ya,Ua,Va); % convert Xd data to X
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371 | [A]=get_coeff(XmlData{1}.GeometryCalib,Xa,Ya,XI,YI,ZI); %get coef A~
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372 |
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373 | %remove wrong vector
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374 | temp=find(Data{2}.FF==0);
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375 | X2=Data{2}.X(temp);
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376 | Y2=Data{2}.Y(temp);
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377 | U2=Data{2}.U(temp);
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378 | V2=Data{2}.V(temp);
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379 | Ub=griddata(X2,Y2,U2,Xb,Yb);
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380 | Vb=griddata(X2,Y2,V2,Xb,Yb);
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381 |
|
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382 | [Ub,Vb,Xb,Yb]=Ud2U(XmlData{2}.GeometryCalib,Xb,Yb,Ub,Vb); % convert Xd data to X
|
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383 | [B]=get_coeff(XmlData{2}.GeometryCalib,Xb,Yb,XI,YI,ZI); %get coef B~
|
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384 |
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385 |
|
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386 | % System to solve
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387 | S=ones(size(XI,1),size(XI,2),3);
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388 | D=ones(size(XI,1),size(XI,2),3,3);
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389 |
|
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390 | S(:,:,1)=A(:,:,1,1).*Ua+A(:,:,2,1).*Va+B(:,:,1,1).*Ub+B(:,:,2,1).*Vb;
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391 | S(:,:,2)=A(:,:,1,2).*Ua+A(:,:,2,2).*Va+B(:,:,1,2).*Ub+B(:,:,2,2).*Vb;
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392 | S(:,:,3)=A(:,:,1,3).*Ua+A(:,:,2,3).*Va+B(:,:,1,3).*Ub+B(:,:,2,3).*Vb;
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393 | 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);
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394 | 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);
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395 | 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);
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396 | 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);
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397 | 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);
|
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398 | 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);
|
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399 | 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);
|
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400 | 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);
|
---|
401 | 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);
|
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402 | for indj=1:size(XI,1)
|
---|
403 | for indi=1:size(XI,2)
|
---|
404 | dxyz=(squeeze(D(indj,indi,:,:))*1000)\(squeeze(S(indj,indi,:))*1000); % solving...
|
---|
405 | U(indj,indi)=dxyz(1);
|
---|
406 | V(indj,indi)=dxyz(2);
|
---|
407 | W(indj,indi)=dxyz(3);
|
---|
408 | end
|
---|
409 | end
|
---|
410 | Error=zeros(size(XI,1),size(XI,2),4);
|
---|
411 | Error(:,:,1)=A(:,:,1,1).*U+A(:,:,1,2).*V+A(:,:,1,3).*W-Ua;
|
---|
412 | Error(:,:,2)=A(:,:,2,1).*U+A(:,:,2,2).*V+A(:,:,2,3).*W-Va;
|
---|
413 | Error(:,:,3)=B(:,:,1,1).*U+B(:,:,1,2).*V+B(:,:,1,3).*W-Ub;
|
---|
414 | Error(:,:,4)=B(:,:,2,1).*U+B(:,:,2,2).*V+B(:,:,2,3).*W-Vb;
|
---|
415 |
|
---|
416 |
|
---|
417 |
|
---|
418 |
|
---|
419 |
|
---|
420 |
|
---|
421 | %% recording the merged field
|
---|
422 | if index==1% initiate the structure at first index
|
---|
423 | MergeData.ListGlobalAttribute={'Conventions','Time','Dt'};
|
---|
424 | MergeData.Conventions='uvmat';
|
---|
425 | MergeData.Time=Time;
|
---|
426 | MergeData.Dt=Dt;
|
---|
427 | MergeData.ListVarName={'coord_x','coord_y','Z','U','V','W','Error'};
|
---|
428 | MergeData.VarDimName={'coord_x','coord_y',{'coord_y','coord_x'},{'coord_y','coord_x'}...
|
---|
429 | {'coord_y','coord_x'},{'coord_y','coord_x'},{'coord_y','coord_x'}};
|
---|
430 | MergeData.coord_x=xI;
|
---|
431 | MergeData.coord_y=yI;
|
---|
432 | end
|
---|
433 | MergeData.U=U/Dt;
|
---|
434 | MergeData.V=V/Dt;
|
---|
435 | MergeData.W=W/Dt;
|
---|
436 | MergeData.Z=ZI;
|
---|
437 |
|
---|
438 | % mfx=(XmlData{1}.GeometryCalib.fx_fy(1)+XmlData{2}.GeometryCalib.fx_fy(1))/2;
|
---|
439 | % mfy=(XmlData{1}.GeometryCalib.fx_fy(2)+XmlData{2}.GeometryCalib.fx_fy(2))/2;
|
---|
440 | MergeData.Error=0.5*sqrt(sum(Error.^2,3));
|
---|
441 | errormsg=struct2nc(OutputFile,MergeData);%save result file
|
---|
442 | if isempty(errormsg)
|
---|
443 | disp(['output file ' OutputFile ' written'])
|
---|
444 | else
|
---|
445 | disp(errormsg)
|
---|
446 | end
|
---|
447 | end
|
---|
448 |
|
---|
449 |
|
---|
450 | function [A]=get_coeff(Calib,X,Y,x,y,z) % compute A~ coefficients
|
---|
451 | R=(Calib.R)';%rotation matrix
|
---|
452 | T_z=Calib.Tx_Ty_Tz(3);
|
---|
453 | T=R(7)*x+R(8)*y+R(9)*z+T_z;
|
---|
454 |
|
---|
455 | A(:,:,1,1)=(R(1)-R(7)*X)./T;
|
---|
456 | A(:,:,1,2)=(R(2)-R(8)*X)./T;
|
---|
457 | A(:,:,1,3)=(R(3)-R(9)*X)./T;
|
---|
458 | A(:,:,2,1)=(R(4)-R(7)*Y)./T;
|
---|
459 | A(:,:,2,2)=(R(5)-R(8)*Y)./T;
|
---|
460 | A(:,:,2,3)=(R(6)-R(9)*Y)./T;
|
---|
461 |
|
---|
462 | function [U,V,X,Y]=Ud2U(Calib,Xd,Yd,Ud,Vd) % convert Xd to X and Ud to U
|
---|
463 |
|
---|
464 | X1d=Xd-Ud/2;
|
---|
465 | X2d=Xd+Ud/2;
|
---|
466 | Y1d=Yd-Vd/2;
|
---|
467 | Y2d=Yd+Vd/2;
|
---|
468 |
|
---|
469 | 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);
|
---|
470 | 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);
|
---|
471 | 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);
|
---|
472 | 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);
|
---|
473 |
|
---|
474 | U=X2-X1;
|
---|
475 | V=Y2-Y1;
|
---|
476 | X=X1+U/2;
|
---|
477 | Y=Y1+V/2;
|
---|
478 |
|
---|
479 |
|
---|
480 |
|
---|
481 | function [z,Xphy,Yphy,error]=shift2z(xmid, ymid, u, v,XmlData) % get H from stereo data
|
---|
482 | z=0;
|
---|
483 | error=0;
|
---|
484 |
|
---|
485 |
|
---|
486 | %% first image
|
---|
487 | Calib_A=XmlData{1}.GeometryCalib;
|
---|
488 | R=(Calib_A.R)';
|
---|
489 | x_a=xmid- u/2;
|
---|
490 | y_a=ymid- v/2;
|
---|
491 | z_a=R(7)*x_a+R(8)*y_a+Calib_A.Tx_Ty_Tz(1,3);
|
---|
492 | Xa=(R(1)*x_a+R(2)*y_a+Calib_A.Tx_Ty_Tz(1,1))./z_a;
|
---|
493 | Ya=(R(4)*x_a+R(5)*y_a+Calib_A.Tx_Ty_Tz(1,2))./z_a;
|
---|
494 |
|
---|
495 | A_1_1=R(1)-R(7)*Xa;
|
---|
496 | A_1_2=R(2)-R(8)*Xa;
|
---|
497 | A_1_3=R(3)-R(9)*Xa;
|
---|
498 | A_2_1=R(4)-R(7)*Ya;
|
---|
499 | A_2_2=R(5)-R(8)*Ya;
|
---|
500 | A_2_3=R(6)-R(9)*Ya;
|
---|
501 | Det=A_1_1.*A_2_2-A_1_2.*A_2_1;
|
---|
502 | Dxa=(A_1_2.*A_2_3-A_2_2.*A_1_3)./Det;
|
---|
503 | Dya=(A_2_1.*A_1_3-A_1_1.*A_2_3)./Det;
|
---|
504 |
|
---|
505 | %% second image
|
---|
506 | %loading shift angle
|
---|
507 |
|
---|
508 | Calib_B=XmlData{2}.GeometryCalib;
|
---|
509 | R=(Calib_B.R)';
|
---|
510 |
|
---|
511 |
|
---|
512 | x_b=xmid+ u/2;
|
---|
513 | y_b=ymid+ v/2;
|
---|
514 | z_b=R(7)*x_b+R(8)*y_b+Calib_B.Tx_Ty_Tz(1,3);
|
---|
515 | Xb=(R(1)*x_b+R(2)*y_b+Calib_B.Tx_Ty_Tz(1,1))./z_b;
|
---|
516 | Yb=(R(4)*x_b+R(5)*y_b+Calib_B.Tx_Ty_Tz(1,2))./z_b;
|
---|
517 | B_1_1=R(1)-R(7)*Xb;
|
---|
518 | B_1_2=R(2)-R(8)*Xb;
|
---|
519 | B_1_3=R(3)-R(9)*Xb;
|
---|
520 | B_2_1=R(4)-R(7)*Yb;
|
---|
521 | B_2_2=R(5)-R(8)*Yb;
|
---|
522 | B_2_3=R(6)-R(9)*Yb;
|
---|
523 | Det=B_1_1.*B_2_2-B_1_2.*B_2_1;
|
---|
524 | Dxb=(B_1_2.*B_2_3-B_2_2.*B_1_3)./Det;
|
---|
525 | Dyb=(B_2_1.*B_1_3-B_1_1.*B_2_3)./Det;
|
---|
526 |
|
---|
527 | %% result
|
---|
528 | Den=(Dxb-Dxa).*(Dxb-Dxa)+(Dyb-Dya).*(Dyb-Dya);
|
---|
529 | error=abs(((Dyb-Dya).*(-u)-(Dxb-Dxa).*(-v)))./Den;
|
---|
530 | % ex=-error.*(Dyb-Dya);
|
---|
531 | % ey=-error.*(Dxb-Dxa);
|
---|
532 |
|
---|
533 | % z1=-u./(Dxb-Dxa);
|
---|
534 | % z2=-v./(Dyb-Dya);
|
---|
535 | z=((Dxb-Dxa).*(-u)+(Dyb-Dya).*(-v))./Den;
|
---|
536 |
|
---|
537 | xnew(1,:)=Dxa.*z+x_a;
|
---|
538 | xnew(2,:)=Dxb.*z+x_b;
|
---|
539 | ynew(1,:)=Dya.*z+y_a;
|
---|
540 | ynew(2,:)=Dyb.*z+y_b;
|
---|
541 | Xphy=mean(xnew,1);
|
---|
542 | Yphy=mean(ynew,1);
|
---|
543 |
|
---|
544 |
|
---|
545 |
|
---|
546 |
|
---|