1 | %=======================================================================
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2 | % Copyright 2008-2014, LEGI UMR 5519 / CNRS UJF G-INP, Grenoble, France
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3 | % http://www.legi.grenoble-inp.fr
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4 | % Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr
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5 | %
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6 | % This file is part of the toolbox UVMAT.
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7 | %
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8 | % UVMAT is free software; you can redistribute it and/or modify
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9 | % it under the terms of the GNU General Public License as published
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10 | % by the Free Software Foundation; either version 2 of the license,
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11 | % or (at your option) any later version.
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12 | %
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13 | % UVMAT is distributed in the hope that it will be useful,
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14 | % but WITHOUT ANY WARRANTY; without even the implied warranty of
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15 | % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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16 | % GNU General Public License (see LICENSE.txt) for more details.
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17 | %=======================================================================
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18 |
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19 | function [xn] = normalize_pixel(x_kk,fc,cc,kc,alpha_c)
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20 |
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21 | %normalize
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22 | %
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23 | %[xn] = normalize_pixel(x_kk,fc,cc,kc,alpha_c)
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24 | %
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25 | %Computes the normalized coordinates xn given the pixel coordinates x_kk
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26 | %and the intrinsic camera parameters fc, cc and kc.
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27 | %
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28 | %INPUT: x_kk: Feature locations on the images
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29 | % fc: Camera focal length
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30 | % cc: Principal point coordinates
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31 | % kc: Distortion coefficients
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32 | % alpha_c: Skew coefficient
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33 | %
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34 | %OUTPUT: xn: Normalized feature locations on the image plane (a 2XN matrix)
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35 | %
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36 | %Important functions called within that program:
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37 | %
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38 | %comp_distortion_oulu: undistort pixel coordinates.
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39 |
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40 | if nargin < 5,
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41 | alpha_c = 0;
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42 | if nargin < 4;
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43 | kc = [0;0;0;0;0];
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44 | if nargin < 3;
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45 | cc = [0;0];
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46 | if nargin < 2,
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47 | fc = [1;1];
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48 | end;
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49 | end;
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50 | end;
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51 | end;
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52 |
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53 |
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54 | % First: Subtract principal point, and divide by the focal length:
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55 | x_distort = [(x_kk(1,:) - cc(1))/fc(1);(x_kk(2,:) - cc(2))/fc(2)];
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56 |
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57 | % Second: undo skew
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58 | x_distort(1,:) = x_distort(1,:) - alpha_c * x_distort(2,:);
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59 |
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60 | if norm(kc) ~= 0,
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61 | % Third: Compensate for lens distortion:
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62 | xn = comp_distortion_oulu(x_distort,kc);
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63 | else
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64 | xn = x_distort;
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65 | end;
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