Changeset 542 for trunk/src/px_XYZ.m

Timestamp:

Sep 15, 2012, 7:04:56 PM (13 years ago)

Author:

sommeria

Message:

bugs repaired for mask display in phys coord, display of circles in geometry_calib, introduction of x,y,z initial in proj_field/proj_plane

File:

• trunk/src/px_XYZ.m (modified) (3 diffs)

trunk/src/px_XYZ.m

@@ -11 +11 @@
 
 function [X,Y]=px_XYZ(Calib,Xphys,Yphys,Zphys)
-% if exist('Z','var')& isequal(Z,round(Z))& Z>0 & isfield(Calib,'PlanePos')&length(Calib.PlanePos)>=Z
-%     Zindex=Z;
-%     planepos=Calib.PlanePos{Zindex};
-%     zphys=planepos(3);%A GENERALISER CAS AVEC ANGLE
-% else
-%     zphys=0;
-% end
 if ~exist('Zphys','var')
     Zphys=0;
@@ -27 +20 @@
      Calib.Tx_Ty_Tz=[0 0 1];
 end
-% if ~isfield(Calib,'kappa1')
-%     Calib.kappa1=0;
-% end
-% if ~isfield(Calib,'sx')
-%     Calib.sx=1;
-% end
-% if ~isfield(Calib,'dpx')
-%     Calib.dpx=1;
-% end
-% if ~isfield(Calib,'dpy')
-%     Calib.dpy=1;
-% end
 
 %%%%%%%%%%%%%
+% general case
 if isfield(Calib,'R')
     R=(Calib.R)';
+    %correct z for refraction if needed
+    if isfield(Calib,'InterfaceCoord') && isfield(Calib,'RefractionIndex')
+        H=Calib.InterfaceCoord(3);
+        if H>Zphys
+            Zphys=H-(H-Zphys)/Calib.RefractionIndex; %corrected z (virtual object)
+            test_refraction=1;
+        end
+    end
+    
     %camera coordinates
     xc=R(1)*Xphys+R(2)*Yphys+R(3)*Zphys+Calib.Tx_Ty_Tz(1);
     yc=R(4)*Xphys+R(5)*Yphys+R(6)*Zphys+Calib.Tx_Ty_Tz(2);
     zc=R(7)*Xphys+R(8)*Yphys+R(9)*Zphys+Calib.Tx_Ty_Tz(3);
-%undistorted image coordinates
+    
+    %undistorted image coordinates
     Xu=xc./zc;
     Yu=yc./zc;
-%radial quadratic correction factor
+    
+    %radial quadratic correction factor
     if ~isfield(Calib,'kc')
         r2=1; %no quadratic distortion
@@ -56 +49 @@
         r2=1+Calib.kc*(Xu.*Xu+Yu.*Yu);
     end
-%pixel coordinates
+    
+    %pixel coordinates
     if ~isfield(Calib,'Cx_Cy')
         Calib.Cx_Cy=[0 0];%default value
     end
     X=Calib.fx_fy(1)*Xu.*r2+Calib.Cx_Cy(1);
-    Y=Calib.fx_fy(2)*Yu.*r2+Calib.Cx_Cy(2);    
-%OLD CONVENTION (Wilson)undistorted image coordinates
-%     Xu=Calib.f*xc./zc;
-%     Yu=Calib.f*yc./zc;    
-% %distorted image coordinates 
-%     distortion=(Calib.kappa1)*(Xu.*Xu+Yu.*Yu)+1; %A REVOIR
-% % distortion=1;
-%     Xd=Xu./distortion;
-%     Yd=Yu./distortion;
-% %pixel coordinates
-%     X=Xd*Calib.sx/Calib.dpx+Calib.Cx;
-%     Y=Yd/Calib.dpy+Calib.Cy;
-else %case 'rescale'
+    Y=Calib.fx_fy(2)*Yu.*r2+Calib.Cx_Cy(2);  
+    
+%case 'rescale'    
+else 
     X=Calib.fx_fy(1)*(Xphys+Calib.Tx_Ty_Tz(1));
     Y=Calib.fx_fy(2)*(Yphys+Calib.Tx_Ty_Tz(2));