script2a

phi = 96;
[angle3 tf3] = look_down(phi, f, size(rgb2), hallpts );
fprintf('look down %g deg, divergence angle %g\n',phi,angle3);

out4 = imtransform(rgb2,tf3,'Xdata',[-1500 1500],'Ydata',[-5000 0]);
[xa  ya] = tformfwd(tf3,hallpts(:,1),hallpts(:,2));
xw = xa+1500;
yw = ya+5000;

subplot(1,1,1)
imshow(out4);
hold on
plot(xw(1:2),yw(1:2),'y','LineWidth',2);
plot(xw(3:4),yw(3:4),'m','LineWidth',2);
plot(xw(5:6),yw(5:6),'b','LineWidth',2);
hold off

look down 96 deg, divergence angle 13.7758
Warning: Image is too big to fit on screen; displaying at 13% 

phi = 97;
[angle3 tf3] = look_down(phi, f, size(rgb2), hallpts );
fprintf('look down %g deg, divergence angle %g\n',phi,angle3);

out4 = imtransform(rgb2,tf3,'Xdata',[-1500 1500],'Ydata',[-5000 0]);
[xa  ya] = tformfwd(tf3,hallpts(:,1),hallpts(:,2));
xw = xa+1500;
yw = ya+5000;

subplot(1,1,1)
imshow(out4);
hold on
plot(xw(1:2),yw(1:2),'y','LineWidth',2);
plot(xw(3:4),yw(3:4),'m','LineWidth',2);
plot(xw(5:6),yw(5:6),'b','LineWidth',2);
hold off

look down 97 deg, divergence angle 11.3419
Warning: Image is too big to fit on screen; displaying at 13% 

phi = 99;
[angle3 tf3] = look_down(phi, f, size(rgb2), hallpts );
fprintf('look down %g deg, divergence angle %g\n',phi,angle3);

out4 = imtransform(rgb2,tf3,'Xdata',[-1500 1500],'Ydata',[-5000 0]);
[xa  ya] = tformfwd(tf3,hallpts(:,1),hallpts(:,2));
xw = xa+1500;
yw = ya+5000;

subplot(1,1,1)
imshow(out4);
hold on
plot(xw(1:2),yw(1:2),'y','LineWidth',2);
plot(xw(3:4),yw(3:4),'m','LineWidth',2);
plot(xw(5:6),yw(5:6),'b','LineWidth',2);
hold off

look down 99 deg, divergence angle -6.42535
Warning: Image is too big to fit on screen; displaying at 13% 

phi = 100;
[angle3 tf3] = look_down(phi, f, size(rgb2), hallpts );
fprintf('look down %g deg, divergence angle %g\n',phi,angle3);

out4 = imtransform(rgb2,tf3,'Xdata',[-1500 1500],'Ydata',[-5000 0]);
[xa  ya] = tformfwd(tf3,hallpts(:,1),hallpts(:,2));
xw = xa+1500;
yw = ya+5000;

subplot(1,1,1)
imshow(out4);
hold on
plot(xw(1:2),yw(1:2),'y','LineWidth',2);
plot(xw(3:4),yw(3:4),'m','LineWidth',2);
plot(xw(5:6),yw(5:6),'b','LineWidth',2);
hold off

look down 100 deg, divergence angle 3.94959
Warning: Image is too big to fit on screen; displaying at 13% 

Published with MATLAB® 7.14