script2
clear
close all
load filelist
k1 = 4;
file1 = files{k1};
rgb = imread(file1);
load script2
imshow(rgb);
hold on
plot(gpts(:,1),gpts(:,2),'y','LineWidth',2);
hold off
Warning: Image is too big to fit on screen; displaying
at 25%
load tform
[x, y] = transformPointsForward(tf, gpts(:,1),gpts(:,2));
x = x/20/12;
y = y/20/12;
[x y]
plot(x(1:4),y(1:4),'k','LineWidth',2);
axis ij
axis equal
grid
kv1 = [x(2)-x(1) y(2)-y(1)];
kv2 = [x(4)-x(3) y(4)-y(3)];
dist(1) = norm(kv1);
dist(2) = norm(kv2);
kv1 = kv1/dist(1);
kv2 = kv2/dist(2);
phi1 = atan2(kv1(2),kv1(1))*180/pi
phi2 = atan2(kv2(2),kv2(1))*180/pi
theta = phi2 - phi1
D = det([kv1; kv2]);
theta = asin(D)*180/pi;
fprintf('theta %g deg\n',theta);
kp = [-kv1(2) kv1(1)];
p = [x(4)-x(1) y(4)-y(1)];
kp*p'
dist
ans =
1.0e+03 *
-0.0044 0.0034
-0.0515 -1.0383
0.0080 -2.4603
0.0020 0.0033
phi1 =
-92.5899
phi2 =
90.1403
theta =
182.7302
theta -2.7302 deg
ans =
6.3288
dist =
1.0e+03 *
1.0428 2.4636
sz = size(rgb);
nx = sz(2);
ny = sz(1);
cc = [nx ny]/2;
fc = 6600;
pts = (gpts - ones(4,1)*cc)/fc
pts =
-0.2154 0.1962
0.0268 -0.1143
0.0796 -0.1172
0.3221 0.1961
hpts = e2h(gpts');
phi = 81.5;
phit = phi*pi/180;
R = [ 1 0 0; 0 cos(phit) -sin(phit); 0 sin(phit) cos(phit) ]
KK = eye(3);
KK = [ fc 0 cc(1); 0 fc cc(2); 0 0 1];
T1 = R*inv(KK);
newcp = [0 0]';
scl =3.82*10;
M = [scl 0 0; 0 scl 0; 0 0 1]*[eye(2,2) -newcp ; 0 0 1];
T = M*T1;
newpts = h2e(T*hpts)
plot([newpts(1,:) newpts(1,1)],[newpts(2,:) newpts(2,1)],'k');
axis ij
axis equal
R =
1.0000 0 0
0 0.1478 -0.9890
0 0.9890 0.1478
newpts =
1.0e+03 *
-0.0241 0.0295 0.0952 0.0360
-0.1073 -1.1059 -1.2045 -0.1073
x = newpts(1,:);
y = newpts(2,:);
kv1 = [x(2)-x(1) y(2)-y(1)];
kv2 = [x(3)-x(4) y(3)-y(4)];
dist(1) = norm(kv1);
dist(2) = norm(kv2);
kv1 = kv1/dist(1);
kv2 = kv2/dist(2);
phi1 = atan2(kv1(2),kv1(1))*180/pi
phi2 = atan2(kv2(2),kv2(1))*180/pi
theta = phi2 - phi1
D = det([kv1; kv2]);
theta = asin(D)*180/pi;
fprintf('theta %g deg\n',theta);
kp = [-kv1(2) kv1(1)];
p = [x(4)-x(1) y(4)-y(1)];
kp*p'
dist
phi1 =
-86.9319
phi2 =
-86.9104
theta =
0.0215
theta 0.0215088 deg
ans =
59.9844
dist =
1.0e+03 *
1.0001 1.0988
t = maketform('projective',T');
t.tdata.T
[U V] = tformfwd(t,gpts(:,1),gpts(:,2))
out = imtransform(rgb,t,'XData',[-100 100],'YData',[-1200 0]);
imshow(out);
hold on
plot(U+100,V+1200,'y','LineWidth',2);
hold off
ans =
0.0058 0 0
0 0.0009 0.0001
-13.3353 -38.8891 -0.0464
U =
-24.0671
29.4586
95.2253
36.0043
V =
1.0e+03 *
-0.1073
-1.1059
-1.2045
-0.1073
plot(U,V,'k','LineWidth',2);
axis ij
axis equal
tf2 = t;
save script2 gpts tf2 phi
tf3 = projective2d(T');
[U2, V2] = transformPointsForward(tf3, gpts(:,1), gpts(:,2));
norm([U2-U V2-V])
imageSize = [2400 400];
xWorldLimits = [-100 100];
yWorldLimits = [-1200 0];
ref = imref2d(imageSize,xWorldLimits,yWorldLimits);
ref
out = imwarp(rgb,tf3,'OutputView',ref);
imshow(out);
[x, y] = transform_to_warp(tf3,ref,gpts(:,1), gpts(:,2));
hold on
plot(x,y,'y','LineWidth',2);
hold off
ans =
0
ref =
imref2d with properties:
XWorldLimits: [-100 100]
YWorldLimits: [-1200 0]
ImageSize: [2400 400]
PixelExtentInWorldX: 0.5000
PixelExtentInWorldY: 0.5000
ImageExtentInWorldX: 200
ImageExtentInWorldY: 1200
XIntrinsicLimits: [0.5000 400.5000]
YIntrinsicLimits: [0.5000 2.4005e+03]
file2 = files{1};
rgb2 = imread(file2);
imageSize = [400 400];
xWorldLimits = [-100 100];
yWorldLimits = [-300 -100];
ref2 = imref2d(imageSize,xWorldLimits,yWorldLimits);
ref2
out = imwarp(rgb2,tf3,'OutputView',ref2);
imshow(out);
ref2 =
imref2d with properties:
XWorldLimits: [-100 100]
YWorldLimits: [-300 -100]
ImageSize: [400 400]
PixelExtentInWorldX: 0.5000
PixelExtentInWorldY: 0.5000
ImageExtentInWorldX: 200
ImageExtentInWorldY: 200
XIntrinsicLimits: [0.5000 400.5000]
YIntrinsicLimits: [0.5000 400.5000]
imageSize = [400 400];
xWorldLimits = [10 50];
yWorldLimits = [-150 -110];
ref3 = imref2d(imageSize,xWorldLimits,yWorldLimits);
ref3
out = imwarp(rgb2,tf3,'OutputView',ref3);
imshow(out);
ref3 =
imref2d with properties:
XWorldLimits: [10 50]
YWorldLimits: [-150 -110]
ImageSize: [400 400]
PixelExtentInWorldX: 0.1000
PixelExtentInWorldY: 0.1000
ImageExtentInWorldX: 40
ImageExtentInWorldY: 40
XIntrinsicLimits: [0.5000 400.5000]
YIntrinsicLimits: [0.5000 400.5000]
