script6 (directed homography)

clear
close all
rgb = imread('image_6.jpg');
imshow(rgb);

do_input = false;
if do_input
    imshow(rgb);
    pt = ginput(1);
    save script5 pt
else
    load script5
end

hold on
plot(pt(1),pt(2),'bx','MarkerSize',11,'LineWidth',2);
hold off

load calib2
R = cameraParams.RotationMatrices(:,:,4);
V = cameraParams.TranslationVectors(4,:)
f = 879.2;

V =

  -18.5735  -26.3871   81.0641

KK = [ f 0 320; 0 f 320; 0 0 1];
T1 = R/KK;

newcp = h2e(T1*e2h(pt'));

M = [600 0 0; 0 600 0; 0 0 1]*[eye(2,2) -newcp ;  0 0 1];
T = M*T1;

tf = projective2d(T');
NW = 300;
imageSize = [600 600];
xWorldLimits = [-NW NW];
yWorldLimits = [-NW NW];

RA = imref2d(imageSize,xWorldLimits,yWorldLimits);

[out, RB] = imwarp(rgb,tf,'OutputView',RA);
imshow(out);

do_input = false;
if do_input
    imshow(out);
    hd1 = imdistline;
    hd2 = imdistline;
    pause
    pos1 = hd1.getPosition();
    pos2 = hd2.getPosition();
    save dh2 pos1 pos2
else
    load dh2
    hd1 = imdistline(gca,pos1(:,1),pos1(:,2));
    hd2 = imdistline(gca,pos2(:,1),pos2(:,2));
end

d = R*V'/12

scl = 600/d(3)/12;
fprintf('scale %g pixels/inch\n',scl);

d =

    5.1914
    0.8719
    5.0154

scale 9.96923 pixels/inch

Published with MATLAB® R2014a