g_stabilize a ete revise en profondeur.

src/g_rect/g_rect.m

@@ -167,12 +167,14 @@ fprintf('\n')
 % image(imread(imgFname));
 imagesc(imread(imgFname));
 colormap(gray);
+hold on
 for i = 1:ngcp
-  text(i_gcp(i),j_gcp(i),num2str(i),'color','r','horizontalalignment','center');
+  plot(i_gcp(i),j_gcp(i),'r.');
+  text(i_gcp(i),j_gcp(i),num2str(i),'color','r','horizontalalignment','right');
 end
 title('Ground Control Points','color','r');
 
-print -dpng image1.png
+print -dpng -r300 image1.png
 
 fprintf('\n')
 ok = input('Is it ok to proceed with the rectification (y/n): ','s');
@@ -359,11 +361,12 @@ else
 end
 %%
 
+% Compute the effective resolution
+Delta = g_res(LON, LAT, field);
+
 fprintf('\n')
 fprintf('Saving rectification file in: %s\n',outputFname);
 
-errGeoFit = 0.0;
-
 save(outputFname,'imgFname','firstImgFname','lastImgFname',...
                  'LON','LAT',...
                  'LON0','LAT0',...
@@ -371,7 +374,7 @@ save(outputFname,'imgFname','firstImgFname','lastImgFname',...
                  'i_gcp','j_gcp',...
                  'hfov','lambda','phi','H','theta',...
                  'errGeoFit','errPolyFit',...
-                 'precision');
+                 'precision','Delta');
 
 clear LON LAT
 

src/g_rect/g_res.m

-%function Delta = g_res(LON,LAT,i,j,field);
-function [Delta DeltaX DeltaY] = g_res(LON,LAT,i,j,field);
-
-[m n] = size(LON);
-
-if i == 1
-  Delta1 = g_dist(LON(i+1,j),LAT(i+1,j),LON(i,j),LAT(i,j),field);
-elseif i == m
-  Delta1 = g_dist(LON(i,j),LAT(i,j),LON(i-1,j),LAT(i-1,j),field);
-else
-  Delta1 = g_dist(LON(i+1,j),LAT(i+1,j),LON(i-1,j),LAT(i-1,j),field);
-  Delta1 = Delta1/2;  
-end
-
-if j == 1
-  Delta2 = g_dist(LON(i,j+1),LAT(i,j+1),LON(i,j),LAT(i,j),field);
-elseif j == n
-  Delta2 = g_dist(LON(i,j),LAT(i,j),LON(i,j-1),LAT(i,j-1),field);
-else
-  Delta2 = g_dist(LON(i,j+1),LAT(i,j+1),LON(i,j-1),LAT(i,j-1),field);
-  Delta2 = Delta2/2;  
-end
-
-Delta = sqrt(Delta1^2 + Delta2^2);
-DeltaX = sqrt(Delta1^2);
-DeltaY = sqrt(Delta2^2);
-
+function res = g_res_field(LON, LAT, field)
+% g_res_field - Function calculating the loss of resolution with de distance
+% from the camera
+%
+% Inputs:
+% 
+%    LON   : Longitude matrix obtained from g_rect
+%    LAT   : Latitude matrix obtained from g_rect
+%    field : 'true' for field case. 'false' for lab case.
+%
+% Outputs:
+%    
+%    res : The field of resolution which is degrading with distance from
+%    the camera
+% 
+% Author: Daniel Bourgault
+%         Institut des sciences de la mer de Rimouski
+% 
+% email: daniel_bourgault@uqar.ca 
+% Website: http://demeter.uqar.ca/g_rect/
+% February 2013
+%
+% Author: Elie Dumas-Lefebvre
+%         Institut des Science de la Mer de Rimouski
+% 
+% Note: Matricial formulation of the calculation for a faster execution
+%
+% email: elie.dumas-lefebvre@uqar.ca
+% March 2019
+%
+
+% LAT and LON difference in the x-axis
+dLATi = diff(LAT, 1, 2);
+dLONi = diff(LON, 1, 2);
+
+% LAT and LON difference in the y-axis
+dLATj = diff(LAT, 1, 1);
+dLONj = diff(LON, 1, 1);
+
+% Mean LAT in both x and y axis
+LAT_meani = 0.5*(LAT(:, 2:end) + LAT(:, 1:end-1));
+LAT_meanj = 0.5*(LAT(2:end, :) + LAT(1:end-1, :));
+
+% Add a point at boundaries such that the resolution matrix 
+% has the same size of the LAT LON matrices 
+dLATi(:,end+1)     = dLATi(:,end);
+dLONi(:,end+1)     = dLONi(:,end);
+dLATj(end+1,:)     = dLATj(end,:);
+dLONj(end+1,:)     = dLONj(end,:);
+LAT_meani(:,end+1) = LAT_meani(:,end);
+LAT_meanj(end+1,:) = LAT_meani(end,:);
+
+% Conversion from degree to meters
+meterPerDegLat  = 1852*60.0;
+meterPerDegLoni = meterPerDegLat.*cosd(LAT_meani);
+meterPerDegLonj = meterPerDegLat.*cosd(LAT_meanj);
+
+if field 
+    
+    % Conversion from degrees to meters
+    dxi = dLONi.*meterPerDegLoni;
+    dxj = dLONj.*meterPerDegLonj;
+    dyi = dLATi.*meterPerDegLat;
+    dyj = dLATj.*meterPerDegLat;
+    
+else
+
+    % Lab case. Data are already in meters. No conversion required.    
+    dxi = dLONi;
+    dxj = dLONj;
+    dyi = dLATi;
+    dyj = dLATj;
+    
+end
+
+% Distances in x and y axis
+deltai = sqrt(dxi.^2 + dyi.^2);
+deltaj = sqrt(dxj.^2 + dyj.^2);
+
+% field of resolution
+res = sqrt(deltai.^2 + deltaj.^2);
+
 end
\ No newline at end of file

src/g_stabilize/g_computemotion.m

 function[ A, T ] = g_computemotion( fx, fy, ft, roi )
+
 [ydim,xdim] = size(fx);
 [x,y] = meshgrid( [1:xdim]-xdim/2, [1:ydim]-ydim/2 );
 
 %%% TRIM EDGES
-fx = fx( 3:end-2, 3:end-2 );
-fy = fy( 3:end-2, 3:end-2 );
-ft = ft( 3:end-2, 3:end-2 );
+fx  = fx( 3:end-2, 3:end-2 );
+fy  = fy( 3:end-2, 3:end-2 );
+ft  = ft( 3:end-2, 3:end-2 );
 roi = roi( 3:end-2, 3:end-2 );
-x = x( 3:end-2, 3:end-2 );
-y = y( 3:end-2, 3:end-2 );
+x   = x( 3:end-2, 3:end-2 );
+y   = y( 3:end-2, 3:end-2 );
 
 ind = find( roi > 0 );
-x = x(ind); y = y(ind);
-fx = fx(ind); fy = fy(ind); ft = ft(ind);
-
-xfx = x.*fx; xfy = x.*fy; yfx = y.*fx; yfy = y.*fy;
-M(1,1) = sum( xfx .* xfx ); M(1,2) = sum( xfx .* yfx ); M(1,3) = sum( xfx .* xfy );
-M(1,4) = sum( xfx .* yfy ); M(1,5) = sum( xfx .* fx ); M(1,6) = sum( xfx .* fy );
-M(2,1) = M(1,2); M(2,2) = sum( yfx .* yfx ); M(2,3) = sum( yfx .* xfy );
-M(2,4) = sum( yfx .* yfy ); M(2,5) = sum( yfx .* fx ); M(2,6) = sum( yfx .* fy );
-M(3,1) = M(1,3); M(3,2) = M(2,3); M(3,3) = sum( xfy .* xfy );
-M(3,4) = sum( xfy .* yfy ); M(3,5) = sum( xfy .* fx ); M(3,6) = sum( xfy .* fy );
-M(4,1) = M(1,4); M(4,2) = M(2,4); M(4,3) = M(3,4);
-M(4,4) = sum( yfy .* yfy ); M(4,5) = sum( yfy .* fx ); M(4,6) = sum( yfy .* fy );
-M(5,1) = M(1,5); M(5,2) = M(2,5); M(5,3) = M(3,5);
-M(5,4) = M(4,5); M(5,5) = sum( fx .* fx ); M(5,6) = sum( fx .* fy );
-M(6,1) = M(1,6); M(6,2) = M(2,6); M(6,3) = M(3,6);
-M(6,4) = M(4,6); M(6,5) = M(5,6); M(6,6) = sum( fy .* fy );
+x   = x(ind); 
+y   = y(ind);
+fx  = fx(ind); 
+fy  = fy(ind); 
+ft  = ft(ind);
+
+xfx = x.*fx; 
+xfy = x.*fy; 
+yfx = y.*fx; 
+yfy = y.*fy;
+
+M(1,1) = sum( xfx .* xfx ); 
+M(1,2) = sum( xfx .* yfx ); 
+M(1,3) = sum( xfx .* xfy );
+M(1,4) = sum( xfx .* yfy ); 
+M(1,5) = sum( xfx .* fx ); 
+M(1,6) = sum( xfx .* fy );
+M(2,1) = M(1,2); 
+M(2,2) = sum( yfx .* yfx ); 
+M(2,3) = sum( yfx .* xfy );
+M(2,4) = sum( yfx .* yfy ); 
+M(2,5) = sum( yfx .* fx ); 
+M(2,6) = sum( yfx .* fy );
+M(3,1) = M(1,3); 
+M(3,2) = M(2,3); 
+M(3,3) = sum( xfy .* xfy );
+M(3,4) = sum( xfy .* yfy ); 
+M(3,5) = sum( xfy .* fx ); 
+M(3,6) = sum( xfy .* fy );
+M(4,1) = M(1,4); 
+M(4,2) = M(2,4); 
+M(4,3) = M(3,4);
+M(4,4) = sum( yfy .* yfy ); 
+M(4,5) = sum( yfy .* fx ); 
+M(4,6) = sum( yfy .* fy );
+M(5,1) = M(1,5); 
+M(5,2) = M(2,5); 
+M(5,3) = M(3,5);
+M(5,4) = M(4,5); 
+M(5,5) = sum( fx .* fx ); 
+M(5,6) = sum( fx .* fy );
+M(6,1) = M(1,6); 
+M(6,2) = M(2,6); 
+M(6,3) = M(3,6);
+M(6,4) = M(4,6); 
+M(6,5) = M(5,6); 
+M(6,6) = sum( fy .* fy );
 
 k = ft + xfx + yfy;
 
-b(1) = sum( k .* xfx ); b(2) = sum( k .* yfx );
-b(3) = sum( k .* xfy ); b(4) = sum( k .* yfy );
-b(5) = sum( k .* fx ); b(6) = sum( k .* fy );
+b(1) = sum( k .* xfx ); 
+b(2) = sum( k .* yfx );
+b(3) = sum( k .* xfy ); 
+b(4) = sum( k .* yfy );
+b(5) = sum( k .* fx ); 
+b(6) = sum( k .* fy );
 
 %v = inv(M) * b';
 v = M\b';
 
-%A = [1 0 ; 0 1];
-
+%A = [1 0 ; 0 1]; % For translation only 
 A = [v(1) v(2) ; v(3) v(4)];
-T = [v(5) ; v(6)];
\ No newline at end of file
+T = [v(5) ; v(6)];

src/g_stabilize/g_down.m

 function[ f ] = g_down( f, L );
+
 blur = [1 2 1]/4;
+
 for k = 1 : L
-f = conv2( conv2( f, blur, 'same' ), blur', 'same' );
-f = f(1:2:end,1:2:end);
+    f = conv2( conv2( f, blur, 'same' ), blur', 'same' );
+    f = f(1:2:end,1:2:end);
 end
\ No newline at end of file

src/g_stabilize/g_opticalflow.m

 function[ Acum, Tcum ] = g_opticalflow( f1, f2, roi, L )
+
 f2orig = f2;
 Acum = [1 0 ; 0 1];
 Tcum = [0 ; 0];
 
 for k = L : -1 : 0
-%for k = L : -1 : L
     
     %%% DOWN-SAMPLE
     f1d = g_down( f1, k );
     f2d = g_down( f2, k );
     ROI = g_down( roi, k );
+    
     %%% COMPUTE MOTION
     [Fx,Fy,Ft] = g_spacetimederiv( f1d, f2d );
     [A,T]      = g_computemotion( Fx, Fy, Ft, ROI );
     T = (2^k) * T;
     [Acum,Tcum] = g_accumulatewarp( Acum, Tcum, A, T );
+    
     %%% WARP ACCORDING TO ESTIMATED MOTION
     f2 = g_warp( f2orig, Acum, Tcum );
     

src/g_stabilize/g_roi.m

@@ -58,4 +58,4 @@ roi(ij) = 1;
 figure(2);
 imagesc(roi);
 
-save roi.mat roi imgFname
\ No newline at end of file
+save([imgFname(1:end-4),'_roi.mat'],'roi','imgFname');
\ No newline at end of file

src/g_stabilize/g_videostabilize.m

 %%% STABILIZE VIDEO
 function[ motion, stable ] = g_videostabilize( frames, roi, L )
+
 N = length( frames );
 roiorig = roi;
+
 %%% ESTIMATE PAIRWISE MOTION
 Acum = [1 0 ; 0 1];
 Tcum = [0 ; 0];
@@ -13,6 +15,7 @@ for k = 1 : N-1
     [Acum,Tcum] = g_accumulatewarp( Acum, Tcum, A, T );
     roi = g_warp( roiorig, Acum, Tcum );
 end
+
 %%% STABILIZE TO LAST FRAME
 stable(N).im = frames(N).im;
 Acum = [1 0 ; 0 1];