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Commit 7d7ce63d authored by Daniel Bourgault's avatar Daniel Bourgault
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% I/O information
imgFname = 'IMG_6614.JPG';
firstImgFname = 'IMG_6614.JPG';
lastImgFname = 'IMG_6614.JPG';
outputFname = 'g_rect.mat';
% Field or lab case situation.
% Set field = true for field situation and field = false for lab situation.
field = true;
% Camera position
% lat/lon for field situation
% meter for lab situation
LON0 = -70.6010167;
LAT0 = 47.2713000;
% Offset from center of the principal point (generally zero)
ic = 0;
jc = 0;
% Parameters
hfov = 65.0; % Field of view of the camera
lambda = 2; % Dip angle above vertical (e.g. straight down = 90, horizontal = 0)
phi = 0.0; % Tilt angle (generally close to 0).
H = 720; % Camera altitude
theta = 70.0; % View angle clockwise from North (e.g. straight East = 90)
% Uncertainty in parameters. Set the uncertainty to 0.0 for fixed parameters.
dhfov = 20.0;
dlambda = 10.0;
dphi = 5.0;
dH = 0.0;
dtheta = 20.0;
% Order of the polynomial correction (0, 1 or 2)
polyOrder = 1;
% To save memory calculation can be done in single precision.
% For higher precision set the variable 'precision' to 'double';
precision = 'double';
% Ground Control Points (GCP).
% The data must come right after the gcpData = true
gcpData = true;
360 829 -70.561367 47.303783
54 719 -70.54500 47.335
99 661 -70.505 47.375
452 641 -70.435 47.389
429 633 -70.418 47.408
816 644 -70.393 47.368
\ No newline at end of file
Examples/Field/parameters.dat 0 → 100755
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% I/O information
imgFname = 'IMG_6614.JPG';
firstImgFname = 'IMG_6614.JPG';
lastImgFname = 'IMG_6614.JPG';
outputFname = 'g_rect.mat';
% Field or lab case situation.
% Set field = true for field situation and field = false for lab situation.
field = true;
% Camera position
% lat/lon for field situation
% meter for lab situation
LON0 = -70.6010167;
LAT0 = 47.2713000;
% Offset from center of the principal point (generally zero)
ic = 0;
jc = 0;
% Parameters
hfov = 65.0; % Field of view of the camera
lambda = 2; % Dip angle above vertical (e.g. straight down = 90, horizontal = 0)
phi = 0.0; % Tilt angle (generally close to 0).
H = 720; % Camera altitude
theta = 70.0; % View angle clockwise from North (e.g. straight East = 90)
% Uncertainty in parameters. Set the uncertainty to 0.0 for fixed parameters.
dhfov = 20.0;
dlambda = 10.0;
dphi = 5.0;
dH = 0.0;
dtheta = 20.0;
% Order of the polynomial correction (0, 1 or 2)
polyOrder = 1;
% To save memory calculation can be done in single precision.
% For higher precision set the variable 'precision' to 'double';
precision = 'double';
% Ground Control Points (GCP).
% The data must come right after the gcpData = true
gcpData = true;
360 829 -70.561367 47.303783
54 719 -70.54500 47.335
99 661 -70.505 47.375
452 641 -70.435 47.389
429 633 -70.418 47.408
816 644 -70.393 47.368
\ No newline at end of file
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% I/O information
imgFname = 'IMG_8368.jpg';
firstImgFname = 'IMG_8368.jpg';
lastImgFname = 'IMG_8368.jpg';
outputFname = 'IMG_8368.mat';
% Field or lab case situation.
% Set field = true for field situation and field = false for lab situation.
field = false;
% Camera position
% lat/lon for field situation
% meter for lab situation
LON0 = 1.01;
LAT0 = 2.36;
% Offset from center of the principal point (generally zero)
ic = 0;
jc = 0;
% Parameters
hfov = 62.00; % Field of view of the camera
lambda = 53.0; % Dip angle below horizontal (e.g. straight down = 90, horizontal = 0)
phi = 1.0; % Tilt angle (generally close to 0).
H = 1.755; % Camera altitude (m)
theta = 180.0; % View angle anticlockwise from North (e.g. straight East = 270)
% Uncertainty in parameters. Set the uncertainty to 0.0 for fixed parameters.
dhfov = 5.0;
dlambda = 10.0;
dphi = 5.0;
dH = 0.5;
dtheta = 20.0;
% Order of the polynomial correction (0, 1 or 2)
polyOrder = 2;
% To save memory calculation can be done in single precision.
% For higher precision set the variable 'precision' to 'double';
precision = 'double';
% Ground Control Points (GCP).
gcpData = true;
2999 226 0.500 0.00
1694 220 1.500 0.00
528 677 2.290 0.50
289 1231 2.290 1.00
3819 686 0.000 0.50
4018 1266 0.000 1.00
2566 1235 0.890 0.99
3806 2118 0.255 1.56
4131 1580 0.000 1.23
521 2548 1.910 1.82
248 2328 2.060 1.71
14 1868 2.290 1.46
Examples/Lab/parameters.dat 0 → 100755
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% I/O information
imgFname = 'IMG_8368.jpg';
firstImgFname = 'IMG_8368.jpg';
lastImgFname = 'IMG_8368.jpg';
outputFname = 'IMG_8368.mat';
% Field or lab case situation.
% Set field = true for field situation and field = false for lab situation.
field = false;
% Camera position
% lat/lon for field situation
% meter for lab situation
LON0 = 1.01;
LAT0 = 2.36;
% Offset from center of the principal point (generally zero)
ic = 0;
jc = 0;
% Parameters
hfov = 62.00; % Field of view of the camera
lambda = 53.0; % Dip angle below horizontal (e.g. straight down = 90, horizontal = 0)
phi = 1.0; % Tilt angle (generally close to 0).
H = 1.755; % Camera altitude (m)
theta = 180.0; % View angle anticlockwise from North (e.g. straight East = 270)
% Uncertainty in parameters. Set the uncertainty to 0.0 for fixed parameters.
dhfov = 5.0;
dlambda = 10.0;
dphi = 5.0;
dH = 0.5;
dtheta = 20.0;
% Order of the polynomial correction (0, 1 or 2)
polyOrder = 2;
% To save memory calculation can be done in single precision.
% For higher precision set the variable 'precision' to 'double';
precision = 'double';
% Ground Control Points (GCP).
gcpData = true;
2999 226 0.500 0.00
1694 220 1.500 0.00
528 677 2.290 0.50
289 1231 2.290 1.00
3819 686 0.000 0.50
4018 1266 0.000 1.00
2566 1235 0.890 0.99
3806 2118 0.255 1.56
4131 1580 0.000 1.23
521 2548 1.910 1.82
248 2328 2.060 1.71
14 1868 2.290 1.46
src/g_calib/Compute3D.m 0 → 100755
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function [Xc,Xp] = Compute3D(xc,xp,R,T,fc,fp,cc,cp,kc,kp,alpha_c,alpha_p);
% [Xc,Xp] = Compute3D(xc,xp,R,T,fc,fp,cc,cp,kc,kp,alpha_c,alpha_p);
%
% Reconstruction of the 3D structure of the striped object.
%
% Xc : The 3D coordinates of the points in the camera reference frame
% Xp : The 3D coordinates of the points in the projector reference frame
%
% xc, xp: Camera coordinates and projector coordinates from ComputeStripes
% R,T : rigid motion from camera to projector: Xp = R*Xc + T
% fc,fp : Camera and Projector focal lengths
% cc,cp : Camera and Projector center of projection
% kc,kp : Camera and Projector distortion factors
% alpha_c, alpha_p: skew coefficients for camera and projector
%
% The set R,T,fc,fp,cc,cp and kc comes from the calibration.
% Intel Corporation - Dec. 2003
% (c) Jean-Yves Bouguet
if nargin < 12,
alpha_p = 0;
if nargin < 11,
alpha_c = 0;
end;
end;
Np = size(xc,2);
xc = normalize_pixel(xc,fc,cc,kc,alpha_c);
xp = (xp - cp(1))/fp(1);
xp_save = xp; % save the real distorted x - coordinates + alpha'ed
if (norm(kp) == 0)&(alpha_p == 0),
N_rep = 1;
else
N_rep = 5;
end;
% xp is the first entry of the undistorted projector coordinates (iteratively refined)
% xc is the complete undistorted camera coordinates
for kk = 1:N_rep,
R2 = R([1 3],:);
if length(T) > 2,
Tp = T([1 3]); % The old technique for calibration
else
Tp = T; % The new technique for calibration (using stripes only)
end;
% Triangulation:
D1 = [-xc(1,:);xc(1,:).*xp(1,:);-xc(2,:);xc(2,:).*xp(1,:);-ones(1,Np);xp(1,:)];
D2 = R2(:)*ones(1,Np);
D = sum(D1.*D2);
N1 = [-ones(1,Np);xp(1,:)];
N2 = -sum(N1.*(Tp*ones(1,Np)));
Z = N2./D;
Xc = (ones(3,1)*Z).*[xc;ones(1,Np)];
% reproject on the projetor view, and apply distortion...
Xp = R*Xc + T*ones(1,Np);
xp_v = [Xp(1,:)./Xp(3,:); Xp(2,:)./Xp(3,:)];
xp_v(1,:) = xp_v(1,:) + alpha_p * xp_v(2,:);
xp_dist = apply_distortion(xp_v,kp);
%norm(xp_dist(1,:) - xp_save)
xp_dist(1,:) = xp_save;
xp_v = comp_distortion(xp_dist,kp);
xp_v(1,:) = xp_v(1,:) - alpha_p * xp_v(2,:);