[37] | 1 | function [align] = planarmove(in,config) |
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| 2 | % planarmove ... alignment under assumption of planar motion |
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| 3 | % |
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| 4 | % [align] = planarmove(in,config) |
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| 5 | % in, cam, config ... see the main GOCAL script |
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| 6 | % |
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| 7 | % align ... structures aligned wit the specified world frame |
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| 8 | % |
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| 9 | % $Id: planarmove.m,v 1.2 2005/05/20 15:31:31 svoboda Exp $ |
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| 10 | |
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| 11 | % fit a plane to the reconstructed points and estimate normal |
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| 12 | |
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| 13 | plane.n = planefit(in.Xe(1:3,:)'); |
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| 14 | |
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| 15 | new.n = [0,0,1]'; % align the xy plane horizontally |
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| 16 | |
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| 17 | rotaxis = cross(plane.n,new.n); |
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| 18 | rotangle = acos( (plane.n'*new.n)/norm(plane.n)*norm(new.n) ); |
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| 19 | |
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| 20 | R = nfi2r(rotaxis,rotangle); |
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| 21 | s = 3; |
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| 22 | t = [0,0,1]' - s*R*mean(in.Xe(1:3,:)')'; |
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| 23 | |
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| 24 | align.simT.s = s; |
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| 25 | align.simT.R = R; |
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| 26 | align.simT.t = t; |
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| 27 | |
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| 28 | [align.P, align.X] = align3d(in.Pe,in.Xe,align.simT); |
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| 29 | % save aligned data |
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| 30 | if 1 % SAVE_STEPHI | SAVE_PGUHA |
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| 31 | [align.Cst,align.Rot] = savecalpar(align.P,config); |
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| 32 | end |
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| 33 | drawscene(align.X,align.Cst',align.Rot,61,'cloud','Graphical Output Validation: Aligned data, TopView',config.cal.cams2use); |
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| 34 | |
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| 35 | set(gca,'CameraTarget',[0,0,1]); |
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| 36 | set(gca,'CameraPosition',[0,0,2]); |
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| 37 | |
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| 38 | figure(61), |
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| 39 | % print -depsc graphevalaligned.eps |
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| 40 | eval(['print -depsc ', config.paths.data, 'topview.eps']) |
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| 41 | |
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| 42 | drawscene(align.X,align.Cst',align.Rot,62,'cloud','Graphical Output Validation: Aligned data, SideView',config.cal.cams2use); |
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| 43 | |
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| 44 | set(gca,'CameraTarget',[0,0,0.9]); |
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| 45 | set(gca,'CameraPosition',[2,0,0.9]); |
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| 46 | |
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| 47 | figure(62), |
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| 48 | % print -depsc graphevalaligned.eps |
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| 49 | eval(['print -depsc ', config.paths.data, 'sideview.eps']) |
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| 50 | |
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| 51 | return |
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| 52 | |
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| 53 | |
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