add file for last commit re #375

matlab/user/CalRigMLStro.m

@@ -6,7 +6,7 @@
     nonMLinit = false; % if true, obj is not initialized from MATLAB stereo calibration
     calSess % scalar Session from ML Stro calibration; or if .nonMLinit, scalar struct mirroring calSession object
 
-    eplineComputeMode = 'mostaccurate'; % either 'mostaccurate' or 'fastest'
+    eplineComputeMode = 'caltech'; % one of 'caltech' or 'zray'
   end
   properties (Dependent)
     stroParams
@@ -45,7 +45,6 @@
     function T = get.TRL(obj)
       T = -obj.RLR'*obj.TLR;
     end
-    %function s = get.int(obj)
     function s = getInt(obj)
       sp = obj.stroParams;
 
@@ -99,7 +98,7 @@
       obj.nonMLinit = isYamlRig;
       obj.int = obj.getInt();
 
-      obj.eplineComputeMode = 'mostaccurate';
+      obj.eplineComputeMode = 'caltech';
       %obj.autoCalibrateProj2NormFuncTol();
       obj.proj2NormFuncTol = nan; % AL20220302 no longer used
 
@@ -707,20 +706,76 @@ function rperrPlot(rperrcam1,rperrcam2)
     function [xEPL,yEPL,Xc1,Xc1OOB] = ...
         computeEpiPolarLine(obj,iView1,xy1,iViewEpi,roiEpi,varargin)
 
+      Xc1 = [];
+      Xc1OOB = [];
       switch obj.eplineComputeMode
-        case 'mostaccurate'
-          [xEPL,yEPL,Xc1,Xc1OOB] = obj.computeEpiPolarLineBase(iView1,xy1,iViewEpi,roiEpi,varargin{:});
+        case 'caltech'
+          [xEPL,yEPL] = ...
+            obj.computeEpiPolarLineCaltech(iView1,xy1,iViewEpi,roiEpi,varargin{:});
+        case 'zray'
+          [xEPL,yEPL,Xc1,Xc1OOB] = ...
+            obj.computeEpiPolarLineZRay(iView1,xy1,iViewEpi,roiEpi,varargin{:});
         case 'fastest'
           warningNoTrace('DEVELOPMENT CODEPATH.');
           % This codepath will err if 3rd/4th args are requested
           [xEPL,yEPL] = obj.computeEpiPolarLineEPline(iView1,xy1,iViewEpi,roiEpi,varargin{:});
         otherwise
-          error('''eplineComputeMode'' property must be either ''mostaccurate'' or ''fastest''.');          
+          error('Unrecognized value of ''eplineComputeMode'' property.');
       end
     end
 
+    function [xEPL,yEPL] = ...
+        computeEpiPolarLineCaltech(obj,iView1,xy1,iViewEpi,roiEpi,varargin)
+
+      % "view"/"target" nomenclature here a little confusing
+      % "view": where the EP line will be drawn; corresponds to iViewEpi
+      % "target": origin of click/xy1; corresponds to iView1
+      if iView1 == 1 % iViewEpi==2
+        view_R = obj.RLR;
+        view_T = obj.TLR;        
+        ints_view = obj.int.cam2;
+        ints_tgt = obj.int.cam1;
+      else % iView1==2, iViewEpi==1
+        view_R = obj.RRL;
+        view_T = obj.TRL;        
+        ints_view = obj.int.cam1;
+        ints_tgt = obj.int.cam2;
+      end
+      view_fc = ints_view.fc;
+      view_cc = ints_view.cc-1;
+      view_kc = ints_view.kc;
+      view_alpha_c = ints_view.alpha_c;
+      target_fc = ints_tgt.fc;
+      target_cc = ints_tgt.cc-1;
+      target_kc = ints_tgt.kc;
+      target_alpha_c = ints_tgt.alpha_c;
+
+      xLp = [xy1(1), xy1(2)] - 1;
+      xLp = xLp';
+      epipole = compute_epipole2(xLp, view_R, view_T, ...
+        view_fc, view_cc, view_kc, view_alpha_c, ...
+        target_fc, target_cc, target_kc, target_alpha_c,...
+        'roi',roiEpi);
+      xEPL = epipole(1,:) + 1;
+      yEPL = epipole(2,:) + 1;
+
+      % we passed roiEpi to compute_epipole2 above, so we should already be
+      % ballpark correct, but crop strictly so our axes don't get messed
+      % up.
+      CROP_ROI = true;
+      if CROP_ROI
+        xlo = roiEpi(1);
+        xhi = roiEpi(2);
+        ylo = roiEpi(3);
+        yhi = roiEpi(4);
+        tfrm = xEPL<xlo | xEPL>xhi | yEPL<ylo | yEPL>yhi;
+        xEPL(tfrm) = [];
+        yEPL(tfrm) = [];
+      end
+    end
+
     function [xEPL,yEPL,Xc1,Xc1OOB] = ...
-        computeEpiPolarLineBase(obj,iView1,xy1,iViewEpi,roiEpi,varargin)
+        computeEpiPolarLineZRay(obj,iView1,xy1,iViewEpi,roiEpi,varargin)
       %
       % Xc1: [3 x nz] World coords (coord sys of cam/iView1) of EPline
       % Xc1OOB: [nz] indicator vec for Xc1 being out-of-view in iViewEpi
@@ -744,7 +799,7 @@ function rperrPlot(rperrcam1,rperrcam2)
       %Zc1 = 1:.25:5e2;
       Xc1 = [xn1(1)*z1Range; xn1(2)*z1Range; z1Range];
 
-      switch projectionmeth        
+      switch projectionmeth
         case 'worldToImage'
           sp = obj.stroParams;
           cpEpiFld = ['CameraParameters' num2str(iViewEpi)];
@@ -765,6 +820,10 @@ function rperrPlot(rperrcam1,rperrcam2)
           else
             assert(false);
           end
+          % AL 20220428: there was a reason we use imPointsUD here to crop;
+          % maybe due to a rig with v high distortions. Probably a special
+          % case though and better to just crop using imPoints (or in
+          % caller, to share crop code with other methods)
           Xc1OOB = imPointsUD(:,1)<roiEpi(1) | imPointsUD(:,1)>roiEpi(2) |...
                    imPointsUD(:,2)<roiEpi(3) | imPointsUD(:,2)>roiEpi(4);
           imPoints(Xc1OOB,:) = nan;  
@@ -917,6 +976,9 @@ function rperrPlot(rperrcam1,rperrcam2)
     end
     function [fc,cc,kc,alpha_c] = camParams2Intrinsics(camParams)
       % convert ML-style intrinsics to Bouget-style
+      %
+      % Note: cc is still 1-based not 0-based!
+      % Note: alpha_c has a slightly different defn compared to .Skew!
 
       fc = camParams.FocalLength(:);
       assert(numel(fc)==2);
@@ -934,7 +996,7 @@ function rperrPlot(rperrcam1,rperrcam2)
       tandistort = camParams.TangentialDistortion;
       kc([3 4]) = tandistort;
 
-      alpha_c = camParams.Skew;
+      alpha_c = camParams.Skew/fc(1);
       assert(isscalar(alpha_c));
     end
     function cs = rigYaml2CalSess(s)