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vpts.m
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function [xv,yv,impoint00, pntn, sigc, kiv]=...
vpts(impix,xc,xyerr,affpx,affpy,rmax)
% VPTS
% FAUCCAL supporting function that calculates
% the vanish points of a grid
rs=max(impix(:,2));
cs=max(impix(:,3));
ind=[];
% Transform (i,j) coordinates to image coordinates (x,y)
impoint00=zeros(size(impix,1),8);
for i=1:size(impix,1)
impoint00(i,1:4)=impix(i,1:4);
impoint00(i,5)=impix(i,5)*affpx(1)+impix(i,6)*affpx(2)+affpx(3);
impoint00(i,6)=impix(i,5)*affpy(1)+impix(i,6)*affpy(2)+affpy(3);
end
clear impix
% Indexes of points that belong to horizontal lines
horl=zeros(rs,cs);
verl=horl';
for i=1:rs
for j=1:cs
for k=1:size(impoint00,1)
if (impoint00(k,2)==i & impoint00(k,3)==j)
horl(i,j)=impoint00(k,4);
end
end
end
end
clear j k
% Indexes of points that belong to vertical lines
verl=horl';
mat=horl(rs:-1:1,:);
% Indexes of points that belong to the diagonals
diag1=zeros(rs+cs-5,min(rs,cs));
diag2=diag1;
if rs<=cs
rs1=rs;
cs1=cs;
mat1=mat;
else
rs1=cs;
cs1=rs;
mat1=mat';
end
e=1;
if (rs1>3 & cs1>3)
for ct=1:(rs1+cs1-5)
if ct<rs1-2
for i=1:ct+2
diag1(ct,i)=mat1(rs1-(ct+2)+i,i);
end
elseif (ct>=rs1-2 & ct<(rs1-2+abs(rs1-cs1)+1))
for i=1:rs1
diag1(ct,i)=mat1(i,ct-(rs1-2)+i);
end
else
for i=1:rs1-e
diag1(ct,i)=mat1(i,ct-(rs1-2)+i);
end
e=e+1;
end
end
end
e=1;
if (rs1>3 & cs1>3)
for ct=1:(rs1+cs1-5)
if ct<rs1-2
for i=1:ct+2
diag2(ct,i)=mat1(ct+3-i,i);
end
elseif (ct>=rs1-2 & ct<(rs1-2+abs(rs1-cs1)+1))
for i=1:rs1
diag2(ct,i)=mat1(rs1+1-i,ct-(rs1-2)+i);
end
else
for i=1:rs1-e
diag2(ct,i)=mat1(rs1+1-i,ct-(rs1-2)+i);
end
e=e+1;
end
end
end
if rs>cs
diag1=diag1(end:-1:1,:);
diag2=diag2(:,end:-1:1);
end
pntn=length(mat(mat~=0));
clear mat mat1 ct cs1 rs1 e
% Calculate line equation parameters for all lines depending on lines
% direction
ina=zeros(4,size(diag1,1));
inb=ina;
inc=ina;
ind=ina;
sizeh=0;
sizev=0;
obsnh=0;
obsnv=0;
obsnd1=0;
obsnd2=0;
lnh=0;
lnv=0;
lnd1=0;
lnd2=0;
for i=1:4
switch(i)
case 1
for j=1:rs
ln=horl(j,horl(j,:)>0);
if (~isempty(ln) && length(ln)>=3 )
obsnh=obsnh+length(ln);
lnh=lnh+1;
x1=impoint00(impoint00(:,4)==ln(1),5);
y1=impoint00(impoint00(:,4)==ln(1),6);
x2=impoint00(impoint00(:,4)==ln(end),5);
y2=impoint00(impoint00(:,4)==ln(end),6);
if (abs(x2-x1)>=abs(y2-y1))
ina(i,j)=(y2-y1)/(x2-x1);
inb(i,j)=y1-x1*ina(i,j);
else
inc(i,j)=(x2-x1)/(y2-y1);
ind(i,j)=x1-y1*inc(i,j);
end
sizehn=sqrt((x2-x1)^2+(y2-y1)^2);
if (sizehn>sizeh)
sizeh=sizehn;
end
else
ina(i,j)=NaN;
inb(i,j)=NaN;
end
end
case 2
for j=1:cs
ln=verl(j,verl(j,:)>0);
if (~isempty(ln) && length(ln)>=3 )
obsnv=obsnv+length(ln);
lnv=lnv+1;
x1=impoint00(impoint00(:,4)==ln(1),5);
y1=impoint00(impoint00(:,4)==ln(1),6);
x2=impoint00(impoint00(:,4)==ln(end),5);
y2=impoint00(impoint00(:,4)==ln(end),6);
if (abs(x2-x1)>=abs(y2-y1))
ina(i,j)=(y2-y1)/(x2-x1);
inb(i,j)=y1-x1*ina(i,j);
else
inc(i,j)=(x2-x1)/(y2-y1);
ind(i,j)=x1-y1*inc(i,j);
end
sizevn=sqrt((x2-x1)^2+(y2-y1)^2);
if (sizevn>sizev)
sizev=sizevn;
end
else
ina(i,j)=NaN;
inb(i,j)=NaN;
end
end
case 3
for j=1:rs+cs-5
ln=diag2(j,diag2(j,:)>0);
if (~isempty(ln) && length(ln)>=3 )
obsnd2=obsnd2+length(ln);
lnd2=lnd2+1;
x1=impoint00(impoint00(:,4)==ln(1),5);
y1=impoint00(impoint00(:,4)==ln(1),6);
x2=impoint00(impoint00(:,4)==ln(end),5);
y2=impoint00(impoint00(:,4)==ln(end),6);
if (abs(x2-x1)>=abs(y2-y1))
ina(i,j)=(y2-y1)/(x2-x1);
inb(i,j)=y1-x1*ina(i,j);
else
inc(i,j)=(x2-x1)/(y2-y1);
ind(i,j)=x1-y1*inc(i,j);
end
else
ina(i,j)=NaN;
inb(i,j)=NaN;
end
end
case 4
for j=1:rs+cs-5
ln=diag1(j,diag1(j,:)>0);
if (~isempty(ln) && length(ln)>=3 )
obsnd1=obsnd1+length(ln);
lnd1=lnd1+1;
x1=impoint00(impoint00(:,4)==ln(1),5);
y1=impoint00(impoint00(:,4)==ln(1),6);
x2=impoint00(impoint00(:,4)==ln(end),5);
y2=impoint00(impoint00(:,4)==ln(end),6);
if (abs(x2-x1)>=abs(y2-y1))
ina(i,j)=(y2-y1)/(x2-x1);
inb(i,j)=y1-x1*ina(i,j);
else
inc(i,j)=(x2-x1)/(y2-y1);
ind(i,j)=x1-y1*inc(i,j);
end
else
ina(i,j)=NaN;
inb(i,j)=NaN;
end
end
end
end
clear x1 y1 x2 y2 ln sizehn sizevn
% Calculate vanish points coordinates initial values
for i=1:4
lena(i)=length(ina(i,(ina(i,:)~=0 & isfinite(ina(i,:)))));
lenc(i)=length(inc(i,(inc(i,:)~=0 & isfinite(inc(i,:)))));
if (lena(i)~=0 && lenc(i)~=0)
inda=find(abs(ina(i,:))==min(abs(ina(i,ina(i,:)~=0))));
a=ina(i,inda);
b=inb(i,inda);
indc=find(abs(inc(i,:))==min(abs(inc(i,inc(i,:)~=0))));
c=inc(i,indc);
d=ind(i,indc);
if a~=(1/c)
xv(i)=(b*c+d)/(1-a*c);
yv(i)=a*xv(i)+b;
else
xv(i)=inf;
yv(i)=inf;
end
elseif lenc(i)~=0
inc1=inc(i,(inc(i,:)~=0 & isfinite(inc(i,:))));
par1=[inc1(1) inc1(end)];
ind1=ind(i,(ind(i,:)~=0 & isfinite(ind(i,:))));
par2=[ind1(1) ind1(end)];
if par1(2)~=par1(1)
yv(i)=(par2(2)-par2(1))/(par1(1)-par1(2));
xv(i)=par1(1)*yv(i)+par2(1);
else
xv(i)=inf;
yv(i)=inf;
end
elseif lena(i)~=0
ina1=ina(i,(ina(i,:)~=0 & isfinite(ina(i,:))));
par1=[ina1(1) ina1(end)];
inb1=inb(i,(inb(i,:)~=0 & isfinite(inb(i,:))));
par2=[inb1(1) inb1(end)];
if par1(1)~=par1(2)
xv(i)=(par2(2)-par2(1))/(par1(1)-par1(2));
yv(i)=par1(1)*xv(i)+par2(1);
else
xv(i)=inf;
yv(i)=inf;
end
end
end
clear ina1 inb1 inc1 ind1 par1 par2 a b c d
for i=1:4
if (isfinite(xv(i)) & sqrt(xv(i)^2+yv(i)^2)>40*max(sizeh,sizev))
xv(i)=inf;
yv(i)=inf;
end
end
% Vanish line equation parameters (initial values)
if (isfinite(xv(1)) && isfinite(xv(2)) && abs(xv(2)-xv(1))>=abs(yv(2)-yv(1)))
inlp(1)=1;
inlp(2)=(yv(2)-yv(1))/(xv(2)-xv(1));
inlp(3)=yv(1)-inlp(2)*xv(1);
elseif (isfinite(xv(1)) && isfinite(xv(2)) && abs(xv(2)-xv(1))<abs(yv(2)-yv(1)))
inlp(1)=2;
inlp(2)=(yv(2)-yv(1))\(xv(2)-xv(1));
inlp(3)=xv(1)-inlp(2)*yv(1);
end
kiv=[0 0];
% Solve adjustment for finding vanish points
if min(sizeh,sizev)>1.2*rmax
vpsolrd
else
vpsol
end
% Calculate standard deviation of c parameter if
% vanish line is not used in above adjustment
if (SYN==0 && isfinite(xv(1)) && isfinite(xv(2)))
Vxlp=[Vxpost(1,1,1) 0 Vxpost(1,2,1) 0;
0 Vxpost(1,1,2) 0 Vxpost(1,2,2);
Vxpost(2,1,1) 0 Vxpost(2,2,1) 0;
0 Vxpost(2,1,2) 0 Vxpost(2,2,2)];
c=sqrt(abs(-xv(1)*xv(2)-yv(1)*yv(2)));
Jac1=[-(xv(2)/(2*c)),-(xv(1)/(2*c)),-(yv(2)/(2*c)),-(yv(1)/(2*c))];
sigc=sqrt(Jac1*Vxlp*Jac1');
clear c
end
clear SYN Vxlp Vxpost i j k