UAV-Processing-Toolbox/initUAVAnalysis.m at master · Coastal-Imaging-Research-Network/UAV-Processing-Toolbox · GitHub

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function [beta6DOF,refPoints] = initUAVAnalysis(I, gcp, in, meta)
%   [beta6DOF,refPoints] = initUAVAnalysis(I, gcps, input, meta)
%
% Initialize a UAV movie analysis using the first (or any) frame.
% Displays the frame and asks user to ginput the locations of points
% specified in gcpUseList whose locations and id are in gcps.  The
% nonlinear fit is seeded with 6 dof beta0 = [xyzCam azimuth tilt, roll]
% with angles in radians.  Returns the best fit geometry beta6 dof.
% Stage 2 is the creation of nRefPoints reference points, each expressed in
% a structure
% NOTE - lcp, NU and NV are passed in meta but are made global for nlinfit.

global globs        % this is only used for output to findUVnDOF
globs = meta.globals;

% break out gcp locations
nGcps = length(in.gcpList);
x = [gcp(in.gcpList).x];
y = [gcp(in.gcpList).y];
z = [gcp(in.gcpList).z];
xyz = [x' y' z'];

% digitize the gcps and find best fit geometry
figure(1); clf
imagesc(I); axis image;
disp(['computing geometry using ' num2str(nGcps) ' control points'])
zoom reset
for i = 1: nGcps
    disp(['Zoom in to see ' gcp(in.gcpList(i)).name ' then press Enter'])
    tit = title(['Zoom in to see ' gcp(in.gcpList(i)).name ' then press Enter']);
    zoom on;
    pause
    zoom off;
    disp(['Digitize ' gcp(in.gcpList(i)).name])
    tit = title(['Now digitize ' gcp(in.gcpList(i)).name ]);
    UV(i,:) = ginput(1);
    delete(tit)
    zoom out
end
beta = nlinfit(xyz,[UV(:,1); UV(:,2)],'findUVnDOF',in.beta0);

% plot results
hold on
plot(UV(:,1),UV(:,2),'g*')
UV2 = findUVnDOF(beta,xyz,globs);
UV2 = reshape(UV2,[],2);
plot(UV2(:,1),UV2(:,2),'ro');

% now identify nRefPoints reference points
disp(' ')
disp('Pick small bright reference points.  Ensure that the first is the ')
disp('most isolated from nearby bright objects and give an adequate buffer')
disp('to allow for inter-frame aim point wander.')
disp(' ')
foo = input('Hit <Enter> to replot image and continue - ');
figure(1);clf
imagesc(I); axis image;
Ig = rgb2gray(I);
disp('PICK FIRST POINT WITH LARGE BOUNDING BOX')
clear refPoints
beta6DOF = nan(1,6);
beta6DOF(find(globs.knownFlags)) = globs.knowns;
beta6DOF(find(~globs.knownFlags)) = beta;

for i = 1: in.nRefs
    disp(['pick top left and bottom right corner of point ' ...
        num2str(i) ' of ' num2str(in.nRefs)])
    tit = title(['pick top left and bottom right corner of point ' ...
        num2str(i) ' of ' num2str(in.nRefs)]);
    c = ginput(2);
    [refPoints(i).Ur,refPoints(i).Vr, refPoints(i).thresh] = ...
        findCOMRefObjFirstPass(Ig, c);
    refPoints(i).dUV = round(diff(c)/2);
    refPoints(i).xyz = findXYZ6dof(refPoints(i).Ur, refPoints(i).Vr, in.zRefs, ...
        beta6DOF, meta.globals.lcp);
    delete(tit);
end


%
%   Copyright (C) 2017  Coastal Imaging Research Network
%                       and Oregon State University

%    This program is free software: you can redistribute it and/or
%    modify it under the terms of the GNU General Public License as
%    published by the Free Software Foundation, version 3 of the
%    License.

%    This program is distributed in the hope that it will be useful,
%    but WITHOUT ANY WARRANTY; without even the implied warranty of
%    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
%    GNU General Public License for more details.

%    You should have received a copy of the GNU General Public License
%    along with this program.  If not, see
%                                <http://www.gnu.org/licenses/>.

% CIRN: https://coastal-imaging-research-network.github.io/
% CIL:  http://cil-www.coas.oregonstate.edu
%
%key UAVProcessingToolbox
%