findNewBeta.m

function [beta6dof,Ur,Vr,fail] = findNewBeta(Ig,beta, meta)
%   [betaNew6dof,Ur,Vr,failFlag] = findNewBeta(Ig,betaOld, meta)
%
%  computes an updated 6 dof beta for a new UAV video frame Ig, based on
%  the found locations of refPoints.  If the first ref point finds no
%  bright pixels, it is assumed that the run is over (UAV changed view
%  quickly on the way home) and failFlag is set to true.  Globals must
%  include fields lcp, knowns and knownFlags.

global globs
globs = meta.globals;

xyz = [meta.refPoints.xyz];
xyz = reshape(xyz(:),3,[])';
dUV = [meta.refPoints.dUV];
dUV = reshape(dUV(:),2,[])';
thresh = [meta.refPoints.thresh];
[Ur,Vr, fail] = findCOMRefObj(Ig,xyz,beta,dUV,thresh,meta);
if fail
    beta6dof = [];
    Ur = []; Vr = [];
    return
end

% find n-dof solution and expand to 6 dof final result
betaNew = nlinfit(xyz,[Ur(:); Vr(:)],'findUVnDOF',beta);
beta6dof(find(meta.globals.knownFlags)) = meta.globals.knowns;
beta6dof(find(~meta.globals.knownFlags)) = betaNew;

if( meta.showInputImages == 1 )
    % show results in case debug is needed
    figure(2); clf; colormap(gray)
    imagesc(Ig); axis image
    hold on
    plot(Ur,Vr,'r*')
    uv = findUVnDOF(beta6dof, xyz, globs);
    uv = reshape(uv,[],2);
    plot(uv(:,1),uv(:,2),'ko')
    hold off; drawnow;
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
%