1 | %if exist('images_read'); |
---|
2 | % active_images = active_images & images_read; |
---|
3 | %end; |
---|
4 | |
---|
5 | var2fix = 'dX_default'; |
---|
6 | |
---|
7 | fixvariable; |
---|
8 | |
---|
9 | var2fix = 'dY_default'; |
---|
10 | |
---|
11 | fixvariable; |
---|
12 | |
---|
13 | var2fix = 'map'; |
---|
14 | |
---|
15 | fixvariable; |
---|
16 | |
---|
17 | |
---|
18 | if ~exist('n_ima'), |
---|
19 | data_calib; |
---|
20 | end; |
---|
21 | |
---|
22 | check_active_images; |
---|
23 | |
---|
24 | if ~exist(['I_' num2str(ind_active(1))]), |
---|
25 | ima_read_calib; |
---|
26 | if isempty(ind_read), |
---|
27 | disp('Cannot extract corners without images'); |
---|
28 | return; |
---|
29 | end; |
---|
30 | end; |
---|
31 | |
---|
32 | |
---|
33 | fprintf(1,'\nExtraction of the grid corners on the images\n'); |
---|
34 | |
---|
35 | |
---|
36 | if (exist('map')~=1), map = gray(256); end; |
---|
37 | |
---|
38 | |
---|
39 | if exist('dX'), |
---|
40 | dX_default = dX; |
---|
41 | end; |
---|
42 | |
---|
43 | if exist('dY'), |
---|
44 | dY_default = dY; |
---|
45 | end; |
---|
46 | |
---|
47 | if exist('n_sq_x'), |
---|
48 | n_sq_x_default = n_sq_x; |
---|
49 | end; |
---|
50 | |
---|
51 | if exist('n_sq_y'), |
---|
52 | n_sq_y_default = n_sq_y; |
---|
53 | end; |
---|
54 | |
---|
55 | |
---|
56 | if ~exist('dX_default')|~exist('dY_default'); |
---|
57 | |
---|
58 | % Setup of JY - 3D calibration rig at Intel (new at Intel) - use units in mm to match Zhang |
---|
59 | dX_default = 30; |
---|
60 | dY_default = 30; |
---|
61 | |
---|
62 | % Setup of JY - 3D calibration rig at Google - use units in mm to match Zhang |
---|
63 | dX_default = 100; |
---|
64 | dY_default = 100; |
---|
65 | |
---|
66 | end; |
---|
67 | |
---|
68 | |
---|
69 | if ~exist('n_sq_x_default')|~exist('n_sq_y_default'), |
---|
70 | n_sq_x_default = 10; |
---|
71 | n_sq_y_default = 10; |
---|
72 | end; |
---|
73 | |
---|
74 | if ~exist('wintx_default')|~exist('winty_default'), |
---|
75 | wintx_default = max(round(nx/128),round(ny/96)); |
---|
76 | winty_default = wintx_default; |
---|
77 | clear wintx winty |
---|
78 | end; |
---|
79 | |
---|
80 | |
---|
81 | if ~exist('wintx') | ~exist('winty'), |
---|
82 | clear_windows; % Clear all the window sizes (to re-initiate) |
---|
83 | end; |
---|
84 | |
---|
85 | |
---|
86 | |
---|
87 | if ~exist('dont_ask'), |
---|
88 | dont_ask = 0; |
---|
89 | end; |
---|
90 | |
---|
91 | |
---|
92 | if ~dont_ask, |
---|
93 | ima_numbers = input('Number(s) of image(s) to process ([] = all images) = '); |
---|
94 | else |
---|
95 | ima_numbers = []; |
---|
96 | end; |
---|
97 | |
---|
98 | if isempty(ima_numbers), |
---|
99 | ima_proc = 1:n_ima; |
---|
100 | else |
---|
101 | ima_proc = ima_numbers; |
---|
102 | end; |
---|
103 | |
---|
104 | |
---|
105 | % Useful option to add images: |
---|
106 | kk_first = ima_proc(1); %input('Start image number ([]=1=first): '); |
---|
107 | |
---|
108 | |
---|
109 | if exist(['wintx_' num2str(kk_first)]), |
---|
110 | |
---|
111 | eval(['wintxkk = wintx_' num2str(kk_first) ';']); |
---|
112 | |
---|
113 | if isempty(wintxkk) | isnan(wintxkk), |
---|
114 | |
---|
115 | disp('Window size for corner finder (wintx and winty):'); |
---|
116 | wintx = input(['wintx ([] = ' num2str(wintx_default) ') = ']); |
---|
117 | if isempty(wintx), wintx = wintx_default; end; |
---|
118 | wintx = round(wintx); |
---|
119 | winty = input(['winty ([] = ' num2str(winty_default) ') = ']); |
---|
120 | if isempty(winty), winty = winty_default; end; |
---|
121 | winty = round(winty); |
---|
122 | |
---|
123 | fprintf(1,'Window size = %dx%d\n',2*wintx+1,2*winty+1); |
---|
124 | |
---|
125 | end; |
---|
126 | |
---|
127 | else |
---|
128 | |
---|
129 | disp('Window size for corner finder (wintx and winty):'); |
---|
130 | wintx = input(['wintx ([] = ' num2str(wintx_default) ') = ']); |
---|
131 | if isempty(wintx), wintx = wintx_default; end; |
---|
132 | wintx = round(wintx); |
---|
133 | winty = input(['winty ([] = ' num2str(winty_default) ') = ']); |
---|
134 | if isempty(winty), winty = winty_default; end; |
---|
135 | winty = round(winty); |
---|
136 | |
---|
137 | fprintf(1,'Window size = %dx%d\n',2*wintx+1,2*winty+1); |
---|
138 | |
---|
139 | end; |
---|
140 | |
---|
141 | |
---|
142 | if ~dont_ask, |
---|
143 | fprintf(1,'Do you want to use the automatic square counting mechanism (0=[]=default)\n'); |
---|
144 | manual_squares = input(' or do you always want to enter the number of squares manually (1,other)? '); |
---|
145 | if isempty(manual_squares), |
---|
146 | manual_squares = 0; |
---|
147 | else |
---|
148 | manual_squares = ~~manual_squares; |
---|
149 | end; |
---|
150 | else |
---|
151 | manual_squares = 0; |
---|
152 | end; |
---|
153 | |
---|
154 | |
---|
155 | for kk = ima_proc, |
---|
156 | if exist(['I_' num2str(kk)]), |
---|
157 | click_ima_calib; |
---|
158 | active_images(kk) = 1; |
---|
159 | else |
---|
160 | eval(['dX_' num2str(kk) ' = NaN;']); |
---|
161 | eval(['dY_' num2str(kk) ' = NaN;']); |
---|
162 | |
---|
163 | eval(['wintx_' num2str(kk) ' = NaN;']); |
---|
164 | eval(['winty_' num2str(kk) ' = NaN;']); |
---|
165 | |
---|
166 | eval(['x_' num2str(kk) ' = NaN*ones(2,1);']); |
---|
167 | eval(['X_' num2str(kk) ' = NaN*ones(3,1);']); |
---|
168 | |
---|
169 | eval(['n_sq_x_' num2str(kk) ' = NaN;']); |
---|
170 | eval(['n_sq_y_' num2str(kk) ' = NaN;']); |
---|
171 | end; |
---|
172 | end; |
---|
173 | |
---|
174 | |
---|
175 | check_active_images; |
---|
176 | |
---|
177 | |
---|
178 | |
---|
179 | % Fix potential non-existing variables: |
---|
180 | |
---|
181 | for kk = 1:n_ima, |
---|
182 | if ~exist(['x_' num2str(kk)]), |
---|
183 | eval(['dX_' num2str(kk) ' = NaN;']); |
---|
184 | eval(['dY_' num2str(kk) ' = NaN;']); |
---|
185 | |
---|
186 | eval(['x_' num2str(kk) ' = NaN*ones(2,1);']); |
---|
187 | eval(['X_' num2str(kk) ' = NaN*ones(3,1);']); |
---|
188 | |
---|
189 | eval(['n_sq_x_' num2str(kk) ' = NaN;']); |
---|
190 | eval(['n_sq_y_' num2str(kk) ' = NaN;']); |
---|
191 | end; |
---|
192 | |
---|
193 | if ~exist(['wintx_' num2str(kk)]) | ~exist(['winty_' num2str(kk)]), |
---|
194 | |
---|
195 | eval(['wintx_' num2str(kk) ' = NaN;']); |
---|
196 | eval(['winty_' num2str(kk) ' = NaN;']); |
---|
197 | |
---|
198 | end; |
---|
199 | end; |
---|
200 | |
---|
201 | string_save = 'save calib_data active_images ind_active wintx winty n_ima type_numbering N_slots first_num image_numbers format_image calib_name Hcal Wcal nx ny map dX_default dY_default dX dY wintx_default winty_default'; |
---|
202 | |
---|
203 | for kk = 1:n_ima, |
---|
204 | string_save = [string_save ' X_' num2str(kk) ' x_' num2str(kk) ' n_sq_x_' num2str(kk) ' n_sq_y_' num2str(kk) ' wintx_' num2str(kk) ' winty_' num2str(kk) ' dX_' num2str(kk) ' dY_' num2str(kk)]; |
---|
205 | end; |
---|
206 | |
---|
207 | eval(string_save); |
---|
208 | |
---|
209 | disp('done'); |
---|
210 | |
---|
211 | return; |
---|
212 | |
---|
213 | go_calib_optim; |
---|
214 | |
---|