1  %=======================================================================


2  % Copyright 20082015, LEGI UMR 5519 / CNRS UJF GINP, Grenoble, France


3  % http://www.legi.grenobleinp.fr


4  % Joel.Sommeria  Joel.Sommeria (A) legi.cnrs.fr


5  %


6  % This file is part of the toolbox UVMAT.


7  %


8  % UVMAT is free software; you can redistribute it and/or modify


9  % it under the terms of the GNU General Public License as published


10  % by the Free Software Foundation; either version 2 of the license,


11  % or (at your option) any later version.


12  %


13  % UVMAT is distributed in the hope that it will be useful,


14  % but WITHOUT ANY WARRANTY; without even the implied warranty of


15  % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the


16  % GNU General Public License (see LICENSE.txt) for more details.


17  %=======================================================================


18 


19  %if exist('images_read');


20  % active_images = active_images & images_read;


21  %end;


22 


23  var2fix = 'dX_default';


24 


25  fixvariable;


26 


27  var2fix = 'dY_default';


28 


29  fixvariable;


30 


31  var2fix = 'map';


32 


33  fixvariable;


34 


35 


36  if ~exist('n_ima'),


37  data_calib;


38  end;


39 


40  check_active_images;


41 


42  if ~exist(['I_' num2str(ind_active(1))]),


43  ima_read_calib;


44  if isempty(ind_read),


45  disp('Cannot extract corners without images');


46  return;


47  end;


48  end;


49 


50 


51  fprintf(1,'\nExtraction of the grid corners on the images\n');


52 


53 


54  if (exist('map')~=1), map = gray(256); end;


55 


56 


57  if exist('dX'),


58  dX_default = dX;


59  end;


60 


61  if exist('dY'),


62  dY_default = dY;


63  end;


64 


65  if exist('n_sq_x'),


66  n_sq_x_default = n_sq_x;


67  end;


68 


69  if exist('n_sq_y'),


70  n_sq_y_default = n_sq_y;


71  end;


72 


73 


74  if ~exist('dX_default')~exist('dY_default');


75 


76  % Setup of JY  3D calibration rig at Intel (new at Intel)  use units in mm to match Zhang


77  dX_default = 30;


78  dY_default = 30;


79 


80  % Setup of JY  3D calibration rig at Google  use units in mm to match Zhang


81  dX_default = 100;


82  dY_default = 100;


83 


84  end;


85 


86 


87  if ~exist('n_sq_x_default')~exist('n_sq_y_default'),


88  n_sq_x_default = 10;


89  n_sq_y_default = 10;


90  end;


91 


92  if ~exist('wintx_default')~exist('winty_default'),


93  wintx_default = max(round(nx/128),round(ny/96));


94  winty_default = wintx_default;


95  clear wintx winty


96  end;


97 


98 


99  if ~exist('wintx')  ~exist('winty'),


100  clear_windows; % Clear all the window sizes (to reinitiate)


101  end;


102 


103 


104 


105  if ~exist('dont_ask'),


106  dont_ask = 0;


107  end;


108 


109 


110  if ~dont_ask,


111  ima_numbers = input('Number(s) of image(s) to process ([] = all images) = ');


112  else


113  ima_numbers = [];


114  end;


115 


116  if isempty(ima_numbers),


117  ima_proc = 1:n_ima;


118  else


119  ima_proc = ima_numbers;


120  end;


121 


122 


123  % Useful option to add images:


124  kk_first = ima_proc(1); %input('Start image number ([]=1=first): ');


125 


126 


127  if exist(['wintx_' num2str(kk_first)]),


128 


129  eval(['wintxkk = wintx_' num2str(kk_first) ';']);


130 


131  if isempty(wintxkk)  isnan(wintxkk),


132 


133  disp('Window size for corner finder (wintx and winty):');


134  wintx = input(['wintx ([] = ' num2str(wintx_default) ') = ']);


135  if isempty(wintx), wintx = wintx_default; end;


136  wintx = round(wintx);


137  winty = input(['winty ([] = ' num2str(winty_default) ') = ']);


138  if isempty(winty), winty = winty_default; end;


139  winty = round(winty);


140 


141  fprintf(1,'Window size = %dx%d\n',2*wintx+1,2*winty+1);


142 


143  end;


144 


145  else


146 


147  disp('Window size for corner finder (wintx and winty):');


148  wintx = input(['wintx ([] = ' num2str(wintx_default) ') = ']);


149  if isempty(wintx), wintx = wintx_default; end;


150  wintx = round(wintx);


151  winty = input(['winty ([] = ' num2str(winty_default) ') = ']);


152  if isempty(winty), winty = winty_default; end;


153  winty = round(winty);


154 


155  fprintf(1,'Window size = %dx%d\n',2*wintx+1,2*winty+1);


156 


157  end;


158 


159 


160  if ~dont_ask,


161  fprintf(1,'Do you want to use the automatic square counting mechanism (0=[]=default)\n');


162  manual_squares = input(' or do you always want to enter the number of squares manually (1,other)? ');


163  if isempty(manual_squares),


164  manual_squares = 0;


165  else


166  manual_squares = ~~manual_squares;


167  end;


168  else


169  manual_squares = 0;


170  end;


171 


172 


173  for kk = ima_proc,


174  if exist(['I_' num2str(kk)]),


175  click_ima_calib;


176  active_images(kk) = 1;


177  else


178  eval(['dX_' num2str(kk) ' = NaN;']);


179  eval(['dY_' num2str(kk) ' = NaN;']);


180 


181  eval(['wintx_' num2str(kk) ' = NaN;']);


182  eval(['winty_' num2str(kk) ' = NaN;']);


183 


184  eval(['x_' num2str(kk) ' = NaN*ones(2,1);']);


185  eval(['X_' num2str(kk) ' = NaN*ones(3,1);']);


186 


187  eval(['n_sq_x_' num2str(kk) ' = NaN;']);


188  eval(['n_sq_y_' num2str(kk) ' = NaN;']);


189  end;


190  end;


191 


192 


193  check_active_images;


194 


195 


196 


197  % Fix potential nonexisting variables:


198 


199  for kk = 1:n_ima,


200  if ~exist(['x_' num2str(kk)]),


201  eval(['dX_' num2str(kk) ' = NaN;']);


202  eval(['dY_' num2str(kk) ' = NaN;']);


203 


204  eval(['x_' num2str(kk) ' = NaN*ones(2,1);']);


205  eval(['X_' num2str(kk) ' = NaN*ones(3,1);']);


206 


207  eval(['n_sq_x_' num2str(kk) ' = NaN;']);


208  eval(['n_sq_y_' num2str(kk) ' = NaN;']);


209  end;


210 


211  if ~exist(['wintx_' num2str(kk)])  ~exist(['winty_' num2str(kk)]),


212 


213  eval(['wintx_' num2str(kk) ' = NaN;']);


214  eval(['winty_' num2str(kk) ' = NaN;']);


215 


216  end;


217  end;


218 


219  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';


220 


221  for kk = 1:n_ima,


222  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)];


223  end;


224 


225  eval(string_save);


226 


227  disp('done');


228 


229  return;


230 


231  go_calib_optim;


232 

