click_calib.m

这是一个很好的标定工具箱

%if exist('images_read');
%   active_images = active_images & images_read;
%end;

var2fix = 'dX_default';

fixvariable;

var2fix = 'dY_default';

fixvariable;

var2fix = 'map';

fixvariable;


if ~exist('n_ima'),
   data_calib;
end;

check_active_images;

if ~exist(['I_' num2str(ind_active(1))]),
   ima_read_calib;
   if isempty(ind_read),
      disp('Cannot extract corners without images');
      return;
   end;
end;


%wintx = 10; % neigborhood of integration for
%winty = 10; % the corner finder

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


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


disp('WARNING!!! Do not forget to change dX_default and dY_default in click_calib.m!!!')

if ~exist('dX_default');

% Default size of the pattern squares;

% Setup of JY (old at Caltech)
%dX_default = 21.9250/11;
%dY_default = 18.1250/9;

% Setup of JY (new at Intel)
%dX_default = 1.9750;
%dY_default = 1.9865;


% Setup of Luis and Enrico
%dX_default = 67.7/16;
%dY_default = 50.65/12;


% Setup of German
%dX_default = 10.16;
%dY_default = 10.16;

% Setup of JY (new at Intel)
%dX_default = 1.9750*2.54;
%dY_default = 1.9865*2.54;

% Setup of JY - 3D calibration rig at Intel (new at Intel)
%dX_default = 3;
%dY_default = 3;

% Setup of JY - 3D calibration rig at Intel (new at Intel) - use units in mm to match Zhang
dX_default = 30;
dY_default = 30;

end;


if ~exist('dont_ask'),
   dont_ask = 0;
end;


if ~dont_ask,
   ima_numbers = input('Number(s) of image(s) to process ([] = all images) = ');
else
   ima_numbers = [];
end;

if isempty(ima_numbers),
   ima_proc = 1:n_ima;
else
   ima_proc = ima_numbers;
end;


% Useful option to add images:
kk_first = ima_proc(1); %input('Start image number ([]=1=first): ');

%if isempty(kk_first), kk_first = 1; end;


if exist(['wintx_' num2str(kk_first)]),
   
   eval(['wintxkk = wintx_' num2str(kk_first) ';']);
   
   if isempty(wintxkk) | isnan(wintxkk),
      
	disp('Window size for corner finder (wintx and winty):');
	wintx = input('wintx ([] = 5) = ');
	if isempty(wintx), wintx = 5; end;
	wintx = round(wintx);
	winty = input('winty ([] = 5) = ');
	if isempty(winty), winty = 5; end;
	winty = round(winty);
   
	fprintf(1,'Window size = %dx%d\n',2*wintx+1,2*winty+1);
     
     end;
     
else
     
	disp('Window size for corner finder (wintx and winty):');
	wintx = input('wintx ([] = 5) = ');
	if isempty(wintx), wintx = 5; end;
	wintx = round(wintx);
	winty = input('winty ([] = 5) = ');
	if isempty(winty), winty = 5; end;
	winty = round(winty);
   
	fprintf(1,'Window size = %dx%d\n',2*wintx+1,2*winty+1);
     
end;
     

for kk = ima_proc,
   if exist(['I_' num2str(kk)]),
      click_ima_calib;
      active_images(kk) = 1;
   else
	eval(['dX_' num2str(kk) ' = NaN;']);
   	eval(['dY_' num2str(kk) ' = NaN;']);  
   
   	eval(['wintx_' num2str(kk) ' = NaN;']);
   	eval(['winty_' num2str(kk) ' = NaN;']);

   	eval(['x_' num2str(kk) ' = NaN*ones(2,1);']);
   	eval(['X_' num2str(kk) ' = NaN*ones(3,1);']);
   
   	eval(['n_sq_x_' num2str(kk) ' = NaN;']);
   	eval(['n_sq_y_' num2str(kk) ' = NaN;']);
   end;
end;


check_active_images;


% Fix potential non-existing variables:

for kk = 1:n_ima,
   if ~exist(['x_' num2str(kk)]),
	eval(['dX_' num2str(kk) ' = NaN;']);
   	eval(['dY_' num2str(kk) ' = NaN;']);  
   
   	eval(['wintx_' num2str(kk) ' = NaN;']);
   	eval(['winty_' num2str(kk) ' = NaN;']);

   	eval(['x_' num2str(kk) ' = NaN*ones(2,1);']);
   	eval(['X_' num2str(kk) ' = NaN*ones(3,1);']);
   
   	eval(['n_sq_x_' num2str(kk) ' = NaN;']);
   	eval(['n_sq_y_' num2str(kk) ' = NaN;']);
   end;
end;


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';

for kk = 1:n_ima,
   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)];
end;

eval(string_save);

disp('done');

return;

go_calib_optim;