ccal.c

Tsai1标定程序

/*******************************************************************************\
*                                                                               *
* This program reads in a file containing coplanar calibration data             *
* and then uses the routines in cal_main.c to perform Tsai's                    *
* coplanar camera calibration.                                                  *
*                                                                               *
* If additional calibration data files are included on the command line         *
* they are tested using the model calibrated from the first set of              *
* calibration data.                                                             *
*                                                                               *
* At the end of the program the calibrated camera model is dumped in a format   *
* that can be loaded in by other programs.                                      *
*                                                                               *
* History                                                                       *
* -------                                                                       *
*                                                                               *
* 01-Apr-95  Reg Willson ([e-mail]) at 3M St. Paul, MN                 *
*       Filename changes for DOS port.                                          *
*                                                                               *
* 30-Nov-93  Reg Willson ([e-mail]) at Carnegie-Mellon University         *
*       Updated to use new calibration statistics routines.                     *
*                                                                               *
* 01-May-93  Reg Willson ([e-mail]) at Carnegie-Mellon University         *
*       Modified to use utility routines.                                       *
*                                                                               *
* 07-Feb-93  Reg Willson ([e-mail]) at Carnegie-Mellon University         *
*       Original implementation.                                                *
*                                                                               *
\*******************************************************************************/
/*
该程序读入包含共面标定数据的文件，然后使用cal_main.c中的程序执行Tsai's共面摄像机标定。
假如外加的标定数据文件被包含在命令行中，他们应该用第一组标定数据的模型标定进行测试。
程序结尾把标定好的摄像机模型倾入成一种可以被其它程序载入的形式。
*/

#include <stdio.h>
#include "CAL_MAIN.h"

main (argc, argv)
    int       argc;
    char    **argv;
{
    FILE     *data_fd;

    int       i;

    if (argc < 2) {
	fprintf (stderr, "syntax: %s cd.data_file1 [ cd.data_file2 ..... ]\n", argv[0]);
	exit (-1);
    }

    /* initialize the camera parameters (cp) with the appropriate camera constants */
    //initialize_photometrics_parms ();
	initialize_mintron_parms ();
	//initialize_matlab_parms ();

    fprintf (stderr, "\nCoplanar calibration (Tz, f, kappa1 optimization) \n");

    fprintf (stderr, "\ncamera type: %s\n", camera_type);

    /* run through all of the files on the command line */
    for (i = 1; i < argc; i++) {
	if ((data_fd = fopen (argv[i], "r")) == NULL) {
	    fprintf (stderr, "%s: unable to open file \"%s\"\n", argv[0], argv[i]);
	    exit (-1);
	}
	/* load up the calibration data (cd) from the given data file */
	load_cd_data (data_fd, &cd);
	fclose (data_fd);

        fprintf (stderr, "\ndata file: %s  (%d points)\n\n", argv[i], cd.point_count);

	if (i == 1) {
	    /* determine the calibration constants from the 1st data file */
	    coplanar_calibration ();

	    print_cp_cc_data (stderr, &cp, &cc);
	}

	print_error_stats (stderr);
    }

    dump_cp_cc_data (stdout, &cp, &cc);

    return 0;
}