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#define BYTE unsigned char #define UINT8 unsigned char //------------------------------------------------------------------------------------------------------ // CC1100 STROBE, CONTROL AND STATUS

function [fc,cc,kc,alpha_c,Rc,Tc,omc,nx,ny,x_dist,xd] = willson_convert(Ncx,Nfx,dx,dy,dpx,dpy,Cx,Cy,sx,f,kappa1,Tx,Ty,Tz,Rx,Ry,Rz,p1,p2); %Conversion from Reg Willson's calibration format to my for

%%%%%%%%%%%%%%%%%%%% SHOW EXTRINSIC RESULTS %%%%%%%%%%%%%%%%%%%%%%%% if ~exist('show_camera'), show_camera = 1; end; if ~exist('n_ima')|~exist('fc'), fprintf(1,'No calibration data

%go_calib_optim_iter % %Main calibration function. Computes the intrinsic andextrinsic parameters. %Runs as a script. % %INPUT: x_1,x_2,x_3,...: Feature locations on the images % X_1,X_2,X

%%%%%%%%%%%%%%%%%%%% REPROJECT ON THE IMAGES %%%%%%%%%%%%%%%%%%%%%%%% if ~exist('n_ima')|~exist('fc'), fprintf(1,'No calibration data available.\n'); return; end; if ~exist('no_image'),

%%%%%%%%%%%%%%%%%%%% REPROJECT ON THE IMAGES %%%%%%%%%%%%%%%%%%%%%%%% if ~exist('n_ima')|~exist('fc'), fprintf(1,'No calibration data available.\n'); return; end; if ~exist('no_image'),

% Anisotropically diffuse the calibration image % to enhance the corner detection fprintf(1,'Anisotropic diffusion of the images for corner enhancement (the images have to be loaded in memory)\n

%%% Extraction of the final intrinsic and extrinsic paramaters: fc = solution(1:2); kc = solution(3:6); cc = solution(6*n_ima + 4 +3:6*n_ima + 5 +3); % Calibration matrix: KK = [fc(1)

% Read in Reg Willson's data file, and convert it into my data format: if exist('calib_file'), if exist(calib_file)~=2, ask = 1; else ask = 0; end; else ask = 1; end

%%%%%%%%%%%%%%%%%%%% SHOW EXTRINSIC RESULTS %%%%%%%%%%%%%%%%%%%%%%%% if ~exist('show_camera'), show_camera = 1; end; if ~exist('n_ima')|~exist('fc'), fprintf(1,'No calibration data