gusucode.com > 基于matlab软件,实现双目视觉原理的摄像机标定,能根据各视场图像求内、外部参数 > 基于matlab软件,实现双目视觉原理的摄像机标定,能根据各视场图像求内、外部参数/TOOLBOX_calib/click_calib_no_read.m
%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_no_read; 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; %% Step used to clean the memory if a previous atttempt has been made to read the entire set of images into memory: for kk = 1:n_ima, if (exist(['I_' num2str(kk)])==1), clear(['I_' num2str(kk)]); end; end; fprintf(1,'\nExtraction of the grid corners on the images\n'); if (exist('map')~=1), map = gray(256); end; %disp('WARNING!!! Do not forget to change dX_default and dY_default in click_calib.m!!!') if exist('dX'), dX_default = dX; end; if exist('dY'), dY_default = dY; end; if exist('n_sq_x'), n_sq_x_default = n_sq_x; end; if exist('n_sq_y'), n_sq_y_default = n_sq_y; end; if ~exist('dX_default')|~exist('dY_default'); % 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('n_sq_x_default')|~exist('n_sq_y_default'), n_sq_x_default = 10; n_sq_y_default = 10; end; if ~exist('wintx_default')|~exist('winty_default'), if ~exist('nx'), wintx_default = 5; winty_default = wintx_default; clear wintx winty else wintx_default = max(round(nx/128),round(ny/96)); winty_default = wintx_default; clear wintx winty end; end; if ~exist('wintx') | ~exist('winty'), clear_windows; % Clear all the window sizes (to re-initiate) 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 ([] = ' num2str(wintx_default) ') = ']); if isempty(wintx), wintx = wintx_default; end; wintx = round(wintx); winty = input(['winty ([] = ' num2str(winty_default) ') = ']); if isempty(winty), winty = winty_default; 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 ([] = ' num2str(wintx_default) ') = ']); if isempty(wintx), wintx = wintx_default; end; wintx = round(wintx); winty = input(['winty ([] = ' num2str(winty_default) ') = ']); if isempty(winty), winty = winty_default; end; winty = round(winty); fprintf(1,'Window size = %dx%d\n',2*wintx+1,2*winty+1); end; if ~dont_ask, fprintf(1,'Do you want to use the automatic square counting mechanism (0=[]=default)\n'); manual_squares = input(' or do you always want to enter the number of squares manually (1,other)? '); if isempty(manual_squares), manual_squares = 0; else manual_squares = ~~manual_squares; end; else manual_squares = 0; end; for kk = ima_proc, if ~type_numbering, number_ext = num2str(image_numbers(kk)); else number_ext = sprintf(['%.' num2str(N_slots) 'd'],image_numbers(kk)); end; ima_name = [calib_name number_ext '.' format_image]; if exist(ima_name), fprintf(1,'\nProcessing image %d...\n',kk); fprintf(1,'Loading image %s...\n',ima_name); if format_image(1) == 'p', if format_image(2) == 'p', I = double(loadppm(ima_name)); else I = double(loadpgm(ima_name)); end; else if format_image(1) == 'r', I = readras(ima_name); else I = double(imread(ima_name)); end; end; if size(I,3)>1, I = 0.299 * I(:,:,1) + 0.5870 * I(:,:,2) + 0.114 * I(:,:,3); end; [ny,nx,junk] = size(I); Wcal = nx; % to avoid errors later Hcal = ny; % to avoid errors later click_ima_calib_no_read; 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(['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; if ~exist(['wintx_' num2str(kk)]) | ~exist(['winty_' num2str(kk)]), eval(['wintx_' num2str(kk) ' = NaN;']); eval(['winty_' 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');