[37] | 1 | %% Export calibration data (corners + 3D coordinates) to
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| 2 | %% text files (in Willson-Heikkila's format or Zhang's format)
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| 3 |
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| 4 | %% Thanks to Michael Goesele (from the Max-Planck-Institut) for the original suggestion
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| 5 | %% of adding this export function to the toolbox.
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| 6 |
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| 7 |
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| 8 | if ~exist('n_ima'),
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| 9 | fprintf(1,'ERROR: No calibration data to export\n');
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| 10 |
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| 11 | else
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| 12 |
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| 13 | check_active_images;
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| 14 |
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| 15 | % check_extracted_images;
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| 16 |
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| 17 | check_active_images;
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| 18 |
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| 19 | % fprintf(1,'Tool that exports calibration data to Willson-Heikkila, Zhang formats or blue-c formats\n');
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| 20 |
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| 21 | qformat = 3;
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| 22 |
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| 23 | if 0
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| 24 | while (qformat ~=0)&(qformat ~=1)&(qformat ~=2)&(qformat ~=3),
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| 25 |
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| 26 | fprintf(1,'Three possible formats of export: 0=Willson and Heikkila, 1=Zhang, 2=blue-c, complete, 3=blue-c, intrinsic\n')
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| 27 | qformat = input('Format of export (enter 0, 1, 2, or 3): ');
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| 28 |
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| 29 | if isempty(qformat)
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| 30 | qformat = -1;
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| 31 | end;
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| 32 |
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| 33 | if (qformat ~=0)&(qformat ~=1)&(qformat ~=2)&(qformat ~=3),
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| 34 |
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| 35 | fprintf(1,'Invalid entry. Try again.\n')
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| 36 |
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| 37 | end;
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| 38 |
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| 39 | end;
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| 40 | end
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| 41 |
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| 42 | if qformat == 0
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| 43 |
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| 44 | fprintf(1,'\nExport of calibration data to text files (Willson and Heikkila''s format)\n');
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| 45 | outputfile = input('File basename: ','s');
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| 46 |
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| 47 | for kk = ind_active,
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| 48 |
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| 49 | eval(['X_kk = X_' num2str(kk) ';']);
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| 50 | eval(['x_kk = x_' num2str(kk) ';']);
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| 51 |
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| 52 | Xx = [X_kk ; x_kk]';
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| 53 |
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| 54 | file_name = [outputfile num2str(kk)];
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| 55 |
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| 56 | disp(['Exporting calibration data (3D world + 2D image coordinates) of image ' num2str(kk) ' to file ' file_name '...']);
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| 57 |
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| 58 | eval(['save ' file_name ' Xx -ASCII']);
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| 59 |
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| 60 | end;
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| 61 |
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| 62 | elseif qformat == 1
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| 63 |
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| 64 | fprintf(1,'\nExport of calibration data to text files (Zhang''s format)\n');
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| 65 | modelfile = input('File basename for the 3D world coordinates: ','s');
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| 66 | datafile = input('File basename for the 2D image coordinates: ','s');
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| 67 |
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| 68 | for kk = ind_active,
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| 69 |
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| 70 | eval(['X_kk = X_' num2str(kk) ';']);
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| 71 | eval(['x_kk = x_' num2str(kk) ';']);
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| 72 |
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| 73 | if ~exist(['n_sq_x_' num2str(kk)]),
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| 74 | n_sq_x = 1;
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| 75 | n_sq_y = size(X_kk,2);
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| 76 | else
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| 77 | eval(['n_sq_x = n_sq_x_' num2str(kk) ';']);
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| 78 | eval(['n_sq_y = n_sq_y_' num2str(kk) ';']);
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| 79 | end;
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| 80 |
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| 81 | X = reshape(X_kk(1,:)',n_sq_x+1,n_sq_y+1)';
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| 82 | Y = reshape(X_kk(2,:)',n_sq_x+1,n_sq_y+1)';
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| 83 | XY = reshape([X;Y],n_sq_y+1,2*(n_sq_x+1));
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| 84 |
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| 85 | x = reshape(x_kk(1,:)',n_sq_x+1,n_sq_y+1)';
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| 86 | y = reshape(x_kk(2,:)',n_sq_x+1,n_sq_y+1)';
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| 87 | xy = reshape([x;y],n_sq_y+1,2*(n_sq_x+1));
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| 88 |
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| 89 | disp(['Exporting calibration data of image ' num2str(kk) ' to files ' modelfile num2str(kk) '.txt and ' datafile num2str(kk) '.txt...']);
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| 90 |
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| 91 | eval(['save ' modelfile num2str(kk) '.txt XY -ASCII']);
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| 92 | eval(['save ' datafile num2str(kk) '.txt xy -ASCII']);
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| 93 | end;
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| 94 |
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| 95 | elseif qformat == 2
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| 96 |
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| 97 | fprintf(1,'\nExport of complete calibration data to blue-c configuration file\n');
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| 98 | % outputfile = input('File basename: ', 's');
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| 99 | configfile = [outputfile '.cal'];
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| 100 | disp(['Writing ' configfile]);
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| 101 |
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| 102 | fid = fopen(configfile, 'w');
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| 103 | fprintf(fid, 'R11 = %.16f\n', Rc_ext(1,1));
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| 104 | fprintf(fid, 'R12 = %.16f\n', Rc_ext(1,2));
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| 105 | fprintf(fid, 'R13 = %.16f\n', Rc_ext(1,3));
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| 106 | fprintf(fid, 'R21 = %.16f\n', Rc_ext(2,1));
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| 107 | fprintf(fid, 'R22 = %.16f\n', Rc_ext(2,2));
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| 108 | fprintf(fid, 'R23 = %.16f\n', Rc_ext(2,3));
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| 109 | fprintf(fid, 'R31 = %.16f\n', Rc_ext(3,1));
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| 110 | fprintf(fid, 'R32 = %.16f\n', Rc_ext(3,2));
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| 111 | fprintf(fid, 'R33 = %.16f\n\n', Rc_ext(3,3));
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| 112 |
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| 113 | fprintf(fid, 't11 = %.16f\n', Tc_ext(1,1));
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| 114 | fprintf(fid, 't21 = %.16f\n', Tc_ext(2,1));
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| 115 | fprintf(fid, 't31 = %.16f\n\n', Tc_ext(3,1));
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| 116 |
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| 117 | fprintf(fid, 'K11 = %.16f\n', KK(1,1));
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| 118 | fprintf(fid, 'K12 = %.16f\n', KK(1,2));
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| 119 | fprintf(fid, 'K13 = %.16f\n', KK(1,3));
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| 120 | fprintf(fid, 'K21 = %.16f\n', KK(2,1));
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| 121 | fprintf(fid, 'K22 = %.16f\n', KK(2,2));
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| 122 | fprintf(fid, 'K23 = %.16f\n', KK(2,3));
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| 123 | fprintf(fid, 'K31 = %.16f\n', KK(3,1));
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| 124 | fprintf(fid, 'K32 = %.16f\n', KK(3,2));
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| 125 | fprintf(fid, 'K33 = %.16f\n\n', KK(3,3));
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| 126 |
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| 127 | fprintf(fid, 'kc1 = %.16f\n', kc(1));
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| 128 | fprintf(fid, 'kc2 = %.16f\n', kc(2));
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| 129 | fprintf(fid, 'kc3 = %.16f\n', kc(3));
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| 130 | fprintf(fid, 'kc4 = %.16f\n', kc(4));
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| 131 |
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| 132 | status = fclose(fid);
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| 133 |
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| 134 | else
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| 135 |
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| 136 | fprintf(1,'\nExport of intrinsic calibration data to blue-c configuration file\n');
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| 137 | % outputfile = input('File basename: ', 's');
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| 138 | configfile = outputfile;
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| 139 | disp(['Writing ' configfile]);
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| 140 |
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| 141 | fid = fopen(configfile, 'w');
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| 142 |
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| 143 | fprintf(fid, 'K11 = %.16f\n', KK(1,1));
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| 144 | fprintf(fid, 'K12 = %.16f\n', KK(1,2));
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| 145 | fprintf(fid, 'K13 = %.16f\n', KK(1,3));
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| 146 | fprintf(fid, 'K21 = %.16f\n', KK(2,1));
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| 147 | fprintf(fid, 'K22 = %.16f\n', KK(2,2));
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| 148 | fprintf(fid, 'K23 = %.16f\n', KK(2,3));
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| 149 | fprintf(fid, 'K31 = %.16f\n', KK(3,1));
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| 150 | fprintf(fid, 'K32 = %.16f\n', KK(3,2));
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| 151 | fprintf(fid, 'K33 = %.16f\n\n', KK(3,3));
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| 152 |
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| 153 | fprintf(fid, 'kc1 = %.16f\n', kc(1));
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| 154 | fprintf(fid, 'kc2 = %.16f\n', kc(2));
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| 155 | fprintf(fid, 'kc3 = %.16f\n', kc(3));
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| 156 | fprintf(fid, 'kc4 = %.16f\n', kc(4));
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| 157 |
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| 158 | status = fclose(fid);
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| 159 |
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| 160 | end;
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| 161 |
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| 162 | fprintf(1,'done\n');
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| 163 |
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| 164 | end;
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