[37] | 1 | % im2imstat computes image statistics from several images |
---|
| 2 | % and finds the projections of laser points |
---|
| 3 | % |
---|
| 4 | % The computation core is taken from im2points.m |
---|
| 5 | % computes average image and image of standard deviations |
---|
| 6 | % requires configdata.m |
---|
| 7 | % The name of the experiment has to be specified |
---|
| 8 | % it determines the location of files etc ... |
---|
| 9 | % |
---|
| 10 | % the scripts serves as a template for a multiprocessing |
---|
| 11 | % it assumes a vector of camera IDs CamIds to be known |
---|
| 12 | % indexes in the CamIds are supposed to be correct |
---|
| 13 | % |
---|
| 14 | % It is used by im2pmultiproc.pl |
---|
| 15 | |
---|
| 16 | % $Author: svoboda $ |
---|
| 17 | % $Revision: 2.0 $ |
---|
| 18 | % $Id: im2imstat.m,v 2.0 2003/06/19 12:06:51 svoboda Exp $ |
---|
| 19 | % $State: Exp $ |
---|
| 20 | |
---|
| 21 | config = configdata(expname); |
---|
| 22 | |
---|
| 23 | STEP4STAT = 5; % step for computing average and std images, if 1 then all images taken |
---|
| 24 | |
---|
| 25 | im.dir = config.paths.img; |
---|
| 26 | im.ext = config.files.imgext; |
---|
| 27 | |
---|
| 28 | % NoCams = size(config.files.idxcams,2); % number of cameras |
---|
| 29 | % Use concrete CameraIds instead of all cameras |
---|
| 30 | NoCams = size(CamsIds,2); |
---|
| 31 | CamsIds |
---|
| 32 | |
---|
| 33 | % load image names |
---|
| 34 | for i=1:NoCams, |
---|
| 35 | seq(i).camId = CamsIds(i); |
---|
| 36 | if seq(i).camId > -1 |
---|
| 37 | seq(i).data = dir([sprintf(im.dir,seq(i).camId),sprintf(config.files.imnames,seq(i).camId),im.ext]); |
---|
| 38 | [sprintf(im.dir,seq(i).camId),sprintf(config.files.imnames,seq(i).camId),im.ext] |
---|
| 39 | else |
---|
| 40 | seq(i).data = dir([im.dir,sprintf(config.files.imnames),im.ext]); |
---|
| 41 | end |
---|
| 42 | seq(i).size = size(seq(i).data,1); |
---|
| 43 | if seq(i).size<4 |
---|
| 44 | error('Not enough images found. Wrong image path or name pattern?'); |
---|
| 45 | end |
---|
| 46 | end |
---|
| 47 | |
---|
| 48 | % Expected number of 3D points is equal to the number of frames. |
---|
| 49 | % In fact, some frames might be without any calibration point |
---|
| 50 | |
---|
| 51 | % Because of non-consistent stopping of capturing, the sequences might |
---|
| 52 | % have different number of images, select the minimal value as the right one |
---|
| 53 | NoPoints = min([seq.size]); |
---|
| 54 | |
---|
| 55 | % compute the average images that will be used for finding LEDs |
---|
| 56 | % if not already computed |
---|
| 57 | |
---|
| 58 | pointsIdx = [1:STEP4STAT:NoPoints]; |
---|
| 59 | |
---|
| 60 | t = cputime; |
---|
| 61 | for i=1:NoCams, |
---|
| 62 | if ~exist(sprintf(config.files.avIM,seq(i).camId)), |
---|
| 63 | disp(sprintf('The average image of the camera %d is being computed',seq(i).camId)); |
---|
| 64 | avIM = zeros(size(imread([sprintf(im.dir,seq(i).camId),seq(i).data(1).name]))); |
---|
| 65 | for j=pointsIdx, |
---|
| 66 | IM = imread([sprintf(im.dir,seq(i).camId),seq(i).data(j).name]); |
---|
| 67 | avIM = avIM + double(IM); |
---|
| 68 | end |
---|
| 69 | avIM = uint8(round(avIM./size(pointsIdx,2))); |
---|
| 70 | imwrite(avIM,sprintf(config.files.avIM,seq(i).camId)); |
---|
| 71 | else disp('Average files already exist'); |
---|
| 72 | end |
---|
| 73 | end |
---|
| 74 | disp(sprintf('Elapsed time for average images: %d [sec]',cputime-t)) |
---|
| 75 | % compute the standard deviations images that will be used for finding LEDs |
---|
| 76 | % if not already computed |
---|
| 77 | t = cputime; |
---|
| 78 | for i=1:NoCams, |
---|
| 79 | if ~exist(sprintf(config.files.stdIM,seq(i).camId)), |
---|
| 80 | avIM = double(imread(sprintf(config.files.avIM,seq(i).camId))); |
---|
| 81 | disp(sprintf('The image of standard deviations of the camera %d is being computed',seq(i).camId)); |
---|
| 82 | stdIM = zeros(size(imread([sprintf(im.dir,seq(i).camId),seq(i).data(1).name]))); |
---|
| 83 | for j=pointsIdx, |
---|
| 84 | IM = imread([sprintf(im.dir,seq(i).camId),seq(i).data(j).name]); |
---|
| 85 | stdIM = stdIM + (double(IM)-avIM).^2; |
---|
| 86 | end |
---|
| 87 | stdIM = uint8(round(sqrt(stdIM./(size(pointsIdx,2)-1)))); |
---|
| 88 | imwrite(stdIM,sprintf(config.files.stdIM,seq(i).camId)); |
---|
| 89 | else |
---|
| 90 | disp('Image of standard deviations already exist') |
---|
| 91 | end |
---|
| 92 | end |
---|
| 93 | disp(sprintf('Elapsed time for computation of images [sec]: %d',cputime-t)) |
---|
| 94 | |
---|
| 95 | % find points in the images |
---|
| 96 | Ws = []; |
---|
| 97 | IdWs = []; |
---|
| 98 | Res = []; |
---|
| 99 | |
---|
| 100 | IdMat = ones(NoCams,NoPoints); |
---|
| 101 | % IdMat is very important for Martinec&Pajdla filling [ECCV2002] |
---|
| 102 | % it is a NoCams x NoPoints matrix, |
---|
| 103 | % IdMat(i,j) = 0 -> no j-th point in i-th |
---|
| 104 | % IdMat(i,j) = 1 -> point successfully detected |
---|
| 105 | |
---|
| 106 | for i=1:NoCams, |
---|
| 107 | Points = []; |
---|
| 108 | avIM = imread(sprintf(config.files.avIM,seq(i).camId)); |
---|
| 109 | stdIM = imread(sprintf(config.files.stdIM,seq(i).camId)); |
---|
| 110 | for j=1:NoPoints, |
---|
| 111 | [pos,err] = getpoint([sprintf(im.dir,seq(i).camId),seq(i).data(j).name], 0, config.imgs, avIM, stdIM); |
---|
| 112 | if err |
---|
| 113 | IdMat(i,j) = 0; |
---|
| 114 | Points = [Points, [NaN; NaN; NaN]]; |
---|
| 115 | else |
---|
| 116 | Points = [Points, [pos; 1]]; |
---|
| 117 | end |
---|
| 118 | end |
---|
| 119 | Ws = [Ws; Points]; |
---|
| 120 | Res= [Res; size(avIM,2), size(avIM,1)]; |
---|
| 121 | end |
---|
| 122 | |
---|
| 123 | idx = '.'; |
---|
| 124 | for i=CamsIds, |
---|
| 125 | idx = sprintf('%s%02d',idx,i); |
---|
| 126 | end |
---|
| 127 | |
---|
| 128 | save([config.files.points,idx], 'Ws','-ASCII') |
---|
| 129 | % save(config.files.IdPoints,'IdWs','-ASCII') |
---|
| 130 | save([config.files.Res,idx], 'Res', '-ASCII') |
---|
| 131 | save([config.files.IdMat,idx], 'IdMat', '-ASCII') |
---|
| 132 | |
---|
| 133 | % write auxiliary file that is done |
---|
| 134 | done=1; |
---|
| 135 | save(donefile,'done','-ascii'); |
---|
| 136 | |
---|
| 137 | % exit the Matlab |
---|
| 138 | % this script is to be used in the batch mode |
---|
| 139 | % hence exit at the end is necessary |
---|
| 140 | exit; |
---|