[37] | 1 | % Read all images and extract point coordinates. |
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| 2 | % |
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| 3 | % All information needed are stored and retrieved |
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| 4 | % from the function CONFIGDATA |
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| 5 | |
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| 6 | % $Author: svoboda $ |
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| 7 | % $Revision: 2.6 $ |
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| 8 | % $Id: im2points.m,v 2.6 2005/05/23 16:26:03 svoboda Exp $ |
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| 9 | % $State: Exp $ |
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| 10 | |
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| 11 | clear all; |
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| 12 | |
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| 13 | % add path to config data |
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| 14 | addpath ../../CommonCfgAndIO |
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| 15 | % add path for graphical output if needed |
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| 16 | addpath ../OutputFunctions |
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| 17 | |
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| 18 | SHOWFIG = 0; % show images during point extraction |
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| 19 | STEP4STAT = 1; % step for computing average and std images, if 1 then all images taken |
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| 20 | |
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| 21 | config = configdata(expname); |
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| 22 | |
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| 23 | im.dir = config.paths.img; |
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| 24 | im.ext = config.files.imgext; |
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| 25 | |
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| 26 | NoCams = size(config.files.idxcams,2); % number of cameras |
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| 27 | |
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| 28 | % load image names |
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| 29 | for i=1:NoCams, |
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| 30 | seq(i).camId = config.files.idxcams(i); |
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| 31 | if seq(i).camId > -1 |
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| 32 | if findstr(expname,'oscar') |
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| 33 | seq(i).data = dir([sprintf(im.dir,seq(i).camId),config.files.imnames,'*.',im.ext]); |
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| 34 | else |
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| 35 | seq(i).data = dir([sprintf(im.dir,seq(i).camId),sprintf(config.files.imnames,seq(i).camId),im.ext]); |
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| 36 | end |
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| 37 | else |
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| 38 | seq(i).data = dir([im.dir,sprintf(config.files.imnames),im.ext]); |
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| 39 | end |
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| 40 | seq(i).size = size(seq(i).data,1); |
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| 41 | if seq(i).size<4 |
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| 42 | error('Not enough images found. Wrong image path or name pattern?'); |
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| 43 | end |
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| 44 | end |
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| 45 | |
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| 46 | |
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| 47 | % create an occupancy matrix for image frames |
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| 48 | occmat=1; try config.files.maxid; catch occmat=0; end |
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| 49 | if occmat, |
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| 50 | NoPoints = config.files.maxid; |
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| 51 | FrameMat = zeros(config.files.maxid,NoCams); |
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| 52 | for i=1:NoCams, |
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| 53 | seq(i).imgidx = zeros(size(1:NoPoints)); |
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| 54 | for j=1:size(seq(i).data,1) |
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| 55 | FrameMat(str2num(seq(i).data(j).name(config.files.posid)),i)=j; |
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| 56 | end |
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| 57 | end |
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| 58 | else |
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| 59 | NoPoints = min([seq.size]); |
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| 60 | FrameMat = zeros(NoPoints,NoCams); |
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| 61 | for i=1:NoCams, |
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| 62 | FrameMat(:,i) = [1:NoPoints]'; |
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| 63 | end |
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| 64 | end |
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| 65 | |
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| 66 | % In fact, some frames might be without any calibration point |
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| 67 | |
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| 68 | % Becouse of non-consistent stopping of capturing, the sequences might |
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| 69 | % have different number of images, select the minimal value as the right one |
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| 70 | |
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| 71 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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| 72 | %%% beginning of the findings |
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| 73 | |
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| 74 | t = cputime; |
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| 75 | for i=1:NoCams, |
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| 76 | if ~exist(sprintf(config.files.avIM,seq(i).camId)), |
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| 77 | disp(sprintf('The average image of the camera %d is being computed',seq(i).camId)); |
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| 78 | avIM = zeros(size(imread([sprintf(im.dir,seq(i).camId),seq(i).data(1).name]))); |
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| 79 | pointIdx = 1:STEP4STAT:seq(i).size; |
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| 80 | for j=pointIdx, |
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| 81 | IM = imread([sprintf(im.dir,seq(i).camId),seq(i).data(j).name]); |
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| 82 | avIM = avIM + double(IM); |
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| 83 | end |
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| 84 | avIM = uint8(round(avIM./size(pointIdx,2))); |
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| 85 | imwrite(avIM,sprintf(config.files.avIM,seq(i).camId)); |
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| 86 | else disp('Average file already exists'); |
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| 87 | end |
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| 88 | end |
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| 89 | disp(sprintf('Elapsed time for computation of average images: %4.2f [sec]',cputime-t)) |
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| 90 | % compute the standard deviations images that will be used for finding LEDs |
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| 91 | % if not already computed |
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| 92 | t = cputime; |
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| 93 | for i=1:NoCams, |
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| 94 | if ~exist(sprintf(config.files.stdIM,seq(i).camId)), |
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| 95 | avIM = double(imread(sprintf(config.files.avIM,seq(i).camId))); |
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| 96 | disp(sprintf('The image of standard deviations of the camera %d is being computed',seq(i).camId)); |
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| 97 | stdIM = zeros(size(imread([sprintf(im.dir,seq(i).camId),seq(i).data(1).name]))); |
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| 98 | pointIdx = 1:STEP4STAT:seq(i).size; |
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| 99 | for j=pointIdx, |
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| 100 | IM = imread([sprintf(im.dir,seq(i).camId),seq(i).data(j).name]); |
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| 101 | stdIM = stdIM + (double(IM)-avIM).^2; |
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| 102 | end |
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| 103 | stdIM = uint8(round(sqrt(stdIM./(size(pointIdx,2)-1)))); |
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| 104 | imwrite(stdIM,sprintf(config.files.stdIM,seq(i).camId)); |
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| 105 | else |
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| 106 | disp('Image of standard deviations already exists') |
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| 107 | end |
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| 108 | end |
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| 109 | |
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| 110 | disp(sprintf('Elapsed time for computation of variance images: %4.2f [sec]',cputime-t)) |
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| 111 | |
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| 112 | % find points in the images |
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| 113 | Ws = []; % joint image matrix |
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| 114 | Res = []; % resolution of cameras |
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| 115 | % UsableFramesIdx = find(sum(FrameMat')>2); |
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| 116 | IdMat = ones(NoCams,NoPoints); |
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| 117 | % IdMat is very important for Martinec&Pajdla filling [ECCV2002] |
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| 118 | % it is a NoCams x NoPoints matrix, |
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| 119 | % IdMat(i,j) = 0 -> no j-th point in i-th |
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| 120 | % IdMat(i,j) = 1 -> point successfully detected |
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| 121 | |
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| 122 | |
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| 123 | disp('*********************************************') |
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| 124 | disp('Finding points (laser projections) in cameras') |
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| 125 | disp(sprintf('Totally %d cameras, %d images for each cam', NoCams, NoPoints')) |
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| 126 | disp('*********************************************') |
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| 127 | for i=1:NoCams, |
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| 128 | t1 = cputime; |
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| 129 | disp(sprintf('Finding points in camera No: %0.2d',config.files.idxcams(i))) |
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| 130 | Points = []; |
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| 131 | avIM = imread(sprintf(config.files.avIM,seq(i).camId)); |
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| 132 | stdIM = imread(sprintf(config.files.stdIM,seq(i).camId)); |
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| 133 | for j=1:NoPoints, |
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| 134 | fprintf(1,'\b\b\b\b\b\b %5d',j); |
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| 135 | idx2data = FrameMat(j,i); |
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| 136 | if idx2data |
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| 137 | [pos,err] = getpoint([sprintf(im.dir,seq(i).camId),seq(i).data(idx2data).name], SHOWFIG, config.imgs, avIM, stdIM); |
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| 138 | else |
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| 139 | err = 1; |
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| 140 | end |
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| 141 | if err |
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| 142 | IdMat(i,j) = 0; |
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| 143 | Points = [Points, [NaN; NaN; NaN]]; |
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| 144 | else |
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| 145 | Points = [Points, [pos; 1]]; |
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| 146 | end |
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| 147 | end |
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| 148 | Ws = [Ws; Points]; |
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| 149 | Res= [Res; size(avIM,2), size(avIM,1)]; |
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| 150 | t2 = cputime; |
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| 151 | disp(sprintf('\nElapsed time for finding points in one camera: %d minutes %d seconds',floor((t2-t1)/60), round(mod((t2-t1),60)))) |
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| 152 | disp(sprintf('%4d points found in camera No: %0.2d',sum(Points(3,:)>0),config.files.idxcams(i))); |
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| 153 | end |
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| 154 | |
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| 155 | %%% End of the findings |
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| 156 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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| 157 | |
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| 158 | if findstr(expname,'oscar') |
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| 159 | % needs special care for handling projector data |
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| 160 | ProjPoints = load(config.files.projdata,'-ASCII'); |
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| 161 | Ws = [Ws; ProjPoints(:,end-1:end)'; ones(size(ProjPoints(:,1)'))]; |
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| 162 | IdMat = [IdMat; ones(size(ProjPoints(:,1)'))]; |
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| 163 | Res = [Res; config.imgs.projres]; |
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| 164 | end |
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| 165 | |
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| 166 | save(config.files.points, 'Ws','-ASCII') |
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| 167 | save(config.files.Res, 'Res', '-ASCII') |
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| 168 | save(config.files.IdMat, 'IdMat', '-ASCII') |
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| 169 | |
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| 170 | % display the overall statistics |
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| 171 | disp('Overall statistics from im2points: ************************ ') |
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| 172 | disp(sprintf('Total number of frames (possible 3D points): %d',NoPoints)) |
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| 173 | disp(sprintf('Total number of cameras %d', NoCams)) |
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| 174 | disp('More important statistics: ********************************* ') |
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| 175 | disp(sprintf('Detected 3D points: %d', sum(sum(IdMat)>0))) |
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| 176 | disp(sprintf('Detected 3D points in at least 3 cams: %d', sum(sum(IdMat)>2))) |
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| 177 | disp(sprintf('Detected 3D points in ALL cameras: %d', sum(sum(IdMat)==NoCams))) |
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| 178 | |
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| 179 | |
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| 180 | |
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| 181 | |
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| 182 | |
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| 183 | |
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| 184 | |
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| 185 | |
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