%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');


JzHuai0108
github-repos/MATLAB/JzHuai0108-ekfmonoslam/ekfmonoslam-443f6be744732453cdb90679abcaf5c962a6295e/EKF_monoSLAM_1pRANSAC/matlab_code/matlabcalibration2ourcalibration/TOOLBOX_calib/click_calib_no_read.m
ekfmonoslam
github-repos/MATLAB/JzHuai0108-ekfmonoslam
443f6be744732453cdb90679abcaf5c962a6295e