initial import of v1.0 of toolbox

git-svn-id: https://code.astraw.com/kookaburra/trunk/MultiCamSelfCal@1070 e6c0db7a-28da-0310-a2fc-f6ab65d9114a

BlueCFindingPoints/findpointsBlueC

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+#!/bin/sh
+
+# convert the *PVI files from on a local discs and copy only the *.jpg files
+
+echo "Tool to process PVI sequences, Tomas Svoboda, ETHZ, 07/2002"	 
+
+# basepath for the selfcalib codes
+selfcalib_basepath=/home/svoboda/Work/BlueCCal/BlueCFindingPoints
+
+####################################################### 
+### config definitions
+### the variables should be specified in .cshrc
+### or something like that
+#######################################################
+# basepath for binaries and auxiliary scripts
+basepath=$BlueC_BASEPATH
+# image basename
+imname=$BlueC_IMNAME
+# machine basename
+mname=$BlueC_MNAME
+workmachine=$BlueC_WORKMACHINE
+# working directory on local machines 
+localdir=$BlueC_LOCALDIR
+# for all available indexes
+indexes=$BlueC_INDEXES
+
+# first clean the old local data
+for i in $indexes; do
+	command="ssh ${mname}${i} rm -f ${localdir}/*.dat*"
+	echo $command
+	eval $command
+done
+
+for i in $indexes; do
+	command="ssh ${mname}${i} rm -f ${localdir}/*.tiff"
+	echo $command
+	eval $command
+done
+
+wait
+
+# call the local finding procedure
+for i in $indexes; do
+	command="ssh ${mname}${i} /usr/sepp/bin/matlab -nosplash -nojvm < ${selfcalib_basepath}/im2pointsLocally.m > ${selfcalib_basepath}/im2pointsLocally.out.${i} &"
+
+	echo $command
+	eval $command
+	sleep 1
+done
+
+wait
+
+# clean output files
+rm im2pointsLocally.out.*
+

BlueCFindingPoints/im2pointsLocally.m

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+% im2pointsLocally    computes image statistics from several images
+%                     and finds the projections of laser points
+%
+% The version for local computation on each machine
+%
+% The computation core is taken from  im2points.m
+% computes average image and image of standard deviations
+% requires configdata.m
+% The name of the experiment has to be specified
+% it determines the location of files etc ...
+%
+% the scripts serves as a template for a multiprocessing
+% it assumes a vector of camera IDs CamIds to be known
+% indexes in the CamIds are supposed to be correct
+%
+
+donefile = '.done';
+
+addpath /home/svoboda/Work/BlueCCal/BlueCFindingPoints
+
+% config = localconfig('BlueCHoengg')
+config = localconfig('BlueCRZ')
+
+STEP4STAT = 5; % step for computing average and std images, if 1 then all images taken
+
+im.dir = config.paths.data;
+im.ext = config.files.imgext;
+
+% get the information about machine
+machinename = getenv('HOST');
+CamsIds = str2num(machinename(find(machinename>47 & machinename<58)));
+
+NoCams = size(CamsIds,2);
+CamsIds
+
+% load image names
+for i=1:NoCams,
+  seq(i).camId = CamsIds(i);
+  if seq(i).camId > -1
+	seq(i).data = dir([sprintf(im.dir,seq(i).camId),sprintf(config.files.imnames,seq(i).camId),im.ext]);
+	[sprintf(im.dir,seq(i).camId),sprintf(config.files.imnames,seq(i).camId),im.ext]
+  else
+	seq(i).data = dir([im.dir,sprintf(config.files.imnames),im.ext]);
+  end
+  seq(i).size = size(seq(i).data,1);
+  if seq(i).size<4
+	i, seq
+	error('Not enough images found. Wrong image path or name pattern?');
+  end
+end
+
+% Expected number of 3D points is equal to the number of frames.
+% In fact, some frames might be without any calibration point
+
+% Because of non-consistent stopping of capturing, the sequences might 
+% have different number of images, select the minimal value as the right one
+NoPoints = min([seq.size]);
+
+% compute the average images that will be used for finding LEDs
+% if not already computed
+
+pointsIdx = [1:STEP4STAT:NoPoints];
+
+t = cputime;
+for i=1:NoCams,
+  if ~exist(sprintf(config.files.avIM,seq(i).camId)),
+	disp(sprintf('The average image of the camera %d is being computed',seq(i).camId));
+	avIM = zeros(size(imread([sprintf(im.dir,seq(i).camId),seq(i).data(1).name])));
+	for j=pointsIdx,
+	  IM = imread([sprintf(im.dir,seq(i).camId),seq(i).data(j).name]);
+	  avIM = avIM + double(IM);
+	end
+	avIM = uint8(round(avIM./size(pointsIdx,2)));
+	imwrite(avIM,sprintf(config.files.avIM,seq(i).camId));
+  else	disp('Average files already exist');
+  end
+end
+disp(sprintf('Elapsed time for average images: %d [sec]',cputime-t))
+% compute the standard deviations images that will be used for finding LEDs
+% if not already computed
+t = cputime;
+for i=1:NoCams,
+  if ~exist(sprintf(config.files.stdIM,seq(i).camId)),
+	avIM = double(imread(sprintf(config.files.avIM,seq(i).camId)));
+	disp(sprintf('The image of standard deviations of the camera %d is being computed',seq(i).camId));
+	stdIM = zeros(size(imread([sprintf(im.dir,seq(i).camId),seq(i).data(1).name])));
+	for j=pointsIdx,
+	  IM = imread([sprintf(im.dir,seq(i).camId),seq(i).data(j).name]);
+	  stdIM = stdIM + (double(IM)-avIM).^2;
+	end
+	stdIM = uint8(round(sqrt(stdIM./(size(pointsIdx,2)-1))));
+	imwrite(stdIM,sprintf(config.files.stdIM,seq(i).camId));
+  else
+	disp('Image of standard deviations already exist')
+  end
+end
+disp(sprintf('Elapsed time for computation of images [sec]: %d',cputime-t))
+
+% find points in the images
+Ws    = [];
+IdWs  = [];
+Res	  = [];
+
+IdMat = ones(NoCams,NoPoints); 
+% IdMat is very important for Martinec&Pajdla filling [ECCV2002]
+% it is a NoCams x NoPoints matrix, 
+% IdMat(i,j) = 0 -> no j-th point in i-th
+% IdMat(i,j) = 1 -> point successfully detected
+
+for i=1:NoCams,
+  Points = [];
+  avIM  = imread(sprintf(config.files.avIM,seq(i).camId));
+  stdIM	= imread(sprintf(config.files.stdIM,seq(i).camId));
+  for j=1:NoPoints,
+	[pos,err] = getpoint([sprintf(im.dir,seq(i).camId),seq(i).data(j).name], 0, config.imgs, avIM, stdIM);
+	if err	  
+	  IdMat(i,j) = 0;
+	  Points = [Points, [NaN; NaN; NaN]];
+	else
+	  Points = [Points, [pos; 1]];
+	end
+  end
+  Ws = [Ws; Points];
+  Res= [Res; size(avIM,2), size(avIM,1)];
+end
+
+idx = '.';
+for i=CamsIds,
+  idx = sprintf('%s%02d',idx,i);
+end
+
+save([config.files.points,idx], 'Ws','-ASCII')
+% save(config.files.IdPoints,'IdWs','-ASCII')
+save([config.files.Res,idx], 'Res', '-ASCII')
+save([config.files.IdMat,idx], 'IdMat', '-ASCII')
+
+% write auxiliary file that is done
+done=1;
+save(donefile,'done','-ascii');
+
+% exit the Matlab
+% this script is to be used in the batch mode
+% hence exit at the end is necessary
+exit;

BlueCFindingPoints/localconfig.m

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+% LocalConfig configuration file for self-calibration experiments
+% 
+% 
+% config = configdata(experiment)
+%
+% experiment ... string with an experiment name
+
+function config = configdata(experiment)
+
+HOME_PATH = '/home/svoboda/Work/BlueCCal/';
+
+% add paths
+addpath([HOME_PATH,'MultiCamSelfCal/FindingPoints']);
+addpath([HOME_PATH,'BlueCFindingPoints']);
+
+
+if nargin<1,
+  display('No name of the experiment specified: >>basic<< used as default')
+  experiment = 'basic';
+end
+
+if strcmp(experiment,'basic')
+  error;
+elseif strcmp(experiment,'BlueCHoengg')
+  config.paths.data		= '/local/tomas/';
+  config.paths.img      = config.paths.data;
+  config.files.imnames	= 'arctic%d.pvi.*.';
+  config.files.idxcams	= [1:16];	% related to the imnames
+  config.files.imgext	= 'jpg';
+  config.imgs.LEDsize	= 7; % avg diameter of a LED in pixels  
+  config.imgs.LEDcolor	= 'green'; % color of the laser pointer
+  config.imgs.subpix	= 1/5;
+elseif strcmp(experiment,'BlueCRZ')
+  config.paths.data		= '/local/tomas/';
+  config.paths.img      = config.paths.data;
+  config.files.imnames	= 'atlantic%d.pvi.*.';
+  config.files.idxcams	= [3:12,14:18];	% related to the imnames
+  config.files.imgext	= 'jpg';
+  config.imgs.LEDsize	= 7; % avg diameter of a LED in pixels  
+  config.imgs.LEDcolor	= 'green'; % color of the laser pointer
+  config.imgs.subpix	= 1/5;
+else
+  error('Configdata: wrong identifier of the data set');
+end
+
+
+% image resolution
+try config.imgs.res; catch, config.imgs.res		  = [640,480];	end;
+
+% scale for the subpixel accuracy
+% 1/3 is a good compromise between speed and accuracy
+% for high-resolution images or bigger LEDs you may try 1/1 or 1/2
+try config.imgs.subpix; catch, config.imgs.subpix = 1/3; end;
+
+% data names
+try config.files.Pmats;    catch, 	config.files.Pmats	  = [config.paths.data,'Pmatrices.dat'];		end;
+try config.files.points;   catch, 	config.files.points	  = [config.paths.data,'points.dat'];		end;
+try config.files.IdPoints; catch,	config.files.IdPoints = [config.paths.data,'IdPoints.dat'];		end;
+try config.files.Res;	   catch,	config.files.Res	  = [config.paths.data,'Res.dat'];		end;
+try config.files.IdMat;	   catch, 	config.files.IdMat	  = [config.paths.data,'IdMat.dat'];			end;
+try config.files.inidx;	   catch, 	config.files.inidx	  = [config.paths.data,'idxin.dat'];			end;
+try config.files.avIM;	   catch, 	config.files.avIM	  = [config.paths.data,'camera%d.average.tiff'];		end;
+try config.files.stdIM;	   catch, 	config.files.stdIM	  = [config.paths.data,'camera%d.std.tiff'];		end;
+try config.files.CalPar;   catch, 	config.files.CalPar	  = [config.paths.data,'camera%d.cal'];			end;
+try config.files.CalPmat;  catch, 	config.files.CalPmat  = [config.paths.data,'camera%d.Pmat.cal'];			end;
+try config.files.StCalPar; catch, 	config.files.StCalPar = [config.paths.data,'atlantic%d.ethz.ch.cal'];	end;
+
+
+
+
+
+
+

CalTechCal/README.txt

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+Source codes by courtesy of Jean-Yves Bouguet at jean-yves.bouguet@intel.com
+
+http://www.vision.caltech.edu/bouguetj/calib_doc/