END_TEST
/* Unit test for writing orientation files. Writes a sample calibration,
reads it back and compares.
*/
START_TEST(test_write_ori)
{
Calibration correct_cal, *cal;
correct_cal = test_cal();
char ori_file[] = "testing_fodder/test.ori";
char add_file[] = "testing_fodder/test.addpar";
write_ori(correct_cal.ext_par, correct_cal.int_par,
correct_cal.glass_par, correct_cal.added_par, ori_file, add_file);
fail_if((cal = read_calibration(ori_file, add_file, NULL)) == NULL);
fail_unless(compare_calib(cal, &correct_cal));
remove(ori_file);
remove(add_file);
}
int calibration_proc_c (/*ClientData clientData, Tcl_Interp* interp,*/ int argc, const char** argv)
{
int i, j, sel, i_img, k, n, sup;
int intx1, inty1, intx2, inty2;
coord_2d apfig1[11][11]; /* regular grid for ap figures */
coord_2d apfig2[11][11]; /* ap figures */
coord_3d fix4[4]; /* object points for preorientation */
coord_2d crd0[4][4]; /* image points for preorientation */
char filename[256], val[256];
const char *valp;
//Tk_PhotoHandle img_handle;
//Tk_PhotoImageBlock img_block;
/* read support of unsharp mask */
fp1 = fopen ("parameters/unsharp_mask.par", "r");
if (! fp1) sup = 12;
else { fscanf (fp1, "%d\n", &sup); fclose (fp1); }
/* Get Selection value from TclTk */
// ChrisB: what does this do?? Set a value......
//valp = Tcl_GetVar(interp, "sel", TCL_GLOBAL_ONLY);
//sel = atoi (valp);
sel = 1; // set a value....
switch (sel)
{
case 1: /* read calibration parameter file */
fp1 = fopen_r ("parameters/cal_ori.par");
fscanf (fp1,"%s\n", fixp_name);
for (i=0; i<4; i++)
{
fscanf (fp1, "%s\n", img_name[i]);
fscanf (fp1, "%s\n", img_ori0[i]);
}
fscanf (fpp, "%d\n", &tiff_flag);
fscanf (fp1, "%d\n", &chfield);
fclose (fp1);
/* create file names */
for (i=0; i<n_img; i++)
{
strcpy (img_ori[i], img_name[i]);
strcat (img_ori[i], ".ori");
strcpy (img_addpar0[i], img_name[i]);
strcat (img_addpar0[i], ".addpar0");
strcpy (img_addpar[i], img_name[i]);
strcat (img_addpar[i], ".addpar");
strcpy (img_hp_name[i], img_name[i]);
strcat (img_hp_name[i], "_hp");
}
for (i=0; i<n_img; i++)
{
zoom_x[i] = imx/2, zoom_y[i] = imy/2, zoom_f[i] = 1;
read_image (/*interp,*/ img_name[i], img[i]);
sprintf(val, "camcanvas %d", i+1);
//Tcl_Eval(interp, val);
//img_handle = Tk_FindPhoto( interp, "temp");
//Tk_PhotoGetImage (img_handle, &img_block);
//tclimg2cimg (interp, img[i], &img_block);
sprintf(val, "newimage %d", i+1);
//Tcl_Eval(interp, val);
}
break;
case 2: puts ("Detection procedure"); strcpy(val,"");
/* Highpass Filtering */
pre_processing_c (/*clientData, interp,*/ argc, argv);
/* reset zoom values */
for (i=0; i<n_img; i++)
{
zoom_x[i] = imx/2; zoom_y[i] = imy/2; zoom_f[i] = 1;
}
/* copy images because the target recognition
will set greyvalues to zero */
for (i=0; i<n_img; i++)
{
copy_images (img[i], img0[i]);
}
/* target recognition */
for (i=0; i<n_img; i++)
{
targ_rec (/*interp,*/ img[i], img0[i], "parameters/detect_plate.par",
0, imx, 1, imy, pix[i], i, &num[i]);
sprintf (buf,"image %d: %d, ", i+1, num[i]);
strcat(val, buf);
if (num[i] > nmax) exit (1);
}
/* save pixel coord as approx. for template matching */
if (examine) for (i=0; i<n_img; i++)
{
sprintf (filename, "%s_pix", img_name[i]);
fp1 = fopen (filename, "w");
for (j=0; j<num[i]; j++)
fprintf (fp1, "%4d %8.3f %8.3f\n",
pix[i][j].pnr, pix[i][j].x, pix[i][j].y);
fclose (fp1);
}
sprintf(buf,"Number of detected targets, interaction enabled");
//Tcl_SetVar(interp, "tbuf", buf, TCL_GLOBAL_ONLY);
//Tcl_Eval(interp, ".text delete 2");
//Tcl_Eval(interp, ".text insert 2 $tbuf");
//Tcl_SetVar(interp, "tbuf", val, TCL_GLOBAL_ONLY);
//Tcl_Eval(interp, ".text delete 3");
//Tcl_Eval(interp, ".text insert 3 $tbuf");
break;
case 3: pp1=0; pp2=0; pp3=0; pp4=0;
for (i=0; i<n_img; i++)
{
sprintf (buf, "%d targets remain", num[i]);
puts (buf);
}
fp1 = fopen_r ("parameters/man_ori.par");
for (i=0; i<n_img; i++)
{
fscanf (fp1, "%d %d %d %d\n", &nr[i][0], &nr[i][1], &nr[i][2], &nr[i][3]);
}
fclose (fp1);
for (i=0; i<n_img; i++)
{
sprintf(val, "measure %d %d %d %d %d", nr[i][0], nr[i][1], nr[i][2], nr[i][3], i+1);
//Tcl_Eval(interp, val);
#if 0
// ChrisB: do we need this?
valp = Tcl_GetVar(interp, "px0", TCL_GLOBAL_ONLY);
pix0[i][0].x = atoi (valp);
valp = Tcl_GetVar(interp, "py0", TCL_GLOBAL_ONLY);
pix0[i][0].y = atoi (valp);
valp = Tcl_GetVar(interp, "px1", TCL_GLOBAL_ONLY);
pix0[i][1].x = atoi (valp);
valp = Tcl_GetVar(interp, "py1", TCL_GLOBAL_ONLY);
pix0[i][1].y = atoi (valp);
valp = Tcl_GetVar(interp, "px2", TCL_GLOBAL_ONLY);
pix0[i][2].x = atoi (valp);
valp = Tcl_GetVar(interp, "py2", TCL_GLOBAL_ONLY);
pix0[i][2].y = atoi (valp);
valp = Tcl_GetVar(interp, "px3", TCL_GLOBAL_ONLY);
pix0[i][3].x = atoi (valp);
valp = Tcl_GetVar(interp, "py3", TCL_GLOBAL_ONLY);
pix0[i][3].y = atoi (valp);
#endif
}
/* write measured coordinates to file for next trial */
fp1 = fopen ("man_ori.dat", "w");
for (i=0; i<n_img; i++)
for (j=0; j<4; j++)
fprintf (fp1, "%f %f\n", pix0[i][j].x, pix0[i][j].y);
fclose (fp1);
break;
case 4: /* read pixel coordinates of older pre-orientation */
/* read point numbers of pre-clicked points */
fp1 = fopen_r ("parameters/man_ori.par");
for (i=0; i<n_img; i++)
{
fscanf (fp1, "%d %d %d %d\n",
&nr[i][0], &nr[i][1], &nr[i][2], &nr[i][3]);
}
fclose (fp1);
/* read coordinates of pre-clicked points */
fp1 = fopen ("man_ori.dat", "r");
if (! fp1) break;
for (i_img=0; i_img<n_img; i_img++) for (i=0; i<4; i++)
{
#if 0
fscanf (fp1, "%lf %lf\n",
&pix0[i_img][i].x, &pix0[i_img][i].y);
drawcross (interp, (int) pix0[i_img][i].x,
(int) pix0[i_img][i].y, cr_sz+2, i_img, "red");
draw_pnr (interp, (int) pix0[i_img][i].x, (int) pix0[i_img][i].y,
nr[i_img][i], i_img, "red");
#endif
}
fclose (fp1);
break;
case 5: puts ("Sort grid points");
for (i=0; i<n_img; i++)
{
/* read control point coordinates for man_ori points */
fp1 = fopen_r (fixp_name);
k = 0;
while ( fscanf (fp1, "%d %lf %lf %lf", &fix[k].pnr,
&fix[k].x, &fix[k].y, &fix[k].z) != EOF) k++;
fclose (fp1);
nfix = k;
/* take clicked points from control point data set */
for (j=0; j<4; j++) for (k=0; k<nfix; k++)
{
if (fix[k].pnr == nr[i][j]) fix4[j] = fix[k];
}
/* get approx for orientation and ap */
read_ori (&Ex[i], &I[i], img_ori0[i]);
fp1 = fopen (img_addpar0[i], "r");
if (! fp1) fp1 = fopen ("addpar.raw", "r");
if (fp1) {
fscanf (fp1, "%lf %lf %lf %lf %lf %lf %lf",
&ap[i].k1,&ap[i].k2,&ap[i].k3,
&ap[i].p1,&ap[i].p2,
&ap[i].scx,&ap[i].she);
fclose (fp1);} else {
printf("no addpar.raw\n");
ap[i].k1=ap[i].k2=ap[i].k3=ap[i].p1=ap[i].p2=ap[i].she=0.0;
ap[i].scx=1.0;
}
/* transform clicked points */
for (j=0; j<4; j++)
{
pixel_to_metric (pix0[i][j].x, pix0[i][j].y,
imx,imy, pix_x, pix_y,
&crd0[i][j].x, &crd0[i][j].y,
chfield);
correct_brown_affin (crd0[i][j].x, crd0[i][j].y, ap[i],
&crd0[i][j].x, &crd0[i][j].y);
}
/* raw orientation with 4 points */
raw_orient (Ex[i], I[i], ap[i], mmp, 4, fix4, crd0[i], &Ex[i]);
sprintf (filename, "raw%d.ori", i);
write_ori (Ex[i], I[i], filename);
/* sorting of detected points by back-projection */
sortgrid_man (/*interp,*/ Ex[i], I[i], ap[i], mmp,
imx,imy, pix_x,pix_y,
nfix, fix, num[i], pix[i], chfield, i);
/* adapt # of detected points */
num[i] = nfix;
for (j=0; j<nfix; j++)
{
#if 0
if (pix[i][j].pnr < 0) continue;
intx1 = (int) pix[i][j].x ;
inty1 = (int) pix[i][j].y ;
drawcross (interp, intx1, inty1, cr_sz, i, "white");
draw_pnr (interp, intx1, inty1, fix[j].pnr, i, "white");
#endif
}
}
/* dump dataset for rdb */
if (examine == 4)
{
/* create filename for dumped dataset */
sprintf (filename, "dump_for_rdb");
fp1 = fopen (filename, "w");
/* write # of points to file */
fprintf (fp1, "%d\n", nfix);
/* write point and image coord to file */
for (i=0; i<nfix; i++)
{
fprintf (fp1, "%4d %10.3f %10.3f %10.3f %d ",
fix[i].pnr, fix[i].x, fix[i].y, fix[i].z, 0);
for (i_img=0; i_img<n_img; i_img++)
{
if (pix[i_img][i].pnr >= 0)
{
/* transform pixel coord to metric */
pixel_to_metric (pix[i_img][i].x,
pix[i_img][i].y, imx,imy, pix_x, pix_y,
&crd[i_img][i].x, &crd[i_img][i].y,
chfield);
fprintf (fp1, "%4d %8.5f %8.5f ",
pix[i_img][i].pnr,
crd[i_img][i].x, crd[i_img][i].y);
}
else
{
fprintf (fp1, "%4d %8.5f %8.5f ",
pix[i_img][i].pnr, 0.0, 0.0);
}
}
fprintf (fp1, "\n");
}
fclose (fp1);
printf ("dataset dumped into %s\n", filename);
}
break;
case 6: puts ("Orientation"); strcpy(buf, "");
for (i_img=0; i_img<n_img; i_img++)
{
for (i=0; i<nfix ; i++)
{
pixel_to_metric (pix[i_img][i].x, pix[i_img][i].y,
imx,imy, pix_x, pix_y,
&crd[i_img][i].x, &crd[i_img][i].y,
chfield);
crd[i_img][i].pnr = pix[i_img][i].pnr;
}
/* save data for special use of resection routine */
if (examine == 4)
{
printf ("try write resection data to disk\n");
/* point coordinates */
sprintf (filename, "resect_%s.fix", img_name[i_img]);
write_ori (Ex[i_img], I[i_img], img_ori[i_img]);
fp1 = fopen (filename, "w");
for (i=0; i<nfix; i++)
fprintf (fp1, "%3d %10.5f %10.5f %10.5f\n",
fix[i].pnr, fix[i].x, fix[i].y, fix[i].z);
fclose (fp1);
/* metric image coordinates */
sprintf (filename, "resect_%s.crd", img_name[i_img]);
fp1 = fopen (filename, "w");
for (i=0; i<nfix; i++)
fprintf (fp1,
"%3d %9.5f %9.5f\n", crd[i_img][i].pnr,
crd[i_img][i].x, crd[i_img][i].y);
fclose (fp1);
/* orientation and calibration approx data */
write_ori (Ex[i_img], I[i_img], "resect.ori0");
fp1 = fopen ("resect.ap0", "w");
fprintf (fp1, "%f %f %f %f %f %f %f",
ap[i_img].k1, ap[i_img].k2, ap[i_img].k3,
ap[i_img].p1, ap[i_img].p2,
ap[i_img].scx, ap[i_img].she);
fclose (fp1);
printf ("resection data written to disk\n");
}
/* resection routine */
/* ================= */
if (examine != 4)
orient (/*interp,*/ Ex[i_img], I[i_img], ap[i_img], mmp,
nfix, fix, crd[i_img],
&Ex[i_img], &I[i_img], &ap[i_img], i_img);
/* ================= */
/* resection with dumped datasets */
if (examine == 4)
{
printf("Resection with dumped datasets? (y/n)");
scanf("%s",buf);
if (buf[0] != 'y') continue;
strcpy (buf, "");
/* read calibration frame datasets */
for (n=0, nfix=0, dump_for_rdb=0; n<100; n++)
{
sprintf (filename, "resect.fix%d", n);
fp1 = fopen (filename, "r");
if (! fp1) continue;
printf("reading file: %s\n", filename);
printf ("reading dumped resect data #%d\n", n);
k = 0;
while ( fscanf (fp1, "%d %lf %lf %lf",
&fix[nfix+k].pnr, &fix[nfix+k].x,
&fix[nfix+k].y, &fix[nfix+k].z)
!= EOF) k++;
fclose (fp1);
/* read metric image coordinates */
sprintf (filename, "resect_%d.crd%d", i_img, n);
printf("reading file: %s\n", filename);
fp1 = fopen (filename, "r");
for (i=nfix; i<nfix+k; i++)
fscanf (fp1, "%d %lf %lf",
&crd[i_img][i].pnr,
&crd[i_img][i].x, &crd[i_img][i].y);
nfix += k;
}
/* resection */
orient (/*interp,*/ Ex[i_img], I[i_img], ap[i_img], mmp,
nfix, fix, crd[i_img],
&Ex[i_img], &I[i_img], &ap[i_img], i_img);
}
/* save orientation and additional parameters */
write_ori (Ex[i_img], I[i_img], img_ori[i_img]);
fp1 = fopen (img_addpar[i_img], "w");
fprintf (fp1, "%f %f %f %f %f %f %f",
ap[i_img].k1, ap[i_img].k2, ap[i_img].k3,
ap[i_img].p1, ap[i_img].p2,
ap[i_img].scx, ap[i_img].she);
fclose (fp1);
}
//Tcl_Eval(interp, ".text delete 3");
//Tcl_Eval(interp, ".text delete 1");
//Tcl_Eval(interp, ".text insert 1 \"Orientation and self calibration \"");
//Tcl_Eval(interp, ".text delete 2");
//Tcl_Eval(interp, ".text insert 2 \"...done, sigma0 for each image -> \"");
//Tcl_SetVar(interp, "tbuf", buf, TCL_GLOBAL_ONLY);
//Tcl_Eval(interp, ".text insert 3 $tbuf");
break;
case 7: checkpoint_proc (/*interp*/);
#if 0
sprintf(val,"blue: planimetry, yellow: height");
Tcl_SetVar(interp, "tbuf", val, TCL_GLOBAL_ONLY);
Tcl_Eval(interp, ".text delete 2");
Tcl_Eval(interp, ".text insert 2 $tbuf");
Tcl_SetVar(interp, "tbuf", buf, TCL_GLOBAL_ONLY);
Tcl_Eval(interp, ".text delete 3");
Tcl_Eval(interp, ".text insert 3 $tbuf");
#endif
break;
case 8: /* draw additional parameter figures */
//Tcl_Eval(interp, "clearcam");
/* read orientation and additional parameters */
for (i=0; i<n_img; i++) read_ori (&Ex[i], &I[i], img_ori[i]);
for (i=0; i<n_img; i++)
{
fp1 = fopen_r (img_addpar[i]);
fscanf (fp1,"%lf %lf %lf %lf %lf %lf %lf",
&ap[i].k1, &ap[i].k2, &ap[i].k3,
&ap[i].p1, &ap[i].p2, &ap[i].scx, &ap[i].she);
fclose (fp1);
}
for (i_img=0; i_img<n_img; i_img++)
{
/* create undistorted grid */
for (i=0; i<11; i++) for (j=0; j<11; j++)
{
apfig1[i][j].x = i * imx/10;
apfig1[i][j].y = j * imy/10;
}
/* draw undistorted grid */
for (i=0; i<10; i++) for (j=0; j<10; j++)
{
intx1 = (int) apfig1[i][j].x;
inty1 = (int) apfig1[i][j].y;
intx2 = (int) apfig1[i+1][j].x;
inty2 = (int) apfig1[i][j+1].y;
//drawvector (interp, intx1, inty1, intx2, inty1, 1, i_img, "black");
//drawvector (interp, intx1, inty1, intx1, inty2, 1, i_img, "black");
}
for (j=0; j<10; j++)
{
intx1 = (int) apfig1[10][j].x;
inty1 = (int) apfig1[10][j].y;
inty2 = (int) apfig1[10][j+1].y;
//drawvector (interp, intx1, inty1, intx1, inty2, 1, i_img, "black");
}
for (i=0; i<10; i++)
{
intx1 = (int) apfig1[i][10].x;
inty1 = (int) apfig1[i][10].y;
intx2 = (int) apfig1[i+1][10].x;
//drawvector (interp, intx1, inty1, intx2, inty1, 1, i_img, "black");
}
/* distort grid */
for (i=0; i<11; i++) for (j=0; j<11; j++)
{
/* transform to metric, distort and re-transform */
pixel_to_metric (apfig1[i][j].x, apfig1[i][j].y,
imx,imy, pix_x,pix_y,
&apfig2[i][j].x, &apfig2[i][j].y, chfield);
distort_brown_affin (apfig2[i][j].x, apfig2[i][j].y,
ap[i_img], &apfig2[i][j].x, &apfig2[i][j].y);
metric_to_pixel (apfig2[i][j].x, apfig2[i][j].y,
imx,imy, pix_x,pix_y,
&apfig2[i][j].x, &apfig2[i][j].y, chfield);
/* exaggerate distortion by factor 5 */
apfig2[i][j].x = 5*apfig2[i][j].x - 4*apfig1[i][j].x;
apfig2[i][j].y = 5*apfig2[i][j].y - 4*apfig1[i][j].y;
}
/* draw distorted grid */
for (i=0; i<10; i++) for (j=0; j<10; j++)
{
intx1 = (int) apfig2[i][j].x;
inty1 = (int) apfig2[i][j].y;
intx2 = (int) apfig2[i+1][j].x;
inty2 = (int) apfig2[i+1][j].y;
//drawvector (interp, intx1, inty1, intx2, inty2, 3, i_img, "magenta");
intx2 = (int) apfig2[i][j+1].x ;
inty2 = (int) apfig2[i][j+1].y ;
//drawvector (interp, intx1, inty1, intx2, inty2, 3, i_img, "magenta");
}
for (j=0; j<10; j++)
{
intx1 = (int) apfig2[10][j].x;
inty1 = (int) apfig2[10][j].y;
intx2 = (int) apfig2[10][j+1].x;
inty2 = (int) apfig2[10][j+1].y;
//drawvector (interp, intx1, inty1, intx2, inty2, 3, i_img, "magenta");
}
for (i=0; i<10; i++)
{
intx1 = (int) apfig2[i][10].x;
inty1 = (int) apfig2[i][10].y;
intx2 = (int) apfig2[i+1][10].x;
inty2 = (int) apfig2[i+1][10].y ;
//drawvector (interp, intx1, inty1, intx2, inty2, 3, i_img, "magenta");
}
}
break;
}
return TCL_OK;
}