A_formatIntrinsics.m

%% A_formatIntrinsics
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%  This function initializes the intrinsics matrix for a given camera.

%  Input:
%  Entered by user below in Sections 1,2, and possibly 3. User can either
%  refer to Caltech calibration file or enter intrinsics manually.

%  Output:
%  A .mat file saved as directory/filename as specified by the user. 'IO'
%  will be appended to the name. Will contain  intrinsic matrix .

%  Required CIRN Functions:
%  caltech2CIRN


%  Required MATLAB Toolboxes:
%  none

%  It is to be run first in the progression. It should be run for each
%  camera in a multi-camera fixed station, every time the focus is
%  adjusted, a new lens is added, or a new enclosure is introduced.  For a
%  UAS camera, it should be run for each type of recording mode (4K Video,
%  12MP snapshot, etc).
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


%% Housekeeping
close all
clear all

% User should make sure that X_CoreFunctions and subfolders are made active
% in their MATLAB path. Below is the standard location for demo, user will
% need to change if X_CoreFunctions is moved and/or the current script.
addpath(genpath('./X_CoreFunctions/'))





%% Section 1: User Input: Loading and Saving Information

%  Enter the filename of the  .mat file that will be saved as. Name
%  should be descriptive of the camera such as 'Solo_4KVideo' or 'Duck_C1.'
oname='uasDemo';

%  Enter the directory where the mat file will be saved.
odir= './X_UASDemoData/extrinsicsIntrinsics/IntrinsicCalculations';





%% Section 2: User Input: Intrinsics
%  Enter the filepath of the saved Caltech calibration results. If user is
%  going to enter the LCP manually, leave iopath={}; and enter in
%  Section 3.
iopath= './X_UASDemoData/extrinsicsIntrinsics/IntrinsicCalculations/uasDemo_Calib_Results.mat';





%% Section 3: Conversion of Caltech Intrinsics to LCP (Lens Calibration Profile)

% For where a CalTech file is specified
if isempty(iopath)==0
    intrinsics = caltech2CIRN(iopath);
end


% For where a CalTech file is NOT specified
if isempty(iopath)==1
    intrinsics(1) = {};     % number of pixel columns (NU)
    intrinsics(2) = {};     % number of pixel rows (NV)
    intrinsics(3) = {};     % U component of principal point (coU)
    intrinsics(4) = {};     % V component of principal point  (coV)
    intrinsics(5) = {};     % U components of focal lengths (in pixels) (fx)
    intrinsics(6) = {};     % V components of focal lengths (in pixels) (fy)
    intrinsics(7) = {};     % Radial distortion coefficient (d1)
    intrinsics(8) = {};     % Radial distortion coefficient (d2)
    intrinsics(9) = {};     % Radial distortion coefficient (d3)
    intrinsics(10) = {};    % Tangential distortion coefficient (t1)
    intrinsics(11) = {};    % Tangential distortion coefficient (t2)
end





%% Section 4: Save File
save([odir '/' oname '_IO' ],'intrinsics')

% Display Results
disp(' ')
disp(' ')
disp(['Intrinsics for ' oname])
disp(' ')
disp(['NU=' num2str(intrinsics(1))])
disp(['NV=' num2str(intrinsics(2))])
disp(['coU=' num2str(intrinsics(3))])
disp(['coV=' num2str(intrinsics(4))])
disp(['fx=' num2str(intrinsics(5))])
disp(['fy=' num2str(intrinsics(6))])
disp(['d1=' num2str(intrinsics(7))])
disp(['d2=' num2str(intrinsics(8))])
disp(['d3=' num2str(intrinsics(9))])
disp(['t1=' num2str(intrinsics(10))])
disp(['t2=' num2str(intrinsics(11))])