%1- Calibration: Get the of the source light, and the camera calib parameters.

calib_name = input('Calibration image name? ([]=no image calibration) ','s');

if ~isempty(calib_name),

   if exist(calib_name),
%      Ic = readras(calib_name);
		Ic = imread(calib_name,'bmp');
		Ic = double(Ic(:,:,2));
      [omc,Rc,Tc,fc,cc,kc,exc] = AutoCalibCam(Ic,gray(256));
      
      % Normal of the calibration plane, and distance:
      
      pc = [Rc(:,3); -Rc(:,3)'*Tc];
      
      n_ground = pc(1:3);
      d_ground = -pc(4);
      omega_ground  = n_ground / d_ground;
      
      dd = -pc(4);
      
      nd = pc(2:3)/norm(pc(2:3));
      theta = atan2(nd(2),nd(1)); 	% tilt angle on the camera
      
      disp('Save the camera calibration under calib_camera.mat');
      save calib_camera omc Rc Tc fc cc kc pc theta dd n_ground d_ground omega_ground exc
   
   else
      
      error('This images does not exist');
      
   end;

end;

q_light = input('Need to calibrate the light source? ([]=no) ');

if ~isempty(q_light),

   calib_light; % the saving is inside the function

end;