% proc3d.m - get 3d info from a list of files

data_name = input('Base image filename? ([] to break)','s');

if isempty(data_name),
	return;
end

load calib_camera
load omlist

if ~exist('omegalist') | ~exist('fc') | ~exist('cc') | ~exist('kc'),
	disp('  ERROR - one or more necessary vars couldn''t be loaded from');
	disp('          omlist.mat or calib_camera.mat');
	return;
end

while 1,
	data_spacing = input('Spacing (in steps) between each data image? ');
	data_spacing = floor(data_spacing);
	if(data_spacing < 1) | (data_spacing > 100),
		disp(' INVALID - value must be between 1 and 100');
	else
		break;
	end
end

figure;
fig1 = gcf;
figure;
fig2 = gcf;

clear allpoints;
num=0;
omegandx = 1;
while 1,
	fname = strcat(data_name,sprintf('%d',num),'.bmp');
	clear im;
	if exist(fname,'file'),
		fprintf(1,'Processing %s...\n', fname);
		im = imread(fname,'bmp');
		im = double(im(:,:,1));
		figure(fig1);
		image(im);
		colormap(gray);
		ptlist = getpoints(im,cc,fc,kc);
		depth = recoverdepth(ptlist,omegalist(:,omegandx));		
		ptlist = [ ptlist(1,:) .* depth ; ptlist(2,:) .* depth ; depth ];
		figure(fig2);
		plot(ptlist(3,:),ptlist(2,:),'r.');
		axis('ij');
		axis([15 40 -15 10]);
		if ~exist('allpoints'),
			allpoints = ptlist;
		else
			allpoints = [allpoints ptlist];
		end
	else
		nfiles = num;
		break;
	end
%	disp('hit a key to continue...');
%	pause
	omegandx = omegandx + data_spacing;
	num = num+1;
end

[r,c]=size(allpoints);

fprintf(1,'Saving %d 3-D data points in var "allpoints" to %s.mat\n', c, data_name);

save(data_name,'allpoints');

figure
plot3(allpoints(1,:),allpoints(3,:),-allpoints(2,:),'r.');