/*******************************************************************************\*                                                                               ** This program reads in data for a calibrated camera model and then prompts     ** the user for distorted image coordinates that they would like to convert      ** into undistorted image coordinates using the model.                           **                                                                               ** History                                                                       ** -------                                                                       **                                                                               ** 01-Apr-95  Reg Willson (rgwillson@mmm.com) at 3M St. Paul, MN                 **       Filename changes for DOS port.                                          **                                                                               ** 01-May-93  Reg Willson (rgw@cs.cmu.edu) at Carnegie-Mellon University         **       Modified to use utility routines.                                       **                                                                               ** 07-Feb-93  Reg Willson (rgw@cs.cmu.edu) at Carnegie-Mellon University         **       Original implementation.                                                **                                                                               *\*******************************************************************************/#include <stdio.h>#include <math.h>#include "cal_main.h"#define MIN_X	0#define MAX_X	575#define MIN_Y	0#define MAX_Y	383main (argc, argv)    int       argc;    char    **argv;{    FILE     *data_fd;    double    Xfd,              Yfd,              Xfu,              Yfu,              atof ();    char      temp[256];    if (argc != 2) {	fprintf (stderr, "syntax: %s cp.cc.data_file\n", argv[0]);	exit (-1);    }    /* load up the camera parameters and calibration constants from the given data file */    if ((data_fd = fopen (argv[1], "r")) == NULL) {	fprintf (stderr, "%s: unable to open file \"%s\"\n", argv[0], argv[1]);	exit (-1);    }    load_cp_cc_data (data_fd, &cp, &cc);    fclose (data_fd);    fprintf (stdout, "\n Input file: %s\n\n", argv[1]);    print_cp_cc_data (stdout, &cp, &cc);    while (1) {	/* prompt for distorted image coordinates */	fprintf (stdout, "\n Enter Xfd [%d:%d] : ", MIN_X, MAX_X);	if (gets (temp) == NULL)	    break;	Xfd = atof (temp);	if ((Xfd < MIN_X) || (Xfd > MAX_X))	    break;	fprintf (stdout, "\n Enter Yfd [%d:%d] : ", MIN_Y, MAX_Y);	if (gets (temp) == NULL)	    break;	Yfd = atof (temp);	if ((Yfd < MIN_Y) || (Yfd > MAX_Y))	    break;	/* determine the corresponding undistorted image coordinates */	distorted_to_undistorted_image_coord (Xfd, Yfd, &Xfu, &Yfu);	fprintf (stdout,		 "\n    [Xfd,Yfd] = [%.2lf, %.2lf]  -->  [Xfu,Yfu] = [%.2lf, %.2lf]\n",		 Xfd, Yfd, Xfu, Yfu);    }    fprintf (stdout, "\n\n");    return 0;}