function cameraCalibrator(varargin)

%cameraCalibrator Single camera calibration app.

%

%   cameraCalibrator invokes a camera calibration app. The app

%   can be used to estimate camera intrinsic and extrinsic parameters,

%   and to compute parameters needed to remove the effects of lens

%   distortion from an image.

%

%   cameraCalibrator(imageFolder, squareSize) invokes the app and

%   immediately loads the calibration images from imageFolder. squareSize

%   is a scalar specifying the size of the checkerboard square in the

%   calibration pattern in millimeters.

%

%   cameraCalibrator(imageFolder, squareSize, squareSizeUnits) additionally

%   specifies the unis of the square size as a string. The valid units are

%   'mm' (default), 'cm', and 'in'.

%

%   cameraCalibrator(sessionFile) invokes the app and immediately loads a

%   saved camera calibration session. sessionFile is the path to the MAT file

%   containing the saved session.

%

%   cameraCalibrator CLOSE closes all open apps.

%

%   See also detectCheckerboardPoints, estimateCameraParameters,

%     showExtrinsics, showReprojectionErrors, undistortImage,

%     cameraParameters

%   Copyright 2012 The MathWorks, Inc.

import vision.internal.calibration.tool.*;

shouldAddImages = false;

shouldOpenSession = false;

% A single argument means either 'close' or load a session.

if nargin == 1

if strcmpi(varargin{1}, 'close')

% Handle the 'close' request

CameraCalibrationTool.deleteAllTools();

return;

elseif exist(varargin{1}, 'file') || exist([varargin{1}, '.mat'], 'file')

% Load a session

sessionFileName = varargin{1};

[sessionPath, sessionFileName] = parseSessionFileName(sessionFileName);

shouldOpenSession = true;

end

end

if nargin > 0 && ~shouldOpenSession

% Adding images from folders

narginchk(2, 3);

[fileNames, squareSize, units] = parseInputs(varargin{:});

shouldAddImages = true;

end

% Create a new Camera Calibrator

tool = vision.internal.calibration.tool.CameraCalibrationTool;

tool.show();

if shouldAddImages

addImagesToNewSession(tool, fileNames, squareSize, units);

elseif shouldOpenSession

processOpenSession(tool, sessionPath, sessionFileName);

end

%--------------------------------------------------------------------------

function [fileNames, squareSize, units] = parseInputs(varargin)

import vision.internal.calibration.tool.*;

folder = varargin{1};

validateattributes(folder, {'char'}, {'vector'}, mfilename, 'folder');

if ~exist(folder, 'dir')

error(message('vision:caltool:stereoFolderDoesNotExist', folder));

end

folder = vision.internal.getFullPath(folder);

squareSize = varargin{2};

vision.internal.calibration.checkSquareSize(squareSize, mfilename);

if nargin < 3

units = 'mm';

else

units = checkSquareSizeUnits(varargin{3});

end

fileNames = vision.internal.getAllImageFilesFromFolder(folder);

if isempty(fileNames)

error(message('vision:caltool:noImagesFound', folder));

end

%--------------------------------------------------------------------------

function squareSizeUnits = checkSquareSizeUnits(squareSizeUnits)

squareSizeUnits = validatestring(squareSizeUnits, {'mm', 'cm', 'in'}, mfilename, 'units');