/* --------------------------------------------------------------------- */
/* -                        GenCalib.C                                 - */
/* --------------------------------------------------------------------- */
/* -    Some necessary includes...                                     - */
/* --------------------------------------------------------------------- */
#include "calibration.h"
/* --------------------------------------------------------------------- */
/* -    Global variables and structures...                             - */
/* --------------------------------------------------------------------- */
int result;
int i,j, r;
int N=2,M=3; 
float X[MAX], Y[MAX], Z[MAX];
int ImX[MAX], ImY[MAX];
float areal=0.0;

FILE *fp1, *fp2;

main()
{ 
   	printf ("starting camera calibration/matrix generation program \n");
        if ((fp1 = fopen( "CALIBPTS","w")) == NULL )
    		printf("cant open file: matrixA \n" );
        if ((fp2 = fopen( "M","w")) == NULL )
    		printf("cant open file: M \n" );
   	
	printf ("what is M (rows) the number of data points ? \n");
	N = 7;
	printf ("M (rows): ");
	scanf("%d", &M);
	printf("\n N: %d M: %d\n", N, M);
  	fprintf (fp2, "%4d", M);
  	fflush( fp2 );
	for (i=1;i<=M;i++)
	{  
	   printf ("what is X[%d]: ",i);
	   scanf("%f", &X[i]);
	   printf ("what is Y[%d]: ",i);
	   scanf("%f", &Y[i]);
	   printf ("what is Z[%d]: ",i);
	   scanf("%f", &Z[i]);
	   printf ("what is image point X -> ImX[%d]: ",i);
	   scanf("%d", &ImX[i]);
	   printf ("what is image point Y -> ImY[%d]: ",i);
	   scanf("%d", &ImY[i]);
	}
	printf ("this is the data\n");	
	for (i=1;i<=M;i++)
	{  
	   printf ("X[%d]: %f ",i, X[i]);
	   printf ("Y[%d]: %f ",i, Y[i]);
	   printf ("Z[%d]: %f ",i, Z[i]);
	   printf ("xm -> ImX[%d]: %d ",i, ImX[i]);
	   printf ("ym -> ImY[%d]: %d\n",i, ImY[i]);
	}

	do
	{
	   printf ("what row to replace? type 0 for done or no\n");
	   scanf("%d", &i);
	   if (i != 0)
	   {	
		printf ("what is X[%d]: ",i);
	   	scanf("%f", &X[i]);
	   	printf ("what is Y[%d]: ",i);
	   	scanf("%f", &Y[i]);
	   	printf ("what is Z[%d]: ",i);
	   	scanf("%f", &Z[i]);
	   	printf ("what is image point X -> ImX[%d]: ",i);
	   	scanf("%d", &ImX[i]);
	   	printf ("what is image point Y -> ImY[%d]: ",i);
	   	scanf("%d", &ImY[i]);
		printf ("NOW ...this is the data\n");	
		for (j=1;j<=M;j++)
		{  
	   	printf ("X[%d]: %f ",j, X[j]);
	   	printf ("Y[%d]: %f ",j, Y[j]);
	   	printf ("Z[%d]: %f ",j, Z[j]);
	   	printf ("xm -> ImX[%d]: %d ",j, ImX[j]);
	   	printf ("ym -> ImY[%d]: %d\n",j, ImY[j]);
		}
   	   }
	} while (i != 0);

	for (i=1;i<= M;i++)
  	{ 
	    fprintf (fp1, "%15f", X[i]);
  	    fflush( fp1 );
	    fprintf (fp1, "%15f", Y[i]);
  	    fflush( fp1 );
	    fprintf (fp1, "%15f", Z[i]);
  	    fflush( fp1 );
	    fprintf (fp1, "%6d", ImX[i]);
  	    fflush( fp1 );
	    fprintf (fp1, "%6d \n", ImY[i]);
  	    fflush( fp1 );
	}
  	if ( fp1 != NULL )
    	    if (r = fclose( fp1 ) != 0)
	       printf ("fp1 didnt close properly \n");
  	if ( fp2 != NULL )
    	    if (r = fclose( fp2 ) != 0)
	        printf ("fp2 didnt close properly \n");
} /* end main function */

#ifdef ROGER
#endif