WebSVN – seema-scanner – Diff – /src/SMCalibrationParameters.cpp



    std::cout << "Rr: " << std::endl;
    std::cout << Rr << std::endl;
    std::cout << "Tr: " << std::endl;
    std::cout << Tr << std::endl;
    std::cout << "cam0_error: " << std::endl;
    std::cout << cam0_error << " px" << std::endl;
    std::cout << "cam0_errors_per_view: " << std::endl;
    for(unsigned int i=0; i<cam0_errors_per_view.size(); i++)
        std::cout << "\t" << cam0_errors_per_view[i] << std::endl;
    std::cout << "cam1_error: " << std::endl;
    std::cout << cam1_error << " px" << std::endl;
    std::cout << "cam1_errors_per_view: " << std::endl;
    for(unsigned int i=0; i<cam1_errors_per_view.size(); i++)
        std::cout << "\t" << cam1_errors_per_view[i] << std::endl;
    std::cout << "stereo_error: " << std::endl;
    std::cout << stereo_error << " px" << std::endl;
    std::cout << "rot_axis_error: " << std::endl;
    std::cout << rot_axis_error << " mm" << std::endl;
}
 
void SMCalibrationParameters::exportToXML(QString fileName){
 
    cv::FileStorage fs(fileName.toStdString(), cv::FileStorage::WRITE);

        std::cerr << "SMCalibrationParameters: could not save file!" << std::endl;
 
    fs << "K0" << cv::Mat(K0) << "k0" << cv::Mat(k0) << "cam0_error" << cam0_error
       << "K1" << cv::Mat(K1) << "k1" << cv::Mat(k1) << "cam1_error" << cam1_error
       << "R1" << cv::Mat(R1) << "T1" << cv::Mat(T1) << "stereo_error" << stereo_error
       << "Rr" << cv::Mat(Rr) << "Tr" << cv::Mat(Tr) << "rot_axis_error" << rot_axis_error
       << "E" << cv::Mat(E) << "F" << cv::Mat(F);
 
    fs.release();
 
}

    fs["R1"] >> temp; R1 = temp;
    fs["T1"] >> temp; T1 = temp;
    fs["stereo_error"] >> stereo_error;
    fs["Rr"] >> temp; Rr = temp;
    fs["Tr"] >> temp; Tr = temp;
    fs["rot_axis_error"] >> rot_axis_error;
    fs["E"] >> temp; E = temp;
    fs["F"] >> temp; F = temp;
 
    fs.release();
}

    in >> data.E(0,0) >> data.E(0,1) >> data.E(0,2) >> data.E(1,0) >> data.E(1,1) >> data.E(1,2) >> data.E(2,0) >> data.E(2,1) >> data.E(2,2);
    in >> data.F(0,0) >> data.F(0,1) >> data.F(0,2) >> data.F(1,0) >> data.F(1,1) >> data.F(1,2) >> data.F(2,0) >> data.F(2,1) >> data.F(2,2);
 
    in >> data.Rr(0,0) >> data.Rr(0,1) >> data.Rr(0,2) >> data.Rr(1,0) >> data.Rr(1,1) >> data.Rr(1,2) >> data.Rr(2,0) >> data.Rr(2,1) >> data.Rr(2,2);
    in >> data.Tr(0) >> data.Tr(1) >> data.Tr(2);
    in >> data.rot_axis_error;
 
    return in;
}
 
QDataStream& operator<<(QDataStream& out, const SMCalibrationParameters& data){

    out << data.E(0,0) << data.E(0,1) << data.E(0,2) << data.E(1,0) << data.E(1,1) << data.E(1,2) << data.E(2,0) << data.E(2,1) << data.E(2,2);
    out << data.F(0,0) << data.F(0,1) << data.F(0,2) << data.F(1,0) << data.F(1,1) << data.F(1,2) << data.F(2,0) << data.F(2,1) << data.F(2,2);
 
    out << data.Rr(0,0) << data.Rr(0,1) << data.Rr(0,2) << data.Rr(1,0) << data.Rr(1,1) << data.Rr(1,2) << data.Rr(2,0) << data.Rr(2,1) << data.Rr(2,2);
    out << data.Tr(0) << data.Tr(1) << data.Tr(2);
    out << data.rot_axis_error;
 
    return out;
 
}
 

Subversion Repositories seema-scanner

(root)/src/SMCalibrationParameters.cpp @ 225 – Rev 167 → 176

Rev 167		Rev 176
Line 19...		Line 19...
19	`std::cout << "Rr: " << std::endl;`	19	`std::cout << "Rr: " << std::endl;`
20	`std::cout << Rr << std::endl;`	20	`std::cout << Rr << std::endl;`
21	`std::cout << "Tr: " << std::endl;`	21	`std::cout << "Tr: " << std::endl;`
22	`std::cout << Tr << std::endl;`	22	`std::cout << Tr << std::endl;`
23	`std::cout << "cam0_error: " << std::endl;`	23	`std::cout << "cam0_error: " << std::endl;`
24	`std::cout << cam0_error << std::endl;`	24	`std::cout << cam0_error << " px" << std::endl;`
25	`std::cout << "cam0_errors_per_view: " << std::endl;`	25	`std::cout << "cam0_errors_per_view: " << std::endl;`
26	`for(unsigned int i=0; i<cam0_errors_per_view.size(); i++)`	26	`for(unsigned int i=0; i<cam0_errors_per_view.size(); i++)`
27	`std::cout << "\t" << cam0_errors_per_view[i] << std::endl;`	27	`std::cout << "\t" << cam0_errors_per_view[i] << std::endl;`
28	`std::cout << "cam1_error: " << std::endl;`	28	`std::cout << "cam1_error: " << std::endl;`
29	`std::cout << cam1_error << std::endl;`	29	`std::cout << cam1_error << " px" << std::endl;`
30	`std::cout << "cam1_errors_per_view: " << std::endl;`	30	`std::cout << "cam1_errors_per_view: " << std::endl;`
31	`for(unsigned int i=0; i<cam1_errors_per_view.size(); i++)`	31	`for(unsigned int i=0; i<cam1_errors_per_view.size(); i++)`
32	`std::cout << "\t" << cam1_errors_per_view[i] << std::endl;`	32	`std::cout << "\t" << cam1_errors_per_view[i] << std::endl;`
33	`std::cout << "stereo_error: " << std::endl;`	33	`std::cout << "stereo_error: " << std::endl;`
34	`std::cout << stereo_error << std::endl;`	34	`std::cout << stereo_error << " px" << std::endl;`
-		35	`std::cout << "rot_axis_error: " << std::endl;`
-		36	`std::cout << rot_axis_error << " mm" << std::endl;`
35	`}`	37	`}`
36		38
37	`void SMCalibrationParameters::exportToXML(QString fileName){`	39	`void SMCalibrationParameters::exportToXML(QString fileName){`
38		40
39	`cv::FileStorage fs(fileName.toStdString(), cv::FileStorage::WRITE);`	41	`cv::FileStorage fs(fileName.toStdString(), cv::FileStorage::WRITE);`
Line 41...		Line 43...
41	`std::cerr << "SMCalibrationParameters: could not save file!" << std::endl;`	43	`std::cerr << "SMCalibrationParameters: could not save file!" << std::endl;`
42		44
43	`fs << "K0" << cv::Mat(K0) << "k0" << cv::Mat(k0) << "cam0_error" << cam0_error`	45	`fs << "K0" << cv::Mat(K0) << "k0" << cv::Mat(k0) << "cam0_error" << cam0_error`
44	`<< "K1" << cv::Mat(K1) << "k1" << cv::Mat(k1) << "cam1_error" << cam1_error`	46	`<< "K1" << cv::Mat(K1) << "k1" << cv::Mat(k1) << "cam1_error" << cam1_error`
45	`<< "R1" << cv::Mat(R1) << "T1" << cv::Mat(T1) << "stereo_error" << stereo_error`	47	`<< "R1" << cv::Mat(R1) << "T1" << cv::Mat(T1) << "stereo_error" << stereo_error`
46	`<< "Rr" << cv::Mat(Rr) << "Tr" << cv::Mat(Tr)`	48	`<< "Rr" << cv::Mat(Rr) << "Tr" << cv::Mat(Tr) << "rot_axis_error" << rot_axis_error`
47	`<< "E" << cv::Mat(E) << "F" << cv::Mat(F);`	49	`<< "E" << cv::Mat(E) << "F" << cv::Mat(F);`
48		50
49	`fs.release();`	51	`fs.release();`
50		52
51	`}`	53	`}`
Line 66...		Line 68...
66	`fs["R1"] >> temp; R1 = temp;`	68	`fs["R1"] >> temp; R1 = temp;`
67	`fs["T1"] >> temp; T1 = temp;`	69	`fs["T1"] >> temp; T1 = temp;`
68	`fs["stereo_error"] >> stereo_error;`	70	`fs["stereo_error"] >> stereo_error;`
69	`fs["Rr"] >> temp; Rr = temp;`	71	`fs["Rr"] >> temp; Rr = temp;`
70	`fs["Tr"] >> temp; Tr = temp;`	72	`fs["Tr"] >> temp; Tr = temp;`
-		73	`fs["rot_axis_error"] >> rot_axis_error;`
71	`fs["E"] >> temp; E = temp;`	74	`fs["E"] >> temp; E = temp;`
72	`fs["F"] >> temp; F = temp;`	75	`fs["F"] >> temp; F = temp;`
73		76
74	`fs.release();`	77	`fs.release();`
75	`}`	78	`}`
Line 92...		Line 95...
92	`in >> data.E(0,0) >> data.E(0,1) >> data.E(0,2) >> data.E(1,0) >> data.E(1,1) >> data.E(1,2) >> data.E(2,0) >> data.E(2,1) >> data.E(2,2);`	95	`in >> data.E(0,0) >> data.E(0,1) >> data.E(0,2) >> data.E(1,0) >> data.E(1,1) >> data.E(1,2) >> data.E(2,0) >> data.E(2,1) >> data.E(2,2);`
93	`in >> data.F(0,0) >> data.F(0,1) >> data.F(0,2) >> data.F(1,0) >> data.F(1,1) >> data.F(1,2) >> data.F(2,0) >> data.F(2,1) >> data.F(2,2);`	96	`in >> data.F(0,0) >> data.F(0,1) >> data.F(0,2) >> data.F(1,0) >> data.F(1,1) >> data.F(1,2) >> data.F(2,0) >> data.F(2,1) >> data.F(2,2);`
94		97
95	`in >> data.Rr(0,0) >> data.Rr(0,1) >> data.Rr(0,2) >> data.Rr(1,0) >> data.Rr(1,1) >> data.Rr(1,2) >> data.Rr(2,0) >> data.Rr(2,1) >> data.Rr(2,2);`	98	`in >> data.Rr(0,0) >> data.Rr(0,1) >> data.Rr(0,2) >> data.Rr(1,0) >> data.Rr(1,1) >> data.Rr(1,2) >> data.Rr(2,0) >> data.Rr(2,1) >> data.Rr(2,2);`
96	`in >> data.Tr(0) >> data.Tr(1) >> data.Tr(2);`	99	`in >> data.Tr(0) >> data.Tr(1) >> data.Tr(2);`
-		100	`in >> data.rot_axis_error;`
97		101
98	`return in;`	102	`return in;`
99	`}`	103	`}`
100		104
101	`QDataStream& operator<<(QDataStream& out, const SMCalibrationParameters& data){`	105	`QDataStream& operator<<(QDataStream& out, const SMCalibrationParameters& data){`
Line 115...		Line 119...
115	`out << data.E(0,0) << data.E(0,1) << data.E(0,2) << data.E(1,0) << data.E(1,1) << data.E(1,2) << data.E(2,0) << data.E(2,1) << data.E(2,2);`	119	`out << data.E(0,0) << data.E(0,1) << data.E(0,2) << data.E(1,0) << data.E(1,1) << data.E(1,2) << data.E(2,0) << data.E(2,1) << data.E(2,2);`
116	`out << data.F(0,0) << data.F(0,1) << data.F(0,2) << data.F(1,0) << data.F(1,1) << data.F(1,2) << data.F(2,0) << data.F(2,1) << data.F(2,2);`	120	`out << data.F(0,0) << data.F(0,1) << data.F(0,2) << data.F(1,0) << data.F(1,1) << data.F(1,2) << data.F(2,0) << data.F(2,1) << data.F(2,2);`
117		121
118	`out << data.Rr(0,0) << data.Rr(0,1) << data.Rr(0,2) << data.Rr(1,0) << data.Rr(1,1) << data.Rr(1,2) << data.Rr(2,0) << data.Rr(2,1) << data.Rr(2,2);`	122	`out << data.Rr(0,0) << data.Rr(0,1) << data.Rr(0,2) << data.Rr(1,0) << data.Rr(1,1) << data.Rr(1,2) << data.Rr(2,0) << data.Rr(2,1) << data.Rr(2,2);`
119	`out << data.Tr(0) << data.Tr(1) << data.Tr(2);`	123	`out << data.Tr(0) << data.Tr(1) << data.Tr(2);`
-		124	`out << data.rot_axis_error;`
120		125
121	`return out;`	126	`return out;`
122		127
123	`}`	128	`}`
124		129