Subversion Repositories seema-scanner

Rev

Rev 176 | Rev 232 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 176 Rev 225
Line 1... Line 1...
1 
#include "SMCalibrationParameters.h"
 1 
#include "SMCalibrationParameters.h"
2 
 
 2 
 
3 
 
 3 
 
- 
 
 4 
void SMCalibrationParameters::printCamera(std::ostream &stream){
- 
 
 5 
 
- 
 
 6 
    stream << std::setprecision(6)
- 
 
 7 
    << "Camera 0: " << std::endl
- 
 
 8 
        << "\t focal length: \t[" << K0(0,0) << " " << K0(1,1) << "] "
- 
 
 9 
            << "\t\t +/- [" << cam0_intrinsic_std[0] << " " << cam0_intrinsic_std[1] << "]" << std::endl
- 
 
 10 
        << "\t central point: \t[" << K0(0,2) << " " << K0(1,2) << "] "
- 
 
 11 
            << "\t\t +/- [" << cam0_intrinsic_std[2] << " " << cam0_intrinsic_std[3] << "]" << std::endl
- 
 
 12 
        << "\t lens distortion: \t" << k0
- 
 
 13 
            << "\t +/- [" << cam0_intrinsic_std[4] << " " << cam0_intrinsic_std[5] << " " << cam0_intrinsic_std[6] << " " << cam0_intrinsic_std[7] << " " << cam0_intrinsic_std[8] << "]" << std::endl
- 
 
 14 
        << "\t reprojection errors: " << std::endl;
- 
 
 15 
        for(unsigned int i=0; i<cam0_errors_per_view.size(); i++)
- 
 
 16 
            stream << "\t\t\t" << cam0_errors_per_view[i] << " px" << std::endl;
- 
 
 17 
 
- 
 
 18 
    stream << "Camera 1: " << std::endl
- 
 
 19 
        << "\t focal length: \t[" << K1(0,0) << " " << K1(1,1) << "] "
- 
 
 20 
            << "\t\t +/- [" << cam1_intrinsic_std[0] << " " << cam1_intrinsic_std[1] << "]" << std::endl
- 
 
 21 
        << "\t central point: \t[" << K1(0,2) << " " << K1(1,2) << "] "
- 
 
 22 
            << "\t\t +/- [" << cam1_intrinsic_std[2] << " " << cam1_intrinsic_std[3] << "]" << std::endl
- 
 
 23 
        << "\t lens distortion: \t" << k1
- 
 
 24 
            << "\t +/- [" << cam1_intrinsic_std[4] << " " << cam1_intrinsic_std[5] << " " << cam1_intrinsic_std[6] << " " << cam1_intrinsic_std[7] << " " << cam1_intrinsic_std[8] << "]" << std::endl
- 
 
 25 
        << "\t reprojection errors: " << std::endl;
- 
 
 26 
        for(unsigned int i=0; i<cam1_errors_per_view.size(); i++)
- 
 
 27 
            stream << "\t\t\t" << cam1_errors_per_view[i] << " px" << std::endl;
- 
 
 28 
 
- 
 
 29 
    stream << "Stereo Parameters: " << std::endl
- 
 
 30 
        << "\t rotation: \t\t[" << R1(0,0) << " " << R1(0,1) << " " << R1(0,2) << "; "
- 
 
 31 
            << R1(1,0) << " " << R1(1,1) << " " << R1(1,2) << " "
- 
 
 32 
            << R1(2,0) << " " << R1(2,1) << " " << R1(2,2) << "]" << std::endl
- 
 
 33 
        << "\t translation: \t[" << T1(0) << T1(1) << " " << T1(2) << std::endl
- 
 
 34 
        << "\t reprojection error: \n\t\t\t" << stereo_error << " px" << std::endl;
- 
 
 35 
}
- 
 
 36 
 
- 
 
 37 
void SMCalibrationParameters::printRotationStage(std::ostream &stream){
- 
 
 38 
 
- 
 
 39 
    stream << std::setprecision(6)
- 
 
 40 
    << "Parameters: " << std::endl
- 
 
 41 
        << "\t rotation: \t [" << Rr(0,0) << Rr(0,1) << " " << Rr(0,2) << "; "
- 
 
 42 
            << Rr(1,0) << " " << Rr(1,1) << " " << Rr(1,2) << " "
- 
 
 43 
            << Rr(2,0) << " " << Rr(2,1) << " " << Rr(2,2) << " " << std::endl
- 
 
 44 
        << "\t translation: \t[" << Tr(0) << " " << Tr(1) << " " << Tr(2) << "]" << std::endl
- 
 
 45 
        << "\t error: \n\t\t\t" << rot_axis_error << " mm" << std::endl;
- 
 
 46 
}
- 
 
 47 
 
4 
void SMCalibrationParameters::print(){
 48 
void SMCalibrationParameters::print(std::ostream &stream){
- 
 
 49 
 
- 
 
 50 
    printCamera(stream);
- 
 
 51 
    printRotationStage(stream);
5 
 
 52 
 
6 
    std::cout << "Calibration Parameters:" << std::endl;
 - 
 
7 
    std::cout << "K0: " << std::endl;
 - 
 
8 
    std::cout << K0 << std::endl;
 - 
 
9 
    std::cout << "k0: " << std::endl;
 - 
 
10 
    std::cout << k0 << std::endl;
 - 
 
11 
    std::cout << "K1: " << std::endl;
 - 
 
12 
    std::cout << K1 << std::endl;
 - 
 
13 
    std::cout << "k1: " << std::endl;
 - 
 
14 
    std::cout << k1 << std::endl;
 - 
 
15 
    std::cout << "R1: " << std::endl;
 - 
 
16 
    std::cout << R1 << std::endl;
 - 
 
17 
    std::cout << "T1: " << std::endl;
 - 
 
18 
    std::cout << T1 << std::endl;
 - 
 
19 
    std::cout << "Rr: " << std::endl;
 - 
 
20 
    std::cout << Rr << std::endl;
 - 
 
21 
    std::cout << "Tr: " << std::endl;
 - 
 
22 
    std::cout << Tr << std::endl;
 - 
 
23 
    std::cout << "cam0_error: " << std::endl;
 - 
 
24 
    std::cout << cam0_error << " px" << std::endl;
 - 
 
25 
    std::cout << "cam0_errors_per_view: " << std::endl;
 - 
 
26 
    for(unsigned int i=0; i<cam0_errors_per_view.size(); i++)
 - 
 
27 
        std::cout << "\t" << cam0_errors_per_view[i] << std::endl;
 - 
 
28 
    std::cout << "cam1_error: " << std::endl;
 - 
 
29 
    std::cout << cam1_error << " px" << std::endl;
 - 
 
30 
    std::cout << "cam1_errors_per_view: " << std::endl;
 - 
 
31 
    for(unsigned int i=0; i<cam1_errors_per_view.size(); i++)
 - 
 
32 
        std::cout << "\t" << cam1_errors_per_view[i] << std::endl;
 - 
 
33 
    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;
 - 
 
37 
}
 53 
}
38 
 
 54 
 
39 
void SMCalibrationParameters::exportToXML(QString fileName){
 55 
void SMCalibrationParameters::exportToXML(QString fileName){
40 
 
 56 
 
41 
    cv::FileStorage fs(fileName.toStdString(), cv::FileStorage::WRITE);
 57 
    cv::FileStorage fs(fileName.toStdString(), cv::FileStorage::WRITE);
Line 77... Line 93...
77 
    fs.release();
 93 
    fs.release();
78 
}
 94 
}
79 
 
 95 
 
80 
// QStreamtypes for qDebug() and QSettings
 96 
// QStreamtypes for qDebug() and QSettings
81 
QDataStream& operator>>(QDataStream& in, SMCalibrationParameters& data){
 97 
QDataStream& operator>>(QDataStream& in, SMCalibrationParameters& data){
82 
//    std::cout << "Deserializing calibration parameters!" << std::endl;
 98 
//    stream << "Deserializing calibration parameters!" << std::endl;
83 
    in >> data.K0(0,0) >> data.K0(0,1) >> data.K0(0,2) >> data.K0(1,0) >> data.K0(1,1) >> data.K0(1,2) >> data.K0(2,0) >> data.K0(2,1) >> data.K0(2,2);
 99 
    in >> data.K0(0,0) >> data.K0(0,1) >> data.K0(0,2) >> data.K0(1,0) >> data.K0(1,1) >> data.K0(1,2) >> data.K0(2,0) >> data.K0(2,1) >> data.K0(2,2);
84 
    in >> data.k0(0) >> data.k0(1) >> data.k0(2) >> data.k0(3) >> data.k0(4);
 100 
    in >> data.k0(0) >> data.k0(1) >> data.k0(2) >> data.k0(3) >> data.k0(4);
85 
    in >> data.cam0_error;
 101 
    in >> data.cam0_error;
86 
 
 102 
 
87 
    in >> data.K1(0,0) >> data.K1(0,1) >> data.K1(0,2) >> data.K1(1,0) >> data.K1(1,1) >> data.K1(1,2) >> data.K1(2,0) >> data.K1(2,1) >> data.K1(2,2);
 103 
    in >> data.K1(0,0) >> data.K1(0,1) >> data.K1(0,2) >> data.K1(1,0) >> data.K1(1,1) >> data.K1(1,2) >> data.K1(2,0) >> data.K1(2,1) >> data.K1(2,2);
Line 101... Line 117...
101 
 
 117 
 
102 
    return in;
 118 
    return in;
103 
}
 119 
}
104 
 
 120 
 
105 
QDataStream& operator<<(QDataStream& out, const SMCalibrationParameters& data){
 121 
QDataStream& operator<<(QDataStream& out, const SMCalibrationParameters& data){
106 
//    std::cout << "Serializing calibration parameters!" << std::endl;
 122 
//    stream << "Serializing calibration parameters!" << std::endl;
107 
    out << data.K0(0,0) << data.K0(0,1) << data.K0(0,2) << data.K0(1,0) << data.K0(1,1) << data.K0(1,2) << data.K0(2,0) << data.K0(2,1) << data.K0(2,2);
 123 
    out << data.K0(0,0) << data.K0(0,1) << data.K0(0,2) << data.K0(1,0) << data.K0(1,1) << data.K0(1,2) << data.K0(2,0) << data.K0(2,1) << data.K0(2,2);
108 
    out << data.k0(0) << data.k0(1) << data.k0(2) << data.k0(3) << data.k0(4);
 124 
    out << data.k0(0) << data.k0(1) << data.k0(2) << data.k0(3) << data.k0(4);
109 
    out << data.cam0_error;
 125 
    out << data.cam0_error;
110 
 
 126 
 
111 
    out << data.K1(0,0) << data.K1(0,1) << data.K1(0,2) << data.K1(1,0) << data.K1(1,1) << data.K1(1,2) << data.K1(2,0) << data.K1(2,1) << data.K1(2,2);
 127 
    out << data.K1(0,0) << data.K1(0,1) << data.K1(0,2) << data.K1(1,0) << data.K1(1,1) << data.K1(1,2) << data.K1(2,0) << data.K1(2,1) << data.K1(2,2);