Subversion Repositories seema-scanner

#include "SMCalibrationParameters.h"


void SMCalibrationParameters::printCamera(std::ostream &stream){

    stream << std::setprecision(6)
    << "Camera 0: " << std::endl
        << "\t focal length: \t[" << K0(0,0) << " " << K0(1,1) << "] "
            << "\t\t +/- [" << cam0_intrinsic_std[0] << " " << cam0_intrinsic_std[1] << "]" << std::endl
        << "\t central point: \t[" << K0(0,2) << " " << K0(1,2) << "] "
            << "\t\t +/- [" << cam0_intrinsic_std[2] << " " << cam0_intrinsic_std[3] << "]" << std::endl
        << "\t lens distortion: \t" << k0
            << "\t +/- [" << cam0_intrinsic_std[4] << " " << cam0_intrinsic_std[5] << " " << cam0_intrinsic_std[6] << " " << cam0_intrinsic_std[7] << " " << cam0_intrinsic_std[8] << "]" << std::endl
        << "\t reprojection errors: " << std::endl;
        for(unsigned int i=0; i<cam0_errors_per_view.size(); i++)
            stream << "\t\t\t" << cam0_errors_per_view[i] << " px" << std::endl;

    stream << "Camera 1: " << std::endl
        << "\t focal length: \t[" << K1(0,0) << " " << K1(1,1) << "] "
            << "\t\t +/- [" << cam1_intrinsic_std[0] << " " << cam1_intrinsic_std[1] << "]" << std::endl
        << "\t central point: \t[" << K1(0,2) << " " << K1(1,2) << "] "
            << "\t\t +/- [" << cam1_intrinsic_std[2] << " " << cam1_intrinsic_std[3] << "]" << std::endl
        << "\t lens distortion: \t" << k1
            << "\t +/- [" << cam1_intrinsic_std[4] << " " << cam1_intrinsic_std[5] << " " << cam1_intrinsic_std[6] << " " << cam1_intrinsic_std[7] << " " << cam1_intrinsic_std[8] << "]" << std::endl
        << "\t reprojection errors: " << std::endl;
        for(unsigned int i=0; i<cam1_errors_per_view.size(); i++)
            stream << "\t\t\t" << cam1_errors_per_view[i] << " px" << std::endl;

    stream << "Stereo Parameters: " << std::endl
        << "\t rotation: \t\t[" << R1(0,0) << " " << R1(0,1) << " " << R1(0,2) << "; "
            << R1(1,0) << " " << R1(1,1) << " " << R1(1,2) << "; "
            << R1(2,0) << " " << R1(2,1) << " " << R1(2,2) << "]" << std::endl
        << "\t translation: \t[" << T1(0) << " " << T1(1) << " " << T1(2) << "]" << std::endl
        << "\t reprojection error: \n\t\t\t" << stereo_error << " px" << std::endl;
}

void SMCalibrationParameters::printRotationStage(std::ostream &stream){

    stream << std::setprecision(4)
    << "Parameters: " << std::endl
        << "\t rotation: \t\t [" << Rr(0,0) << " " << Rr(0,1) << " " << Rr(0,2) << "; "
            << Rr(1,0) << " " << Rr(1,1) << " " << Rr(1,2) << "; "
            << Rr(2,0) << " " << Rr(2,1) << " " << Rr(2,2) << "]" << std::endl
        << "\t translation: \t[" << Tr(0) << " " << Tr(1) << " " << Tr(2) << "]" << std::endl
        << "\t error: \t\t\t" << rot_axis_error << " mm" << std::endl;
}

void SMCalibrationParameters::print(std::ostream &stream){

    printCamera(stream);
    printRotationStage(stream);

}

void SMCalibrationParameters::exportToXML(QString fileName){

    cv::FileStorage fs(fileName.toStdString(), cv::FileStorage::WRITE);
    if (!fs.isOpened())
        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();

}

void SMCalibrationParameters::importFromXML(QString fileName){

    cv::FileStorage fs(fileName.toStdString(), cv::FileStorage::READ);
    if (!fs.isOpened())
        std::cerr << "SMCalibrationParameters: could not open file!" << std::endl;

    cv::Mat temp;
    fs["K0"] >> temp; K0 = temp;
    fs["k0"] >> temp; k0 = temp;
    fs["cam0_error"] >> cam0_error;
    fs["K1"] >> temp; K1 = temp;
    fs["k1"] >> temp; k1 = temp;
    fs["cam1_error"] >> cam1_error;
    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();
}

// QStreamtypes for qDebug() and QSettings
QDataStream& operator>>(QDataStream& in, SMCalibrationParameters& data){
//    stream << "Deserializing calibration parameters!" << std::endl;
    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);
    in >> data.k0(0) >> data.k0(1) >> data.k0(2) >> data.k0(3) >> data.k0(4);
    in >> data.cam0_error;

    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);
    in >> data.k1(0) >> data.k1(1) >> data.k1(2) >> data.k1(3) >> data.k1(4);
    in >> data.cam1_error;

    in >> data.R1(0,0) >> data.R1(0,1) >> data.R1(0,2) >> data.R1(1,0) >> data.R1(1,1) >> data.R1(1,2) >> data.R1(2,0) >> data.R1(2,1) >> data.R1(2,2);
    in >> data.T1(0) >> data.T1(1) >> data.T1(2);
    in >> data.stereo_error;

    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){
//    stream << "Serializing calibration parameters!" << std::endl;
    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);
    out << data.k0(0) << data.k0(1) << data.k0(2) << data.k0(3) << data.k0(4);
    out << data.cam0_error;

    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);
    out << data.k1(0) << data.k1(1) << data.k1(2) << data.k1(3) << data.k1(4);
    out << data.cam1_error;

    out << data.R1(0,0) << data.R1(0,1) << data.R1(0,2) << data.R1(1,0) << data.R1(1,1) << data.R1(1,2) << data.R1(2,0) << data.R1(2,1) << data.R1(2,2);
    out << data.T1(0) << data.T1(1) << data.T1(2);
    out << data.stereo_error;

    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;

}