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


#include "SMCalibrationWorker.h"
#include "SMCalibrationParameters.h"
 
#include "cvtools.h"
 
#include <QSettings>
 
void SMCalibrationWorker::performCalibration(std::vector<SMCalibrationSet> calibrationData){
 
    QSettings settings;
 
    // Number of saddle points on calibration pattern
    int checkerCountX = settings.value("calibration/checkerCountX", 22).toInt();
    int checkerCountY = settings.value("calibration/checkerCountY", 13).toInt();
    cv::Size checkerCount(checkerCountX, checkerCountY);
 
    int nSets = calibrationData.size();
 
    std::vector< std::vector<cv::Point2f> > qc0, qc1;
    std::vector<float> angles;
 
    // Loop through calibration sets
    for(int i=0; i<nSets; i++){
 
        SMCalibrationSet SMCalibrationSetI = calibrationData[i];
 
        if(!SMCalibrationSetI.checked)
            continue;
 
        // Camera 0
        std::vector<cv::Point2f> qci0;
        // Convert bayer to grayscale
        cv::Mat gray;
//        SMCalibrationSetI.frame0.convertTo(temp, CV_8UC1, 1.0/256.0);
        cv::cvtColor(SMCalibrationSetI.frame0, gray, CV_BayerBG2GRAY);
        // Extract checker corners
        bool success0 = cv::findChessboardCorners(gray, checkerCount, qci0, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);
        if(success0){
            cv::cornerSubPix(gray, qci0, cv::Size(5, 5), cv::Size(-1, -1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.001));
            // Draw colored chessboard
            cv::Mat color;
            cv::cvtColor(SMCalibrationSetI.frame0, color, CV_BayerBG2RGB);
            cvtools::drawChessboardCorners(color, checkerCount, qci0, success0, 10);
            SMCalibrationSetI.frame0Result = color;
        }
 
        emit newFrameResult(i, 0, success0, SMCalibrationSetI.frame0Result);
 
        // Camera 1
        std::vector<cv::Point2f> qci1;
        // Convert bayer to grayscale
//        SMCalibrationSetI.frame1.convertTo(temp, CV_8UC1, 1.0/256.0);
        cv::cvtColor(SMCalibrationSetI.frame1, gray, CV_BayerBG2GRAY);
        // Extract checker corners
        bool success1 = cv::findChessboardCorners(gray, checkerCount, qci1, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);
        if(success1){
            cv::cornerSubPix(gray, qci1, cv::Size(5, 5), cv::Size(-1, -1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.001));
            // Draw colored chessboard
            cv::Mat color;
            cv::cvtColor(SMCalibrationSetI.frame1, color, CV_BayerBG2RGB);
            cvtools::drawChessboardCorners(color, checkerCount, qci1, success1, 10);
            SMCalibrationSetI.frame1Result = color;
        }
 
        emit newFrameResult(i, 1, success1, SMCalibrationSetI.frame1Result);
 
        SMCalibrationSetI.success = success0 && success1;
 
        // Add to whole set
        if(SMCalibrationSetI.success){
            qc0.push_back(qci0);
            qc1.push_back(qci1);
            angles.push_back(SMCalibrationSetI.rotationAngle);
        }
 
        // Show progress
        emit newSetProcessed(i);
    }
 
    int nValidSets = qc0.size();
    if(nValidSets < 2){
        std::cerr << "Not enough valid calibration sequences!" << std::endl;
        emit done();
        return;
    }
 
    // Generate world object coordinates [mm]
    float checkerSize = settings.value("calibration/checkerSize", 15.0).toFloat(); // width and height of one field in mm
    std::vector<cv::Point3f> Qi;
    for (int h=0; h<checkerCount.height; h++)
        for (int w=0; w<checkerCount.width; w++)
            Qi.push_back(cv::Point3f(checkerSize * w, checkerSize* h, 0.0));
    std::vector< std::vector<cv::Point3f> > Q;
    for(int i=0; i<qc0.size(); i++)
        Q.push_back(Qi);
 
    // calibrate the cameras
    SMCalibrationParameters cal;
    cal.frameWidth = calibrationData[0].frame0.cols;
    cal.frameHeight = calibrationData[0].frame0.rows;
    cv::Size frameSize(cal.frameWidth, cal.frameHeight);
 
    // determine only k1, k2 for lens distortion
    int flags = cv::CALIB_FIX_ASPECT_RATIO + cv::CALIB_FIX_PRINCIPAL_POINT + cv::CALIB_FIX_K3;
    // Note: several of the output arguments below must be cv::Mat, otherwise segfault
    std::vector<cv::Mat> cam_rvecs0, cam_tvecs0;
    cal.cam0_error = cv::calibrateCamera(Q, qc0, frameSize, cal.K0, cal.k0, cam_rvecs0, cam_tvecs0, flags);
 
//    // refine extrinsics for camera 0
//    for(int i=0; i<Q.size(); i++)
//        cv::solvePnPRansac(Q[i], qc0[i], cal.K0, cal.k0, cam_rvecs0[i], cam_tvecs0[i], true, 100, 0.05, 100, cv::noArray(), CV_ITERATIVE);
 
    std::vector<cv::Mat> cam_rvecs1, cam_tvecs1;
    cal.cam1_error = cv::calibrateCamera(Q, qc1, frameSize, cal.K1, cal.k1, cam_rvecs1, cam_tvecs1, flags);
 
    // stereo calibration
    int flags_stereo = cv::CALIB_FIX_INTRINSIC;
    cv::Mat E, F, R1, T1;
    cal.stereo_error = cv::stereoCalibrate(Q, qc0, qc1, cal.K0, cal.k0, cal.K1, cal.k1,
                                              frameSize, R1, T1, E, F,
                                              cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 100, DBL_EPSILON),
                                              flags_stereo);
 
    cal.R1 = R1;
    cal.T1 = T1;
    cal.E = E;
    cal.F = F;
 
//    // hand-eye calibration
//    std::vector<cv::Matx33f> Rc(nValidSets - 1); // rotations/translations of the checkerboard in camera 0 reference frame
//    std::vector<cv::Vec3f> Tc(nValidSets - 1);
//    std::vector<cv::Matx33f> Rr(nValidSets - 1); // in rotation stage reference frame
//    std::vector<cv::Vec3f> Tr(nValidSets - 1);
//    for(int i=0; i<nValidSets-1; i++){
//        // relative transformations in camera
//        cv::Mat cRw1, cRw2;
//        cv::Rodrigues(cam_rvecs0[i], cRw1);
//        cv::Rodrigues(cam_rvecs0[i+1], cRw2);
//        cv::Mat cTw1 = cam_tvecs0[i];
//        cv::Mat cTw2 = cam_tvecs0[i+1];
//        cv::Mat w1Rc = cRw1.t();
//        cv::Mat w1Tc = -cRw1.t()*cTw1;
//        Rc[i] = cv::Mat(cRw2*w1Rc);
//        Tc[i] = cv::Mat(cRw2*w1Tc+cTw2);
 
//        // relative transformations in rotation stage
//        // we define the rotation axis to be in origo, pointing in positive y direction
//        float angleRadians = (angles[i+1]-angles[i])/180.0*M_PI;
//        cv::Vec3f rot_rvec(0.0, -angleRadians, 0.0);
//        cv::Mat Rri;
//        cv::Rodrigues(rot_rvec, Rri);
//        Rr[i] = Rri;
//        Tr[i] = 0.0;
 
////        std::cout << i << std::endl;
////        std::cout << "cTw1" << cTw1 << std::endl;
////        std::cout << "cTw2" << cTw2 << std::endl;
////        std::cout << "w2Rc" << w2Rc << std::endl;
////        std::cout << "w2Tc" << w2Tc << std::endl;
 
////        std::cout << "w2Rc" << w2Rc << std::endl;
////        std::cout << "w2Tc" << w2Tc << std::endl;
 
////        cv::Mat Rci;
////        cv::Rodrigues(Rc[i], Rci);
////        std::cout << "Rci" << Rci << std::endl;
////        std::cout << "Tc[i]" << Tc[i] << std::endl;
 
////        std::cout << "rot_rvec" << rot_rvec << std::endl;
////        std::cout << "Tr[i]" << Tr[i] << std::endl;
////        std::cout << std::endl;
//    }
 
//    // determine the transformation from rotation stage to camera 0
//    cvtools::handEyeCalibrationTsai(Rc, Tc, Rr, Tr, cal.Rr, cal.Tr);
 
//    for(int i=0; i<nValidSets-1; i++){
//        std::cout << i << std::endl;
 
//        cv::Mat Rci;
//        cv::Rodrigues(Rc[i], Rci);
//        std::cout << "Rc[i]" << Rci << std::endl;
//        std::cout << "Tc[i]" << Tc[i] << std::endl;
 
//        cv::Mat Rri;
//        cv::Rodrigues(Rr[i], Rri);
//        std::cout << "Rr[i]" << Rri << std::endl;
//        std::cout << "Tr[i]" << Tr[i] << std::endl;
 
//        cv::Mat Rcr = cv::Mat(cal.Rr)*cv::Mat(Rc[i])*cv::Mat(cal.Rr.t());
//        cv::Rodrigues(Rcr, Rcr);
//        cv::Mat Tcr = -cv::Mat(cal.Rr)*cv::Mat(Rc[i])*cv::Mat(cal.Rr.t())*cv::Mat(cal.Tr) + cv::Mat(cal.Rr)*cv::Mat(Tc[i]) + cv::Mat(cal.Tr);
//        std::cout << "Rcr[i]" << Rcr << std::endl;
//        std::cout << "Tcr[i]" << Tcr << std::endl;
//        std::cout << std::endl;
//    }
 
 
    // Direct rotation axis calibration //
    // full camera matrices
    cv::Matx34f P0 = cv::Matx34f::eye();
    cv::Mat RT1(3, 4, CV_32F);
    cv::Mat(cal.R1).copyTo(RT1(cv::Range(0, 3), cv::Range(0, 3)));
    cv::Mat(cal.T1).copyTo(RT1(cv::Range(0, 3), cv::Range(3, 4)));
    cv::Matx34f P1 = cv::Matx34f(RT1);
 
    // calibration points in camera 0 frame
    std::vector< std::vector<cv::Point3f> > Qcam;
 
    for(int i=0; i<nValidSets; i++){
        std::vector<cv::Point2f> qc0i, qc1i;
 
        cv::undistortPoints(qc0[i], qc0i, cal.K0, cal.k0);
        cv::undistortPoints(qc1[i], qc1i, cal.K1, cal.k1);
//        qc0i = qc0[i];
//        qc1i = qc1[i];
 
        cv::Mat Qhom, Qcami;
        cv::triangulatePoints(P0, P1, qc0i, qc1i, Qhom);
        cvtools::convertMatFromHomogeneous(Qhom, Qcami);
        std::vector<cv::Point3f> QcamiPoints;
        cvtools::matToPoints3f(Qcami, QcamiPoints);
 
        Qcam.push_back(QcamiPoints);
    }
 
    cv::Vec3f axis, point;
    cvtools::rotationAxisCalibration(Qcam, Qi, axis, point);
 
    // construct transformation matrix
    cv::Vec3f ex = axis.cross(cv::Vec3f(0,0,1.0));
    ex = cv::normalize(ex);
    cv::Vec3f ez = ex.cross(axis);
    ez = cv::normalize(ez);
 
    cv::Mat RrMat(3, 3, CV_32F);
    cv::Mat(ex).copyTo(RrMat.col(0));
    cv::Mat(axis).copyTo(RrMat.col(1));
    cv::Mat(ez).copyTo(RrMat.col(2));
 
    cal.Rr = cv::Matx33f(RrMat).t();
    cal.Tr = -cv::Matx33f(RrMat).t()*point;
 
    // Print to std::cout
    cal.print();
 
    // save to (reentrant qsettings object)
    settings.setValue("calibration/parameters", QVariant::fromValue(cal));
 
    emit done();
 
}
 

Subversion Repositories seema-scanner

(root)/src/SMCalibrationWorker.cpp – Rev 121 → 123

Rev 121		Rev 123
1	`#include "SMCalibrationWorker.h"`	1	`#include "SMCalibrationWorker.h"`
2	`#include "SMCalibrationParameters.h"`	2	`#include "SMCalibrationParameters.h"`
3		3
4	`#include "cvtools.h"`	4	`#include "cvtools.h"`
5		5
6	`#include <QSettings>`	6	`#include <QSettings>`
7		7
8	`void SMCalibrationWorker::performCalibration(std::vector<SMCalibrationSet> calibrationData){`	8	`void SMCalibrationWorker::performCalibration(std::vector<SMCalibrationSet> calibrationData){`
9		9
10	`QSettings settings;`	10	`QSettings settings;`
11		11
12	`// Number of saddle points on calibration pattern`	12	`// Number of saddle points on calibration pattern`
13	`int checkerCountX = settings.value("calibration/checkerCountX", 22).toInt();`	13	`int checkerCountX = settings.value("calibration/checkerCountX", 22).toInt();`
14	`int checkerCountY = settings.value("calibration/checkerCountY", 13).toInt();`	14	`int checkerCountY = settings.value("calibration/checkerCountY", 13).toInt();`
15	`cv::Size checkerCount(checkerCountX, checkerCountY);`	15	`cv::Size checkerCount(checkerCountX, checkerCountY);`
16		16
17	`int nSets = calibrationData.size();`	17	`int nSets = calibrationData.size();`
18		18
19	`std::vector< std::vector<cv::Point2f> > qc0, qc1;`	19	`std::vector< std::vector<cv::Point2f> > qc0, qc1;`
20	`std::vector<float> angles;`	20	`std::vector<float> angles;`
21		21
22	`// Loop through calibration sets`	22	`// Loop through calibration sets`
23	`for(int i=0; i<nSets; i++){`	23	`for(int i=0; i<nSets; i++){`
24		24
25	`SMCalibrationSet SMCalibrationSetI = calibrationData[i];`	25	`SMCalibrationSet SMCalibrationSetI = calibrationData[i];`
26		26
27	`if(!SMCalibrationSetI.checked)`	27	`if(!SMCalibrationSetI.checked)`
28	`continue;`	28	`continue;`
29		29
30	`// Camera 0`	30	`// Camera 0`
31	`std::vector<cv::Point2f> qci0;`	31	`std::vector<cv::Point2f> qci0;`
32	`// Convert bayer to grayscale`	32	`// Convert bayer to grayscale`
33	`cv::Mat temp, gray;`	33	`cv::Mat gray;`
34	`// SMCalibrationSetI.frame0.convertTo(temp, CV_8UC1, 1.0/256.0);`	34	`// SMCalibrationSetI.frame0.convertTo(temp, CV_8UC1, 1.0/256.0);`
35	`cv::cvtColor(SMCalibrationSetI.frame0, gray, CV_BayerBG2GRAY);`	35	`cv::cvtColor(SMCalibrationSetI.frame0, gray, CV_BayerBG2GRAY);`
36	`// Extract checker corners`	36	`// Extract checker corners`
37	`bool success0 = cv::findChessboardCorners(gray, checkerCount, qci0, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);`	37	`bool success0 = cv::findChessboardCorners(gray, checkerCount, qci0, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);`
38	`if(success0){`	38	`if(success0){`
39	`cv::cornerSubPix(gray, qci0, cv::Size(5, 5), cv::Size(-1, -1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.001));`	39	`cv::cornerSubPix(gray, qci0, cv::Size(5, 5), cv::Size(-1, -1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.001));`
40	`// Draw colored chessboard`	40	`// Draw colored chessboard`
41	`cv::Mat color;`	41	`cv::Mat color;`
42	`cv::cvtColor(SMCalibrationSetI.frame0, color, CV_BayerBG2RGB);`	42	`cv::cvtColor(SMCalibrationSetI.frame0, color, CV_BayerBG2RGB);`
43	`cvtools::drawChessboardCorners(color, checkerCount, qci0, success0, 10);`	43	`cvtools::drawChessboardCorners(color, checkerCount, qci0, success0, 10);`
44	`SMCalibrationSetI.frame0Result = color;`	44	`SMCalibrationSetI.frame0Result = color;`
45	`}`	45	`}`
46		46
47	`emit newFrameResult(i, 0, success0, SMCalibrationSetI.frame0Result);`	47	`emit newFrameResult(i, 0, success0, SMCalibrationSetI.frame0Result);`
48		48
49	`// Camera 1`	49	`// Camera 1`
50	`std::vector<cv::Point2f> qci1;`	50	`std::vector<cv::Point2f> qci1;`
51	`// Convert bayer to grayscale`	51	`// Convert bayer to grayscale`
52	`// SMCalibrationSetI.frame1.convertTo(temp, CV_8UC1, 1.0/256.0);`	52	`// SMCalibrationSetI.frame1.convertTo(temp, CV_8UC1, 1.0/256.0);`
53	`cv::cvtColor(SMCalibrationSetI.frame1, gray, CV_BayerBG2GRAY);`	53	`cv::cvtColor(SMCalibrationSetI.frame1, gray, CV_BayerBG2GRAY);`
54	`// Extract checker corners`	54	`// Extract checker corners`
55	`bool success1 = cv::findChessboardCorners(gray, checkerCount, qci1, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);`	55	`bool success1 = cv::findChessboardCorners(gray, checkerCount, qci1, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);`
56	`if(success1){`	56	`if(success1){`
57	`cv::cornerSubPix(gray, qci1, cv::Size(5, 5), cv::Size(-1, -1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.001));`	57	`cv::cornerSubPix(gray, qci1, cv::Size(5, 5), cv::Size(-1, -1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.001));`
58	`// Draw colored chessboard`	58	`// Draw colored chessboard`
59	`cv::Mat color;`	59	`cv::Mat color;`
60	`cv::cvtColor(SMCalibrationSetI.frame1, color, CV_BayerBG2RGB);`	60	`cv::cvtColor(SMCalibrationSetI.frame1, color, CV_BayerBG2RGB);`
61	`cvtools::drawChessboardCorners(color, checkerCount, qci1, success1, 10);`	61	`cvtools::drawChessboardCorners(color, checkerCount, qci1, success1, 10);`
62	`SMCalibrationSetI.frame1Result = color;`	62	`SMCalibrationSetI.frame1Result = color;`
63	`}`	63	`}`
64		64
65	`emit newFrameResult(i, 1, success1, SMCalibrationSetI.frame1Result);`	65	`emit newFrameResult(i, 1, success1, SMCalibrationSetI.frame1Result);`
66		66
67	`SMCalibrationSetI.success = success0 && success1;`	67	`SMCalibrationSetI.success = success0 && success1;`
68		68
69	`// Add to whole set`	69	`// Add to whole set`
70	`if(SMCalibrationSetI.success){`	70	`if(SMCalibrationSetI.success){`
71	`qc0.push_back(qci0);`	71	`qc0.push_back(qci0);`
72	`qc1.push_back(qci1);`	72	`qc1.push_back(qci1);`
73	`angles.push_back(SMCalibrationSetI.rotationAngle);`	73	`angles.push_back(SMCalibrationSetI.rotationAngle);`
74	`}`	74	`}`
75		75
76	`// Show progress`	76	`// Show progress`
77	`emit newSetProcessed(i);`	77	`emit newSetProcessed(i);`
78	`}`	78	`}`
79		79
80	`int nValidSets = qc0.size();`	80	`int nValidSets = qc0.size();`
81	`if(nValidSets < 2){`	81	`if(nValidSets < 2){`
82	`std::cerr << "Not enough valid calibration sequences!" << std::endl;`	82	`std::cerr << "Not enough valid calibration sequences!" << std::endl;`
83	`emit done();`	83	`emit done();`
84	`return;`	84	`return;`
85	`}`	85	`}`
86		86
87	`// Generate world object coordinates [mm]`	87	`// Generate world object coordinates [mm]`
88	`float checkerSize = settings.value("calibration/checkerSize", 15.0).toFloat(); // width and height of one field in mm`	88	`float checkerSize = settings.value("calibration/checkerSize", 15.0).toFloat(); // width and height of one field in mm`
89	`std::vector<cv::Point3f> Qi;`	89	`std::vector<cv::Point3f> Qi;`
90	`for (int h=0; h<checkerCount.height; h++)`	90	`for (int h=0; h<checkerCount.height; h++)`
91	`for (int w=0; w<checkerCount.width; w++)`	91	`for (int w=0; w<checkerCount.width; w++)`
92	`Qi.push_back(cv::Point3f(checkerSize * w, checkerSize* h, 0.0));`	92	`Qi.push_back(cv::Point3f(checkerSize * w, checkerSize* h, 0.0));`
93	`std::vector< std::vector<cv::Point3f> > Q;`	93	`std::vector< std::vector<cv::Point3f> > Q;`
94	`for(int i=0; i<qc0.size(); i++)`	94	`for(int i=0; i<qc0.size(); i++)`
95	`Q.push_back(Qi);`	95	`Q.push_back(Qi);`
96		96
97	`// calibrate the cameras`	97	`// calibrate the cameras`
98	`SMCalibrationParameters cal;`	98	`SMCalibrationParameters cal;`
99	`cal.frameWidth = calibrationData[0].frame0.cols;`	99	`cal.frameWidth = calibrationData[0].frame0.cols;`
100	`cal.frameHeight = calibrationData[0].frame0.rows;`	100	`cal.frameHeight = calibrationData[0].frame0.rows;`
101	`cv::Size frameSize(cal.frameWidth, cal.frameHeight);`	101	`cv::Size frameSize(cal.frameWidth, cal.frameHeight);`
102		102
103	`// determine only k1, k2 for lens distortion`	103	`// determine only k1, k2 for lens distortion`
104	`int flags = cv::CALIB_FIX_K3;`	104	`int flags = cv::CALIB_FIX_ASPECT_RATIO + cv::CALIB_FIX_PRINCIPAL_POINT + cv::CALIB_FIX_K3;`
105	`// Note: several of the output arguments below must be cv::Mat, otherwise segfault`	105	`// Note: several of the output arguments below must be cv::Mat, otherwise segfault`
106	`std::vector<cv::Mat> cam_rvecs0, cam_tvecs0;`	106	`std::vector<cv::Mat> cam_rvecs0, cam_tvecs0;`
107	`cal.cam0_error = cv::calibrateCamera(Q, qc0, frameSize, cal.K0, cal.k0, cam_rvecs0, cam_tvecs0, flags);`	107	`cal.cam0_error = cv::calibrateCamera(Q, qc0, frameSize, cal.K0, cal.k0, cam_rvecs0, cam_tvecs0, flags);`
108		108
109	`// // refine extrinsics for camera 0`	109	`// // refine extrinsics for camera 0`
110	`// for(int i=0; i<Q.size(); i++)`	110	`// for(int i=0; i<Q.size(); i++)`
111	`// cv::solvePnPRansac(Q[i], qc0[i], cal.K0, cal.k0, cam_rvecs0[i], cam_tvecs0[i], true, 100, 0.05, 100, cv::noArray(), CV_ITERATIVE);`	111	`// cv::solvePnPRansac(Q[i], qc0[i], cal.K0, cal.k0, cam_rvecs0[i], cam_tvecs0[i], true, 100, 0.05, 100, cv::noArray(), CV_ITERATIVE);`
112		112
113	`std::vector<cv::Mat> cam_rvecs1, cam_tvecs1;`	113	`std::vector<cv::Mat> cam_rvecs1, cam_tvecs1;`
114	`cal.cam1_error = cv::calibrateCamera(Q, qc1, frameSize, cal.K1, cal.k1, cam_rvecs1, cam_tvecs1, flags);`	114	`cal.cam1_error = cv::calibrateCamera(Q, qc1, frameSize, cal.K1, cal.k1, cam_rvecs1, cam_tvecs1, flags);`
115		115
116	`// stereo calibration`	116	`// stereo calibration`
117	`int flags_stereo = cv::CALIB_FIX_K3;`	117	`int flags_stereo = cv::CALIB_FIX_INTRINSIC;`
118	`cv::Mat E, F, R1, T1;`	118	`cv::Mat E, F, R1, T1;`
119	`cal.stereo_error = cv::stereoCalibrate(Q, qc0, qc1, cal.K0, cal.k0, cal.K1, cal.k1,`	119	`cal.stereo_error = cv::stereoCalibrate(Q, qc0, qc1, cal.K0, cal.k0, cal.K1, cal.k1,`
120	`frameSize, R1, T1, E, F,`	120	`frameSize, R1, T1, E, F,`
121	`cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 100, DBL_EPSILON),`	121	`cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 100, DBL_EPSILON),`
122	`flags_stereo);`	122	`flags_stereo);`
123		123
124	`cal.R1 = R1;`	124	`cal.R1 = R1;`
125	`cal.T1 = T1;`	125	`cal.T1 = T1;`
126	`cal.E = E;`	126	`cal.E = E;`
127	`cal.F = F;`	127	`cal.F = F;`
128		128
129	`// // hand-eye calibration`	129	`// // hand-eye calibration`
130	`// std::vector<cv::Matx33f> Rc(nValidSets - 1); // rotations/translations of the checkerboard in camera 0 reference frame`	130	`// std::vector<cv::Matx33f> Rc(nValidSets - 1); // rotations/translations of the checkerboard in camera 0 reference frame`
131	`// std::vector<cv::Vec3f> Tc(nValidSets - 1);`	131	`// std::vector<cv::Vec3f> Tc(nValidSets - 1);`
132	`// std::vector<cv::Matx33f> Rr(nValidSets - 1); // in rotation stage reference frame`	132	`// std::vector<cv::Matx33f> Rr(nValidSets - 1); // in rotation stage reference frame`
133	`// std::vector<cv::Vec3f> Tr(nValidSets - 1);`	133	`// std::vector<cv::Vec3f> Tr(nValidSets - 1);`
134	`// for(int i=0; i<nValidSets-1; i++){`	134	`// for(int i=0; i<nValidSets-1; i++){`
135	`// // relative transformations in camera`	135	`// // relative transformations in camera`
136	`// cv::Mat cRw1, cRw2;`	136	`// cv::Mat cRw1, cRw2;`
137	`// cv::Rodrigues(cam_rvecs0[i], cRw1);`	137	`// cv::Rodrigues(cam_rvecs0[i], cRw1);`
138	`// cv::Rodrigues(cam_rvecs0[i+1], cRw2);`	138	`// cv::Rodrigues(cam_rvecs0[i+1], cRw2);`
139	`// cv::Mat cTw1 = cam_tvecs0[i];`	139	`// cv::Mat cTw1 = cam_tvecs0[i];`
140	`// cv::Mat cTw2 = cam_tvecs0[i+1];`	140	`// cv::Mat cTw2 = cam_tvecs0[i+1];`
141	`// cv::Mat w1Rc = cRw1.t();`	141	`// cv::Mat w1Rc = cRw1.t();`
142	`// cv::Mat w1Tc = -cRw1.t()*cTw1;`	142	`// cv::Mat w1Tc = -cRw1.t()*cTw1;`
143	`// Rc[i] = cv::Mat(cRw2*w1Rc);`	143	`// Rc[i] = cv::Mat(cRw2*w1Rc);`
144	`// Tc[i] = cv::Mat(cRw2*w1Tc+cTw2);`	144	`// Tc[i] = cv::Mat(cRw2*w1Tc+cTw2);`
145		145
146	`// // relative transformations in rotation stage`	146	`// // relative transformations in rotation stage`
147	`// // we define the rotation axis to be in origo, pointing in positive y direction`	147	`// // we define the rotation axis to be in origo, pointing in positive y direction`
148	`// float angleRadians = (angles[i+1]-angles[i])/180.0*M_PI;`	148	`// float angleRadians = (angles[i+1]-angles[i])/180.0*M_PI;`
149	`// cv::Vec3f rot_rvec(0.0, -angleRadians, 0.0);`	149	`// cv::Vec3f rot_rvec(0.0, -angleRadians, 0.0);`
150	`// cv::Mat Rri;`	150	`// cv::Mat Rri;`
151	`// cv::Rodrigues(rot_rvec, Rri);`	151	`// cv::Rodrigues(rot_rvec, Rri);`
152	`// Rr[i] = Rri;`	152	`// Rr[i] = Rri;`
153	`// Tr[i] = 0.0;`	153	`// Tr[i] = 0.0;`
154		154
155	`//// std::cout << i << std::endl;`	155	`//// std::cout << i << std::endl;`
156	`//// std::cout << "cTw1" << cTw1 << std::endl;`	156	`//// std::cout << "cTw1" << cTw1 << std::endl;`
157	`//// std::cout << "cTw2" << cTw2 << std::endl;`	157	`//// std::cout << "cTw2" << cTw2 << std::endl;`
158	`//// std::cout << "w2Rc" << w2Rc << std::endl;`	158	`//// std::cout << "w2Rc" << w2Rc << std::endl;`
159	`//// std::cout << "w2Tc" << w2Tc << std::endl;`	159	`//// std::cout << "w2Tc" << w2Tc << std::endl;`
160		160
161	`//// std::cout << "w2Rc" << w2Rc << std::endl;`	161	`//// std::cout << "w2Rc" << w2Rc << std::endl;`
162	`//// std::cout << "w2Tc" << w2Tc << std::endl;`	162	`//// std::cout << "w2Tc" << w2Tc << std::endl;`
163		163
164	`//// cv::Mat Rci;`	164	`//// cv::Mat Rci;`
165	`//// cv::Rodrigues(Rc[i], Rci);`	165	`//// cv::Rodrigues(Rc[i], Rci);`
166	`//// std::cout << "Rci" << Rci << std::endl;`	166	`//// std::cout << "Rci" << Rci << std::endl;`
167	`//// std::cout << "Tc[i]" << Tc[i] << std::endl;`	167	`//// std::cout << "Tc[i]" << Tc[i] << std::endl;`
168		168
169	`//// std::cout << "rot_rvec" << rot_rvec << std::endl;`	169	`//// std::cout << "rot_rvec" << rot_rvec << std::endl;`
170	`//// std::cout << "Tr[i]" << Tr[i] << std::endl;`	170	`//// std::cout << "Tr[i]" << Tr[i] << std::endl;`
171	`//// std::cout << std::endl;`	171	`//// std::cout << std::endl;`
172	`// }`	172	`// }`
173		173
174	`// // determine the transformation from rotation stage to camera 0`	174	`// // determine the transformation from rotation stage to camera 0`
175	`// cvtools::handEyeCalibrationTsai(Rc, Tc, Rr, Tr, cal.Rr, cal.Tr);`	175	`// cvtools::handEyeCalibrationTsai(Rc, Tc, Rr, Tr, cal.Rr, cal.Tr);`
176		176
177	`// for(int i=0; i<nValidSets-1; i++){`	177	`// for(int i=0; i<nValidSets-1; i++){`
178	`// std::cout << i << std::endl;`	178	`// std::cout << i << std::endl;`
179		179
180	`// cv::Mat Rci;`	180	`// cv::Mat Rci;`
181	`// cv::Rodrigues(Rc[i], Rci);`	181	`// cv::Rodrigues(Rc[i], Rci);`
182	`// std::cout << "Rc[i]" << Rci << std::endl;`	182	`// std::cout << "Rc[i]" << Rci << std::endl;`
183	`// std::cout << "Tc[i]" << Tc[i] << std::endl;`	183	`// std::cout << "Tc[i]" << Tc[i] << std::endl;`
184		184
185	`// cv::Mat Rri;`	185	`// cv::Mat Rri;`
186	`// cv::Rodrigues(Rr[i], Rri);`	186	`// cv::Rodrigues(Rr[i], Rri);`
187	`// std::cout << "Rr[i]" << Rri << std::endl;`	187	`// std::cout << "Rr[i]" << Rri << std::endl;`
188	`// std::cout << "Tr[i]" << Tr[i] << std::endl;`	188	`// std::cout << "Tr[i]" << Tr[i] << std::endl;`
189		189
190	`// cv::Mat Rcr = cv::Mat(cal.Rr)cv::Mat(Rc[i])cv::Mat(cal.Rr.t());`	190	`// cv::Mat Rcr = cv::Mat(cal.Rr)cv::Mat(Rc[i])cv::Mat(cal.Rr.t());`
191	`// cv::Rodrigues(Rcr, Rcr);`	191	`// cv::Rodrigues(Rcr, Rcr);`
192	`// cv::Mat Tcr = -cv::Mat(cal.Rr)cv::Mat(Rc[i])cv::Mat(cal.Rr.t())cv::Mat(cal.Tr) + cv::Mat(cal.Rr)cv::Mat(Tc[i]) + cv::Mat(cal.Tr);`	192	`// cv::Mat Tcr = -cv::Mat(cal.Rr)cv::Mat(Rc[i])cv::Mat(cal.Rr.t())cv::Mat(cal.Tr) + cv::Mat(cal.Rr)cv::Mat(Tc[i]) + cv::Mat(cal.Tr);`
193	`// std::cout << "Rcr[i]" << Rcr << std::endl;`	193	`// std::cout << "Rcr[i]" << Rcr << std::endl;`
194	`// std::cout << "Tcr[i]" << Tcr << std::endl;`	194	`// std::cout << "Tcr[i]" << Tcr << std::endl;`
195	`// std::cout << std::endl;`	195	`// std::cout << std::endl;`
196	`// }`	196	`// }`
197		197
198		198
199	`// Direct rotation axis calibration //`	199	`// Direct rotation axis calibration //`
200	`// full camera matrices`	200	`// full camera matrices`
201	`cv::Matx34f P0 = cv::Matx34f::eye();`	201	`cv::Matx34f P0 = cv::Matx34f::eye();`
202	`cv::Mat RT1(3, 4, CV_32F);`	202	`cv::Mat RT1(3, 4, CV_32F);`
203	`cv::Mat(cal.R1).copyTo(RT1(cv::Range(0, 3), cv::Range(0, 3)));`	203	`cv::Mat(cal.R1).copyTo(RT1(cv::Range(0, 3), cv::Range(0, 3)));`
204	`cv::Mat(cal.T1).copyTo(RT1(cv::Range(0, 3), cv::Range(3, 4)));`	204	`cv::Mat(cal.T1).copyTo(RT1(cv::Range(0, 3), cv::Range(3, 4)));`
205	`cv::Matx34f P1 = cv::Matx34f(RT1);`	205	`cv::Matx34f P1 = cv::Matx34f(RT1);`
206		206
207	`// calibration points in camera 0 frame`	207	`// calibration points in camera 0 frame`
208	`std::vector< std::vector<cv::Point3f> > Qcam;`	208	`std::vector< std::vector<cv::Point3f> > Qcam;`
209		209
210	`for(int i=0; i<nValidSets; i++){`	210	`for(int i=0; i<nValidSets; i++){`
211	`std::vector<cv::Point2f> qc0i, qc1i;`	211	`std::vector<cv::Point2f> qc0i, qc1i;`
212		212
213	`cv::undistortPoints(qc0[i], qc0i, cal.K0, cal.k0);`	213	`cv::undistortPoints(qc0[i], qc0i, cal.K0, cal.k0);`
214	`cv::undistortPoints(qc1[i], qc1i, cal.K1, cal.k1);`	214	`cv::undistortPoints(qc1[i], qc1i, cal.K1, cal.k1);`
215	`// qc0i = qc0[i];`	215	`// qc0i = qc0[i];`
216	`// qc1i = qc1[i];`	216	`// qc1i = qc1[i];`
217		217
218	`cv::Mat Qhom, Qcami;`	218	`cv::Mat Qhom, Qcami;`
219	`cv::triangulatePoints(P0, P1, qc0i, qc1i, Qhom);`	219	`cv::triangulatePoints(P0, P1, qc0i, qc1i, Qhom);`
220	`cvtools::convertMatFromHomogeneous(Qhom, Qcami);`	220	`cvtools::convertMatFromHomogeneous(Qhom, Qcami);`
221	`std::vector<cv::Point3f> QcamiPoints;`	221	`std::vector<cv::Point3f> QcamiPoints;`
222	`cvtools::matToPoints3f(Qcami, QcamiPoints);`	222	`cvtools::matToPoints3f(Qcami, QcamiPoints);`
223		223
224	`Qcam.push_back(QcamiPoints);`	224	`Qcam.push_back(QcamiPoints);`
225	`}`	225	`}`
226		226
227	`cv::Vec3f axis, point;`	227	`cv::Vec3f axis, point;`
228	`cvtools::rotationAxisCalibration(Qcam, Qi, axis, point);`	228	`cvtools::rotationAxisCalibration(Qcam, Qi, axis, point);`
229		229
230	`// construct transformation matrix`	230	`// construct transformation matrix`
231	`cv::Vec3f ex = axis.cross(cv::Vec3f(0,0,1.0));`	231	`cv::Vec3f ex = axis.cross(cv::Vec3f(0,0,1.0));`
232	`ex = cv::normalize(ex);`	232	`ex = cv::normalize(ex);`
233	`cv::Vec3f ez = ex.cross(axis);`	233	`cv::Vec3f ez = ex.cross(axis);`
234	`ez = cv::normalize(ez);`	234	`ez = cv::normalize(ez);`
235		235
236	`cv::Mat RrMat(3, 3, CV_32F);`	236	`cv::Mat RrMat(3, 3, CV_32F);`
237	`cv::Mat(ex).copyTo(RrMat.col(0));`	237	`cv::Mat(ex).copyTo(RrMat.col(0));`
238	`cv::Mat(axis).copyTo(RrMat.col(1));`	238	`cv::Mat(axis).copyTo(RrMat.col(1));`
239	`cv::Mat(ez).copyTo(RrMat.col(2));`	239	`cv::Mat(ez).copyTo(RrMat.col(2));`
240		240
241	`cal.Rr = cv::Matx33f(RrMat).t();`	241	`cal.Rr = cv::Matx33f(RrMat).t();`
242	`cal.Tr = -cv::Matx33f(RrMat).t()*point;`	242	`cal.Tr = -cv::Matx33f(RrMat).t()*point;`
243		243
244	`// Print to std::cout`	244	`// Print to std::cout`
245	`cal.print();`	245	`cal.print();`
246		246
247	`// save to (reentrant qsettings object)`	247	`// save to (reentrant qsettings object)`
248	`settings.setValue("calibration/parameters", QVariant::fromValue(cal));`	248	`settings.setValue("calibration/parameters", QVariant::fromValue(cal));`
249		249
250	`emit done();`	250	`emit done();`
251		251
252	`}`	252	`}`
253		253