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/patternSizeX", 12).toInt();
    int checkerCountY = settings.value("calibration/patternSizeY", 11).toInt();
    cv::Size checkerCount(checkerCountX, checkerCountY);
 
    unsigned int nSets = calibrationData.size();
 
    // 2D Points collected for OpenCV's calibration procedures
    std::vector< std::vector<cv::Point2f> > qc0, qc1;
    std::vector< std::vector<cv::Point2f> > qc0Stereo, qc1Stereo;
 
    std::vector<bool> success0(nSets), success1(nSets);
 
    std::vector<float> angles;
 
    // Loop through calibration sets
    for(unsigned int i=0; i<nSets; i++){
 
        SMCalibrationSet SMCalibrationSetI = calibrationData[i];
 
        if(!SMCalibrationSetI.checked)
            continue;
 
        // Camera 0
        std::vector<cv::Point2f> qci0;
 
        // Convert to grayscale
        cv::Mat gray;
        if(SMCalibrationSetI.frame0.channels() == 1)
            cv::cvtColor(SMCalibrationSetI.frame0, gray, CV_BayerBG2GRAY);
        else
            cv::cvtColor(SMCalibrationSetI.frame0, gray, CV_RGB2GRAY);
 
        // Extract checker corners
        success0[i] = cv::findChessboardCorners(gray, checkerCount, qci0, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);
        if(success0[i]){
            cv::cornerSubPix(gray, qci0, cv::Size(6, 6), cv::Size(1, 1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.0001));
            // Draw colored chessboard
            cv::Mat color;
            if(SMCalibrationSetI.frame0.channels() == 1)
                cv::cvtColor(SMCalibrationSetI.frame0, color, CV_BayerBG2RGB);
            else
                color = SMCalibrationSetI.frame0.clone();
 
            cvtools::drawChessboardCorners(color, checkerCount, qci0, success0[i], 10);
            SMCalibrationSetI.frame0Result = color;
        }
 
        emit newFrameResult(i, 0, success0[i], SMCalibrationSetI.frame0Result);
 
        // Camera 1
        std::vector<cv::Point2f> qci1;
 
        // Convert to grayscale
        if(SMCalibrationSetI.frame1.channels() == 1)
            cv::cvtColor(SMCalibrationSetI.frame1, gray, CV_BayerBG2GRAY);
        else
            cv::cvtColor(SMCalibrationSetI.frame1, gray, CV_RGB2GRAY);
 
        // Extract checker corners
        success1[i] = cv::findChessboardCorners(gray, checkerCount, qci1, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);
        if(success1[i]){
            cv::cornerSubPix(gray, qci1, cv::Size(6, 6), cv::Size(1, 1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.0001));
            // Draw colored chessboard
            cv::Mat color;
            if(SMCalibrationSetI.frame1.channels() == 1)
                cv::cvtColor(SMCalibrationSetI.frame1, color, CV_BayerBG2RGB);
            else
                color = SMCalibrationSetI.frame1.clone();
 
            cvtools::drawChessboardCorners(color, checkerCount, qci1, success1[i], 10);
            SMCalibrationSetI.frame1Result = color;
        }
 
        emit newFrameResult(i, 1, success1[i], SMCalibrationSetI.frame1Result);
 
        if(success0[i])
            qc0.push_back(qci0);
 
        if(success1[i])
            qc1.push_back(qci1);
 
        if(success0[i] && success1[i]){
            qc0Stereo.push_back(qci0);
            qc1Stereo.push_back(qci1);
            angles.push_back(SMCalibrationSetI.rotationAngle);
        }
 
        // Show progress
        emit newSetProcessed(i);
    }
 
    size_t nValidSets = angles.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/squareSize", 10.0).toFloat(); // width and height of one checker square 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> > Q0, Q1, QStereo;
    for(unsigned int i=0; i<qc0.size(); i++)
        Q0.push_back(Qi);
    for(unsigned int i=0; i<qc1.size(); i++)
        Q1.push_back(Qi);
    for(unsigned int i=0; i<nValidSets; i++)
        QStereo.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_K3 + cv::CALIB_ZERO_TANGENT_DIST + cv::CALIB_FIX_PRINCIPAL_POINT;
    // 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(Q0, qc0, frameSize, cal.K0, cal.k0, cam_rvecs0, cam_tvecs0, flags,
                                         cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, DBL_EPSILON));
//std::cout << cal.k0 << std::endl;
//    // 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(Q1, qc1, frameSize, cal.K1, cal.k1, cam_rvecs1, cam_tvecs1, flags,
                                         cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, DBL_EPSILON));
//std::cout << cal.k1 << std::endl;
    // stereo calibration
    int flags_stereo = cv::CALIB_FIX_INTRINSIC;// + cv::CALIB_FIX_K2 + cv::CALIB_FIX_K3 + cv::CALIB_ZERO_TANGENT_DIST + cv::CALIB_FIX_PRINCIPAL_POINT + cv::CALIB_FIX_ASPECT_RATIO;
    cv::Mat E, F, R1, T1;
    cal.stereo_error = cv::stereoCalibrate(QStereo, qc0Stereo, qc1Stereo, cal.K0, cal.k0, cal.K1, cal.k1,
                                              frameSize, R1, T1, E, F,
                                              cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 200, DBL_EPSILON),
                                              flags_stereo);
 
    cal.R1 = R1;
    cal.T1 = T1;
    cal.E = E;
    cal.F = F;
 
    // Determine per-view reprojection errors:
    cal.cam0_errors_per_view.resize(nSets);
    int idx = 0;
    for(unsigned int i = 0; i < nSets; ++i){
        if(success0[i]){
            int n = (int)Q0[idx].size();
            std::vector<cv::Point2f> qc_proj;
            cv::projectPoints(cv::Mat(Q0[idx]), cam_rvecs0[idx], cam_tvecs0[idx], cal.K0,  cal.k0, qc_proj);
            float err = 0;
            for(unsigned int j=0; j<qc_proj.size(); j++){
                cv::Point2f d = qc0[idx][j] - qc_proj[j];
                err += cv::sqrt(d.x*d.x + d.y*d.y);
            }
            cal.cam0_errors_per_view[i] = (float)err/n;
            idx++;
        } else
            cal.cam0_errors_per_view[i] = NAN;
    }
    cal.cam1_errors_per_view.resize(nSets);
    idx = 0;
    for(unsigned int i = 0; i < nSets; ++i){
        if(success1[i]){
            int n = (int)Q1[idx].size();
            std::vector<cv::Point2f> qc_proj;
            cv::projectPoints(cv::Mat(Q1[idx]), cam_rvecs1[idx], cam_tvecs1[idx], cal.K1,  cal.k1, qc_proj);
            float err = 0;
            for(unsigned int j=0; j<qc_proj.size(); j++){
                cv::Point2f d = qc1[idx][j] - qc_proj[j];
                err += cv::sqrt(d.x*d.x + d.y*d.y);
            }
            cal.cam1_errors_per_view[i] = (float)err/n;
            idx++;
       } else
            cal.cam1_errors_per_view[i] = NAN;
    }
 
//    // 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(unsigned 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 166 → 167

Rev 166		Rev 167
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/patternSizeX", 12).toInt();`	13	`int checkerCountX = settings.value("calibration/patternSizeX", 12).toInt();`
14	`int checkerCountY = settings.value("calibration/patternSizeY", 11).toInt();`	14	`int checkerCountY = settings.value("calibration/patternSizeY", 11).toInt();`
15	`cv::Size checkerCount(checkerCountX, checkerCountY);`	15	`cv::Size checkerCount(checkerCountX, checkerCountY);`
16		16
17	`int nSets = calibrationData.size();`	17	`unsigned int nSets = calibrationData.size();`
18		18
19	`// 2D Points collected for OpenCV's calibration procedures`	19	`// 2D Points collected for OpenCV's calibration procedures`
20	`std::vector< std::vector<cv::Point2f> > qc0, qc1;`	20	`std::vector< std::vector<cv::Point2f> > qc0, qc1;`
21	`std::vector< std::vector<cv::Point2f> > qc0Stereo, qc1Stereo;`	21	`std::vector< std::vector<cv::Point2f> > qc0Stereo, qc1Stereo;`
22		22
23	`std::vector<bool> success0(nSets), success1(nSets);`	23	`std::vector<bool> success0(nSets), success1(nSets);`
24		24
25	`std::vector<float> angles;`	25	`std::vector<float> angles;`
26		26
27	`// Loop through calibration sets`	27	`// Loop through calibration sets`
28	`for(int i=0; i<nSets; i++){`	28	`for(unsigned int i=0; i<nSets; i++){`
29		29
30	`SMCalibrationSet SMCalibrationSetI = calibrationData[i];`	30	`SMCalibrationSet SMCalibrationSetI = calibrationData[i];`
31		31
32	`if(!SMCalibrationSetI.checked)`	32	`if(!SMCalibrationSetI.checked)`
33	`continue;`	33	`continue;`
34		34
35	`// Camera 0`	35	`// Camera 0`
36	`std::vector<cv::Point2f> qci0;`	36	`std::vector<cv::Point2f> qci0;`
37		37
38	`// Convert to grayscale`	38	`// Convert to grayscale`
39	`cv::Mat gray;`	39	`cv::Mat gray;`
40	`if(SMCalibrationSetI.frame0.channels() == 1)`	40	`if(SMCalibrationSetI.frame0.channels() == 1)`