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


#include "SMCalibrationWorker.h"
#include "SMCalibrationParameters.h"
 
#include "cvtools.h"
 
#include <QSettings>
 
#include <ceres/ceres.h>
 
 
struct CircleResidual {
  CircleResidual(std::vector<cv::Point3f> _pointsOnArc)
      : pointsOnArc(_pointsOnArc) {}
 
  template <typename T>
  bool operator()(const T* point, const T* axis, T* residual) const {
 
 
 
    T axisSqNorm = axis[0]*axis[0] + axis[1]*axis[1] + axis[2]*axis[2];
 
 
    unsigned int l = pointsOnArc.size();
    std::vector<T> dI(l);
 
    // note, this is automatically initialized to 0
    T sum(0.0);
 
    for(unsigned int i=0; i<l; i++){
      cv::Point3d p = pointsOnArc[i];
      //T p[3] = {pointsOnArc[i].x, pointsOnArc[i].y, pointsOnArc[i].z};
 
      // point to line distance
      T dotProd = (point[0]-p.x)*axis[0] + (point[1]-p.y)*axis[1] + (point[2]-p.z)*axis[2];
 
      T dIx = point[0] - p.x - (dotProd*axis[0]/axisSqNorm);
      T dIy = point[1] - p.y - (dotProd*axis[1]/axisSqNorm);
      T dIz = point[2] - p.z - (dotProd*axis[2]/axisSqNorm);
      dI[i] = ceres::sqrt(dIx*dIx + dIy*dIy + dIz*dIz);
 
      sum += dI[i];
    }
 
 
    T mean = sum / double(l);
 
    for(unsigned int i=0; i<l; i++){
        residual[i] = dI[i] - mean;
    }
 
    return true;
  }
 
 private:
 
  // Observations for one checkerboard corner.
  const std::vector<cv::Point3f> pointsOnArc;
};
 
 
// Closed form solution to solve for the rotation axis from sets of 3D point coordinates of flat pattern feature points
// Algorithm according to Chen et al., Rotation axis calibration of a turntable using constrained global optimization, Optik 2014
// DTU, 2014, Jakob Wilm
static void rotationAxisCalibration(const std::vector< std::vector<cv::Point3f> > Qcam, const std::vector<cv::Point3f> Qobj, cv::Vec3f &axis, cv::Vec3f &point, float &error){
 
    // number of frames (points on each arch)
    int l = Qcam.size();
 
    // number of points in each frame
    size_t mn = Qobj.size();
 
    assert(mn == Qcam[0].size());
 
    // construct matrix for axis determination
    cv::Mat M(6, 6, CV_32F, cv::Scalar(0));
 
    for(int k=0; k<l; k++){
        for(unsigned int idx=0; idx<mn; idx++){
 
//            float i = Qobj[idx].x+4;
//            float j = Qobj[idx].y+4;
            float i = Qobj[idx].x;
            float j = Qobj[idx].y;
 
            float x = Qcam[k][idx].x;
            float y = Qcam[k][idx].y;
            float z = Qcam[k][idx].z;
 
            M += (cv::Mat_<float>(6,6) << x*x, x*y, x*z, x, i*x, j*x,
                                            0, y*y, y*z, y, i*y, j*y,
                                            0,   0, z*z, z, i*z, j*z,
                                            0,   0,   0, 1,   i,   j,
                                            0,   0,   0, 0, i*i, i*j,
                                            0,   0,   0, 0,   0, j*j);
 
        }
    }
 
    cv::completeSymm(M, false);
 
    // solve for axis
    std::vector<float> lambda;
    cv::Mat u;
    cv::eigen(M, lambda, u);
 
    float minLambda = std::abs(lambda[0]);
    int idx = 0;
    for(unsigned int i=1; i<lambda.size(); i++){
        if(abs(lambda[i]) < minLambda){
            minLambda = lambda[i];
            idx = i;
        }
    }
 
    axis = u.row(idx).colRange(0, 3);
    axis = cv::normalize(axis);
 
    float nx = u.at<float>(idx, 0);
    float ny = u.at<float>(idx, 1);
    float nz = u.at<float>(idx, 2);
    //float d  = u.at<float>(idx, 3);
    float dh = u.at<float>(idx, 4);
    float dv = u.at<float>(idx, 5);
 
//    // Paper version: c is initially eliminated
//    cv::Mat A(l*mn, mn+2, CV_32F, cv::Scalar(0.0));
//    cv::Mat bb(l*mn, 1, CV_32F);
 
//    for(int k=0; k<l; k++){
//        for(unsigned int idx=0; idx<mn; idx++){
 
//            float i = Qobj[idx].x;
//            float j = Qobj[idx].y;
 
//            float x = Qcam[k][idx].x;
//            float y = Qcam[k][idx].y;
//            float z = Qcam[k][idx].z;
 
//            float f = x*x + y*y + z*z + (2*x*nx + 2*y*ny + 2*z*nz)*(i*dh + j*dv);
 
//            int row = k*mn+idx;
//            A.at<float>(row, 0) = 2*x - (2*z*nx)/nz;
//            A.at<float>(row, 1) = 2*y - (2*z*ny)/nz;
//            A.at<float>(row, idx+2) = 1.0;
 
//            bb.at<float>(row, 0) = f + (2*z*d)/nz;
//        }
//    }
 
//    // solve for point
//    cv::Mat abe;
//    cv::solve(A, bb, abe, cv::DECOMP_SVD);
 
//    float a = abe.at<float>(0, 0);
//    float b = abe.at<float>(1, 0);
//    float c = -(nx*a+ny*b+d)/nz;
 
    // Our version: solve simultanously for a,b,c
    cv::Mat A(l*mn, mn+3, CV_32F, cv::Scalar(0.0));
    cv::Mat bb(l*mn, 1, CV_32F);
 
    for(int k=0; k<l; k++){
        for(unsigned int idx=0; idx<mn; idx++){
 
            float i = Qobj[idx].x;
            float j = Qobj[idx].y;
 
            float x = Qcam[k][idx].x;
            float y = Qcam[k][idx].y;
            float z = Qcam[k][idx].z;
 
            float f = x*x + y*y + z*z + (2*x*nx + 2*y*ny + 2*z*nz)*(i*dh + j*dv);
 
            int row = k*mn+idx;
            A.at<float>(row, 0) = 2*x;
            A.at<float>(row, 1) = 2*y;
            A.at<float>(row, 2) = 2*z;
            A.at<float>(row, idx+3) = 1.0;
 
            bb.at<float>(row, 0) = f;
        }
    }
 
    // solve for point
    cv::Mat abe;
    cv::solve(A, bb, abe, cv::DECOMP_SVD);
 
    float a = abe.at<float>(0, 0);
    float b = abe.at<float>(1, 0);
    float c = abe.at<float>(2, 0);
 
    point[0] = a;
    point[1] = b;
    point[2] = c;
 
    // Non-linear optimization using Ceres
 
    double pointArray[] = {point[0], point[1], point[2]};
 
 
    double axisArray[] = {axis[0], axis[1], axis[2]};
 
 
    ceres::Problem problem;
    // loop through saddle points
    for(unsigned int idx=0; idx<mn; idx++){
        std::vector<cv::Point3f> pointsOnArch(l);
        for(int k=0; k<l; k++){
            pointsOnArch[k] = Qcam[k][idx];
        }
        ceres::CostFunction* cost_function =
           new ceres::AutoDiffCostFunction<CircleResidual, ceres::DYNAMIC, 3, 3>(
               new CircleResidual(pointsOnArch), l);
        problem.AddResidualBlock(cost_function, NULL, pointArray, axisArray);
    }
 
    // Run the solver!
    ceres::Solver::Options options;
    options.linear_solver_type = ceres::DENSE_QR;
    options.minimizer_progress_to_stdout = true;
    ceres::Solver::Summary summary;
    ceres::Solve(options, &problem, &summary);
 
    std::cout << summary.BriefReport() << "\n";
 
    point = cv::Vec3f(pointArray[0], pointArray[1], pointArray[2]);
    axis = cv::Vec3f(axisArray[0], axisArray[1], axisArray[2]);
    axis /= cv::norm(axis);
 
 
 
 
 
    // Error estimate (sum of squared differences)
    error = 0;
    // loop through saddle points
    for(unsigned int idx=0; idx<mn; idx++){
 
        // vector of distances from rotation axis
        std::vector<float> dI(l);
        // loop through angular positions
        for(int k=0; k<l; k++){
            cv::Vec3f p = cv::Vec3f(Qcam[k][idx]);
            // point to line distance
            dI[k] = cv::norm((point-p)-(point-p).dot(axis)*axis);
        }
        float sum = std::accumulate(dI.begin(), dI.end(), 0.0);
        float mean = sum / dI.size();
        float sumSqDev = 0;
        for(int k=0; k<l; k++){
            sumSqDev += (dI[k] - mean)*(dI[k] - mean);
        }
        //meanDev /= l;
        //std::cout << meanDev << std::endl;
        error += sumSqDev;
    }
    //error /= mn;
 
}
 
void SMCalibrationWorker::performCalibration(std::vector<SMCalibrationSet> calibrationData){
 
    QSettings settings;
 
    // Number of saddle points on calibration pattern
    int checkerCountX = settings.value("calibration/patternSizeX", 22).toInt();
    int checkerCountY = settings.value("calibration/patternSizeY", 13).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(qc0Stereo[i], qc0i, cal.K0, cal.k0);
        cv::undistortPoints(qc1Stereo[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::Mat QcamMat(Qcam.size(), Qcam[0].size(), CV_32FC3);
//    for(int i=0; i<Qcam.size(); i++)
//        for(int j=0; j<Qcam[0].size(); j++)
//            QcamMat.at<cv::Point3f>(i,j) = Qcam[i][j];
//    cvtools::writeMat(QcamMat, "Qcam.mat", "Qcam");
 
    cv::Vec3f axis, point;
    float rot_axis_error;
    rotationAxisCalibration(Qcam, Qi, axis, point, rot_axis_error);
 
    // 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;
    cal.rot_axis_error = rot_axis_error;
 
    // Print to std::cout
    cal.print();
 
    // save to (reentrant qsettings object)
    settings.setValue("calibration/parameters", QVariant::fromValue(cal));
 
    emit done();
 
}
 

Rev 196	Rev 197
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	`#include <ceres/ceres.h>`	8	`#include <ceres/ceres.h>`
9		9
10		10
11	`struct CircleResidual {`	11	`struct CircleResidual {`
12	`CircleResidual(std::vector<cv::Point3f> _pointsOnArc)`	12	`CircleResidual(std::vector<cv::Point3f> _pointsOnArc)`
13	`: pointsOnArc(_pointsOnArc) {}`	13	`: pointsOnArc(_pointsOnArc) {}`
14		14
15	`template <typename T>`	15	`template <typename T>`
16	`bool operator()(const T* const point_x, const T* const point_y, const T* const point_z,`	16	`bool operator()(const T* point, const T* axis, T* residual) const {`
17	`const T* const axis_x, const T* const axis_y, const T* const axis_z,`	-
18	`T* residual) const {`	-
19		17
20	`cv::Vec3f axis(axis_x, axis_y, *axis_z);`	18	`T axisSqNorm = axis[0]axis[0] + axis[1]axis[1] + axis[2]*axis[2];`
21	`cv::Vec3f point(point_x, point_y, *point_z);`	-
22		19
23	`unsigned int l = pointsOnArc.size();`	20	`unsigned int l = pointsOnArc.size();`
24	`std::vector<float> dI(l);`	21	`std::vector<T> dI(l);`
-		22
-		23	`// note, this is automatically initialized to 0`
-		24	`T sum(0.0);`
-		25
25	`for(unsigned int i=0; i<l; i++){`	26	`for(unsigned int i=0; i<l; i++){`
26	`cv::Vec3f p = cv::Vec3f(pointsOnArc[i]);`	27	`cv::Point3d p = pointsOnArc[i];`
-		28	`//T p[3] = {pointsOnArc[i].x, pointsOnArc[i].y, pointsOnArc[i].z};`
-		29
27	`// point to line distance`	30	`// point to line distance`
28	`dI[i] = cv::norm((point-p)-(point-p).dot(axis)*axis);`	31	`T dotProd = (point[0]-p.x)axis[0] + (point[1]-p.y)axis[1] + (point[2]-p.z)*axis[2];`
29	`}`	-
30	`float sum = std::accumulate(dI.begin(), dI.end(), 0.0);`	32	`T dIx = point[0] - p.x - (dotProd*axis[0]/axisSqNorm);`
31	`float mean = sum / dI.size();`	33	`T dIy = point[1] - p.y - (dotProd*axis[1]/axisSqNorm);`
32	`float meanDev = 0;`	34	`T dIz = point[2] - p.z - (dotProd*axis[2]/axisSqNorm);`
33	`for(unsigned int k=0; k<l; k++){`	35	`dI[i] = ceres::sqrt(dIxdIx + dIydIy + dIz*dIz);`
-		36
34	`meanDev += std::abs(dI[k] - mean);`	37	`sum += dI[i];`
35	`}`	38	`}`
36	`meanDev /= l;`	-
37		39
-		40	`T mean = sum / double(l);`
-		41
-		42	`for(unsigned int i=0; i<l; i++){`
38	`residual[0] = T(meanDev);`	43	`residual[i] = dI[i] - mean;`
-		44	`}`
39		45
40	`return true;`	46	`return true;`
41	`}`	47	`}`
42		48
43	`private:`	49	`private:`
44		50
45	`// Observations for one checkerboard corner.`	51	`// Observations for one checkerboard corner.`
46	`const std::vector<cv::Point3f> pointsOnArc;`	52	`const std::vector<cv::Point3f> pointsOnArc;`
47	`};`	53	`};`
48		54
49		55
50	`// Closed form solution to solve for the rotation axis from sets of 3D point coordinates of flat pattern feature points`	56	`// Closed form solution to solve for the rotation axis from sets of 3D point coordinates of flat pattern feature points`
51	`// Algorithm according to Chen et al., Rotation axis calibration of a turntable using constrained global optimization, Optik 2014`	57	`// Algorithm according to Chen et al., Rotation axis calibration of a turntable using constrained global optimization, Optik 2014`
52	`// DTU, 2014, Jakob Wilm`	58	`// DTU, 2014, Jakob Wilm`
53	`static void rotationAxisCalibration(const std::vector< std::vector<cv::Point3f> > Qcam, const std::vector<cv::Point3f> Qobj, cv::Vec3f &axis, cv::Vec3f &point, float &error){`	59	`static void rotationAxisCalibration(const std::vector< std::vector<cv::Point3f> > Qcam, const std::vector<cv::Point3f> Qobj, cv::Vec3f &axis, cv::Vec3f &point, float &error){`
54		60
55	`// number of frames (points on each arch)`	61	`// number of frames (points on each arch)`
56	`int l = Qcam.size();`	62	`int l = Qcam.size();`
57		63
58	`// number of points in each frame`	64	`// number of points in each frame`
59	`size_t mn = Qobj.size();`	65	`size_t mn = Qobj.size();`
60		66
61	`assert(mn == Qcam[0].size());`	67	`assert(mn == Qcam[0].size());`
62		68
63	`// construct matrix for axis determination`	69	`// construct matrix for axis determination`
64	`cv::Mat M(6, 6, CV_32F, cv::Scalar(0));`	70	`cv::Mat M(6, 6, CV_32F, cv::Scalar(0));`
65		71
66	`for(int k=0; k<l; k++){`	72	`for(int k=0; k<l; k++){`
67	`for(unsigned int idx=0; idx<mn; idx++){`	73	`for(unsigned int idx=0; idx<mn; idx++){`
68		74
69	`// float i = Qobj[idx].x+4;`	75	`// float i = Qobj[idx].x+4;`
70	`// float j = Qobj[idx].y+4;`	76	`// float j = Qobj[idx].y+4;`
71	`float i = Qobj[idx].x;`	77	`float i = Qobj[idx].x;`
72	`float j = Qobj[idx].y;`	78	`float j = Qobj[idx].y;`
73		79
74	`float x = Qcam[k][idx].x;`	80	`float x = Qcam[k][idx].x;`
75	`float y = Qcam[k][idx].y;`	81	`float y = Qcam[k][idx].y;`
76	`float z = Qcam[k][idx].z;`	82	`float z = Qcam[k][idx].z;`
77		83
78	`M += (cv::Mat_<float>(6,6) << xx, xy, xz, x, ix, j*x,`	84	`M += (cv::Mat_<float>(6,6) << xx, xy, xz, x, ix, j*x,`
79	`0, yy, yz, y, iy, jy,`	85	`0, yy, yz, y, iy, jy,`
80	`0, 0, zz, z, iz, j*z,`	86	`0, 0, zz, z, iz, j*z,`
81	`0, 0, 0, 1, i, j,`	87	`0, 0, 0, 1, i, j,`
82	`0, 0, 0, 0, ii, ij,`	88	`0, 0, 0, 0, ii, ij,`
83	`0, 0, 0, 0, 0, j*j);`	89	`0, 0, 0, 0, 0, j*j);`
84		90
85	`}`	91	`}`
86	`}`	92	`}`
87		93
88	`cv::completeSymm(M, false);`	94	`cv::completeSymm(M, false);`
89		95
90	`// solve for axis`	96	`// solve for axis`
91	`std::vector<float> lambda;`	97	`std::vector<float> lambda;`
92	`cv::Mat u;`	98	`cv::Mat u;`
93	`cv::eigen(M, lambda, u);`	99	`cv::eigen(M, lambda, u);`
94		100
95	`float minLambda = std::abs(lambda[0]);`	101	`float minLambda = std::abs(lambda[0]);`
96	`int idx = 0;`	102	`int idx = 0;`
97	`for(unsigned int i=1; i<lambda.size(); i++){`	103	`for(unsigned int i=1; i<lambda.size(); i++){`
98	`if(abs(lambda[i]) < minLambda){`	104	`if(abs(lambda[i]) < minLambda){`
99	`minLambda = lambda[i];`	105	`minLambda = lambda[i];`
100	`idx = i;`	106	`idx = i;`
101	`}`	107	`}`
102	`}`	108	`}`
103		109
104	`axis = u.row(idx).colRange(0, 3);`	110	`axis = u.row(idx).colRange(0, 3);`
105	`axis = cv::normalize(axis);`	111	`axis = cv::normalize(axis);`
106		112
107	`float nx = u.at<float>(idx, 0);`	113	`float nx = u.at<float>(idx, 0);`
108	`float ny = u.at<float>(idx, 1);`	114	`float ny = u.at<float>(idx, 1);`
109	`float nz = u.at<float>(idx, 2);`	115	`float nz = u.at<float>(idx, 2);`
110	`//float d = u.at<float>(idx, 3);`	116	`//float d = u.at<float>(idx, 3);`
111	`float dh = u.at<float>(idx, 4);`	117	`float dh = u.at<float>(idx, 4);`
112	`float dv = u.at<float>(idx, 5);`	118	`float dv = u.at<float>(idx, 5);`
113		119
114	`// // Paper version: c is initially eliminated`	120	`// // Paper version: c is initially eliminated`
115	`// cv::Mat A(l*mn, mn+2, CV_32F, cv::Scalar(0.0));`	121	`// cv::Mat A(l*mn, mn+2, CV_32F, cv::Scalar(0.0));`
116	`// cv::Mat bb(l*mn, 1, CV_32F);`	122	`// cv::Mat bb(l*mn, 1, CV_32F);`
117		123
118	`// for(int k=0; k<l; k++){`	124	`// for(int k=0; k<l; k++){`
119	`// for(unsigned int idx=0; idx<mn; idx++){`	125	`// for(unsigned int idx=0; idx<mn; idx++){`
120		126
121	`// float i = Qobj[idx].x;`	127	`// float i = Qobj[idx].x;`
122	`// float j = Qobj[idx].y;`	128	`// float j = Qobj[idx].y;`
123		129
124	`// float x = Qcam[k][idx].x;`	130	`// float x = Qcam[k][idx].x;`
125	`// float y = Qcam[k][idx].y;`	131	`// float y = Qcam[k][idx].y;`
126	`// float z = Qcam[k][idx].z;`	132	`// float z = Qcam[k][idx].z;`
127		133
128	`// float f = xx + yy + zz + (2xnx + 2yny + 2znz)(idh + jdv);`	134	`// float f = xx + yy + zz + (2xnx + 2yny + 2znz)(idh + jdv);`
129		135
130	`// int row = k*mn+idx;`	136	`// int row = k*mn+idx;`
131	`// A.at<float>(row, 0) = 2x - (2z*nx)/nz;`	137	`// A.at<float>(row, 0) = 2x - (2z*nx)/nz;`
132	`// A.at<float>(row, 1) = 2y - (2z*ny)/nz;`	138	`// A.at<float>(row, 1) = 2y - (2z*ny)/nz;`
133	`// A.at<float>(row, idx+2) = 1.0;`	139	`// A.at<float>(row, idx+2) = 1.0;`
134		140
135	`// bb.at<float>(row, 0) = f + (2zd)/nz;`	141	`// bb.at<float>(row, 0) = f + (2zd)/nz;`
136	`// }`	142	`// }`
137	`// }`	143	`// }`
138		144
139	`// // solve for point`	145	`// // solve for point`
140	`// cv::Mat abe;`	146	`// cv::Mat abe;`
141	`// cv::solve(A, bb, abe, cv::DECOMP_SVD);`	147	`// cv::solve(A, bb, abe, cv::DECOMP_SVD);`
142		148
143	`// float a = abe.at<float>(0, 0);`	149	`// float a = abe.at<float>(0, 0);`
144	`// float b = abe.at<float>(1, 0);`	150	`// float b = abe.at<float>(1, 0);`
145	`// float c = -(nxa+nyb+d)/nz;`	151	`// float c = -(nxa+nyb+d)/nz;`
146		152
147	`// Our version: solve simultanously for a,b,c`	153	`// Our version: solve simultanously for a,b,c`
148	`cv::Mat A(l*mn, mn+3, CV_32F, cv::Scalar(0.0));`	154	`cv::Mat A(l*mn, mn+3, CV_32F, cv::Scalar(0.0));`
149	`cv::Mat bb(l*mn, 1, CV_32F);`	155	`cv::Mat bb(l*mn, 1, CV_32F);`
150		156
151	`for(int k=0; k<l; k++){`	157	`for(int k=0; k<l; k++){`
152	`for(unsigned int idx=0; idx<mn; idx++){`	158	`for(unsigned int idx=0; idx<mn; idx++){`
153		159
154	`float i = Qobj[idx].x;`	160	`float i = Qobj[idx].x;`
155	`float j = Qobj[idx].y;`	161	`float j = Qobj[idx].y;`
156		162
157	`float x = Qcam[k][idx].x;`	163	`float x = Qcam[k][idx].x;`
158	`float y = Qcam[k][idx].y;`	164	`float y = Qcam[k][idx].y;`
159	`float z = Qcam[k][idx].z;`	165	`float z = Qcam[k][idx].z;`
160		166
161	`float f = xx + yy + zz + (2xnx + 2yny + 2znz)(idh + jdv);`	167	`float f = xx + yy + zz + (2xnx + 2yny + 2znz)(idh + jdv);`
162		168
163	`int row = k*mn+idx;`	169	`int row = k*mn+idx;`
164	`A.at<float>(row, 0) = 2*x;`	170	`A.at<float>(row, 0) = 2*x;`
165	`A.at<float>(row, 1) = 2*y;`	171	`A.at<float>(row, 1) = 2*y;`
166	`A.at<float>(row, 2) = 2*z;`	172	`A.at<float>(row, 2) = 2*z;`
167	`A.at<float>(row, idx+3) = 1.0;`	173	`A.at<float>(row, idx+3) = 1.0;`
168		174
169	`bb.at<float>(row, 0) = f;`	175	`bb.at<float>(row, 0) = f;`
170	`}`	176	`}`
171	`}`	177	`}`
172		178
173	`// solve for point`	179	`// solve for point`
174	`cv::Mat abe;`	180	`cv::Mat abe;`
175	`cv::solve(A, bb, abe, cv::DECOMP_SVD);`	181	`cv::solve(A, bb, abe, cv::DECOMP_SVD);`
176		182
177	`float a = abe.at<float>(0, 0);`	183	`float a = abe.at<float>(0, 0);`
178	`float b = abe.at<float>(1, 0);`	184	`float b = abe.at<float>(1, 0);`
179	`float c = abe.at<float>(2, 0);`	185	`float c = abe.at<float>(2, 0);`
180		186
181	`point[0] = a;`	187	`point[0] = a;`
182	`point[1] = b;`	188	`point[1] = b;`
183	`point[2] = c;`	189	`point[2] = c;`
184		190
185	`// Non-linear optimization using Ceres`	191	`// Non-linear optimization using Ceres`
186	`double point_x = point[0];`	-
187	`double point_y = point[1];`	192	`double pointArray[] = {point[0], point[1], point[2]};`
188	`double point_z = point[2];`	-
189	`double axis_x = axis[0];`	-
190	`double axis_y = axis[1];`	193	`double axisArray[] = {axis[0], axis[1], axis[2]};`
191	`double axis_z = axis[2];`	-
192		194
193	`ceres::Problem problem;`	195	`ceres::Problem problem;`
194	`// loop through saddle points`	196	`// loop through saddle points`
195	`for(unsigned int idx=0; idx<mn; idx++){`	197	`for(unsigned int idx=0; idx<mn; idx++){`
196	`std::vector<cv::Point3f> pointsOnArch(l);`	198	`std::vector<cv::Point3f> pointsOnArch(l);`
197	`for(int k=0; k<l; k++){`	199	`for(int k=0; k<l; k++){`
198	`pointsOnArch[k] = Qcam[k][idx];`	200	`pointsOnArch[k] = Qcam[k][idx];`
199	`}`	201	`}`
200	`ceres::CostFunction* cost_function =`	202	`ceres::CostFunction* cost_function =`
201	`new ceres::NumericDiffCostFunction<CircleResidual, ceres::CENTRAL, 1, 1, 1, 1, 1, 1, 1>(`	203	`new ceres::AutoDiffCostFunction<CircleResidual, ceres::DYNAMIC, 3, 3>(`
202	`new CircleResidual(pointsOnArch));`	204	`new CircleResidual(pointsOnArch), l);`
203	`problem.AddResidualBlock(cost_function, NULL, &point_x, &point_y, &point_z, &axis_x, &axis_y, &axis_z);`	205	`problem.AddResidualBlock(cost_function, NULL, pointArray, axisArray);`
204	`}`	206	`}`
205		207
206	`// Run the solver!`	208	`// Run the solver!`
207	`ceres::Solver::Options options;`	209	`ceres::Solver::Options options;`
208	`options.linear_solver_type = ceres::DENSE_QR;`	210	`options.linear_solver_type = ceres::DENSE_QR;`
209	`options.minimizer_progress_to_stdout = true;`	211	`options.minimizer_progress_to_stdout = true;`
210	`ceres::Solver::Summary summary;`	212	`ceres::Solver::Summary summary;`
211	`ceres::Solve(options, &problem, &summary);`	213	`ceres::Solve(options, &problem, &summary);`
212		214
213	`std::cout << summary.BriefReport() << "\n";`	215	`std::cout << summary.BriefReport() << "\n";`
214		216
-		217	`point = cv::Vec3f(pointArray[0], pointArray[1], pointArray[2]);`
-		218	`axis = cv::Vec3f(axisArray[0], axisArray[1], axisArray[2]);`
-		219	`axis /= cv::norm(axis);`
215		220
216	`point = cv::Point3f(point_x, point_y, point_z);`	-
217	`axis = cv::Point3f(axis_x, axis_y, axis_z);`	-
218		221
219		-
220	`// Error estimate (mean 3D point deviations from circles around rotation axis)`	222	`// Error estimate (sum of squared differences)`
221	`error = 0;`	223	`error = 0;`
222	`// loop through saddle points`	224	`// loop through saddle points`
223	`for(unsigned int idx=0; idx<mn; idx++){`	225	`for(unsigned int idx=0; idx<mn; idx++){`
224		226
225	`// vector of distances from rotation axis`	227	`// vector of distances from rotation axis`
226	`std::vector<float> dI(l);`	228	`std::vector<float> dI(l);`
227	`// loop through angular positions`	229	`// loop through angular positions`
228	`for(int k=0; k<l; k++){`	230	`for(int k=0; k<l; k++){`
229	`cv::Vec3f p = cv::Vec3f(Qcam[k][idx]);`	231	`cv::Vec3f p = cv::Vec3f(Qcam[k][idx]);`
230	`// point to line distance`	232	`// point to line distance`
231	`dI[k] = cv::norm((point-p)-(point-p).dot(axis)*axis);`	233	`dI[k] = cv::norm((point-p)-(point-p).dot(axis)*axis);`
232	`}`	234	`}`
233	`float sum = std::accumulate(dI.begin(), dI.end(), 0.0);`	235	`float sum = std::accumulate(dI.begin(), dI.end(), 0.0);`
234	`float mean = sum / dI.size();`	236	`float mean = sum / dI.size();`
235	`float meanDev = 0;`	237	`float sumSqDev = 0;`
236	`for(int k=0; k<l; k++){`	238	`for(int k=0; k<l; k++){`
237	`meanDev += std::abs(dI[k] - mean);`	239	`sumSqDev += (dI[k] - mean)*(dI[k] - mean);`
238	`}`	240	`}`
239	`meanDev /= l;`	241	`//meanDev /= l;`
240	`//std::cout << meanDev << std::endl;`	242	`//std::cout << meanDev << std::endl;`
241	`error += meanDev;`	243	`error += sumSqDev;`
242	`}`	244	`}`
243	`error /= mn;`	245	`//error /= mn;`
244		-
245	`}`	246	`}`
246		247
247	`void SMCalibrationWorker::performCalibration(std::vector<SMCalibrationSet> calibrationData){`	248	`void SMCalibrationWorker::performCalibration(std::vector<SMCalibrationSet> calibrationData){`
248		249
249	`QSettings settings;`	250	`QSettings settings;`
250		251
251	`// Number of saddle points on calibration pattern`	252	`// Number of saddle points on calibration pattern`
252	`int checkerCountX = settings.value("calibration/patternSizeX", 22).toInt();`	253	`int checkerCountX = settings.value("calibration/patternSizeX", 22).toInt();`
253	`int checkerCountY = settings.value("calibration/patternSizeY", 13).toInt();`	254	`int checkerCountY = settings.value("calibration/patternSizeY", 13).toInt();`
254	`cv::Size checkerCount(checkerCountX, checkerCountY);`	255	`cv::Size checkerCount(checkerCountX, checkerCountY);`
255		256
256	`unsigned int nSets = calibrationData.size();`	257	`unsigned int nSets = calibrationData.size();`
257		258
258	`// 2D Points collected for OpenCV's calibration procedures`	259	`// 2D Points collected for OpenCV's calibration procedures`
259	`std::vector< std::vector<cv::Point2f> > qc0, qc1;`	260	`std::vector< std::vector<cv::Point2f> > qc0, qc1;`
260	`std::vector< std::vector<cv::Point2f> > qc0Stereo, qc1Stereo;`	261	`std::vector< std::vector<cv::Point2f> > qc0Stereo, qc1Stereo;`
261		262
262	`std::vector<bool> success0(nSets), success1(nSets);`	263	`std::vector<bool> success0(nSets), success1(nSets);`
263		264
264	`std::vector<float> angles;`	265	`std::vector<float> angles;`
265		266
266	`// Loop through calibration sets`	267	`// Loop through calibration sets`
267	`for(unsigned int i=0; i<nSets; i++){`	268	`for(unsigned int i=0; i<nSets; i++){`
268		269
269	`SMCalibrationSet SMCalibrationSetI = calibrationData[i];`	270	`SMCalibrationSet SMCalibrationSetI = calibrationData[i];`
270		271
271	`if(!SMCalibrationSetI.checked)`	272	`if(!SMCalibrationSetI.checked)`
272	`continue;`	273	`continue;`
273		274
274	`// Camera 0`	275	`// Camera 0`
275	`std::vector<cv::Point2f> qci0;`	276	`std::vector<cv::Point2f> qci0;`
276		277
277	`// Convert to grayscale`	278	`// Convert to grayscale`
278	`cv::Mat gray;`	279	`cv::Mat gray;`
279	`if(SMCalibrationSetI.frame0.channels() == 1)`	280	`if(SMCalibrationSetI.frame0.channels() == 1)`
280	`cv::cvtColor(SMCalibrationSetI.frame0, gray, CV_BayerBG2GRAY);`	281	`cv::cvtColor(SMCalibrationSetI.frame0, gray, CV_BayerBG2GRAY);`
281	`else`	282	`else`
282	`cv::cvtColor(SMCalibrationSetI.frame0, gray, CV_RGB2GRAY);`	283	`cv::cvtColor(SMCalibrationSetI.frame0, gray, CV_RGB2GRAY);`
283		284
284	`// Extract checker corners`	285	`// Extract checker corners`
285	`success0[i] = cv::findChessboardCorners(gray, checkerCount, qci0, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);`	286	`success0[i] = cv::findChessboardCorners(gray, checkerCount, qci0, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);`
286	`if(success0[i]){`	287	`if(success0[i]){`
287	`cv::cornerSubPix(gray, qci0, cv::Size(6, 6), cv::Size(1, 1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.0001));`	288	`cv::cornerSubPix(gray, qci0, cv::Size(6, 6), cv::Size(1, 1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.0001));`
288	`// Draw colored chessboard`	289	`// Draw colored chessboard`
289	`cv::Mat color;`	290	`cv::Mat color;`
290	`if(SMCalibrationSetI.frame0.channels() == 1)`	291	`if(SMCalibrationSetI.frame0.channels() == 1)`
291	`cv::cvtColor(SMCalibrationSetI.frame0, color, CV_BayerBG2RGB);`	292	`cv::cvtColor(SMCalibrationSetI.frame0, color, CV_BayerBG2RGB);`
292	`else`	293	`else`
293	`color = SMCalibrationSetI.frame0.clone();`	294	`color = SMCalibrationSetI.frame0.clone();`
294		295
295	`cvtools::drawChessboardCorners(color, checkerCount, qci0, success0[i], 10);`	296	`cvtools::drawChessboardCorners(color, checkerCount, qci0, success0[i], 10);`
296	`SMCalibrationSetI.frame0Result = color;`	297	`SMCalibrationSetI.frame0Result = color;`
297	`}`	298	`}`
298		299
299	`emit newFrameResult(i, 0, success0[i], SMCalibrationSetI.frame0Result);`	300	`emit newFrameResult(i, 0, success0[i], SMCalibrationSetI.frame0Result);`
300		301
301	`// Camera 1`	302	`// Camera 1`
302	`std::vector<cv::Point2f> qci1;`	303	`std::vector<cv::Point2f> qci1;`
303		304
304	`// Convert to grayscale`	305	`// Convert to grayscale`
305	`if(SMCalibrationSetI.frame1.channels() == 1)`	306	`if(SMCalibrationSetI.frame1.channels() == 1)`
306	`cv::cvtColor(SMCalibrationSetI.frame1, gray, CV_BayerBG2GRAY);`	307	`cv::cvtColor(SMCalibrationSetI.frame1, gray, CV_BayerBG2GRAY);`
307	`else`	308	`else`
308	`cv::cvtColor(SMCalibrationSetI.frame1, gray, CV_RGB2GRAY);`	309	`cv::cvtColor(SMCalibrationSetI.frame1, gray, CV_RGB2GRAY);`
309		310
310	`// Extract checker corners`	311	`// Extract checker corners`
311	`success1[i] = cv::findChessboardCorners(gray, checkerCount, qci1, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);`	312	`success1[i] = cv::findChessboardCorners(gray, checkerCount, qci1, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);`
312	`if(success1[i]){`	313	`if(success1[i]){`
313	`cv::cornerSubPix(gray, qci1, cv::Size(6, 6), cv::Size(1, 1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.0001));`	314	`cv::cornerSubPix(gray, qci1, cv::Size(6, 6), cv::Size(1, 1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.0001));`
314	`// Draw colored chessboard`	315	`// Draw colored chessboard`
315	`cv::Mat color;`	316	`cv::Mat color;`
316	`if(SMCalibrationSetI.frame1.channels() == 1)`	317	`if(SMCalibrationSetI.frame1.channels() == 1)`
317	`cv::cvtColor(SMCalibrationSetI.frame1, color, CV_BayerBG2RGB);`	318	`cv::cvtColor(SMCalibrationSetI.frame1, color, CV_BayerBG2RGB);`
318	`else`	319	`else`
319	`color = SMCalibrationSetI.frame1.clone();`	320	`color = SMCalibrationSetI.frame1.clone();`
320		321
321	`cvtools::drawChessboardCorners(color, checkerCount, qci1, success1[i], 10);`	322	`cvtools::drawChessboardCorners(color, checkerCount, qci1, success1[i], 10);`
322	`SMCalibrationSetI.frame1Result = color;`	323	`SMCalibrationSetI.frame1Result = color;`
323	`}`	324	`}`
324		325
325	`emit newFrameResult(i, 1, success1[i], SMCalibrationSetI.frame1Result);`	326	`emit newFrameResult(i, 1, success1[i], SMCalibrationSetI.frame1Result);`
326		327
327	`if(success0[i])`	328	`if(success0[i])`
328	`qc0.push_back(qci0);`	329	`qc0.push_back(qci0);`
329		330
330	`if(success1[i])`	331	`if(success1[i])`
331	`qc1.push_back(qci1);`	332	`qc1.push_back(qci1);`
332		333
333	`if(success0[i] && success1[i]){`	334	`if(success0[i] && success1[i]){`
334	`qc0Stereo.push_back(qci0);`	335	`qc0Stereo.push_back(qci0);`
335	`qc1Stereo.push_back(qci1);`	336	`qc1Stereo.push_back(qci1);`
336	`angles.push_back(SMCalibrationSetI.rotationAngle);`	337	`angles.push_back(SMCalibrationSetI.rotationAngle);`
337	`}`	338	`}`
338		339
339	`// Show progress`	340	`// Show progress`
340	`emit newSetProcessed(i);`	341	`emit newSetProcessed(i);`
341	`}`	342	`}`
342		343
343	`size_t nValidSets = angles.size();`	344	`size_t nValidSets = angles.size();`
344	`if(nValidSets < 2){`	345	`if(nValidSets < 2){`
345	`std::cerr << "Not enough valid calibration sequences!" << std::endl;`	346	`std::cerr << "Not enough valid calibration sequences!" << std::endl;`
346	`emit done();`	347	`emit done();`
347	`return;`	348	`return;`
348	`}`	349	`}`
349		350
350	`// Generate world object coordinates [mm]`	351	`// Generate world object coordinates [mm]`
351	`float checkerSize = settings.value("calibration/squareSize", 10.0).toFloat(); // width and height of one checker square in mm`	352	`float checkerSize = settings.value("calibration/squareSize", 10.0).toFloat(); // width and height of one checker square in mm`
352	`std::vector<cv::Point3f> Qi;`	353	`std::vector<cv::Point3f> Qi;`
353	`for (int h=0; h<checkerCount.height; h++)`	354	`for (int h=0; h<checkerCount.height; h++)`
354	`for (int w=0; w<checkerCount.width; w++)`	355	`for (int w=0; w<checkerCount.width; w++)`
355	`Qi.push_back(cv::Point3f(checkerSize * w, checkerSize* h, 0.0));`	356	`Qi.push_back(cv::Point3f(checkerSize * w, checkerSize* h, 0.0));`
356		357
357	`std::vector< std::vector<cv::Point3f> > Q0, Q1, QStereo;`	358	`std::vector< std::vector<cv::Point3f> > Q0, Q1, QStereo;`
358	`for(unsigned int i=0; i<qc0.size(); i++)`	359	`for(unsigned int i=0; i<qc0.size(); i++)`
359	`Q0.push_back(Qi);`	360	`Q0.push_back(Qi);`
360	`for(unsigned int i=0; i<qc1.size(); i++)`	361	`for(unsigned int i=0; i<qc1.size(); i++)`
361	`Q1.push_back(Qi);`	362	`Q1.push_back(Qi);`
362	`for(unsigned int i=0; i<nValidSets; i++)`	363	`for(unsigned int i=0; i<nValidSets; i++)`
363	`QStereo.push_back(Qi);`	364	`QStereo.push_back(Qi);`
364		365
365	`// calibrate the cameras`	366	`// calibrate the cameras`
366	`SMCalibrationParameters cal;`	367	`SMCalibrationParameters cal;`
367	`cal.frameWidth = calibrationData[0].frame0.cols;`	368	`cal.frameWidth = calibrationData[0].frame0.cols;`
368	`cal.frameHeight = calibrationData[0].frame0.rows;`	369	`cal.frameHeight = calibrationData[0].frame0.rows;`
369	`cv::Size frameSize(cal.frameWidth, cal.frameHeight);`	370	`cv::Size frameSize(cal.frameWidth, cal.frameHeight);`
370		371
371	`// determine only k1, k2 for lens distortion`	372	`// determine only k1, k2 for lens distortion`
372	`int flags = cv::CALIB_FIX_ASPECT_RATIO + cv::CALIB_FIX_K3 + cv::CALIB_ZERO_TANGENT_DIST + cv::CALIB_FIX_PRINCIPAL_POINT;`	373	`int flags = cv::CALIB_FIX_ASPECT_RATIO + cv::CALIB_FIX_K3 + cv::CALIB_ZERO_TANGENT_DIST + cv::CALIB_FIX_PRINCIPAL_POINT;`
373	`// Note: several of the output arguments below must be cv::Mat, otherwise segfault`	374	`// Note: several of the output arguments below must be cv::Mat, otherwise segfault`
374	`std::vector<cv::Mat> cam_rvecs0, cam_tvecs0;`	375	`std::vector<cv::Mat> cam_rvecs0, cam_tvecs0;`
375	`cal.cam0_error = cv::calibrateCamera(Q0, qc0, frameSize, cal.K0, cal.k0, cam_rvecs0, cam_tvecs0, flags,`	376	`cal.cam0_error = cv::calibrateCamera(Q0, qc0, frameSize, cal.K0, cal.k0, cam_rvecs0, cam_tvecs0, flags,`
376	`cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, DBL_EPSILON));`	377	`cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, DBL_EPSILON));`
377	`//std::cout << cal.k0 << std::endl;`	378	`//std::cout << cal.k0 << std::endl;`
378	`// // refine extrinsics for camera 0`	379	`// // refine extrinsics for camera 0`
379	`// for(int i=0; i<Q.size(); i++)`	380	`// for(int i=0; i<Q.size(); i++)`
380	`// 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);`	381	`// 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);`
381		382
382	`std::vector<cv::Mat> cam_rvecs1, cam_tvecs1;`	383	`std::vector<cv::Mat> cam_rvecs1, cam_tvecs1;`
383	`cal.cam1_error = cv::calibrateCamera(Q1, qc1, frameSize, cal.K1, cal.k1, cam_rvecs1, cam_tvecs1, flags,`	384	`cal.cam1_error = cv::calibrateCamera(Q1, qc1, frameSize, cal.K1, cal.k1, cam_rvecs1, cam_tvecs1, flags,`
384	`cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, DBL_EPSILON));`	385	`cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, DBL_EPSILON));`
385	`//std::cout << cal.k1 << std::endl;`	386	`//std::cout << cal.k1 << std::endl;`
386	`// stereo calibration`	387	`// stereo calibration`
387	`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;`	388	`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;`
388	`cv::Mat E, F, R1, T1;`	389	`cv::Mat E, F, R1, T1;`
389	`cal.stereo_error = cv::stereoCalibrate(QStereo, qc0Stereo, qc1Stereo, cal.K0, cal.k0, cal.K1, cal.k1,`	390	`cal.stereo_error = cv::stereoCalibrate(QStereo, qc0Stereo, qc1Stereo, cal.K0, cal.k0, cal.K1, cal.k1,`
390	`frameSize, R1, T1, E, F,`	391	`frameSize, R1, T1, E, F,`
391	`cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 200, DBL_EPSILON),`	392	`cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 200, DBL_EPSILON),`
392	`flags_stereo);`	393	`flags_stereo);`
393		394
394	`cal.R1 = R1;`	395	`cal.R1 = R1;`
395	`cal.T1 = T1;`	396	`cal.T1 = T1;`
396	`cal.E = E;`	397	`cal.E = E;`
397	`cal.F = F;`	398	`cal.F = F;`
398		399
399	`// Determine per-view reprojection errors:`	400	`// Determine per-view reprojection errors:`
400	`cal.cam0_errors_per_view.resize(nSets);`	401	`cal.cam0_errors_per_view.resize(nSets);`
401	`int idx = 0;`	402	`int idx = 0;`
402	`for(unsigned int i = 0; i < nSets; ++i){`	403	`for(unsigned int i = 0; i < nSets; ++i){`
403	`if(success0[i]){`	404	`if(success0[i]){`
404	`int n = (int)Q0[idx].size();`	405	`int n = (int)Q0[idx].size();`
405	`std::vector<cv::Point2f> qc_proj;`	406	`std::vector<cv::Point2f> qc_proj;`
406	`cv::projectPoints(cv::Mat(Q0[idx]), cam_rvecs0[idx], cam_tvecs0[idx], cal.K0, cal.k0, qc_proj);`	407	`cv::projectPoints(cv::Mat(Q0[idx]), cam_rvecs0[idx], cam_tvecs0[idx], cal.K0, cal.k0, qc_proj);`
407	`float err = 0;`	408	`float err = 0;`
408	`for(unsigned int j=0; j<qc_proj.size(); j++){`	409	`for(unsigned int j=0; j<qc_proj.size(); j++){`
409	`cv::Point2f d = qc0[idx][j] - qc_proj[j];`	410	`cv::Point2f d = qc0[idx][j] - qc_proj[j];`
410	`err += cv::sqrt(d.xd.x + d.yd.y);`	411	`err += cv::sqrt(d.xd.x + d.yd.y);`
411	`}`	412	`}`
412	`cal.cam0_errors_per_view[i] = (float)err/n;`	413	`cal.cam0_errors_per_view[i] = (float)err/n;`
413	`idx++;`	414	`idx++;`
414	`} else`	415	`} else`
415	`cal.cam0_errors_per_view[i] = NAN;`	416	`cal.cam0_errors_per_view[i] = NAN;`
416	`}`	417	`}`
417	`cal.cam1_errors_per_view.resize(nSets);`	418	`cal.cam1_errors_per_view.resize(nSets);`
418	`idx = 0;`	419	`idx = 0;`
419	`for(unsigned int i = 0; i < nSets; ++i){`	420	`for(unsigned int i = 0; i < nSets; ++i){`
420	`if(success1[i]){`	421	`if(success1[i]){`
421	`int n = (int)Q1[idx].size();`	422	`int n = (int)Q1[idx].size();`
422	`std::vector<cv::Point2f> qc_proj;`	423	`std::vector<cv::Point2f> qc_proj;`
423	`cv::projectPoints(cv::Mat(Q1[idx]), cam_rvecs1[idx], cam_tvecs1[idx], cal.K1, cal.k1, qc_proj);`	424	`cv::projectPoints(cv::Mat(Q1[idx]), cam_rvecs1[idx], cam_tvecs1[idx], cal.K1, cal.k1, qc_proj);`
424	`float err = 0;`	425	`float err = 0;`
425	`for(unsigned int j=0; j<qc_proj.size(); j++){`	426	`for(unsigned int j=0; j<qc_proj.size(); j++){`
426	`cv::Point2f d = qc1[idx][j] - qc_proj[j];`	427	`cv::Point2f d = qc1[idx][j] - qc_proj[j];`
427	`err += cv::sqrt(d.xd.x + d.yd.y);`	428	`err += cv::sqrt(d.xd.x + d.yd.y);`
428	`}`	429	`}`
429	`cal.cam1_errors_per_view[i] = (float)err/n;`	430	`cal.cam1_errors_per_view[i] = (float)err/n;`
430	`idx++;`	431	`idx++;`
431	`} else`	432	`} else`
432	`cal.cam1_errors_per_view[i] = NAN;`	433	`cal.cam1_errors_per_view[i] = NAN;`
433	`}`	434	`}`
434		435
435	`// // hand-eye calibration`	436	`// // hand-eye calibration`
436	`// std::vector<cv::Matx33f> Rc(nValidSets - 1); // rotations/translations of the checkerboard in camera 0 reference frame`	437	`// std::vector<cv::Matx33f> Rc(nValidSets - 1); // rotations/translations of the checkerboard in camera 0 reference frame`
437	`// std::vector<cv::Vec3f> Tc(nValidSets - 1);`	438	`// std::vector<cv::Vec3f> Tc(nValidSets - 1);`
438	`// std::vector<cv::Matx33f> Rr(nValidSets - 1); // in rotation stage reference frame`	439	`// std::vector<cv::Matx33f> Rr(nValidSets - 1); // in rotation stage reference frame`
439	`// std::vector<cv::Vec3f> Tr(nValidSets - 1);`	440	`// std::vector<cv::Vec3f> Tr(nValidSets - 1);`
440	`// for(int i=0; i<nValidSets-1; i++){`	441	`// for(int i=0; i<nValidSets-1; i++){`
441	`// // relative transformations in camera`	442	`// // relative transformations in camera`
442	`// cv::Mat cRw1, cRw2;`	443	`// cv::Mat cRw1, cRw2;`
443	`// cv::Rodrigues(cam_rvecs0[i], cRw1);`	444	`// cv::Rodrigues(cam_rvecs0[i], cRw1);`
444	`// cv::Rodrigues(cam_rvecs0[i+1], cRw2);`	445	`// cv::Rodrigues(cam_rvecs0[i+1], cRw2);`
445	`// cv::Mat cTw1 = cam_tvecs0[i];`	446	`// cv::Mat cTw1 = cam_tvecs0[i];`
446	`// cv::Mat cTw2 = cam_tvecs0[i+1];`	447	`// cv::Mat cTw2 = cam_tvecs0[i+1];`
447	`// cv::Mat w1Rc = cRw1.t();`	448	`// cv::Mat w1Rc = cRw1.t();`
448	`// cv::Mat w1Tc = -cRw1.t()*cTw1;`	449	`// cv::Mat w1Tc = -cRw1.t()*cTw1;`
449	`// Rc[i] = cv::Mat(cRw2*w1Rc);`	450	`// Rc[i] = cv::Mat(cRw2*w1Rc);`
450	`// Tc[i] = cv::Mat(cRw2*w1Tc+cTw2);`	451	`// Tc[i] = cv::Mat(cRw2*w1Tc+cTw2);`
451		452
452	`// // relative transformations in rotation stage`	453	`// // relative transformations in rotation stage`
453	`// // we define the rotation axis to be in origo, pointing in positive y direction`	454	`// // we define the rotation axis to be in origo, pointing in positive y direction`
454	`// float angleRadians = (angles[i+1]-angles[i])/180.0*M_PI;`	455	`// float angleRadians = (angles[i+1]-angles[i])/180.0*M_PI;`
455	`// cv::Vec3f rot_rvec(0.0, -angleRadians, 0.0);`	456	`// cv::Vec3f rot_rvec(0.0, -angleRadians, 0.0);`
456	`// cv::Mat Rri;`	457	`// cv::Mat Rri;`
457	`// cv::Rodrigues(rot_rvec, Rri);`	458	`// cv::Rodrigues(rot_rvec, Rri);`
458	`// Rr[i] = Rri;`	459	`// Rr[i] = Rri;`
459	`// Tr[i] = 0.0;`	460	`// Tr[i] = 0.0;`
460		461
461	`//// std::cout << i << std::endl;`	462	`//// std::cout << i << std::endl;`
462	`//// std::cout << "cTw1" << cTw1 << std::endl;`	463	`//// std::cout << "cTw1" << cTw1 << std::endl;`
463	`//// std::cout << "cTw2" << cTw2 << std::endl;`	464	`//// std::cout << "cTw2" << cTw2 << std::endl;`
464	`//// std::cout << "w2Rc" << w2Rc << std::endl;`	465	`//// std::cout << "w2Rc" << w2Rc << std::endl;`
465	`//// std::cout << "w2Tc" << w2Tc << std::endl;`	466	`//// std::cout << "w2Tc" << w2Tc << std::endl;`
466		467
467	`//// std::cout << "w2Rc" << w2Rc << std::endl;`	468	`//// std::cout << "w2Rc" << w2Rc << std::endl;`
468	`//// std::cout << "w2Tc" << w2Tc << std::endl;`	469	`//// std::cout << "w2Tc" << w2Tc << std::endl;`
469		470
470	`//// cv::Mat Rci;`	471	`//// cv::Mat Rci;`
471	`//// cv::Rodrigues(Rc[i], Rci);`	472	`//// cv::Rodrigues(Rc[i], Rci);`
472	`//// std::cout << "Rci" << Rci << std::endl;`	473	`//// std::cout << "Rci" << Rci << std::endl;`
473	`//// std::cout << "Tc[i]" << Tc[i] << std::endl;`	474	`//// std::cout << "Tc[i]" << Tc[i] << std::endl;`
474		475
475	`//// std::cout << "rot_rvec" << rot_rvec << std::endl;`	476	`//// std::cout << "rot_rvec" << rot_rvec << std::endl;`
476	`//// std::cout << "Tr[i]" << Tr[i] << std::endl;`	477	`//// std::cout << "Tr[i]" << Tr[i] << std::endl;`
477	`//// std::cout << std::endl;`	478	`//// std::cout << std::endl;`
478	`// }`	479	`// }`
479		480
480	`// // determine the transformation from rotation stage to camera 0`	481	`// // determine the transformation from rotation stage to camera 0`
481	`// cvtools::handEyeCalibrationTsai(Rc, Tc, Rr, Tr, cal.Rr, cal.Tr);`	482	`// cvtools::handEyeCalibrationTsai(Rc, Tc, Rr, Tr, cal.Rr, cal.Tr);`
482		483
483	`// for(int i=0; i<nValidSets-1; i++){`	484	`// for(int i=0; i<nValidSets-1; i++){`
484	`// std::cout << i << std::endl;`	485	`// std::cout << i << std::endl;`
485		486
486	`// cv::Mat Rci;`	487	`// cv::Mat Rci;`

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(root)/src/SMCalibrationWorker.cpp – Rev 196 → 197