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#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;

        // Extract checker corners

        bool success0 = cv::findChessboardCorners(SMCalibrationSetI.frame0, checkerCount, qci0, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);

        if(success0){

            cv::Mat gray;

            cv::cvtColor(SMCalibrationSetI.frame0, gray, CV_RGB2GRAY);

            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

            SMCalibrationSetI.frame0Result = SMCalibrationSetI.frame0.clone();

            cvtools::drawChessboardCorners(SMCalibrationSetI.frame0Result, checkerCount, qci0, success0, 10);

        }

        emit newFrameResult(i, 0, success0, SMCalibrationSetI.frame0Result);

        // Camera 1

        std::vector<cv::Point2f> qci1;

        // Extract checker corners

        bool success1 = cv::findChessboardCorners(SMCalibrationSetI.frame1, checkerCount, qci1, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);

        if(success1){

            cv::Mat gray;

            cv::cvtColor(SMCalibrationSetI.frame1, gray, CV_RGB2GRAY);

            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

            SMCalibrationSetI.frame1Result = SMCalibrationSetI.frame1.clone();

            cvtools::drawChessboardCorners(SMCalibrationSetI.frame1Result, checkerCount, qci1, success1, 10);

        }

        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_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 (fix K0, K1, k0, k1)

    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, 50, DBL_EPSILON),

                                              flags_stereo);

    cal.R1 = R1;

    cal.T1 = T1;

    cal.E = E;

    cal.F = F;

    // calibrate rotation axis 1

    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;

    }

std::cout << "Rr: " << cal.Rr << std::endl;

std::cout << "Tr: " << cal.Tr << std::endl;

    //* Using 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);

        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));

    cv::Vec3f ez = axis.cross(ex);

    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::Mat(RrMat.t());

    cal.Tr = -point;

    // Print to std::cout

    cal.print();

    // save to (reentrant qsettings object)

    settings.setValue("calibration/parameters", QVariant::fromValue(cal));

    emit done();

}