| Line 28... |
Line 28... |
| 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){
|
| Line 99... |
Line 99... |
| 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
|
| Line 112... |
Line 112... |
| 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);
|