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

     int checkerCountY = settings.value("calibration/checkerCountY", 13).toInt();
     cv::Size checkerCount(checkerCountX, checkerCountY);
     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(int i=0; i<nSets; i++){
             cv::cvtColor(SMCalibrationSetI.frame0, gray, CV_BayerBG2GRAY);
         else
             cv::cvtColor(SMCalibrationSetI.frame0, gray, CV_RGB2GRAY);
         // Extract checker corners
-        bool success0 = cv::findChessboardCorners(gray, checkerCount, qci0, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);
+        success0[i] = cv::findChessboardCorners(gray, checkerCount, qci0, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);
-        if(success0){
+        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, 10);
+            cvtools::drawChessboardCorners(color, checkerCount, qci0, success0[i], 10);
             SMCalibrationSetI.frame0Result = color;
+        }
-        emit newFrameResult(i, 0, success0, SMCalibrationSetI.frame0Result);
+        emit newFrameResult(i, 0, success0[i], SMCalibrationSetI.frame0Result);
         // Camera 1
         std::vector<cv::Point2f> qci1;
         // Convert to grayscale
             cv::cvtColor(SMCalibrationSetI.frame1, gray, CV_BayerBG2GRAY);
         else
             cv::cvtColor(SMCalibrationSetI.frame1, gray, CV_RGB2GRAY);
         // Extract checker corners
-        bool success1 = cv::findChessboardCorners(gray, checkerCount, qci1, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);
+        success1[i] = cv::findChessboardCorners(gray, checkerCount, qci1, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);
-        if(success1){
+        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, 10);
+            cvtools::drawChessboardCorners(color, checkerCount, qci1, success1[i], 10);
             SMCalibrationSetI.frame1Result = color;
+        }
-        emit newFrameResult(i, 1, success1, SMCalibrationSetI.frame1Result);
+        emit newFrameResult(i, 1, success1[i], SMCalibrationSetI.frame1Result);
-        if(success0)
+        if(success0[i])
             qc0.push_back(qci0);
-        if(success1)
+        if(success1[i])
             qc1.push_back(qci1);
-        if(success0 && success1){
+        if(success0[i] && success1[i]){
             qc0Stereo.push_back(qci0);
             qc1Stereo.push_back(qci1);
             angles.push_back(SMCalibrationSetI.rotationAngle);
+        }
     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(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(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);

Subversion Repositories seema-scanner

(root)/src/SMCalibrationWorker.cpp – Rev 140 → 148