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



    // 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;

 
        // 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;
    }

    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;

        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++;

        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++;

    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];

Rev 166	Rev 167
Line 12...	Line 12...
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;`
Line 99...	Line 99...
99		99
100	`// Show progress`	100	`// Show progress`
101	`emit newSetProcessed(i);`	101	`emit newSetProcessed(i);`
102	`}`	102	`}`
103		103
104	`int nValidSets = angles.size();`	104	`size_t nValidSets = angles.size();`
105	`if(nValidSets < 2){`	105	`if(nValidSets < 2){`
106	`std::cerr << "Not enough valid calibration sequences!" << std::endl;`	106	`std::cerr << "Not enough valid calibration sequences!" << std::endl;`
107	`emit done();`	107	`emit done();`
108	`return;`	108	`return;`
109	`}`	109	`}`
Line 114...	Line 114...
114	`for (int h=0; h<checkerCount.height; h++)`	114	`for (int h=0; h<checkerCount.height; h++)`
115	`for (int w=0; w<checkerCount.width; w++)`	115	`for (int w=0; w<checkerCount.width; w++)`
116	`Qi.push_back(cv::Point3f(checkerSize * w, checkerSize* h, 0.0));`	116	`Qi.push_back(cv::Point3f(checkerSize * w, checkerSize* h, 0.0));`
117		117
118	`std::vector< std::vector<cv::Point3f> > Q0, Q1, QStereo;`	118	`std::vector< std::vector<cv::Point3f> > Q0, Q1, QStereo;`
119	`for(int i=0; i<qc0.size(); i++)`	119	`for(unsigned int i=0; i<qc0.size(); i++)`
120	`Q0.push_back(Qi);`	120	`Q0.push_back(Qi);`
121	`for(int i=0; i<qc1.size(); i++)`	121	`for(unsigned int i=0; i<qc1.size(); i++)`
122	`Q1.push_back(Qi);`	122	`Q1.push_back(Qi);`
123	`for(int i=0; i<nValidSets; i++)`	123	`for(unsigned int i=0; i<nValidSets; i++)`
124	`QStereo.push_back(Qi);`	124	`QStereo.push_back(Qi);`
125		125
126	`// calibrate the cameras`	126	`// calibrate the cameras`
127	`SMCalibrationParameters cal;`	127	`SMCalibrationParameters cal;`
128	`cal.frameWidth = calibrationData[0].frame0.cols;`	128	`cal.frameWidth = calibrationData[0].frame0.cols;`
Line 164...	Line 164...
164	`if(success0[i]){`	164	`if(success0[i]){`
165	`int n = (int)Q0[idx].size();`	165	`int n = (int)Q0[idx].size();`
166	`std::vector<cv::Point2f> qc_proj;`	166	`std::vector<cv::Point2f> qc_proj;`
167	`cv::projectPoints(cv::Mat(Q0[idx]), cam_rvecs0[idx], cam_tvecs0[idx], cal.K0, cal.k0, qc_proj);`	167	`cv::projectPoints(cv::Mat(Q0[idx]), cam_rvecs0[idx], cam_tvecs0[idx], cal.K0, cal.k0, qc_proj);`
168	`float err = 0;`	168	`float err = 0;`
169	`for(int j=0; j<qc_proj.size(); j++){`	169	`for(unsigned int j=0; j<qc_proj.size(); j++){`
170	`cv::Point2f d = qc0[idx][j] - qc_proj[j];`	170	`cv::Point2f d = qc0[idx][j] - qc_proj[j];`
171	`err += cv::sqrt(d.xd.x + d.yd.y);`	171	`err += cv::sqrt(d.xd.x + d.yd.y);`
172	`}`	172	`}`
173	`cal.cam0_errors_per_view[i] = (float)err/n;`	173	`cal.cam0_errors_per_view[i] = (float)err/n;`
174	`idx++;`	174	`idx++;`
Line 181...	Line 181...
181	`if(success1[i]){`	181	`if(success1[i]){`
182	`int n = (int)Q1[idx].size();`	182	`int n = (int)Q1[idx].size();`
183	`std::vector<cv::Point2f> qc_proj;`	183	`std::vector<cv::Point2f> qc_proj;`
184	`cv::projectPoints(cv::Mat(Q1[idx]), cam_rvecs1[idx], cam_tvecs1[idx], cal.K1, cal.k1, qc_proj);`	184	`cv::projectPoints(cv::Mat(Q1[idx]), cam_rvecs1[idx], cam_tvecs1[idx], cal.K1, cal.k1, qc_proj);`
185	`float err = 0;`	185	`float err = 0;`
186	`for(int j=0; j<qc_proj.size(); j++){`	186	`for(unsigned int j=0; j<qc_proj.size(); j++){`
187	`cv::Point2f d = qc1[idx][j] - qc_proj[j];`	187	`cv::Point2f d = qc1[idx][j] - qc_proj[j];`
188	`err += cv::sqrt(d.xd.x + d.yd.y);`	188	`err += cv::sqrt(d.xd.x + d.yd.y);`
189	`}`	189	`}`
190	`cal.cam1_errors_per_view[i] = (float)err/n;`	190	`cal.cam1_errors_per_view[i] = (float)err/n;`
191	`idx++;`	191	`idx++;`
Line 272...	Line 272...
272	`cv::Matx34f P1 = cv::Matx34f(RT1);`	272	`cv::Matx34f P1 = cv::Matx34f(RT1);`
273		273
274	`// calibration points in camera 0 frame`	274	`// calibration points in camera 0 frame`
275	`std::vector< std::vector<cv::Point3f> > Qcam;`	275	`std::vector< std::vector<cv::Point3f> > Qcam;`
276		276
277	`for(int i=0; i<nValidSets; i++){`	277	`for(unsigned int i=0; i<nValidSets; i++){`
278	`std::vector<cv::Point2f> qc0i, qc1i;`	278	`std::vector<cv::Point2f> qc0i, qc1i;`
279		279
280	`cv::undistortPoints(qc0[i], qc0i, cal.K0, cal.k0);`	280	`cv::undistortPoints(qc0[i], qc0i, cal.K0, cal.k0);`
281	`cv::undistortPoints(qc1[i], qc1i, cal.K1, cal.k1);`	281	`cv::undistortPoints(qc1[i], qc1i, cal.K1, cal.k1);`
282	`// qc0i = qc0[i];`	282	`// qc0i = qc0[i];`

Subversion Repositories seema-scanner

(root)/src/SMCalibrationWorker.cpp – Rev 166 → 167