| Line 29... |
Line 29... |
| 29 |
cv::cvtColor(SMCalibrationSetI.frame0, gray, CV_RGB2GRAY);
|
29 |
cv::cvtColor(SMCalibrationSetI.frame0, gray, CV_RGB2GRAY);
|
| 30 |
cv::cornerSubPix(gray, qci0, cv::Size(5, 5), cv::Size(-1, -1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.001));
|
30 |
cv::cornerSubPix(gray, qci0, cv::Size(5, 5), cv::Size(-1, -1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.001));
|
| 31 |
// Draw colored chessboard
|
31 |
// Draw colored chessboard
|
| 32 |
SMCalibrationSetI.frame0Result = SMCalibrationSetI.frame0.clone();
|
32 |
SMCalibrationSetI.frame0Result = SMCalibrationSetI.frame0.clone();
|
| 33 |
cv::drawChessboardCorners(SMCalibrationSetI.frame0Result, patternSize, qci0, success0);
|
33 |
cv::drawChessboardCorners(SMCalibrationSetI.frame0Result, patternSize, qci0, success0);
|
| 34 |
|
- |
|
| 35 |
emit newFrameResult(i, 0, SMCalibrationSetI.frame0Result);
|
- |
|
| 36 |
}
|
34 |
}
|
| 37 |
|
35 |
|
| - |
|
36 |
emit newFrameResult(i, 0, success0, SMCalibrationSetI.frame0Result);
|
| - |
|
37 |
|
| 38 |
// Camera 1
|
38 |
// Camera 1
|
| 39 |
std::vector<cv::Point2f> qci1;
|
39 |
std::vector<cv::Point2f> qci1;
|
| 40 |
// Extract checker corners
|
40 |
// Extract checker corners
|
| 41 |
bool success1 = cv::findChessboardCorners(SMCalibrationSetI.frame1, patternSize, qci1, cv::CALIB_CB_ADAPTIVE_THRESH);
|
41 |
bool success1 = cv::findChessboardCorners(SMCalibrationSetI.frame1, patternSize, qci1, cv::CALIB_CB_ADAPTIVE_THRESH);
|
| 42 |
if(success1){
|
42 |
if(success1){
|
| Line 44... |
Line 44... |
| 44 |
cv::cvtColor(SMCalibrationSetI.frame1, gray, CV_RGB2GRAY);
|
44 |
cv::cvtColor(SMCalibrationSetI.frame1, gray, CV_RGB2GRAY);
|
| 45 |
cv::cornerSubPix(gray, qci1, cv::Size(5, 5), cv::Size(-1, -1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.001));
|
45 |
cv::cornerSubPix(gray, qci1, cv::Size(5, 5), cv::Size(-1, -1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.001));
|
| 46 |
// Draw colored chessboard
|
46 |
// Draw colored chessboard
|
| 47 |
SMCalibrationSetI.frame1Result = SMCalibrationSetI.frame1.clone();
|
47 |
SMCalibrationSetI.frame1Result = SMCalibrationSetI.frame1.clone();
|
| 48 |
cv::drawChessboardCorners(SMCalibrationSetI.frame1Result, patternSize, qci1, success1);
|
48 |
cv::drawChessboardCorners(SMCalibrationSetI.frame1Result, patternSize, qci1, success1);
|
| 49 |
|
- |
|
| 50 |
emit newFrameResult(i, 1, SMCalibrationSetI.frame1Result);
|
- |
|
| 51 |
}
|
49 |
}
|
| 52 |
|
50 |
|
| - |
|
51 |
emit newFrameResult(i, 1, success1, SMCalibrationSetI.frame1Result);
|
| - |
|
52 |
|
| 53 |
SMCalibrationSetI.success = success0 && success1;
|
53 |
SMCalibrationSetI.success = success0 && success1;
|
| 54 |
|
54 |
|
| 55 |
// Add to whole set
|
55 |
// Add to whole set
|
| 56 |
if(SMCalibrationSetI.success){
|
56 |
if(SMCalibrationSetI.success){
|
| 57 |
qc[0].push_back(qci0);
|
57 |
qc[0].push_back(qci0);
|
| Line 63... |
Line 63... |
| 63 |
}
|
63 |
}
|
| 64 |
|
64 |
|
| 65 |
int nValidSets = qc[0].size();
|
65 |
int nValidSets = qc[0].size();
|
| 66 |
if(nValidSets < 2){
|
66 |
if(nValidSets < 2){
|
| 67 |
std::cerr << "Not enough valid calibration sequences!" << std::endl;
|
67 |
std::cerr << "Not enough valid calibration sequences!" << std::endl;
|
| - |
|
68 |
emit done();
|
| 68 |
return;
|
69 |
return;
|
| 69 |
}
|
70 |
}
|
| 70 |
|
71 |
|
| 71 |
// Generate world object coordinates [mm]
|
72 |
// Generate world object coordinates [mm]
|
| 72 |
std::vector<cv::Point3f> Qi;
|
73 |
std::vector<cv::Point3f> Qi;
|