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Line 15... Line 15...
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    cv::Size checkerCount(checkerCountX, checkerCountY);
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    cv::Size checkerCount(checkerCountX, checkerCountY);
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    int nSets = calibrationData.size();
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    int nSets = calibrationData.size();
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    std::vector< std::vector<cv::Point2f> > qc0, qc1;
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    std::vector< std::vector<cv::Point2f> > qc0, qc1;
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    std::vector< std::vector<cv::Point2f> > qc0Stereo, qc1Stereo;
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    std::vector<float> angles;
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    std::vector<float> angles;
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    // Loop through calibration sets
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    // Loop through calibration sets
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    for(int i=0; i<nSets; i++){
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    for(int i=0; i<nSets; i++){
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            SMCalibrationSetI.frame1Result = color;
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            SMCalibrationSetI.frame1Result = color;
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        }
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        }
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        emit newFrameResult(i, 1, success1, SMCalibrationSetI.frame1Result);
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        emit newFrameResult(i, 1, success1, SMCalibrationSetI.frame1Result);
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        SMCalibrationSetI.success = success0 && success1;
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        // Add to whole set
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        if(SMCalibrationSetI.success){
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        if(success0)
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            qc0.push_back(qci0);
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            qc0.push_back(qci0);
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        if(success1)
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            qc1.push_back(qci1);
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            qc1.push_back(qci1);
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        if(success0 && success1){
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            qc0Stereo.push_back(qci0);
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            qc1Stereo.push_back(qci1);
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            angles.push_back(SMCalibrationSetI.rotationAngle);
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            angles.push_back(SMCalibrationSetI.rotationAngle);
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        }
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        }
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        // Show progress
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        // Show progress
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        emit newSetProcessed(i);
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        emit newSetProcessed(i);
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    }
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    }
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    int nValidSets = qc0.size();
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    int nValidSets = angles.size();
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    if(nValidSets < 2){
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    if(nValidSets < 2){
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        std::cerr << "Not enough valid calibration sequences!" << std::endl;
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        std::cerr << "Not enough valid calibration sequences!" << std::endl;
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        emit done();
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        emit done();
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        return;
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        return;
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    }
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    }
Line 104... Line 109...
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    float checkerSize = settings.value("calibration/checkerSize", 15.0).toFloat(); // width and height of one field in mm
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    float checkerSize = settings.value("calibration/checkerSize", 15.0).toFloat(); // width and height of one field in mm
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    std::vector<cv::Point3f> Qi;
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    std::vector<cv::Point3f> Qi;
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    for (int h=0; h<checkerCount.height; h++)
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    for (int h=0; h<checkerCount.height; h++)
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        for (int w=0; w<checkerCount.width; w++)
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        for (int w=0; w<checkerCount.width; w++)
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            Qi.push_back(cv::Point3f(checkerSize * w, checkerSize* h, 0.0));
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            Qi.push_back(cv::Point3f(checkerSize * w, checkerSize* h, 0.0));
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    std::vector< std::vector<cv::Point3f> > Q;
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    std::vector< std::vector<cv::Point3f> > Q0, Q1, QStereo;
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    for(int i=0; i<qc0.size(); i++)
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    for(int i=0; i<qc0.size(); i++)
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        Q.push_back(Qi);
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        Q0.push_back(Qi);
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    for(int i=0; i<qc1.size(); i++)
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        Q1.push_back(Qi);
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    for(int i=0; i<nValidSets; i++)
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        QStereo.push_back(Qi);
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    // calibrate the cameras
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    // calibrate the cameras
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    SMCalibrationParameters cal;
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    SMCalibrationParameters cal;
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    cal.frameWidth = calibrationData[0].frame0.cols;
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    cal.frameWidth = calibrationData[0].frame0.cols;
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    cal.frameHeight = calibrationData[0].frame0.rows;
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    cal.frameHeight = calibrationData[0].frame0.rows;
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    // determine only k1, k2 for lens distortion
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    // determine only k1, k2 for lens distortion
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    int flags = cv::CALIB_FIX_K3 + cv::CALIB_ZERO_TANGENT_DIST + cv::CALIB_FIX_PRINCIPAL_POINT + cv::CALIB_FIX_ASPECT_RATIO;
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    int flags = cv::CALIB_FIX_K3 + cv::CALIB_ZERO_TANGENT_DIST + cv::CALIB_FIX_PRINCIPAL_POINT + cv::CALIB_FIX_ASPECT_RATIO;
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    // Note: several of the output arguments below must be cv::Mat, otherwise segfault
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    // Note: several of the output arguments below must be cv::Mat, otherwise segfault
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    std::vector<cv::Mat> cam_rvecs0, cam_tvecs0;
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    std::vector<cv::Mat> cam_rvecs0, cam_tvecs0;
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    cal.cam0_error = cv::calibrateCamera(Q, qc0, frameSize, cal.K0, cal.k0, cam_rvecs0, cam_tvecs0, flags,
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    cal.cam0_error = cv::calibrateCamera(Q0, qc0, frameSize, cal.K0, cal.k0, cam_rvecs0, cam_tvecs0, flags,
124 
                                         cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, DBL_EPSILON));
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                                         cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, DBL_EPSILON));
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//std::cout << cal.k0 << std::endl;
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//std::cout << cal.k0 << std::endl;
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//    // refine extrinsics for camera 0
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//    // refine extrinsics for camera 0
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//    for(int i=0; i<Q.size(); i++)
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//    for(int i=0; i<Q.size(); i++)
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//        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);
 138 
//        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);
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 139 
 
130 
    std::vector<cv::Mat> cam_rvecs1, cam_tvecs1;
 140 
    std::vector<cv::Mat> cam_rvecs1, cam_tvecs1;
131 
    cal.cam1_error = cv::calibrateCamera(Q, qc1, frameSize, cal.K1, cal.k1, cam_rvecs1, cam_tvecs1, flags,
 141 
    cal.cam1_error = cv::calibrateCamera(Q1, qc1, frameSize, cal.K1, cal.k1, cam_rvecs1, cam_tvecs1, flags,
132 
                                         cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, DBL_EPSILON));
 142 
                                         cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, DBL_EPSILON));
133 
//std::cout << cal.k1 << std::endl;
 143 
//std::cout << cal.k1 << std::endl;
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    // stereo calibration
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    // stereo calibration
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    int flags_stereo = cv::CALIB_FIX_INTRINSIC;// + cv::CALIB_FIX_K2 + cv::CALIB_FIX_K3 + cv::CALIB_ZERO_TANGENT_DIST + cv::CALIB_FIX_PRINCIPAL_POINT + cv::CALIB_FIX_ASPECT_RATIO;
 145 
    int flags_stereo = cv::CALIB_FIX_INTRINSIC;// + cv::CALIB_FIX_K2 + cv::CALIB_FIX_K3 + cv::CALIB_ZERO_TANGENT_DIST + cv::CALIB_FIX_PRINCIPAL_POINT + cv::CALIB_FIX_ASPECT_RATIO;
136 
    cv::Mat E, F, R1, T1;
 146 
    cv::Mat E, F, R1, T1;
137 
    cal.stereo_error = cv::stereoCalibrate(Q, qc0, qc1, cal.K0, cal.k0, cal.K1, cal.k1,
 147 
    cal.stereo_error = cv::stereoCalibrate(QStereo, qc0Stereo, qc1Stereo, cal.K0, cal.k0, cal.K1, cal.k1,
138 
                                              frameSize, R1, T1, E, F,
 148 
                                              frameSize, R1, T1, E, F,
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                                              cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 200, DBL_EPSILON),
 149 
                                              cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 200, DBL_EPSILON),
140 
                                              flags_stereo);
 150 
                                              flags_stereo);
141 
 
 151 
 
142 
    cal.R1 = R1;
 152 
    cal.R1 = R1;