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// Closed form solution to solve for the rotation axis from sets of 3D point coordinates of flat pattern feature points
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// Closed form solution to solve for the rotation axis from sets of 3D point coordinates of flat pattern feature points
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// Algorithm according to Chen et al., Rotation axis calibration of a turntable using constrained global optimization, Optik 2014
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// Algorithm according to Chen et al., Rotation axis calibration of a turntable using constrained global optimization, Optik 2014
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// DTU, 2014, Jakob Wilm
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// DTU, 2014, Jakob Wilm
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static void rotationAxisCalibration(const std::vector< std::vector<cv::Point3f> > Qcam, const std::vector<cv::Point3f> Qobj, cv::Vec3f &axis, cv::Vec3f &point, float &error){
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static void rotationAxisCalibration(const std::vector< std::vector<cv::Point3f> > Qcam,
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                                    const std::vector<cv::Point3f> Qobj,
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                                    cv::Vec3f &axis, cv::Vec3f &point, float &error){
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    // number of frames (points on each arch)
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    // number of frames (points on each arch)
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    int l = Qcam.size();
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    int l = Qcam.size();
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    // number of points in each frame
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    // number of points in each frame
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        error += meanDev;
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        error += meanDev;
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    }
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    }
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    error /= mn;
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    error /= mn;
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}
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}
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bool processCBCorners(const cv::Size & checkerCount,
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                      const cv::Mat & SMCalibrationSetI_frameX,
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                      cv::Mat & SMCalibrationSetI_frameXResult,
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                      std::vector<cv::Point2f> & qciX){
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    // Convert to grayscale
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    cv::Mat gray;
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    if(SMCalibrationSetI_frameX.channels() == 1)
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        cv::cvtColor(SMCalibrationSetI_frameX, gray, CV_BayerBG2GRAY);
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    else
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        cv::cvtColor(SMCalibrationSetI_frameX, gray, CV_RGB2GRAY);
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    // Extract checker corners
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    bool success = cv::findChessboardCorners(gray, checkerCount, qciX, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);
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    if(success){
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        cv::cornerSubPix(gray, qciX, cv::Size(6, 6), cv::Size(1, 1), cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.0001));
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        // Draw colored chessboard
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        cv::Mat color;
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        if(SMCalibrationSetI_frameX.channels() == 1)
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            cv::cvtColor(SMCalibrationSetI_frameX, color, CV_BayerBG2RGB);
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        else
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            color = SMCalibrationSetI_frameX.clone();
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        cvtools::drawChessboardCorners(color, checkerCount, qciX, success, 10);
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        SMCalibrationSetI_frameXResult = color;
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    }
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    return success;
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}
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void SMCalibrationWorker::performCalibration(std::vector<SMCalibrationSet> calibrationData){
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void SMCalibrationWorker::performCalibration(std::vector<SMCalibrationSet> calibrationData){
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    QSettings settings;
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    QSettings settings;
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    // Number of saddle points on calibration pattern
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    // Number of saddle points on calibration pattern
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//std::cout << cal.k1 << std::endl;
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//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;
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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;
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    cv::Mat E, F, R1, T1;
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    cv::Mat E, F, R1, T1;
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    cal.stereo_error = cv::stereoCalibrate(QStereo, qc0Stereo, qc1Stereo, cal.K0, cal.k0, cal.K1, cal.k1,
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    cal.stereo_error = cv::stereoCalibrate(QStereo, qc0Stereo, qc1Stereo, cal.K0, cal.k0, cal.K1, cal.k1,
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                                              frameSize, R1, T1, E, F,
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                                              frameSize, R1, T1, E, F, flags_stereo,
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                                              cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 200, DBL_EPSILON),
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                                              cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 200, DBL_EPSILON));
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                                              flags_stereo);
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    cal.R1 = R1;
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    cal.R1 = R1;
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    cal.T1 = T1;
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    cal.T1 = T1;
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    cal.E = E;
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    cal.E = E;
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    cal.F = F;
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    cal.F = F;