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Line 113... Line 113...
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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;
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    // calibrate rotation axis
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    // calibrate rotation axis 1
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    std::vector<cv::Matx33f> Rc(nValidSets - 1); // rotations/translations of the checkerboard in camera 0 reference frame
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    std::vector<cv::Matx33f> Rc(nValidSets - 1); // rotations/translations of the checkerboard in camera 0 reference frame
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    std::vector<cv::Vec3f> Tc(nValidSets - 1);
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    std::vector<cv::Vec3f> Tc(nValidSets - 1);
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    std::vector<cv::Matx33f> Rr(nValidSets - 1); // in rotation stage reference frame
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    std::vector<cv::Matx33f> Rr(nValidSets - 1); // in rotation stage reference frame
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    std::vector<cv::Vec3f> Tr(nValidSets - 1);
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    std::vector<cv::Vec3f> Tr(nValidSets - 1);
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    for(int i=0; i<nValidSets-1; i++){
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    for(int i=0; i<nValidSets-1; i++){
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        std::cout << "Rcr[i]" << Rcr << std::endl;
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        std::cout << "Rcr[i]" << Rcr << std::endl;
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        std::cout << "Tcr[i]" << Tcr << std::endl;
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        std::cout << "Tcr[i]" << Tcr << std::endl;
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        std::cout << std::endl;
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        std::cout << std::endl;
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    }
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    }
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    //* Using rotation axis calibration *//
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    // full camera matrices
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    cv::Matx34f P0 = cal.K0*cv::Matx34f::eye();
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    cv::Mat RT1(3, 4, CV_32F);
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    cv::Mat(cal.R1).copyTo(RT1(cv::Range(0, 3), cv::Range(0, 3)));
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    cv::Mat(cal.T1).copyTo(RT1(cv::Range(0, 3), cv::Range(3, 4)));
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    cv::Matx34f P1 = cal.K1*cv::Matx34f(RT1);
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    // calibration points in camera 0 frame
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    std::vector< std::vector<cv::Point3f> > Qcam;
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    for(int i=0; i<nValidSets; i++){
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        std::vector<cv::Point3f> qc0i, qc1i;
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        cv::undistortPoints(qc0[i], qc0i, cal.K0, cal.k0);
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        cv::undistortPoints(qc1[i], qc1i, cal.K0, cal.k0);
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    cv::Mat rrvec;
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        cv::Mat Qhom, Qcami;
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        cv::triangulatePoints(P0, P1, qc0i, qc1i, Qhom);
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        cvtools::convertMatFromHomogeneous(Qhom, Qcami);
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        std::vector<cv::Point3f> QcamiPoints;
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        cvtools::matToPoints3f(Qcami, QcamiPoints);
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        Qcam.push_back(QcamiPoints);
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    }
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    cv::Rodrigues(cal.Rr, rrvec);
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    cv::Vec3f axis, point;
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    cvtools::rotationAxisCalibration(Qcam, Qi, axis, point);
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    // construct transformation matrix
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    std::cout << "rrvec:" << rrvec << std::endl;
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    cv::Vec3f ex = axis.cross(cv::Vec3f(0,0,1.0));
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    cv::Vec3f ez = axis.cross(ex);
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    cal.Rr.col(0) = ex;
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    cal.Rr.col(1) = axis;
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    cal.Rr.col(2) = ez;
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    cal.Tr = point;
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    // Print to std::cout
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    // Print to std::cout
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    cal.print();
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    cal.print();
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    // save to (reentrant qsettings object)
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    // save to (reentrant qsettings object)