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Line 27... Line 27...
27 
        if(!SMCalibrationSetI.checked)
 27 
        if(!SMCalibrationSetI.checked)
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            continue;
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            continue;
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 29 
 
30 
        // Camera 0
 30 
        // Camera 0
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        std::vector<cv::Point2f> qci0;
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        std::vector<cv::Point2f> qci0;
- 
 
 32 
 
32 
        // Convert bayer to grayscale
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        // Convert to grayscale
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        cv::Mat gray;
 34 
        cv::Mat gray;
34 
//        SMCalibrationSetI.frame0.convertTo(temp, CV_8UC1, 1.0/256.0);
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        if(SMCalibrationSetI.frame0.channels() == 1)
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        cv::cvtColor(SMCalibrationSetI.frame0, gray, CV_BayerBG2GRAY);
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            cv::cvtColor(SMCalibrationSetI.frame0, gray, CV_BayerBG2GRAY);
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        else
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            cv::cvtColor(SMCalibrationSetI.frame0, gray, CV_RGB2GRAY);
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 39 
 
36 
        // Extract checker corners
 40 
        // Extract checker corners
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        bool success0 = cv::findChessboardCorners(gray, checkerCount, qci0, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);
 41 
        bool success0 = cv::findChessboardCorners(gray, checkerCount, qci0, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);
38 
        if(success0){
 42 
        if(success0){
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            cv::cornerSubPix(gray, qci0, cv::Size(6, 6), cv::Size(1, 1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.0001));
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            cv::cornerSubPix(gray, qci0, 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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            // Draw colored chessboard
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            cv::Mat color;
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            cv::Mat color;
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 46 
            if(SMCalibrationSetI.frame0.channels() == 1)
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            cv::cvtColor(SMCalibrationSetI.frame0, color, CV_BayerBG2RGB);
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                cv::cvtColor(SMCalibrationSetI.frame0, color, CV_BayerBG2RGB);
- 
 
 48 
            else
- 
 
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                color = SMCalibrationSetI.frame0.clone();
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 50 
 
43 
            cvtools::drawChessboardCorners(color, checkerCount, qci0, success0, 10);
 51 
            cvtools::drawChessboardCorners(color, checkerCount, qci0, success0, 10);
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            SMCalibrationSetI.frame0Result = color;
 52 
            SMCalibrationSetI.frame0Result = color;
45 
        }
 53 
        }
46 
 
 54 
 
47 
        emit newFrameResult(i, 0, success0, SMCalibrationSetI.frame0Result);
 55 
        emit newFrameResult(i, 0, success0, SMCalibrationSetI.frame0Result);
48 
 
 56 
 
49 
        // Camera 1
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        // Camera 1
50 
        std::vector<cv::Point2f> qci1;
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        std::vector<cv::Point2f> qci1;
- 
 
 59 
 
51 
        // Convert bayer to grayscale
 60 
        // Convert to grayscale
52 
//        SMCalibrationSetI.frame1.convertTo(temp, CV_8UC1, 1.0/256.0);
 61 
        if(SMCalibrationSetI.frame1.channels() == 1)
53 
        cv::cvtColor(SMCalibrationSetI.frame1, gray, CV_BayerBG2GRAY);
 62 
            cv::cvtColor(SMCalibrationSetI.frame1, gray, CV_BayerBG2GRAY);
- 
 
 63 
        else
- 
 
 64 
            cv::cvtColor(SMCalibrationSetI.frame1, gray, CV_RGB2GRAY);
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 65 
 
54 
        // Extract checker corners
 66 
        // Extract checker corners
55 
        bool success1 = cv::findChessboardCorners(gray, checkerCount, qci1, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);
 67 
        bool success1 = cv::findChessboardCorners(gray, checkerCount, qci1, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);
56 
        if(success1){
 68 
        if(success1){
57 
            cv::cornerSubPix(gray, qci1, cv::Size(6, 6), cv::Size(1, 1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.0001));
 69 
            cv::cornerSubPix(gray, qci1, cv::Size(6, 6), cv::Size(1, 1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.0001));
58 
            // Draw colored chessboard
 70 
            // Draw colored chessboard
59 
            cv::Mat color;
 71 
            cv::Mat color;
- 
 
 72 
            if(SMCalibrationSetI.frame1.channels() == 1)
60 
            cv::cvtColor(SMCalibrationSetI.frame1, color, CV_BayerBG2RGB);
 73 
                cv::cvtColor(SMCalibrationSetI.frame1, color, CV_BayerBG2RGB);
- 
 
 74 
            else
- 
 
 75 
                color = SMCalibrationSetI.frame1.clone();
- 
 
 76 
 
61 
            cvtools::drawChessboardCorners(color, checkerCount, qci1, success1, 10);
 77 
            cvtools::drawChessboardCorners(color, checkerCount, qci1, success1, 10);
62 
            SMCalibrationSetI.frame1Result = color;
 78 
            SMCalibrationSetI.frame1Result = color;
63 
        }
 79 
        }
64 
 
 80 
 
65 
        emit newFrameResult(i, 1, success1, SMCalibrationSetI.frame1Result);
 81 
        emit newFrameResult(i, 1, success1, SMCalibrationSetI.frame1Result);
Line 114... Line 130...
114 
    std::vector<cv::Mat> cam_rvecs1, cam_tvecs1;
 130 
    std::vector<cv::Mat> cam_rvecs1, cam_tvecs1;
115 
    cal.cam1_error = cv::calibrateCamera(Q, qc1, frameSize, cal.K1, cal.k1, cam_rvecs1, cam_tvecs1, flags,
 131 
    cal.cam1_error = cv::calibrateCamera(Q, qc1, frameSize, cal.K1, cal.k1, cam_rvecs1, cam_tvecs1, flags,
116 
                                         cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, DBL_EPSILON));
 132 
                                         cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, DBL_EPSILON));
117 
//std::cout << cal.k1 << std::endl;
 133 
//std::cout << cal.k1 << std::endl;
118 
    // stereo calibration
 134 
    // stereo calibration
119 
    int flags_stereo = cv::CALIB_FIX_INTRINSIC;// + cv::CALIB_FIX_K3 + cv::CALIB_ZERO_TANGENT_DIST + cv::CALIB_FIX_PRINCIPAL_POINT + cv::CALIB_FIX_ASPECT_RATIO;
 135 
    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;
120 
    cv::Mat E, F, R1, T1;
 136 
    cv::Mat E, F, R1, T1;
121 
    cal.stereo_error = cv::stereoCalibrate(Q, qc0, qc1, cal.K0, cal.k0, cal.K1, cal.k1,
 137 
    cal.stereo_error = cv::stereoCalibrate(Q, qc0, qc1, cal.K0, cal.k0, cal.K1, cal.k1,
122 
                                              frameSize, R1, T1, E, F,
 138 
                                              frameSize, R1, T1, E, F,
123 
                                              cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 200, DBL_EPSILON),
 139 
                                              cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 200, DBL_EPSILON),
124 
                                              flags_stereo);
 140 
                                              flags_stereo);