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#include "SMCalibrator.h"
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#include "SMCalibrator.h"
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#include <QSettings>
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#include <QSettings>
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void SMCalibrator::performCalibration(std::vector< CalibrationSet > calibrationData){
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void SMCalibrator::performCalibration(std::vector<CalibrationSet> &calibrationData){
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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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cv::Size patternSize(10, 9);
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cv::Size patternSize(10, 9);
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int nSets = calibrationData.size();
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int nSets = calibrationData.size();
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// Camera 0
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// Camera 0
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std::vector<cv::Point2f> qci0;
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std::vector<cv::Point2f> qci0;
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// Extract checker corners
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// Extract checker corners
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bool success0 = cv::findChessboardCorners(calibrationSetI.frame0, patternSize, qci0, cv::CALIB_CB_ADAPTIVE_THRESH);
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bool success0 = cv::findChessboardCorners(calibrationSetI.frame0, patternSize, qci0, cv::CALIB_CB_ADAPTIVE_THRESH);
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if(success0){
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if(success0){
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cv::Mat gray;
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cv::cvtColor(calibrationSetI.frame0, gray, CV_RGB2GRAY);
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cv::cornerSubPix(calibrationSetI.frame0, qci0, cv::Size(5, 5), cv::Size(-1, -1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 100, 0.001));
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cv::cornerSubPix(gray, qci0, cv::Size(5, 5), cv::Size(-1, -1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 100, 0.001));
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// Draw colored chessboard
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// Draw colored chessboard
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cv::cvtColor(calibrationSetI.frame0, calibrationSetI.frame0Result, CV_GRAY2RGB);
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calibrationSetI.frame0Result = calibrationSetI.frame0.clone();
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cv::drawChessboardCorners(calibrationSetI.frame0Result, patternSize, qci0, success0);
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cv::drawChessboardCorners(calibrationSetI.frame0Result, patternSize, qci0, success0);
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}
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}
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// Camera 1
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// Camera 1
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std::vector<cv::Point2f> qci1;
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std::vector<cv::Point2f> qci1;
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// Extract checker corners
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// Extract checker corners
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bool success1 = cv::findChessboardCorners(calibrationSetI.frame1, patternSize, qci1, cv::CALIB_CB_ADAPTIVE_THRESH);
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bool success1 = cv::findChessboardCorners(calibrationSetI.frame1, patternSize, qci1, cv::CALIB_CB_ADAPTIVE_THRESH);
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if(success1){
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if(success1){
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cv::Mat gray;
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cv::cvtColor(calibrationSetI.frame1, gray, CV_RGB2GRAY);
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cv::cornerSubPix(calibrationSetI.frame1, qci1, cv::Size(5, 5), cv::Size(-1, -1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 100, 0.001));
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cv::cornerSubPix(gray, qci1, cv::Size(5, 5), cv::Size(-1, -1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 100, 0.001));
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// Draw colored chessboard
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// Draw colored chessboard
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cv::cvtColor(calibrationSetI.frame1, calibrationSetI.frame1Result, CV_GRAY2RGB);
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calibrationSetI.frame1Result = calibrationSetI.frame1.clone();
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cv::drawChessboardCorners(calibrationSetI.frame1Result, patternSize, qci1, success1);
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cv::drawChessboardCorners(calibrationSetI.frame1Result, patternSize, qci1, success1);
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}
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}
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calibrationSetI.success = success0 && success1;
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calibrationSetI.success = success0 && success1;
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