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Line 34... Line 34...
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//        SMCalibrationSetI.frame0.convertTo(temp, CV_8UC1, 1.0/256.0);
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//        SMCalibrationSetI.frame0.convertTo(temp, CV_8UC1, 1.0/256.0);
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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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        // Extract checker corners
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        // Extract checker corners
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        bool success0 = cv::findChessboardCorners(gray, checkerCount, qci0, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);
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        bool success0 = cv::findChessboardCorners(gray, checkerCount, qci0, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);
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        if(success0){
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        if(success0){
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            cv::cornerSubPix(gray, qci0, cv::Size(5, 5), cv::Size(-1, -1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.001));
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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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            cv::cvtColor(SMCalibrationSetI.frame0, color, CV_BayerBG2RGB);
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            cv::cvtColor(SMCalibrationSetI.frame0, color, CV_BayerBG2RGB);
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            cvtools::drawChessboardCorners(color, checkerCount, qci0, success0, 10);
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            cvtools::drawChessboardCorners(color, checkerCount, qci0, success0, 10);
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            SMCalibrationSetI.frame0Result = color;
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            SMCalibrationSetI.frame0Result = color;
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//        SMCalibrationSetI.frame1.convertTo(temp, CV_8UC1, 1.0/256.0);
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//        SMCalibrationSetI.frame1.convertTo(temp, CV_8UC1, 1.0/256.0);
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        cv::cvtColor(SMCalibrationSetI.frame1, gray, CV_BayerBG2GRAY);
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        cv::cvtColor(SMCalibrationSetI.frame1, gray, CV_BayerBG2GRAY);
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        // Extract checker corners
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        // Extract checker corners
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        bool success1 = cv::findChessboardCorners(gray, checkerCount, qci1, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);
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        bool success1 = cv::findChessboardCorners(gray, checkerCount, qci1, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_FAST_CHECK);
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        if(success1){
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        if(success1){
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            cv::cornerSubPix(gray, qci1, cv::Size(5, 5), cv::Size(-1, -1),cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 20, 0.001));
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            cv::cornerSubPix(gray, qci1, 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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            cv::cvtColor(SMCalibrationSetI.frame1, color, CV_BayerBG2RGB);
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            cv::cvtColor(SMCalibrationSetI.frame1, color, CV_BayerBG2RGB);
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            cvtools::drawChessboardCorners(color, checkerCount, qci1, success1, 10);
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            cvtools::drawChessboardCorners(color, checkerCount, qci1, success1, 10);
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            SMCalibrationSetI.frame1Result = color;
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            SMCalibrationSetI.frame1Result = color;
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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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    cv::Size frameSize(cal.frameWidth, cal.frameHeight);
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    cv::Size frameSize(cal.frameWidth, cal.frameHeight);
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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_ASPECT_RATIO + cv::CALIB_FIX_K3;
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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(Q, qc0, frameSize, cal.K0, cal.k0, cam_rvecs0, cam_tvecs0, flags,
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 - 
 
- 
 
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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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//    // 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);
 112 
//        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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 113 
 
113 
    std::vector<cv::Mat> cam_rvecs1, cam_tvecs1;
 114 
    std::vector<cv::Mat> cam_rvecs1, cam_tvecs1;
114 
    cal.cam1_error = cv::calibrateCamera(Q, qc1, frameSize, cal.K1, cal.k1, cam_rvecs1, cam_tvecs1, flags);
 115 
    cal.cam1_error = cv::calibrateCamera(Q, qc1, frameSize, cal.K1, cal.k1, cam_rvecs1, cam_tvecs1, flags,
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 - 
 
- 
 
 116 
                                         cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, DBL_EPSILON));
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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;
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    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;
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    cv::Mat E, F, R1, T1;
 120 
    cv::Mat E, F, R1, T1;
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    cal.stereo_error = cv::stereoCalibrate(Q, qc0, qc1, cal.K0, cal.k0, cal.K1, cal.k1,
 121 
    cal.stereo_error = cv::stereoCalibrate(Q, qc0, qc1, cal.K0, cal.k0, cal.K1, cal.k1,
120 
                                              frameSize, R1, T1, E, F,
 122 
                                              frameSize, R1, T1, E, F,
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                                              cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 100, DBL_EPSILON),
 123 
                                              cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 200, DBL_EPSILON),
122 
                                              flags_stereo);
 124 
                                              flags_stereo);
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 125 
 
124 
    cal.R1 = R1;
 126 
    cal.R1 = R1;
125 
    cal.T1 = T1;
 127 
    cal.T1 = T1;
126 
    cal.E = E;
 128 
    cal.E = E;