Subversion Repositories seema-scanner

#include "MVCalibrationData.h"

#include <QFileInfo>
#include <QString>
#include <QDateTime>

#include <iostream>
#include <fstream>
#include <iomanip>
#include <opencv2/calib3d/calib3d.hpp>


bool MVCalibrationData::load(const QString& filename){
    QFileInfo info(filename);

    if(info.exists() && (info.suffix()=="xml" || info.suffix()=="yml")){
        cv::FileStorage fs(filename.toStdString(), cv::FileStorage::READ);
        if (!fs.isOpened()){
            std::cerr << "MVCalibrationData error: could not open file " << filename.toStdString() << std::endl;
            return false;
        }

        cv::Mat temp;
        fs["K0"] >> temp; K0 = temp;
        fs["k0"] >> temp; k0 = temp;
        fs["K1"] >> temp; K1 = temp;
        fs["k1"] >> temp; k1 = temp;
        fs["R1"] >> temp; R1 = temp;
        fs["T1"] >> temp; T1 = temp;
        fs["E"] >> temp; E = temp;
        fs["F"] >> temp; F = temp;

        fs["cam0_error"] >> cam0_error;
        fs["cam1_error"] >> cam0_error;
        fs["stereo_error"] >> stereo_error;

        fs.release();
        return true;

    } else {
        std::cerr << "MVCalibrationData error: could not load file: " << filename.toStdString() << std::endl;
        return false;
    }

}

bool MVCalibrationData::save(const QString& filename){
    QFileInfo info(filename);
    QString type = info.suffix();

    if(type=="xml" || type=="yml"){
        cv::FileStorage fs(filename.toStdString(), cv::FileStorage::WRITE);
        if (!fs.isOpened())
            return false;

        fs << "K0" << cv::Mat(K0) << "k0" << cv::Mat(k0)
           << "K1" << cv::Mat(K1) << "k1" << cv::Mat(k1)
           << "R1" << cv::Mat(R1) << "T1" << cv::Mat(T1)
           << "E" << cv::Mat(E) << "F" << cv::Mat(F)
           << "cam0_error" << cam0_error
           << "cam1_error" << cam1_error
           << "stereo_error" << stereo_error;
        fs.release();

        return true;
    } else {
        std::cerr << "MVCalibrationData error: no write file: " << filename.toStdString() << std::endl;
        return false;
    }
}


void MVCalibrationData::print(std::ostream &stream){

    stream  << std::setw(5) << std::setprecision(4)
            << "========================================\n"
            << "Camera 0 Calibration: \n"
            << "- cam0_error:\n" << cam0_error << "\n"
            << "- K0:\n" << K0 << "\n"
            << "- k0:\n" << k0 << "\n"
            << "Camera 1 Calibration: \n"
            << "- cam1_error:\n" << cam1_error << "\n"
            << "- K1:\n" << K1 << "\n"
            << "- k1:\n" << k1 << "\n"
            << "Stereo Calibration: \n"
            << "- stereo_error:\n" << stereo_error << "\n"
            << "- R1:\n" << R1 << "\n"
            << "- T1:\n" << T1 << "\n"
            << "- E:\n" << E << "\n"
            << "- F:\n" << F << std::endl;
}

// QStreamtypes for qDebug() and QSettoutgs
QDataStream& operator<<(QDataStream& in, MVCalibrationData& data){

    in >> data.K0(0,0) >> data.K0(0,1) >> data.K0(0,2) >> data.K0(1,0) >> data.K0(1,1) >> data.K0(1,2) >> data.K0(2,0) >> data.K0(2,1) >> data.K0(2,2);
    in >> data.k0(0) >> data.k0(1) >> data.k0(2) >> data.k0(3) >> data.k0(4);
    in >> data.cam0_error;

    in >> data.K1(0,0) >> data.K1(0,1) >> data.K1(0,2) >> data.K1(1,0) >> data.K1(1,1) >> data.K1(1,2) >> data.K1(2,0) >> data.K1(2,1) >> data.K1(2,2);
    in >> data.k1(0) >> data.k1(1) >> data.k1(2) >> data.k1(3) >> data.k1(4);
    in >> data.cam1_error;

    in >> data.R1(0,0) >> data.R1(0,1) >> data.R1(0,2) >> data.R1(1,0) >> data.R1(1,1) >> data.R1(1,2) >> data.R1(2,0) >> data.R1(2,1) >> data.R1(2,2);
    in >> data.T1(0) >> data.T1(1) >> data.T1(2);
    in >> data.stereo_error;

    return in;
}

QDataStream& operator<<(QDataStream& out, const MVCalibrationData& data){

    out << data.K0(0,0) << data.K0(0,1) << data.K0(0,2) << data.K0(1,0) << data.K0(1,1) << data.K0(1,2) << data.K0(2,0) << data.K0(2,1) << data.K0(2,2);
    out << data.k0(0) << data.k0(1) << data.k0(2) << data.k0(3) << data.k0(4);
    out << data.cam0_error;

    out << data.K1(0,0) << data.K1(0,1) << data.K1(0,2) << data.K1(1,0) << data.K1(1,1) << data.K1(1,2) << data.K1(2,0) << data.K1(2,1) << data.K1(2,2);
    out << data.k1(0) << data.k1(1) << data.k1(2) << data.k1(3) << data.k1(4);
    out << data.cam1_error;

    out << data.R1(0,0) << data.R1(0,1) << data.R1(0,2) << data.R1(1,0) << data.R1(1,1) << data.R1(1,2) << data.R1(2,0) << data.R1(2,1) << data.R1(2,2);
    out << data.T1(0) << data.T1(1) << data.T1(2);
    out << data.stereo_error;

    return out;

}