| Line 134... |
Line 134... |
| 134 |
CV_Assert(nelems >= 0);
|
134 |
CV_Assert(nelems >= 0);
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| 135 |
cvtools::cvDrawChessboardCorners( &c_image, patternSize, (CvPoint2D32f*)corners.data,
|
135 |
cvtools::cvDrawChessboardCorners( &c_image, patternSize, (CvPoint2D32f*)corners.data,
|
| 136 |
nelems, patternWasFound, line_width);
|
136 |
nelems, patternWasFound, line_width);
|
| 137 |
}
|
137 |
}
|
| 138 |
|
138 |
|
| 139 |
|
- |
|
| 140 |
|
- |
|
| 141 |
void cvDrawChessboardCorners(CvArr* _image, CvSize pattern_size, CvPoint2D32f* corners, int count, int found, int line_width){
|
139 |
void cvDrawChessboardCorners(CvArr* _image, CvSize pattern_size, CvPoint2D32f* corners, int count, int found, int line_width){
|
| 142 |
const int shift = 0;
|
140 |
const int shift = 0;
|
| 143 |
const int radius = 12;
|
141 |
const int radius = 12;
|
| 144 |
const int r = radius*(1 << shift);
|
142 |
const int r = radius*(1 << shift);
|
| 145 |
int i;
|
143 |
int i;
|
| Line 337... |
Line 335... |
| 337 |
|
335 |
|
| 338 |
cv::Mat err_tau = b - (A*cv::Mat(tau));
|
336 |
cv::Mat err_tau = b - (A*cv::Mat(tau));
|
| 339 |
std::cout << err_tau << std::endl;
|
337 |
std::cout << err_tau << std::endl;
|
| 340 |
}
|
338 |
}
|
| 341 |
|
339 |
|
| 342 |
// Function to solve for the rotation axis from sets of 3D point coordinates of flat pattern feature points
|
340 |
// Closed form solution to solve for the rotation axis from sets of 3D point coordinates of flat pattern feature points
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| 343 |
// Algorithm according to Chen et al., Rotation axis calibration of a turntable using constrained global optimization, Optik 2014
|
341 |
// Algorithm according to Chen et al., Rotation axis calibration of a turntable using constrained global optimization, Optik 2014
|
| 344 |
// DTU, 2014, Jakob Wilm
|
342 |
// DTU, 2014, Jakob Wilm
|
| 345 |
void rotationAxisCalibration(const std::vector< std::vector<cv::Point3f> > Qcam, const std::vector<cv::Point3f> Qobj, cv::Vec3f &axis, cv::Vec3f &point){
|
343 |
void rotationAxisCalibration(const std::vector< std::vector<cv::Point3f> > Qcam, const std::vector<cv::Point3f> Qobj, cv::Vec3f &axis, cv::Vec3f &point){
|
| 346 |
|
344 |
|
| 347 |
// number of frames (points on each arch)
|
345 |
// number of frames (points on each arch)
|