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348 lines
14 KiB
348 lines
14 KiB
// This file is part of OpenCV project. |
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// It is subject to the license terms in the LICENSE file found in the top-level directory |
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// of this distribution and at http://opencv.org/license.html. |
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#include "calibController.hpp" |
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#include <algorithm> |
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#include <cmath> |
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#include <ctime> |
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#include <opencv2/calib3d.hpp> |
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#include <opencv2/imgproc.hpp> |
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#include <opencv2/imgcodecs.hpp> |
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double calib::calibController::estimateCoverageQuality() |
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{ |
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int gridSize = 10; |
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int xGridStep = mCalibData->imageSize.width / gridSize; |
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int yGridStep = mCalibData->imageSize.height / gridSize; |
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std::vector<int> pointsInCell(gridSize*gridSize); |
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std::fill(pointsInCell.begin(), pointsInCell.end(), 0); |
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for(std::vector<std::vector<cv::Point2f> >::iterator it = mCalibData->imagePoints.begin(); it != mCalibData->imagePoints.end(); ++it) |
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for(std::vector<cv::Point2f>::iterator pointIt = (*it).begin(); pointIt != (*it).end(); ++pointIt) { |
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int i = (int)((*pointIt).x / xGridStep); |
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int j = (int)((*pointIt).y / yGridStep); |
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pointsInCell[i*gridSize + j]++; |
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} |
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for(std::vector<cv::Mat>::iterator it = mCalibData->allCharucoCorners.begin(); it != mCalibData->allCharucoCorners.end(); ++it) |
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for(int l = 0; l < (*it).size[0]; l++) { |
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int i = (int)((*it).at<float>(l, 0) / xGridStep); |
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int j = (int)((*it).at<float>(l, 1) / yGridStep); |
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pointsInCell[i*gridSize + j]++; |
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} |
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cv::Mat mean, stdDev; |
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cv::meanStdDev(pointsInCell, mean, stdDev); |
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return mean.at<double>(0) / (stdDev.at<double>(0) + 1e-7); |
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} |
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calib::calibController::calibController() |
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{ |
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mCalibFlags = 0; |
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} |
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calib::calibController::calibController(cv::Ptr<calib::calibrationData> data, int initialFlags, bool autoTuning, int minFramesNum) : |
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mCalibData(data) |
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{ |
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mCalibFlags = initialFlags; |
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mNeedTuning = autoTuning; |
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mMinFramesNum = minFramesNum; |
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mConfIntervalsState = false; |
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mCoverageQualityState = false; |
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} |
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void calib::calibController::updateState() |
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{ |
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if(mCalibData->cameraMatrix.total()) { |
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const double relErrEps = 0.05; |
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bool fConfState = false, cConfState = false, dConfState = true; |
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if(sigmaMult*mCalibData->stdDeviations.at<double>(0) / mCalibData->cameraMatrix.at<double>(0,0) < relErrEps && |
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sigmaMult*mCalibData->stdDeviations.at<double>(1) / mCalibData->cameraMatrix.at<double>(1,1) < relErrEps) |
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fConfState = true; |
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if(sigmaMult*mCalibData->stdDeviations.at<double>(2) / mCalibData->cameraMatrix.at<double>(0,2) < relErrEps && |
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sigmaMult*mCalibData->stdDeviations.at<double>(3) / mCalibData->cameraMatrix.at<double>(1,2) < relErrEps) |
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cConfState = true; |
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for(int i = 0; i < 5; i++) |
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if(mCalibData->stdDeviations.at<double>(4+i) / fabs(mCalibData->distCoeffs.at<double>(i)) > 1) |
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dConfState = false; |
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mConfIntervalsState = fConfState && cConfState && dConfState; |
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} |
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if(getFramesNumberState()) |
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mCoverageQualityState = estimateCoverageQuality() > 1.8 ? true : false; |
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if (getFramesNumberState() && mNeedTuning) { |
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if( !(mCalibFlags & cv::CALIB_FIX_ASPECT_RATIO) && |
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mCalibData->cameraMatrix.total()) { |
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double fDiff = fabs(mCalibData->cameraMatrix.at<double>(0,0) - |
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mCalibData->cameraMatrix.at<double>(1,1)); |
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if (fDiff < 3*mCalibData->stdDeviations.at<double>(0) && |
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fDiff < 3*mCalibData->stdDeviations.at<double>(1)) { |
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mCalibFlags |= cv::CALIB_FIX_ASPECT_RATIO; |
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mCalibData->cameraMatrix.at<double>(0,0) = |
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mCalibData->cameraMatrix.at<double>(1,1); |
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} |
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} |
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if(!(mCalibFlags & cv::CALIB_ZERO_TANGENT_DIST)) { |
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const double eps = 0.005; |
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if(fabs(mCalibData->distCoeffs.at<double>(2)) < eps && |
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fabs(mCalibData->distCoeffs.at<double>(3)) < eps) |
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mCalibFlags |= cv::CALIB_ZERO_TANGENT_DIST; |
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} |
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if(!(mCalibFlags & cv::CALIB_FIX_K1)) { |
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const double eps = 0.005; |
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if(fabs(mCalibData->distCoeffs.at<double>(0)) < eps) |
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mCalibFlags |= cv::CALIB_FIX_K1; |
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} |
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if(!(mCalibFlags & cv::CALIB_FIX_K2)) { |
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const double eps = 0.005; |
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if(fabs(mCalibData->distCoeffs.at<double>(1)) < eps) |
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mCalibFlags |= cv::CALIB_FIX_K2; |
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} |
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if(!(mCalibFlags & cv::CALIB_FIX_K3)) { |
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const double eps = 0.005; |
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if(fabs(mCalibData->distCoeffs.at<double>(4)) < eps) |
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mCalibFlags |= cv::CALIB_FIX_K3; |
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} |
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} |
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} |
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bool calib::calibController::getCommonCalibrationState() const |
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{ |
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int rating = (int)getFramesNumberState() + (int)getConfidenceIntrervalsState() + |
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(int)getRMSState() + (int)mCoverageQualityState; |
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return rating == 4; |
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} |
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bool calib::calibController::getFramesNumberState() const |
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{ |
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return std::max(mCalibData->imagePoints.size(), mCalibData->allCharucoCorners.size()) > mMinFramesNum; |
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} |
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bool calib::calibController::getConfidenceIntrervalsState() const |
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{ |
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return mConfIntervalsState; |
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} |
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bool calib::calibController::getRMSState() const |
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{ |
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return mCalibData->totalAvgErr < 0.5; |
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} |
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int calib::calibController::getNewFlags() const |
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{ |
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return mCalibFlags; |
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} |
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//////////////////// calibDataController |
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double calib::calibDataController::estimateGridSubsetQuality(size_t excludedIndex) |
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{ |
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{ |
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int gridSize = 10; |
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int xGridStep = mCalibData->imageSize.width / gridSize; |
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int yGridStep = mCalibData->imageSize.height / gridSize; |
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std::vector<int> pointsInCell(gridSize*gridSize); |
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std::fill(pointsInCell.begin(), pointsInCell.end(), 0); |
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for(size_t k = 0; k < mCalibData->imagePoints.size(); k++) |
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if(k != excludedIndex) |
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for(std::vector<cv::Point2f>::iterator pointIt = mCalibData->imagePoints[k].begin(); pointIt != mCalibData->imagePoints[k].end(); ++pointIt) { |
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int i = (int)((*pointIt).x / xGridStep); |
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int j = (int)((*pointIt).y / yGridStep); |
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pointsInCell[i*gridSize + j]++; |
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} |
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for(size_t k = 0; k < mCalibData->allCharucoCorners.size(); k++) |
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if(k != excludedIndex) |
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for(int l = 0; l < mCalibData->allCharucoCorners[k].size[0]; l++) { |
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int i = (int)(mCalibData->allCharucoCorners[k].at<float>(l, 0) / xGridStep); |
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int j = (int)(mCalibData->allCharucoCorners[k].at<float>(l, 1) / yGridStep); |
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pointsInCell[i*gridSize + j]++; |
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} |
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cv::Mat mean, stdDev; |
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cv::meanStdDev(pointsInCell, mean, stdDev); |
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return mean.at<double>(0) / (stdDev.at<double>(0) + 1e-7); |
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} |
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} |
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calib::calibDataController::calibDataController(cv::Ptr<calib::calibrationData> data, int maxFrames, double convParameter) : |
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mCalibData(data), mParamsFileName("CamParams.xml") |
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{ |
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mMaxFramesNum = maxFrames; |
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mAlpha = convParameter; |
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} |
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calib::calibDataController::calibDataController() |
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{ |
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} |
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void calib::calibDataController::filterFrames() |
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{ |
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size_t numberOfFrames = std::max(mCalibData->allCharucoIds.size(), mCalibData->imagePoints.size()); |
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CV_Assert(numberOfFrames == mCalibData->perViewErrors.total()); |
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if(numberOfFrames >= mMaxFramesNum) { |
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double worstValue = -HUGE_VAL, maxQuality = estimateGridSubsetQuality(numberOfFrames); |
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size_t worstElemIndex = 0; |
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for(size_t i = 0; i < numberOfFrames; i++) { |
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double gridQDelta = estimateGridSubsetQuality(i) - maxQuality; |
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double currentValue = mCalibData->perViewErrors.at<double>((int)i)*mAlpha + gridQDelta*(1. - mAlpha); |
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if(currentValue > worstValue) { |
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worstValue = currentValue; |
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worstElemIndex = i; |
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} |
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} |
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showOverlayMessage(cv::format("Frame %zu is worst", worstElemIndex + 1)); |
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if(mCalibData->allFrames.size()) |
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mCalibData->allFrames.erase(mCalibData->allFrames.begin() + worstElemIndex); |
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if(mCalibData->imagePoints.size()) { |
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mCalibData->imagePoints.erase(mCalibData->imagePoints.begin() + worstElemIndex); |
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mCalibData->objectPoints.erase(mCalibData->objectPoints.begin() + worstElemIndex); |
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if (mCalibData->allCharucoCorners.size()) { |
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mCalibData->allCharucoCorners.erase(mCalibData->allCharucoCorners.begin() + worstElemIndex); |
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mCalibData->allCharucoIds.erase(mCalibData->allCharucoIds.begin() + worstElemIndex); |
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} |
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} |
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cv::Mat newErrorsVec = cv::Mat((int)numberOfFrames - 1, 1, CV_64F); |
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std::copy(mCalibData->perViewErrors.ptr<double>(0), |
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mCalibData->perViewErrors.ptr<double>((int)worstElemIndex), newErrorsVec.ptr<double>(0)); |
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if((int)worstElemIndex < (int)numberOfFrames-1) { |
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std::copy(mCalibData->perViewErrors.ptr<double>((int)worstElemIndex + 1), mCalibData->perViewErrors.ptr<double>((int)numberOfFrames), |
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newErrorsVec.ptr<double>((int)worstElemIndex)); |
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} |
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mCalibData->perViewErrors = newErrorsVec; |
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} |
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} |
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void calib::calibDataController::setParametersFileName(const std::string &name) |
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{ |
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mParamsFileName = name; |
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} |
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void calib::calibDataController::deleteLastFrame() |
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{ |
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if(!mCalibData->allFrames.empty()) |
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{ |
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mCalibData->allFrames.pop_back(); |
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} |
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if( !mCalibData->imagePoints.empty()) { |
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mCalibData->imagePoints.pop_back(); |
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mCalibData->objectPoints.pop_back(); |
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} |
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if (!mCalibData->allCharucoCorners.empty()) { |
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mCalibData->allCharucoCorners.pop_back(); |
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mCalibData->allCharucoIds.pop_back(); |
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} |
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if(!mParamsStack.empty()) { |
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mCalibData->cameraMatrix = (mParamsStack.top()).cameraMatrix; |
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mCalibData->distCoeffs = (mParamsStack.top()).distCoeffs; |
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mCalibData->stdDeviations = (mParamsStack.top()).stdDeviations; |
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mCalibData->totalAvgErr = (mParamsStack.top()).avgError; |
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mParamsStack.pop(); |
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} |
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} |
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void calib::calibDataController::rememberCurrentParameters() |
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{ |
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cv::Mat oldCameraMat, oldDistcoeefs, oldStdDevs; |
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mCalibData->cameraMatrix.copyTo(oldCameraMat); |
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mCalibData->distCoeffs.copyTo(oldDistcoeefs); |
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mCalibData->stdDeviations.copyTo(oldStdDevs); |
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mParamsStack.push(cameraParameters(oldCameraMat, oldDistcoeefs, oldStdDevs, mCalibData->totalAvgErr)); |
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} |
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void calib::calibDataController::deleteAllData() |
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{ |
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mCalibData->allFrames.clear(); |
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mCalibData->imagePoints.clear(); |
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mCalibData->objectPoints.clear(); |
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mCalibData->allCharucoCorners.clear(); |
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mCalibData->allCharucoIds.clear(); |
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mCalibData->cameraMatrix = mCalibData->distCoeffs = cv::Mat(); |
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mParamsStack = std::stack<cameraParameters>(); |
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rememberCurrentParameters(); |
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} |
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bool calib::calibDataController::saveCurrentCameraParameters() const |
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{ |
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for(size_t i = 0; i < mCalibData->allFrames.size(); i++) |
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cv::imwrite(cv::format("calibration_%zu.png", i), mCalibData->allFrames[i]); |
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bool success = false; |
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if(mCalibData->cameraMatrix.total()) { |
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cv::FileStorage parametersWriter(mParamsFileName, cv::FileStorage::WRITE); |
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if(parametersWriter.isOpened()) { |
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time_t rawtime; |
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time(&rawtime); |
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char buf[256]; |
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strftime(buf, sizeof(buf)-1, "%c", localtime(&rawtime)); |
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parametersWriter << "calibrationDate" << buf; |
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parametersWriter << "framesCount" << std::max((int)mCalibData->objectPoints.size(), (int)mCalibData->allCharucoCorners.size()); |
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parametersWriter << "cameraResolution" << mCalibData->imageSize; |
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parametersWriter << "cameraMatrix" << mCalibData->cameraMatrix; |
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parametersWriter << "cameraMatrix_std_dev" << mCalibData->stdDeviations.rowRange(cv::Range(0, 4)); |
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parametersWriter << "dist_coeffs" << mCalibData->distCoeffs; |
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parametersWriter << "dist_coeffs_std_dev" << mCalibData->stdDeviations.rowRange(cv::Range(4, 9)); |
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parametersWriter << "avg_reprojection_error" << mCalibData->totalAvgErr; |
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parametersWriter.release(); |
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success = true; |
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} |
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} |
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return success; |
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} |
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void calib::calibDataController::printParametersToConsole(std::ostream &output) const |
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{ |
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const char* border = "---------------------------------------------------"; |
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output << border << std::endl; |
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output << "Frames used for calibration: " << std::max(mCalibData->objectPoints.size(), mCalibData->allCharucoCorners.size()) |
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<< " \t RMS = " << mCalibData->totalAvgErr << std::endl; |
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if(mCalibData->cameraMatrix.at<double>(0,0) == mCalibData->cameraMatrix.at<double>(1,1)) |
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output << "F = " << mCalibData->cameraMatrix.at<double>(1,1) << " +- " << sigmaMult*mCalibData->stdDeviations.at<double>(1) << std::endl; |
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else |
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output << "Fx = " << mCalibData->cameraMatrix.at<double>(0,0) << " +- " << sigmaMult*mCalibData->stdDeviations.at<double>(0) << " \t " |
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<< "Fy = " << mCalibData->cameraMatrix.at<double>(1,1) << " +- " << sigmaMult*mCalibData->stdDeviations.at<double>(1) << std::endl; |
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output << "Cx = " << mCalibData->cameraMatrix.at<double>(0,2) << " +- " << sigmaMult*mCalibData->stdDeviations.at<double>(2) << " \t" |
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<< "Cy = " << mCalibData->cameraMatrix.at<double>(1,2) << " +- " << sigmaMult*mCalibData->stdDeviations.at<double>(3) << std::endl; |
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output << "K1 = " << mCalibData->distCoeffs.at<double>(0) << " +- " << sigmaMult*mCalibData->stdDeviations.at<double>(4) << std::endl; |
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output << "K2 = " << mCalibData->distCoeffs.at<double>(1) << " +- " << sigmaMult*mCalibData->stdDeviations.at<double>(5) << std::endl; |
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output << "K3 = " << mCalibData->distCoeffs.at<double>(4) << " +- " << sigmaMult*mCalibData->stdDeviations.at<double>(8) << std::endl; |
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output << "TD1 = " << mCalibData->distCoeffs.at<double>(2) << " +- " << sigmaMult*mCalibData->stdDeviations.at<double>(6) << std::endl; |
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output << "TD2 = " << mCalibData->distCoeffs.at<double>(3) << " +- " << sigmaMult*mCalibData->stdDeviations.at<double>(7) << std::endl; |
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} |
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void calib::calibDataController::updateUndistortMap() |
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{ |
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cv::initUndistortRectifyMap(mCalibData->cameraMatrix, mCalibData->distCoeffs, cv::noArray(), |
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cv::getOptimalNewCameraMatrix(mCalibData->cameraMatrix, mCalibData->distCoeffs, mCalibData->imageSize, 0.0, mCalibData->imageSize), |
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mCalibData->imageSize, CV_16SC2, mCalibData->undistMap1, mCalibData->undistMap2); |
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}
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