bool CameraCalibration::runCalibrationAndSave( Settings& s, Size imageSize, Mat& cameraMatrix, Mat& distCoeffs,vector<vector<Point2f> > imagePoints )
{
vector<Mat> rvecs, tvecs;
vector<float> reprojErrs;
double totalAvgErr = 0;
bool ok = runCalibration( s,imageSize, cameraMatrix, distCoeffs, imagePoints, rvecs, tvecs, reprojErrs, totalAvgErr);
cout << ( ok ? "Calibration succeeded" : "Calibration failed" ) << ". avg re projection error = " << totalAvgErr << endl;
if ( ok ) {
saveCameraParams( s, imageSize, cameraMatrix, distCoeffs, rvecs ,tvecs, reprojErrs, imagePoints, totalAvgErr );
}
return( ok );
}
/** Runs and saves file. -------------------------------------------------------------------------*/
bool runAndSave(const string& outputFilename,
const vector<vector<Point2f> >& imagePoints,
Size imageSize, Size boardSize, float squareSize,
float aspectRatio, int flags, Mat& cameraMatrix,
Mat& distCoeffs, bool writeExtrinsics, bool writePoints, int qr_size_px )
{
vector<Mat> rvecs, tvecs;
vector<float> reprojErrs;
double totalAvgErr = 0;
// QR code dependant parameters
int qr_size_mm;
int known_distance;
cout << "QR code size (mm): ";
cin >> qr_size_mm;
cout << "QR code distance from source (mm): ";
cin >> known_distance;
int scale_factor = known_distance * qr_size_px / qr_size_mm;
bool ok = runCalibration(imagePoints, imageSize, boardSize, squareSize,
aspectRatio, flags, cameraMatrix, distCoeffs,
rvecs, tvecs, reprojErrs, totalAvgErr);
printf("%s. avg reprojection error = %.2f\n",
ok ? "Calibration succeeded" : "Calibration failed",
totalAvgErr);
if(ok)
saveCameraParams( outputFilename, imageSize,
boardSize, squareSize, aspectRatio,
flags, cameraMatrix, distCoeffs,
writeExtrinsics ? rvecs : vector<Mat>(),
writeExtrinsics ? tvecs : vector<Mat>(),
writeExtrinsics ? reprojErrs : vector<float>(),
writePoints ? imagePoints : vector<vector<Point2f> >(),
totalAvgErr, scale_factor, qr_size_mm );
return ok;
}
void QCvCameraCalibration::calibrate()
{
this->setEnable(false);
QString msg;
if (imagePoints.size() >= s.minNumSamples)
{
// compute board geometry
vector<vector<cv::Point3f> > objectPoints(1);
calcBoardCornerPositions(s.boardSize, s.squareSize, objectPoints[0]);
objectPoints.resize(imagePoints.size(),objectPoints[0]);
rmsError = calibrateCamera(objectPoints, imagePoints, imgSize, cameraMatrix,
distCoeffs, rvecs, tvecs, CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);
msg = "updated object points successfully, RMS = "+QString::number(rmsError);
s.bCALIBRATED=true;
saveCameraParams();
}
else
{
msg = "Insufficient number of samples taken!";
}
emit statusUpdate(msg);
this->setEnable(true);
}
