bool Calibration::calibrate() {
if(size() < 1) {
ofLog(OF_LOG_ERROR, "Calibration::calibrate() doesn't have any image data to calibrate from.");
if(ready) {
ofLog(OF_LOG_ERROR, "Calibration::calibrate() doesn't need to be called after Calibration::load().");
}
return ready;
}
Mat cameraMatrix = Mat::eye(3, 3, CV_64F);
distCoeffs = Mat::zeros(8, 1, CV_64F);
updateObjectPoints();
int calibFlags = 0;
float rms = calibrateCamera(objectPoints, imagePoints, addedImageSize, cameraMatrix, distCoeffs, boardRotations, boardTranslations, calibFlags);
ofLog(OF_LOG_VERBOSE, "calibrateCamera() reports RMS error of " + ofToString(rms));
ready = checkRange(cameraMatrix) && checkRange(distCoeffs);
if(!ready) {
ofLog(OF_LOG_ERROR, "Calibration::calibrate() failed to calibrate the camera");
}
distortedIntrinsics.setup(cameraMatrix, addedImageSize);
updateReprojectionError();
updateUndistortion();
return ready;
}
bool Calibration::load(string filename, bool absolute) {
imagePoints.clear();
//FileStorage fs(ofToDataPath(filename, absolute), FileStorage::READ);
FileStorage fs(filename, FileStorage::READ);
if (!fs.isOpened())
return false;
cv::Size imageSize, sensorSize;
Mat cameraMatrix;
fs["cameraMatrix"] >> cameraMatrix;
fs["imageSize_width"] >> imageSize.width;
fs["imageSize_height"] >> imageSize.height;
fs["sensorSize_width"] >> sensorSize.width;
fs["sensorSize_height"] >> sensorSize.height;
fs["distCoeffs"] >> distCoeffs;
fs["reprojectionError"] >> reprojectionError;
FileNode features = fs["features"];
for(FileNodeIterator it = features.begin(); it != features.end(); it++) {
vector<Point2f> cur;
(*it) >> cur;
imagePoints.push_back(cur);
}
addedImageSize = imageSize;
distortedIntrinsics.setup(cameraMatrix, imageSize, sensorSize);
updateUndistortion();
ready = true;
return true;
}
void Calibration::setIntrinsics(Intrinsics& distortedIntrinsics, Mat& distortionCoefficients){
this->distortedIntrinsics = distortedIntrinsics;
this->distCoeffs = distortionCoefficients;
this->addedImageSize = distortedIntrinsics.getImageSize();
updateUndistortion();
this->ready = true;
}
void Calibration::load(string filename, bool absolute) {
FileStorage fs(ofToDataPath(filename, absolute), FileStorage::READ);
cv::Size imageSize, sensorSize;
Mat cameraMatrix;
fs["cameraMatrix"] >> cameraMatrix;
fs["imageSize_width"] >> imageSize.width;
fs["imageSize_height"] >> imageSize.height;
fs["sensorSize_width"] >> sensorSize.width;
fs["sensorSize_height"] >> sensorSize.height;
fs["distCoeffs"] >> distCoeffs;
fs["reprojectionError"] >> reprojectionError;
distortedIntrinsics.setup(cameraMatrix, imageSize, sensorSize);
updateUndistortion();
_isReady = true;
}
