void CalibrateThread::saveCameraParams( const string& filename,
Size imageSize, Size boardSize,
float squareSize, float aspectRatio, int flags,
const Mat& cameraMatrix, const Mat& distCoeffs,
const vector<Mat>& rvecs, const vector<Mat>& tvecs,
const vector<float>& reprojErrs,
const vector<vector<Point2f> >& imagePoints,
double totalAvgErr )
{
FileStorage fs( filename, FileStorage::WRITE );
time_t t;
time( &t );
struct tm *t2 = localtime( &t );
char buf[1024];
strftime( buf, sizeof(buf)-1, "%c", t2 );
fs << "calibration_time" << buf;
if( !rvecs.empty() || !reprojErrs.empty() )
fs << "nframes" << (int)std::max(rvecs.size(), reprojErrs.size());
fs << "image_width" << imageSize.width;
fs << "image_height" << imageSize.height;
fs << "board_width" << boardSize.width;
fs << "board_height" << boardSize.height;
fs << "square_size" << squareSize;
if( flags & CV_CALIB_FIX_ASPECT_RATIO )
fs << "aspectRatio" << aspectRatio;
if( flags != 0 )
{
sprintf( buf, "flags: %s%s%s%s",
flags & CV_CALIB_USE_INTRINSIC_GUESS ? "+use_intrinsic_guess" : "",
flags & CV_CALIB_FIX_ASPECT_RATIO ? "+fix_aspectRatio" : "",
flags & CV_CALIB_FIX_PRINCIPAL_POINT ? "+fix_principal_point" : "",
flags & CV_CALIB_ZERO_TANGENT_DIST ? "+zero_tangent_dist" : "" );
cvWriteComment( *fs, buf, 0 );
}
fs << "flags" << flags;
fs << "camera_matrix" << cameraMatrix;
fs << "distortion_coefficients" << distCoeffs;
fs << "avg_reprojection_error" << totalAvgErr;
if( !reprojErrs.empty() )
fs << "per_view_reprojection_errors" << Mat(reprojErrs);
if( !rvecs.empty() && !tvecs.empty() )
{
CV_Assert(rvecs[0].type() == tvecs[0].type());
Mat bigmat((int)rvecs.size(), 6, rvecs[0].type());
for( int i = 0; i < (int)rvecs.size(); i++ )
{
Mat r = bigmat(Range(i, i+1), Range(0,3));
Mat t = bigmat(Range(i, i+1), Range(3,6));
CV_Assert(rvecs[i].rows == 3 && rvecs[i].cols == 1);
CV_Assert(tvecs[i].rows == 3 && tvecs[i].cols == 1);
//*.t() is MatExpr (not Mat) so we can use assignment operator
r = rvecs[i].t();
t = tvecs[i].t();
}
cvWriteComment( *fs, "a set of 6-tuples (rotation vector + translation vector) for each view", 0 );
fs << "extrinsic_parameters" << bigmat;
}
if( !imagePoints.empty() )
{
Mat imagePtMat((int)imagePoints.size(), imagePoints[0].size(), CV_32FC2);
for( int i = 0; i < (int)imagePoints.size(); i++ )
{
Mat r = imagePtMat.row(i).reshape(2, imagePtMat.cols);
Mat imgpti(imagePoints[i]);
imgpti.copyTo(r);
}
fs << "image_points" << imagePtMat;
}
}
void CameraCalibration::saveCameraParams( Settings& s, Size& imageSize, Mat& cameraMatrix, Mat& distCoeffs,
const vector<Mat>& rvecs, const vector<Mat>& tvecs,
const vector<float>& reprojErrs, const vector<vector<Point2f> >& imagePoints,
double totalAvgErr )
{
FileStorage fs( s.outputFileName, FileStorage::WRITE );
time_t tm;
time( &tm );
struct tm *t2 = localtime( &tm );
char buf[1024];
strftime( buf, sizeof(buf)-1, "%c", t2 );
fs << "calibration_Time" << buf;
if ( !rvecs.empty() || !reprojErrs.empty() ) {
fs << "nrOfFrames" << (int)max( rvecs.size(), reprojErrs.size() );
}
fs << "image_Width" << imageSize.width;
fs << "image_Height" << imageSize.height;
fs << "board_Width" << s.boardSize.width;
fs << "board_Height" << s.boardSize.height;
fs << "square_Size" << s.squareSize;
if ( s.flag & CALIB_FIX_ASPECT_RATIO ) {
fs << "FixAspectRatio" << s.aspectRatio;
}
if ( s.flag ) {
sprintf( buf, "flags: %s%s%s%s",
s.flag & CALIB_USE_INTRINSIC_GUESS ? " +use_intrinsic_guess" : "",
s.flag & CALIB_FIX_ASPECT_RATIO ? " +fix_aspectRatio" : "",
s.flag & CALIB_FIX_PRINCIPAL_POINT ? " +fix_principal_point" : "",
s.flag & CALIB_ZERO_TANGENT_DIST ? " +zero_tangent_dist" : "" );
//cvWriteComment( *fs, buf, 0 );
}
fs << "flagValue" << s.flag;
fs << "Camera_Matrix" << cameraMatrix;
fs << "Distortion_Coefficients" << distCoeffs;
fs << "Avg_Reprojection_Error" << totalAvgErr;
if ( !reprojErrs.empty() ) {
fs << "Per_View_Reprojection_Errors" << Mat(reprojErrs);
}
if ( !rvecs.empty() && !tvecs.empty() ) {
CV_Assert( rvecs[0].type() == tvecs[0].type() );
Mat bigmat( (int)rvecs.size(), 6, rvecs[0].type() );
for ( int i = 0; i < (int)rvecs.size(); i++ ) {
Mat r = bigmat( Range( i, i + 1 ), Range( 0, 3 ) );
Mat t = bigmat( Range( i, i + 1 ), Range( 3, 6 ) );
CV_Assert( rvecs[i].rows == 3 && rvecs[i].cols == 1 );
CV_Assert( tvecs[i].rows == 3 && tvecs[i].cols == 1 );
//*.t() is MatExpr (not Mat) so we can use assignment operator
r = rvecs[i].t();
t = tvecs[i].t();
}
//cvWriteComment( *fs, "a set of 6-tuples (rotation vector + translation vector) for each view", 0 );
fs << "Extrinsic_Parameters" << bigmat;
}
if ( !imagePoints.empty() ) {
Mat imagePtMat( (int)imagePoints.size(), (int)imagePoints[0].size(), CV_32FC2 );
for ( int i = 0; i < (int)imagePoints.size(); i++ ) {
Mat r = imagePtMat.row(i).reshape( 2, imagePtMat.cols );
Mat imgpti( imagePoints[i] );
imgpti.copyTo( r );
}
fs << "Image_points" << imagePtMat;
}
}
void CameraCalibration::saveCameraParams(Settings& s, Size& imageSize, Mat& cameraMatrix,
Mat& distCoeffs, vector<Mat>& rvecs, vector<Mat>& tvecs,
vector<float>& reprojErrs, vector<vector<Point2f>>& imagePoints,
double totalAvgErr)
{
FileStorage fs(s.outputFileName, FileStorage::WRITE);
time_t tm;
time(&tm);
struct tm *t2 = localtime(&tm);
char buf[1024];
strftime(buf, sizeof(buf) - 1, "%c", t2);
fs << "Results";
fs << "{" <<"calibration_Time" << buf;
if (!rvecs.empty() || !reprojErrs.empty())
fs << "nrOfFrames" << (int)std::max(rvecs.size(), reprojErrs.size());
fs << "image_Width" << imageSize.width;
fs << "image_Height" << imageSize.height;
fs << "board_Width" << s.boardSize.width;
fs << "board_Height" << s.boardSize.height;
fs << "square_Size" << s.squareSize;
fs << "Stereo_Baseline" << s.StereoBaseline;
fs << "Sensor_size_Width" << s.sensorSizeWidth;
fs << "Sensor_size_Height" << s.sensorSizeHeight;
fs << "Mx" << s.Mx;
fs << "My" << s.My;
if (s.flag & CALIB_FIX_ASPECT_RATIO)
fs << "FixAspectRatio" << s.aspectRatio;
if (s.flag)
{
sprintf_s(buf, "flags: %s%s%s%s",
s.flag & CALIB_USE_INTRINSIC_GUESS ? " +use_intrinsic_guess" : "",
s.flag & CALIB_FIX_ASPECT_RATIO ? " +fix_aspectRatio" : "",
s.flag & CALIB_FIX_PRINCIPAL_POINT ? " +fix_principal_point" : "",
s.flag & CALIB_ZERO_TANGENT_DIST ? " +zero_tangent_dist" : "");
//cvWriteComment(*fs, buf, 0);
}
fs << "flagValue" << s.flag;
fs << "Camera_Matrix" << cameraMatrix;
fs << "Distortion_Coefficients" << distCoeffs;
fs << "Avg_Reprojection_Error" << totalAvgErr;
if (!reprojErrs.empty())
fs << "Per_View_Reprojection_Errors" << Mat(reprojErrs);
if (!rvecs.empty() && !tvecs.empty())
{
CV_Assert(rvecs[0].type() == tvecs[0].type());
Mat bigmat((int)rvecs.size(), 6, rvecs[0].type());
for (int i = 0; i < (int)rvecs.size(); i++)
{
Mat r = bigmat(Range(i, i + 1), Range(0, 3));
Mat t = bigmat(Range(i, i + 1), Range(3, 6));
CV_Assert(rvecs[i].rows == 3 && rvecs[i].cols == 1);
CV_Assert(tvecs[i].rows == 3 && tvecs[i].cols == 1);
//*.t() is MatExpr (not Mat) so we can use assignment operator
r = rvecs[i].t();
t = tvecs[i].t();
}
//cvWriteComment(*fs, "a set of 6-tuples (rotation vector + translation vector) for each view", 0);
fs << "Extrinsic_Parameters" << bigmat;
}
if (!imagePoints.empty())
{
Mat imagePtMat((int)imagePoints.size(), (int)imagePoints[0].size(), CV_32FC2);
for (int i = 0; i < (int)imagePoints.size(); i++)
{
Mat r = imagePtMat.row(i).reshape(2, imagePtMat.cols);
Mat imgpti(imagePoints[i]);
imgpti.copyTo(r);
}
fs << "Image_points" << imagePtMat;//Image_points
}
if (!DataFromCirclesPattern.empty()){
// save the circle pattern positions for this camera and the corresponding calibration images
// as a vector 1x6 <circleID, (x,y) 2D position,(X,Y,Z) 3D position> for each circle found
cv::Mat circlesDataMatrix;
for (int k = 0; k < DataFromCirclesPattern.size(); k++){
int cameraID = DataFromCirclesPattern.at(k).cameraID;
int imageID = DataFromCirclesPattern.at(k).imageID;
cv::Mat circlesData = cv::Mat::zeros(1, 6, CV_64F);
circlesData.at<double>(0, 0) = cameraID;
circlesData.at<double>(0, 1) = imageID;
circlesData.at<double>(0, 2) = 0;
circlesData.at<double>(0, 3) = 0;
circlesData.at<double>(0, 4) = 0;
circlesData.at<double>(0, 5) = 0;
// save ID header row
circlesDataMatrix.push_back(circlesData);
for (int i = 0; i < DataFromCirclesPattern.at(k).circlesData.size(); i++){
int circleID = DataFromCirclesPattern.at(k).circlesData.at(i).circleID;
cv::Point2f circlePosition = DataFromCirclesPattern.at(k).circlesData.at(i).circlePosition;
cv::Point3f circle3DPosition = DataFromCirclesPattern.at(k).circlesData.at(i).circle3DPosition;
// build the matrix data
circlesData.at<double>(0, 0) = circleID;
circlesData.at<double>(0, 1) = circlePosition.x;
circlesData.at<double>(0, 2) = circlePosition.y;
circlesData.at<double>(0, 3) = circle3DPosition.x;
circlesData.at<double>(0, 4) = circle3DPosition.y;
circlesData.at<double>(0, 5) = circle3DPosition.z;
circlesDataMatrix.push_back(circlesData);
}
}
Mat finalCirclesDataMatrix(circlesDataMatrix.rows, 6, CV_64F);
circlesDataMatrix.copyTo(finalCirclesDataMatrix);
fs << "Circle_Data" << finalCirclesDataMatrix;
}
}
