void LeapToCameraCalibrator::correctCameraPNP (ofxCv::Calibration & myCalibration){
vector<cv::Point2f> imagePoints;
vector<cv::Point3f> worldPoints;
if( hasFingerCalibPoints ){
for (int i=0; i<calibVectorImage.size(); i++){
imagePoints.push_back(ofxCvMin::toCv(calibVectorImage[i]));
worldPoints.push_back(ofxCvMin::toCv(calibVectorWorld[i]));
}
}
else{
cout << "not enough control points" << endl;
return;
}
cout << "myCalibration.getDistCoeffs() " << myCalibration.getDistCoeffs() << endl;
cout << "myCalibration.getUndistortedIntrinsics().getCameraMatrix() " << myCalibration.getUndistortedIntrinsics().getCameraMatrix() << endl;
cv::Mat rvec(3,1,cv::DataType<double>::type);
cv::Mat tvec(3,1,cv::DataType<double>::type);
cv::solvePnP(worldPoints,imagePoints,
myCalibration.getUndistortedIntrinsics().getCameraMatrix(), myCalibration.getDistCoeffs(),
rvec, tvec, false );
// solvePnP( InputArray objectPoints, InputArray imagePoints,
// InputArray cameraMatrix, InputArray distCoeffs,
// OutputArray rvec, OutputArray tvec,
// bool useExtrinsicGuess=false );
calibrated = true;
setExtrinsics(rvec, tvec);
setIntrinsics(myCalibration.getUndistortedIntrinsics().getCameraMatrix());
this->camera = myCalibration.getUndistortedIntrinsics().getCameraMatrix();
cv::Mat distortionCoefficients = cv::Mat::zeros(5, 1, CV_64F);
this->distortion = distortionCoefficients;
this->rotation = rvec;
this->translation = tvec;
cout << "camera:\n";
cout << this->camera << "\n";
cout << "RVEC:\n";
cout << rvec << "\n";
cout << "TVEC:\n";
cout << tvec << "\n";
cout << "--------\n";
}
void LeapToCameraCalibrator::correctCamera(){
//we have to intitialise a basic camera matrix for it to start with (this will get changed by the function call calibrateCamera
vector<cv::Point2f> imagePoints;
vector<cv::Point3f> worldPoints;
if( hasFingerCalibPoints ){
for(int i = 0; i < calibVectorImage.size(); i++){
imagePoints.push_back(ofxCvMin::toCv(calibVectorImage[i]));
worldPoints.push_back(ofxCvMin::toCv(calibVectorWorld[i]));
}
}
else{
cout << "not enough control points" << endl;
return;
}
//initialise matrices
cv::Mat cameraMatrix = cv::Mat::eye(3, 3, CV_64F);
cameraMatrix.at<double>(0,0) = resolution.x * 1.62f; // default at 1.4 : 1.0f throw ratio
cameraMatrix.at<double>(1,1) = resolution.y * 1.62f;
cameraMatrix.at<double>(0,2) = resolution.x / 2.0f;
cameraMatrix.at<double>(1,2) = resolution.y * 0.90f; // default at 40% lens offset
cameraMatrix.at<double>(2,2) = 1;
cv::Mat distortionCoefficients = cv::Mat::zeros(5, 1, CV_64F);
vector<cv::Mat> rotations, translations;
int flags = CV_CALIB_FIX_K1 | CV_CALIB_FIX_K2 | CV_CALIB_FIX_K3 | CV_CALIB_FIX_K4 | CV_CALIB_FIX_K5 | CV_CALIB_FIX_K6 |CV_CALIB_ZERO_TANGENT_DIST | CV_CALIB_USE_INTRINSIC_GUESS;
float error = cv::calibrateCamera(vector<vector<cv::Point3f> >(1, worldPoints),
vector<vector<cv::Point2f> >(1, imagePoints),
cv::Size(resolution.x, resolution.y),
cameraMatrix,
distortionCoefficients,
rotations,
translations,
flags);
cout << " cameraMatrix " << cameraMatrix << endl;
calibrated = true;
setExtrinsics(rotations[0], translations[0]);
setIntrinsics(cameraMatrix);
this->camera = cameraMatrix;
this->distortion = distortionCoefficients;
this->rotation = rotations[0];
this->translation = translations[0];
}
void DxArchiverProxyInternal::sendIntrinsics(DxArchiverIntrinsics *intrinsics)
{
setIntrinsics(*intrinsics);
siteDxArchiverManager_->receiveIntrinsics(proxy_);
}
