void StereoCalibrationDialog::updateFrame()
{
captureLeft.grab();
captureRight.grab();
captureLeft.retrieve(currentFrameLeft);
captureRight.retrieve(currentFrameRight);
if(!currentFrameLeft.empty() && !currentFrameRight.empty())
{
cv::Mat frameLeftCopy = currentFrameLeft.clone();
cv::Mat frameRightCopy = currentFrameRight.clone();
if(ui->checkBox->isChecked())
{
detectChessboard(frameLeftCopy, patternSize);
detectChessboard(frameRightCopy, patternSize);
}
QImage qframeL, qframeR;
qframeL = MatToQImage(frameLeftCopy);
qframeR = MatToQImage(frameRightCopy);
frameLeft = MatToQImage(currentFrameLeft);
frameRight = MatToQImage(currentFrameRight);
pixmapLeft = QPixmap::fromImage(qframeL).scaled(currentFrameLeft.cols,
currentFrameRight.rows, Qt::KeepAspectRatio);
pixmapRight = QPixmap::fromImage(qframeR).scaled(currentFrameRight.cols,
currentFrameRight.rows, Qt::KeepAspectRatio);
ui->leftCameraLabel->setPixmap(pixmapLeft);
ui->rightCameraLabel->setPixmap(pixmapRight);
}
}
void processImage(cv::Mat& inputImg)
{
//init images
chessbrd_img = inputImg.clone();
birds_img = inputImg.clone();
// DETECT Chessboard
bool patternfound;
detectChessboard(inputImg, corners, patternfound, PATTERNSIZE);
if(patternfound)
{
cv::drawChessboardCorners(chessbrd_img, PATTERNSIZE, cv::Mat(corners), patternfound);
calcBirdsEyeTransform(H, corners, PATTERNSIZE, delta_chess0, trgtChessbrdCuboidWidth);
birdsEyeTransform(chessbrd_img, birds_img, H, TOPVIEW_SIZE);
postprocessTopview(birds_img, resizeTopviewOutput, carPos, visCarPos);
}
else
{
// clear projMat
//H = cv::Mat::zeros(H.rows,H.cols, H.type());
}
// ------
// OUTPUT
// ------
cv::imshow(OPENCV_WINDOW_rgb, inputImg);
cv::imshow(OPENCV_WINDOW_chess, chessbrd_img);
cv::imshow(OPENCV_WINDOW_bird, birds_img);
char k;
k = cv::waitKey(3000); // wait 3 sec before next image
//printf("%d\n", k);
if(k == 10) // save if "Enter" is clicked
{
// save images + H + CalibConfig
cv::imwrite("visLoc_TopviewCalib_BirdsEye.jpg", birds_img);
cv::imwrite("visLoc_TopviewCalib_ChessboardCalib.jpg", chessbrd_img);
writeDoubleMatToFile(H, projMatFilename);
writeCalibConfigToFile(TOPVIEW_SIZE, carPos, PATTERNSIZE, delta_chess0, delta_chess0ToCam, configFilename);
}
}
