diff --git a/cv-node/include/ftl/calibrate.hpp b/cv-node/include/ftl/calibrate.hpp
index b0530bd4a18ad9734ba38e1f02a29c79b263676c..7af77206d686e2043a792454c21cce7625e1e6c5 100644
--- a/cv-node/include/ftl/calibrate.hpp
+++ b/cv-node/include/ftl/calibrate.hpp
@@ -75,7 +75,6 @@ class Calibrate {
bool isCalibrated();
private:
- bool runCalibration(cv::Mat &img, cv::Mat &cam);
bool _recalibrate(std::vector<std::vector<cv::Point2f>> *imagePoints,
cv::Mat *cameraMatrix, cv::Mat *distCoeffs, cv::Size *imageSize);
cv::Mat _nextImage(size_t cam);
@@ -90,13 +89,5 @@ class Calibrate {
};
};
-/*static inline void read(const cv::FileNode& node, ftl::Calibrate::Settings& x, const ftl::Calibrate::Settings& default_value = ftl::Calibrate::Settings())
-{
- if(node.empty())
- x = default_value;
- else
- x.read(node);
-}*/
-
#endif // _FTL_CALIBRATION_HPP_
diff --git a/cv-node/src/calibrate.cpp b/cv-node/src/calibrate.cpp
index 86d9af2e704ff8dff26d8d5568aa55b13d44c5f3..0808fa00c59d3e4dfc54e3430e7b9dc08302621a 100644
--- a/cv-node/src/calibrate.cpp
+++ b/cv-node/src/calibrate.cpp
@@ -162,7 +162,7 @@ bool Calibrate::Settings::isListOfImages( const string& filename)
enum { DETECTION = 0, CAPTURING = 1, CALIBRATED = 2 };
-bool runCalibrationAndSave(Calibrate::Settings& s, Size imageSize, Mat& cameraMatrix, Mat& distCoeffs,
+bool runCalibration(Calibrate::Settings& s, Size imageSize, Mat& cameraMatrix, Mat& distCoeffs,
vector<vector<Point2f> > imagePoints, float grid_width, bool release_object);
@@ -372,13 +372,13 @@ bool Calibrate::_recalibrate(vector<vector<Point2f>> *imagePoints,
if (view[0].empty() || (local_->isStereo() && view[1].empty()) || imagePoints[0].size() >= (size_t)settings_.nrFrames) {
settings_.outputFileName = FTL_CONFIG_ROOT "/cam0.xml";
- bool r = runCalibrationAndSave(settings_, imageSize[0],
+ bool r = runCalibration(settings_, imageSize[0],
cameraMatrix[0], distCoeffs[0], imagePoints[0],
grid_width, release_object);
if (local_->isStereo()) {
settings_.outputFileName = FTL_CONFIG_ROOT "/cam1.xml";
- r &= runCalibrationAndSave(settings_, imageSize[1],
+ r &= runCalibration(settings_, imageSize[1],
cameraMatrix[1], distCoeffs[1], imagePoints[1],
grid_width, release_object);
}
@@ -437,27 +437,6 @@ bool Calibrate::_recalibrate(vector<vector<Point2f>> *imagePoints,
break;
}
-
- /*for (auto cam=0; cam<2; cam++) {
- Mat view, rview;
-
- if (settings_.useFisheye)
- {
- Mat newCamMat;
- fisheye::estimateNewCameraMatrixForUndistortRectify(cameraMatrix[cam], distCoeffs[cam], imageSize[cam],
- Matx33d::eye(), newCamMat, 1);
- fisheye::initUndistortRectifyMap(cameraMatrix[cam], distCoeffs[cam], Matx33d::eye(), newCamMat, imageSize[cam],
- CV_16SC2, map1_[cam], map2_[cam]);
- }
- else
- {
- initUndistortRectifyMap(
- cameraMatrix[cam], distCoeffs[cam], Mat(),
- getOptimalNewCameraMatrix(cameraMatrix[cam], distCoeffs[cam], imageSize[cam], 1, imageSize[cam], 0), imageSize[cam],
- CV_16SC2, map1_[cam], map2_[cam]);
- }
- }*/
-
return true;
}
@@ -537,7 +516,7 @@ static void calcBoardCornerPositions(Size boardSize, float squareSize, vector<Po
}
}
//! [board_corners]
-static bool runCalibration( Calibrate::Settings& s, Size& imageSize, Mat& cameraMatrix, Mat& distCoeffs,
+static bool _runCalibration( Calibrate::Settings& s, Size& imageSize, Mat& cameraMatrix, Mat& distCoeffs,
vector<vector<Point2f> > imagePoints, vector<Mat>& rvecs, vector<Mat>& tvecs,
vector<float>& reprojErrs, double& totalAvgErr, vector<Point3f>& newObjPoints,
float grid_width, bool release_object)
@@ -603,128 +582,8 @@ static bool runCalibration( Calibrate::Settings& s, Size& imageSize, Mat& camera
return ok;
}
-// Print camera parameters to the output file
-static void saveCameraParams( Calibrate::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, const vector<Point3f>& newObjPoints )
-{
- FileStorage fs( s.outputFileName, FileStorage::WRITE );
-
- LOG(INFO) << "Saving calibration to " << s.outputFileName;
-
- time_t tm;
- time( &tm );
- struct tm *t2 = localtime( &tm );
- char buf[1024];
- strftime( buf, sizeof(buf), "%c", t2 );
-
- fs << "calibration_time" << buf;
-
- if( !rvecs.empty() || !reprojErrs.empty() )
- fs << "nr_of_frames" << (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;
-
- if( s.flag & CALIB_FIX_ASPECT_RATIO )
- fs << "fix_aspect_ratio" << s.aspectRatio;
-
- if (s.flag)
- {
- std::stringstream flagsStringStream;
- if (s.useFisheye)
- {
- flagsStringStream << "flags:"
- << (s.flag & fisheye::CALIB_FIX_SKEW ? " +fix_skew" : "")
- << (s.flag & fisheye::CALIB_FIX_K1 ? " +fix_k1" : "")
- << (s.flag & fisheye::CALIB_FIX_K2 ? " +fix_k2" : "")
- << (s.flag & fisheye::CALIB_FIX_K3 ? " +fix_k3" : "")
- << (s.flag & fisheye::CALIB_FIX_K4 ? " +fix_k4" : "")
- << (s.flag & fisheye::CALIB_RECOMPUTE_EXTRINSIC ? " +recompute_extrinsic" : "");
- }
- else
- {
- flagsStringStream << "flags:"
- << (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" : "")
- << (s.flag & CALIB_FIX_K1 ? " +fix_k1" : "")
- << (s.flag & CALIB_FIX_K2 ? " +fix_k2" : "")
- << (s.flag & CALIB_FIX_K3 ? " +fix_k3" : "")
- << (s.flag & CALIB_FIX_K4 ? " +fix_k4" : "")
- << (s.flag & CALIB_FIX_K5 ? " +fix_k5" : "");
- }
- fs.writeComment(flagsStringStream.str());
- }
-
- fs << "flags" << s.flag;
-
- fs << "fisheye_model" << s.useFisheye;
-
- fs << "camera_matrix" << cameraMatrix;
- fs << "distortion_coefficients" << distCoeffs;
-
- fs << "avg_reprojection_error" << totalAvgErr;
- if (s.writeExtrinsics && !reprojErrs.empty())
- fs << "per_view_reprojection_errors" << Mat(reprojErrs);
-
- if(s.writeExtrinsics && !rvecs.empty() && !tvecs.empty() )
- {
- CV_Assert(rvecs[0].type() == tvecs[0].type());
- Mat bigmat((int)rvecs.size(), 6, CV_MAKETYPE(rvecs[0].type(), 1));
- bool needReshapeR = rvecs[0].depth() != 1 ? true : false;
- bool needReshapeT = tvecs[0].depth() != 1 ? true : false;
-
- for( size_t i = 0; i < rvecs.size(); i++ )
- {
- Mat r = bigmat(Range(int(i), int(i+1)), Range(0,3));
- Mat t = bigmat(Range(int(i), int(i+1)), Range(3,6));
-
- if(needReshapeR)
- rvecs[i].reshape(1, 1).copyTo(r);
- else
- {
- //*.t() is MatExpr (not Mat) so we can use assignment operator
- CV_Assert(rvecs[i].rows == 3 && rvecs[i].cols == 1);
- r = rvecs[i].t();
- }
-
- if(needReshapeT)
- tvecs[i].reshape(1, 1).copyTo(t);
- else
- {
- CV_Assert(tvecs[i].rows == 3 && tvecs[i].cols == 1);
- t = tvecs[i].t();
- }
- }
- fs.writeComment("a set of 6-tuples (rotation vector + translation vector) for each view");
- fs << "extrinsic_parameters" << bigmat;
- }
-
- if(s.writePoints && !imagePoints.empty() )
- {
- Mat imagePtMat((int)imagePoints.size(), (int)imagePoints[0].size(), CV_32FC2);
- for( size_t i = 0; i < imagePoints.size(); i++ )
- {
- Mat r = imagePtMat.row(int(i)).reshape(2, imagePtMat.cols);
- Mat imgpti(imagePoints[i]);
- imgpti.copyTo(r);
- }
- fs << "image_points" << imagePtMat;
- }
-
- if( s.writeGrid && !newObjPoints.empty() )
- {
- fs << "grid_points" << newObjPoints;
- }
-}
-
//! [run_and_save]
-bool runCalibrationAndSave(Calibrate::Settings& s, Size imageSize, Mat& cameraMatrix, Mat& distCoeffs,
+bool runCalibration(Calibrate::Settings& s, Size imageSize, Mat& cameraMatrix, Mat& distCoeffs,
vector<vector<Point2f> > imagePoints, float grid_width, bool release_object)
{
vector<Mat> rvecs, tvecs;
@@ -732,16 +591,11 @@ bool runCalibrationAndSave(Calibrate::Settings& s, Size imageSize, Mat& cameraMa
double totalAvgErr = 0;
vector<Point3f> newObjPoints;
- bool ok = runCalibration(s, imageSize, cameraMatrix, distCoeffs, imagePoints, rvecs, tvecs, reprojErrs,
+ bool ok = _runCalibration(s, imageSize, cameraMatrix, distCoeffs, imagePoints, rvecs, tvecs, reprojErrs,
totalAvgErr, newObjPoints, grid_width, release_object);
- cout << (ok ? "Calibration succeeded" : "Calibration failed")
- << ". avg re projection error = " << totalAvgErr << endl;
-
- //return ok;
-
- if (ok)
- saveCameraParams(s, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs, reprojErrs, imagePoints,
- totalAvgErr, newObjPoints);
+ LOG(INFO) << (ok ? "Calibration succeeded" : "Calibration failed")
+ << ". avg re projection error = " << totalAvgErr;
+
return ok;
}
//! [run_and_save]