From 21d112871eb46259ea1a150df5d13ae0f3996115 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Tue, 21 May 2019 11:08:55 +0300
Subject: [PATCH] Hack to fix focal length
---
components/rgbd-sources/src/calibrate.cpp | 617 ++++++++++++++++++++++
1 file changed, 617 insertions(+)
create mode 100644 components/rgbd-sources/src/calibrate.cpp
diff --git a/components/rgbd-sources/src/calibrate.cpp b/components/rgbd-sources/src/calibrate.cpp
new file mode 100644
index 000000000..c6d1afccd
--- /dev/null
+++ b/components/rgbd-sources/src/calibrate.cpp
@@ -0,0 +1,617 @@
+/*
+ * Copyright 2019 Nicolas Pope
+ */
+
+#include <glog/logging.h>
+#include <ftl/config.h>
+#include <ftl/configuration.hpp>
+
+#include <iostream>
+#include <sstream>
+#include <string>
+#include <ctime>
+#include <cstdio>
+
+#include "calibrate.hpp"
+
+#include <opencv2/core.hpp>
+#include <opencv2/core/utility.hpp>
+#include <opencv2/imgproc.hpp>
+#include <opencv2/calib3d.hpp>
+#include <opencv2/imgcodecs.hpp>
+#include <opencv2/videoio.hpp>
+#include <opencv2/highgui.hpp>
+
+using ftl::Calibrate;
+using cv::FileStorage;
+using cv::CALIB_FIX_PRINCIPAL_POINT;
+using cv::CALIB_ZERO_TANGENT_DIST;
+using cv::CALIB_FIX_ASPECT_RATIO;
+using cv::CALIB_FIX_K1;
+using cv::CALIB_FIX_K2;
+using cv::CALIB_FIX_K3;
+using cv::CALIB_FIX_K4;
+using cv::CALIB_FIX_K5;
+using cv::CALIB_ZERO_DISPARITY;
+using cv::CALIB_USE_INTRINSIC_GUESS;
+using cv::CALIB_SAME_FOCAL_LENGTH;
+using cv::CALIB_RATIONAL_MODEL;
+using cv::CALIB_CB_ADAPTIVE_THRESH;
+using cv::CALIB_CB_NORMALIZE_IMAGE;
+using cv::CALIB_CB_FAST_CHECK;
+using cv::CALIB_USE_LU;
+using cv::NORM_L2;
+using cv::INTER_LINEAR;
+using cv::COLOR_BGR2GRAY;
+using cv::FileNode;
+using cv::FileNodeIterator;
+using cv::Mat;
+using cv::Size;
+using cv::Point2f;
+using cv::Point3f;
+using cv::Matx33d;
+using cv::Scalar;
+using cv::Rect;
+using cv::TermCriteria;
+using cv::waitKey;
+using std::string;
+using std::vector;
+
+void Calibrate::Settings::write(FileStorage& fs) const {
+ fs << "{"
+ << "BoardSize_Width" << boardSize.width
+ << "BoardSize_Height" << boardSize.height
+ << "Square_Size" << squareSize
+ << "Calibrate_Pattern" << patternToUse
+ << "Calibrate_NrOfFrameToUse" << nrFrames
+ << "Calibrate_FixAspectRatio" << aspectRatio
+ << "Calibrate_AssumeZeroTangentialDistortion" << calibZeroTangentDist
+ << "Calibrate_FixPrincipalPointAtTheCenter" << calibFixPrincipalPoint
+ << "Write_DetectedFeaturePoints" << writePoints
+ << "Write_extrinsicParameters" << writeExtrinsics
+ << "Write_gridPoints" << writeGrid
+ << "Input_FlipAroundHorizontalAxis" << flipVertical
+ << "Input_Delay" << delay
+ << "}";
+}
+
+void Calibrate::Settings::read(const nlohmann::json& node) {
+ boardSize.width = node["board_size"][0];
+ boardSize.height = node["board_size"][1];
+ squareSize = node["square_size"];
+ nrFrames = node["num_frames"];
+ aspectRatio = node["fix_aspect_ratio"];
+ calibZeroTangentDist = node["assume_zero_tangential_distortion"];
+ calibFixPrincipalPoint = node["fix_principal_point_at_center"];
+ useFisheye = node["use_fisheye_model"];
+ flipVertical = node["flip_vertical"];
+ delay = node["frame_delay"];
+ fixK1 = node["fix_k1"];
+ fixK2 = node["fix_k2"];
+ fixK3 = node["fix_k3"];
+ fixK4 = node["fix_k4"];
+ fixK5 = node["fix_k5"];
+
+ validate();
+}
+
+void Calibrate::Settings::validate() {
+ goodInput = true;
+ if (boardSize.width <= 0 || boardSize.height <= 0) {
+ LOG(ERROR) << "Invalid Board size: " << boardSize.width << " " <<
+ boardSize.height;
+ goodInput = false;
+ }
+
+ if (squareSize <= 10e-6) {
+ LOG(ERROR) << "Invalid square size " << squareSize;
+ goodInput = false;
+ }
+
+ if (nrFrames <= 0) {
+ LOG(ERROR) << "Invalid number of frames " << nrFrames;
+ goodInput = false;
+ }
+
+ flag = 0;
+ if (calibFixPrincipalPoint) flag |= CALIB_FIX_PRINCIPAL_POINT;
+ if (calibZeroTangentDist) flag |= CALIB_ZERO_TANGENT_DIST;
+ if (aspectRatio) flag |= CALIB_FIX_ASPECT_RATIO;
+ if (fixK1) flag |= CALIB_FIX_K1;
+ if (fixK2) flag |= CALIB_FIX_K2;
+ if (fixK3) flag |= CALIB_FIX_K3;
+ if (fixK4) flag |= CALIB_FIX_K4;
+ if (fixK5) flag |= CALIB_FIX_K5;
+
+ if (useFisheye) {
+ // the fisheye model has its own enum, so overwrite the flags
+ flag = cv::fisheye::CALIB_FIX_SKEW |
+ cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC;
+ if (fixK1) flag |= cv::fisheye::CALIB_FIX_K1;
+ if (fixK2) flag |= cv::fisheye::CALIB_FIX_K2;
+ if (fixK3) flag |= cv::fisheye::CALIB_FIX_K3;
+ if (fixK4) flag |= cv::fisheye::CALIB_FIX_K4;
+ if (calibFixPrincipalPoint)
+ flag |= cv::fisheye::CALIB_FIX_PRINCIPAL_POINT;
+ }
+
+ atImageList = 0;
+}
+
+Mat Calibrate::_nextImage(size_t cam) {
+ Mat result;
+ if (cam == 0) {
+ local_->left(result);
+ } else if (cam == 1 && local_->isStereo()) {
+ local_->right(result);
+ }
+ return result;
+}
+
+bool Calibrate::Settings::readStringList(const string& filename,
+ vector<string>& l) {
+ l.clear();
+ FileStorage fs(filename, FileStorage::READ);
+ if ( !fs.isOpened() )
+ return false;
+ FileNode n = fs.getFirstTopLevelNode();
+ if ( n.type() != FileNode::SEQ )
+ return false;
+ FileNodeIterator it = n.begin(), it_end = n.end();
+ for ( ; it != it_end; ++it )
+ l.push_back((string)*it);
+ return true;
+}
+
+bool Calibrate::Settings::isListOfImages(const string& filename) {
+ string s(filename);
+ // Look for file extension
+ if ( s.find(".xml") == string::npos && s.find(".yaml") == string::npos &&
+ s.find(".yml") == string::npos )
+ return false;
+ else
+ return true;
+}
+
+enum { DETECTION = 0, CAPTURING = 1, CALIBRATED = 2 };
+
+bool runCalibration(const Calibrate::Settings& s, Size imageSize,
+ Mat& cameraMatrix, Mat& distCoeffs,
+ vector<vector<Point2f> > imagePoints, float grid_width,
+ bool release_object);
+
+
+Calibrate::Calibrate(ftl::LocalSource *s, nlohmann::json &config) : local_(s) {
+ /*FileStorage fs(cal, FileStorage::READ); // Read the settings
+ if (!fs.isOpened())
+ {
+ LOG(ERROR) << "Could not open the configuration file: \"" << cal << "\"";
+ return;
+ }*/
+ // fs["Settings"] >> settings_;
+ settings_.read(config);
+ // fs.release();
+
+ if (!settings_.goodInput) {
+ LOG(ERROR) << "Invalid input detected. Application stopping.";
+ return;
+ }
+
+ map1_.resize(2);
+ map2_.resize(2);
+
+ calibrated_ = _loadCalibration();
+
+ if (calibrated_) {
+ LOG(INFO) << "Calibration loaded from file";
+ }
+}
+
+bool Calibrate::_loadCalibration() {
+ // Capture one frame to get size;
+ Mat l, r;
+ local_->get(l, r);
+ Size img_size = l.size();
+ float scale = 1.0f;
+
+ Rect roi1, roi2;
+ FileStorage fs;
+
+ // reading intrinsic parameters
+ auto ifile = ftl::locateFile("intrinsics.yml");
+ if (ifile) {
+ fs.open((*ifile).c_str(), FileStorage::READ);
+ if (!fs.isOpened()) {
+ LOG(WARNING) << "Could not open intrinsics file";
+ return false;
+ }
+
+ LOG(INFO) << "Intrinsics from: " << *ifile;
+ } else {
+ LOG(WARNING) << "Calibration intrinsics file not found";
+ return false;
+ }
+
+ Mat M1, D1, M2, D2;
+ fs["M1"] >> M1;
+ fs["D1"] >> D1;
+ fs["M2"] >> M2;
+ fs["D2"] >> D2;
+
+ M1 *= scale;
+ M2 *= scale;
+
+ auto efile = ftl::locateFile("extrinsics.yml");
+ if (efile) {
+ fs.open((*efile).c_str(), FileStorage::READ);
+ if (!fs.isOpened()) {
+ LOG(WARNING) << "Could not open extrinsics file";
+ return false;
+ }
+
+ LOG(INFO) << "Extrinsics from: " << *efile;
+ } else {
+ LOG(WARNING) << "Calibration extrinsics file not found";
+ return false;
+ }
+
+ Mat R, T, R1, P1, R2, P2;
+ fs["R"] >> R;
+ fs["T"] >> T;
+ fs["R1"] >> R1;
+ fs["R2"] >> R2;
+ fs["P1"] >> P1;
+ fs["P2"] >> P2;
+ fs["Q"] >> Q_;
+
+ stereoRectify(M1, D1, M2, D2, img_size, R, T, R1, R2, P1, P2, Q_,
+ CALIB_ZERO_DISPARITY, -1, img_size, &roi1, &roi2);
+
+ // TODO HACK!!!!!!!!!!!!!!
+ Q_.at<double>(2,3) = 445.14;
+
+ Mat map11, map12, map21, map22;
+ initUndistortRectifyMap(M1, D1, R1, P1, img_size, CV_16SC2,
+ map1_[0], map2_[0]);
+ initUndistortRectifyMap(M2, D2, R2, P2, img_size, CV_16SC2,
+ map1_[1], map2_[1]);
+ return true;
+}
+
+bool Calibrate::recalibrate() {
+ vector<vector<Point2f>> imagePoints[2];
+ Mat cameraMatrix[2], distCoeffs[2];
+ Size imageSize[2];
+
+ bool r = _recalibrate(imagePoints, cameraMatrix, distCoeffs, imageSize);
+
+ if (r) calibrated_ = true;
+
+ if (r && local_->isStereo()) {
+ int nimages = static_cast<int>(imagePoints[0].size());
+ auto squareSize = settings_.squareSize;
+ vector<vector<Point3f>> objectPoints;
+ objectPoints.resize(nimages);
+
+ for (auto i = 0; i < nimages; i++) {
+ for (auto j = 0; j < settings_.boardSize.height; j++)
+ for (auto k = 0; k < settings_.boardSize.width; k++)
+ objectPoints[i].push_back(Point3f(k*squareSize,
+ j*squareSize, 0));
+ }
+
+ Mat R, T, E, F;
+
+ LOG(INFO) << "Running stereo calibration...";
+
+ double rms = stereoCalibrate(objectPoints, imagePoints[0], imagePoints[1],
+ cameraMatrix[0], distCoeffs[0],
+ cameraMatrix[1], distCoeffs[1],
+ imageSize[0], R, T, E, F,
+ CALIB_FIX_ASPECT_RATIO +
+ CALIB_ZERO_TANGENT_DIST +
+ CALIB_USE_INTRINSIC_GUESS +
+ CALIB_SAME_FOCAL_LENGTH +
+ CALIB_RATIONAL_MODEL +
+ CALIB_FIX_K3 + CALIB_FIX_K4 + CALIB_FIX_K5,
+ TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, 1e-5));
+ LOG(INFO) << "... done with RMS error=" << rms;
+
+ // save intrinsic parameters
+ FileStorage fs(FTL_LOCAL_CONFIG_ROOT "/intrinsics.yml", FileStorage::WRITE);
+ if (fs.isOpened()) {
+ fs << "M1" << cameraMatrix[0] << "D1" << distCoeffs[0] <<
+ "M2" << cameraMatrix[1] << "D2" << distCoeffs[1];
+ fs.release();
+ } else {
+ LOG(ERROR) << "Error: can not save the intrinsic parameters";
+ }
+
+ Mat R1, R2, P1, P2;
+ Rect validRoi[2];
+
+ stereoRectify(cameraMatrix[0], distCoeffs[0],
+ cameraMatrix[1], distCoeffs[1],
+ imageSize[0], R, T, R1, R2, P1, P2, Q_,
+ CALIB_ZERO_DISPARITY, 1, imageSize[0],
+ &validRoi[0], &validRoi[1]);
+
+ fs.open(FTL_LOCAL_CONFIG_ROOT "/extrinsics.yml", FileStorage::WRITE);
+ if (fs.isOpened()) {
+ fs << "R" << R << "T" << T << "R1" << R1 << "R2" << R2 << "P1" <<
+ P1 << "P2" << P2 << "Q" << Q_;
+ fs.release();
+ } else {
+ LOG(ERROR) << "Error: can not save the extrinsic parameters";
+ }
+
+ // Precompute maps for cv::remap()
+ initUndistortRectifyMap(cameraMatrix[0], distCoeffs[0], R1, P1,
+ imageSize[0], CV_16SC2, map1_[0], map2_[0]);
+ initUndistortRectifyMap(cameraMatrix[1], distCoeffs[1], R2, P2,
+ imageSize[0], CV_16SC2, map1_[1], map2_[1]);
+
+ } else {
+ int cam = 0;
+ if (settings_.useFisheye) {
+ Mat newCamMat;
+ cv::fisheye::estimateNewCameraMatrixForUndistortRectify(
+ cameraMatrix[cam], distCoeffs[cam], imageSize[cam],
+ Matx33d::eye(), newCamMat, 1);
+ cv::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 r;
+}
+
+bool Calibrate::_recalibrate(vector<vector<Point2f>> *imagePoints,
+ Mat *cameraMatrix, Mat *distCoeffs, Size *imageSize) {
+ int winSize = 11; // parser.get<int>("winSize");
+
+ float grid_width = settings_.squareSize * (settings_.boardSize.width - 1);
+ bool release_object = false;
+ double prevTimestamp = 0.0;
+ const Scalar RED(0, 0, 255), GREEN(0, 255, 0);
+
+ int chessBoardFlags = CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_NORMALIZE_IMAGE;
+
+ if (!settings_.useFisheye) {
+ // fast check erroneously fails with high distortions like fisheye
+ chessBoardFlags |= CALIB_CB_FAST_CHECK;
+ }
+
+ for (;;) {
+ Mat view[2];
+ local_->get(view[0], view[1]);
+ LOG(INFO) << "Grabbing calibration image...";
+
+ if (view[0].empty() || (local_->isStereo() && view[1].empty()) ||
+ imagePoints[0].size() >= (size_t)settings_.nrFrames) {
+ settings_.outputFileName = FTL_LOCAL_CONFIG_ROOT "/cam0.xml";
+ bool r = runCalibration(settings_, imageSize[0],
+ cameraMatrix[0], distCoeffs[0], imagePoints[0],
+ grid_width, release_object);
+
+ if (local_->isStereo()) {
+ settings_.outputFileName = FTL_LOCAL_CONFIG_ROOT "/cam1.xml";
+ r &= runCalibration(settings_, imageSize[1],
+ cameraMatrix[1], distCoeffs[1], imagePoints[1],
+ grid_width, release_object);
+ }
+
+ if (!r && view[0].empty()) {
+ LOG(ERROR) << "Not enough frames to calibrate";
+ return false;
+ } else if (r) {
+ LOG(INFO) << "Calibration successful";
+ break;
+ }
+ }
+
+ imageSize[0] = view[0].size(); // Format input image.
+ imageSize[1] = view[1].size();
+ // if( settings_.flipVertical ) flip( view[cam], view[cam], 0 );
+
+ vector<Point2f> pointBuf[2];
+ bool found1, found2;
+ found1 = findChessboardCorners(view[0], settings_.boardSize,
+ pointBuf[0], chessBoardFlags);
+ found2 = !local_->isStereo() || findChessboardCorners(view[1],
+ settings_.boardSize, pointBuf[1], chessBoardFlags);
+
+ if (found1 && found2 &&
+ local_->getTimestamp()-prevTimestamp > settings_.delay) {
+ prevTimestamp = local_->getTimestamp();
+ // improve the found corners' coordinate accuracy for chessboard
+ Mat viewGray;
+ cvtColor(view[0], viewGray, COLOR_BGR2GRAY);
+ cornerSubPix(viewGray, pointBuf[0], Size(winSize, winSize),
+ Size(-1, -1), TermCriteria(
+ TermCriteria::EPS+TermCriteria::COUNT, 30, 0.0001));
+ imagePoints[0].push_back(pointBuf[0]);
+
+ if (local_->isStereo()) {
+ cvtColor(view[1], viewGray, COLOR_BGR2GRAY);
+ cornerSubPix(viewGray, pointBuf[1], Size(winSize, winSize),
+ Size(-1, -1), TermCriteria(
+ TermCriteria::EPS+TermCriteria::COUNT, 30, 0.0001));
+ imagePoints[1].push_back(pointBuf[1]);
+ }
+
+ // Draw the corners.
+ drawChessboardCorners(view[0], settings_.boardSize,
+ Mat(pointBuf[0]), found1);
+ if (local_->isStereo()) drawChessboardCorners(view[1],
+ settings_.boardSize, Mat(pointBuf[1]), found2);
+ } else {
+ LOG(WARNING) << "No calibration pattern found";
+ }
+
+ imshow("Left", view[0]);
+ if (local_->isStereo()) imshow("Right", view[1]);
+ char key = static_cast<char>(waitKey(50));
+
+ if (key == 27)
+ break;
+ }
+
+ return true;
+}
+
+bool Calibrate::undistort(cv::Mat &l, cv::Mat &r) {
+ local_->get(l, r);
+ if (!calibrated_) return false;
+ if (l.empty()) return false;
+ remap(l, l, map1_[0], map2_[0], INTER_LINEAR);
+ if (local_->isStereo()) remap(r, r, map1_[1], map2_[1], INTER_LINEAR);
+ return true;
+}
+
+bool Calibrate::rectified(cv::Mat &l, cv::Mat &r) {
+ return undistort(l, r);
+}
+
+bool Calibrate::isCalibrated() {
+ return calibrated_;
+}
+
+//! [compute_errors]
+static double computeReprojectionErrors(
+ const vector<vector<Point3f> >& objectPoints,
+ const vector<vector<Point2f> >& imagePoints,
+ const vector<Mat>& rvecs, const vector<Mat>& tvecs,
+ const Mat& cameraMatrix , const Mat& distCoeffs,
+ vector<float>& perViewErrors, bool fisheye) {
+ vector<Point2f> imagePoints2;
+ size_t totalPoints = 0;
+ double totalErr = 0;
+ perViewErrors.resize(objectPoints.size());
+
+ for (size_t i = 0; i < objectPoints.size(); ++i) {
+ if (fisheye) {
+ cv::fisheye::projectPoints(objectPoints[i], imagePoints2, rvecs[i],
+ tvecs[i], cameraMatrix, distCoeffs);
+ } else {
+ projectPoints(objectPoints[i], rvecs[i], tvecs[i], cameraMatrix,
+ distCoeffs, imagePoints2);
+ }
+ double err = norm(imagePoints[i], imagePoints2, NORM_L2);
+
+ size_t n = objectPoints[i].size();
+ perViewErrors[i] = static_cast<float>(std::sqrt(err*err/n));
+ totalErr += err*err;
+ totalPoints += n;
+ }
+
+ return std::sqrt(totalErr/totalPoints);
+}
+//! [compute_errors]
+//! [board_corners]
+static void calcBoardCornerPositions(Size boardSize, float squareSize,
+ vector<Point3f>& corners, Calibrate::Settings::Pattern patternType) {
+ corners.clear();
+
+ switch (patternType) {
+ case Calibrate::Settings::CHESSBOARD:
+ case Calibrate::Settings::CIRCLES_GRID:
+ for (int i = 0; i < boardSize.height; ++i)
+ for (int j = 0; j < boardSize.width; ++j)
+ corners.push_back(Point3f(j*squareSize, i*squareSize, 0));
+ break;
+
+ case Calibrate::Settings::ASYMMETRIC_CIRCLES_GRID:
+ for (int i = 0; i < boardSize.height; i++)
+ for (int j = 0; j < boardSize.width; j++)
+ corners.push_back(Point3f((2*j + i % 2)*squareSize,
+ i*squareSize, 0));
+ break;
+ default:
+ break;
+ }
+}
+//! [board_corners]
+static bool _runCalibration(const 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) {
+ cameraMatrix = Mat::eye(3, 3, CV_64F);
+ if (s.flag & CALIB_FIX_ASPECT_RATIO)
+ cameraMatrix.at<double>(0, 0) = s.aspectRatio;
+
+ if (s.useFisheye) {
+ distCoeffs = Mat::zeros(4, 1, CV_64F);
+ } else {
+ distCoeffs = Mat::zeros(8, 1, CV_64F);
+ }
+
+ vector<vector<Point3f> > objectPoints(1);
+ calcBoardCornerPositions(s.boardSize, s.squareSize, objectPoints[0],
+ Calibrate::Settings::CHESSBOARD);
+ objectPoints[0][s.boardSize.width - 1].x = objectPoints[0][0].x +
+ grid_width;
+ newObjPoints = objectPoints[0];
+
+ objectPoints.resize(imagePoints.size(), objectPoints[0]);
+
+ // Find intrinsic and extrinsic camera parameters
+ double rms;
+
+ if (s.useFisheye) {
+ Mat _rvecs, _tvecs;
+ rms = cv::fisheye::calibrate(objectPoints, imagePoints, imageSize,
+ cameraMatrix, distCoeffs, _rvecs, _tvecs, s.flag);
+
+ rvecs.reserve(_rvecs.rows);
+ tvecs.reserve(_tvecs.rows);
+ for (int i = 0; i < static_cast<int>(objectPoints.size()); i++) {
+ rvecs.push_back(_rvecs.row(i));
+ tvecs.push_back(_tvecs.row(i));
+ }
+ } else {
+ rms = calibrateCamera(objectPoints, imagePoints, imageSize,
+ cameraMatrix, distCoeffs, rvecs, tvecs,
+ s.flag | CALIB_USE_LU);
+ }
+
+ LOG(INFO) << "Re-projection error reported by calibrateCamera: "<< rms;
+
+ bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);
+
+ objectPoints.clear();
+ objectPoints.resize(imagePoints.size(), newObjPoints);
+ totalAvgErr = computeReprojectionErrors(objectPoints, imagePoints, rvecs,
+ tvecs, cameraMatrix, distCoeffs, reprojErrs, s.useFisheye);
+
+ return ok;
+}
+
+//! [run_and_save]
+bool runCalibration(const Calibrate::Settings& s, Size imageSize,
+ Mat& cameraMatrix, Mat& distCoeffs,
+ vector<vector<Point2f> > imagePoints, float grid_width,
+ bool release_object) {
+ vector<Mat> rvecs, tvecs;
+ vector<float> reprojErrs;
+ double totalAvgErr = 0;
+ vector<Point3f> newObjPoints;
+
+ bool ok = _runCalibration(s, imageSize, cameraMatrix, distCoeffs,
+ imagePoints, rvecs, tvecs, reprojErrs, totalAvgErr, newObjPoints,
+ grid_width, release_object);
+ LOG(INFO) << (ok ? "Calibration succeeded" : "Calibration failed")
+ << ". avg re projection error = " << totalAvgErr;
+
+ return ok;
+}
+//! [run_and_save]
--
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