From 168dc38490db241a3dbc42fe4007162b357e54f7 Mon Sep 17 00:00:00 2001 From: trocolit2 Date: Mon, 4 Jan 2016 17:03:10 -0300 Subject: [PATCH 01/13] start to include stereo camera commands in GUI --- src/ItensStereoCamera.cpp | 9 ++ src/ItensStereoCamera.hpp | 64 ++++++++++ src/QCamCalib.cpp | 260 +++++++++++++++++--------------------- src/QCamCalib.hpp | 27 ++-- 4 files changed, 207 insertions(+), 153 deletions(-) create mode 100644 src/ItensStereoCamera.cpp create mode 100644 src/ItensStereoCamera.hpp diff --git a/src/ItensStereoCamera.cpp b/src/ItensStereoCamera.cpp new file mode 100644 index 0000000..22c5283 --- /dev/null +++ b/src/ItensStereoCamera.cpp @@ -0,0 +1,9 @@ +/* + * ItensStereoCamera.cpp + * + * Created on: Jan 4, 2016 + * Author: tiagotrocoli + */ + +#include "ItensStereoCamera.hpp" + diff --git a/src/ItensStereoCamera.hpp b/src/ItensStereoCamera.hpp new file mode 100644 index 0000000..2f2d553 --- /dev/null +++ b/src/ItensStereoCamera.hpp @@ -0,0 +1,64 @@ +/* + * ItensStereoCamera.h + * + * Created on: Jan 4, 2016 + * Author: tiagotrocoli + */ + +#ifndef GUI_QCAM_CALIB_SRC_ITENSSTEREOCAMERA_HPP_ +#define GUI_QCAM_CALIB_SRC_ITENSSTEREOCAMERA_HPP_ + +#include +#include +#include + +#include "Items.hpp" + +namespace qcam_calib { + +class StereoCameraParameterItem: public QCamCalibItem { +public: + StereoCameraParameterItem(const QString &string); + void setParameter(const QString &name, double val = 0); + void save(const QString &path) const; + double getParameter(const QString &name) const; +}; + +class StereoImageItem: public QCamCalibItem { +public: + static QVector findChessboard(const QImage &image, int cols, int rows); + StereoImageItem(const QString &name, const QImage &image); + virtual ~StereoImageItem(); + + const QVector &getChessboardCorners() const; + QImage loadRawImage(); + QImage drawImageWithChessboard(); + bool findChessboard(); + +private: + QString image_path; // path to image + QVector chessboard; +}; + +class StereoCameraItem: public QCamCalibItem { +public: + StereoCameraItem(int id, const QString &string); + int getId(); + StereoImageItem* addImage(const QString &name, const QImage &image); + StereoImageItem* getImageItem(const QString &name); + + void calibrate(int cols, int rows, float dx, float dy); + void saveParameter(const QString &path) const; + bool isCalibrated(); + int countChessboards(); + +private: + int stereo_camera_id; + StereoCameraParameterItem* stereo_camera_parameter; + QStandardItem *left_images; + QStandardItem *right_images; +}; + +} + +#endif /* GUI_QCAM_CALIB_SRC_ITENSSTEREOCAMERA_HPP_ */ diff --git a/src/QCamCalib.cpp b/src/QCamCalib.cpp index f20c32c..c32b55c 100644 --- a/src/QCamCalib.cpp +++ b/src/QCamCalib.cpp @@ -14,21 +14,11 @@ using namespace qcam_calib; const char* CAMERA_BASE_NAME = "camera_"; +const char* STEREO_CAMERA_BASE_NAME = "stereo_camera_"; QCamCalib::QCamCalib(QWidget *parent) : - QWidget(parent), - current_load_path("."), - tree_model(NULL), - camera_item_menu(NULL), - tree_view_menu(NULL), - image_item_menu(NULL), - progress_dialog_images(NULL), - progress_dialog_chessboard(NULL), - progress_dialog_calibrate(NULL), - future_watcher_images(NULL), - future_watcher_chessboard(NULL), - future_watcher_calibrate(NULL) -{ + QWidget(parent), current_load_path("."), tree_model(NULL), camera_item_menu(NULL), tree_view_menu(NULL), image_item_menu(NULL), progress_dialog_images(NULL), progress_dialog_chessboard(NULL), progress_dialog_calibrate( + NULL), future_watcher_images(NULL), future_watcher_chessboard(NULL), future_watcher_calibrate(NULL) { Ui::MainGui gui; gui.setupUi(this); @@ -43,33 +33,39 @@ QCamCalib::QCamCalib(QWidget *parent) : // camera item menu camera_item_menu = new QMenu(this); - QAction* act = new QAction("load images",this); - connect(act,SIGNAL(triggered()),this,SLOT(loadImages())); + QAction* act = new QAction("load images", this); + connect(act, SIGNAL(triggered()), this, SLOT(loadImages())); camera_item_menu->addAction(act); - act = new QAction("calibrate",this); - connect(act,SIGNAL(triggered()),this,SLOT(calibrateCamera())); + act = new QAction("calibrate", this); + connect(act, SIGNAL(triggered()), this, SLOT(calibrateCamera())); camera_item_menu->addAction(act); - act = new QAction("save parameter",this); - connect(act,SIGNAL(triggered()),this,SLOT(saveCameraParameter())); + act = new QAction("save parameter", this); + connect(act, SIGNAL(triggered()), this, SLOT(saveCameraParameter())); camera_item_menu->addAction(act); - QAction *act_remove = new QAction("remove",this); - connect(act_remove,SIGNAL(triggered()),this,SLOT(removeCurrentItem())); + QAction *act_remove = new QAction("remove", this); + connect(act_remove, SIGNAL(triggered()), this, SLOT(removeCurrentItem())); camera_item_menu->addAction(act_remove); // tree view menu + // mono camera tree_view_menu = new QMenu(this); - act = new QAction("add Camera",this); - connect(act,SIGNAL(triggered()),this,SLOT(addCamera())); + act = new QAction("add Camera", this); + connect(act, SIGNAL(triggered()), this, SLOT(addCamera())); + tree_view_menu->addAction(act); + + // stereo camera + act = new QAction("add Stereo Camera", this); + connect(act, SIGNAL(triggered()), this, SLOT(addStereoCamera())); tree_view_menu->addAction(act); // image item menu image_item_menu = new QMenu(this); image_item_menu->addAction(act_remove); - act = new QAction("find chessboard",this); - connect(act,SIGNAL(triggered()),this,SLOT(findChessBoard())); + act = new QAction("find chessboard", this); + connect(act, SIGNAL(triggered()), this, SLOT(findChessBoard())); image_item_menu->addAction(act); //graphics view @@ -79,118 +75,119 @@ QCamCalib::QCamCalib(QWidget *parent) : addCamera(); // progress dialog - progress_dialog_images = new QProgressDialog("loading images","cancel",0,0,this); + progress_dialog_images = new QProgressDialog("loading images", "cancel", 0, 0, this); future_watcher_images = new QFutureWatcher(this); connect(future_watcher_images, SIGNAL(progressValueChanged(int)), progress_dialog_images, SLOT(setValue(int))); connect(future_watcher_images, SIGNAL(progressRangeChanged(int, int)), progress_dialog_images, SLOT(setRange(int, int))); connect(future_watcher_images, SIGNAL(finished()), progress_dialog_images, SLOT(accept())); - progress_dialog_chessboard = new QProgressDialog("searching for chessboards","cancel",0,0,this); - future_watcher_chessboard= new QFutureWatcher >(this); + progress_dialog_chessboard = new QProgressDialog("searching for chessboards", "cancel", 0, 0, this); + future_watcher_chessboard = new QFutureWatcher >(this); connect(future_watcher_chessboard, SIGNAL(progressValueChanged(int)), progress_dialog_chessboard, SLOT(setValue(int))); connect(future_watcher_chessboard, SIGNAL(finished()), progress_dialog_chessboard, SLOT(accept())); - // connect(future_watcher_chessboard, SIGNAL(progressRangeChanged(int, int)), progress_dialog_chessboard, SLOT(setRange(int, int))); + // connect(future_watcher_chessboard, SIGNAL(progressRangeChanged(int, int)), progress_dialog_chessboard, SLOT(setRange(int, int))); - progress_dialog_calibrate = new QProgressDialog("calibrate camera","cancel",0,0,this); + progress_dialog_calibrate = new QProgressDialog("calibrate camera", "cancel", 0, 0, this); progress_dialog_calibrate->setCancelButton(NULL); future_watcher_calibrate = new QFutureWatcher(this); connect(future_watcher_calibrate, SIGNAL(progressValueChanged(int)), progress_dialog_calibrate, SLOT(setValue(int))); connect(future_watcher_calibrate, SIGNAL(finished()), progress_dialog_calibrate, SLOT(accept())); } -QCamCalib::~QCamCalib() -{ +QCamCalib::~QCamCalib() { } -void QCamCalib::contextMenuTreeView(const QPoint &point) -{ +void QCamCalib::contextMenuTreeView(const QPoint &point) { QTreeView *tree_view = findChild("treeView"); - if(!tree_view) + if (!tree_view) throw std::runtime_error("Cannot find treeView object"); QModelIndex index = tree_view->indexAt(point); - if(index.isValid()) - { + if (index.isValid()) { QCamCalibItem *item = dynamic_cast(tree_model->itemFromIndex(index)); - if(!item) + if (!item) return; - else if(dynamic_cast(item)) + else if (dynamic_cast(item)) camera_item_menu->exec(tree_view->viewport()->mapToGlobal(point)); - else if(dynamic_cast(item)) + else if (dynamic_cast(item)) image_item_menu->exec(tree_view->viewport()->mapToGlobal(point)); - } - else { + } else { tree_view_menu->exec(tree_view->viewport()->mapToGlobal(point)); } } -void QCamCalib::addCamera(int camera_id) -{ - if(camera_id < 0) +void QCamCalib::addCamera(int camera_id) { + if (camera_id < 0) camera_id = 0; - for(int i=0;i<=tree_model->rowCount();++i) - { + for (int i = 0; i <= tree_model->rowCount(); ++i) { std::stringstream strstr; - strstr << CAMERA_BASE_NAME << (camera_id+i); - QModelIndexList list = tree_model->match(tree_model->index(0,0),Qt::DisplayRole,QVariant(strstr.str().c_str()),1,Qt::MatchExactly); - if(list.empty()) - { - tree_model->appendRow(new qcam_calib::CameraItem(camera_id+i,QString(strstr.str().c_str()))); + strstr << CAMERA_BASE_NAME << (camera_id + i); + QModelIndexList list = tree_model->match(tree_model->index(0, 0), Qt::DisplayRole, QVariant(strstr.str().c_str()), 1, Qt::MatchExactly); + if (list.empty()) { + tree_model->appendRow(new qcam_calib::CameraItem(camera_id + i, QString(strstr.str().c_str()))); break; } } } -void QCamCalib::saveCameraParameter(int camera_id) -{ +void QCamCalib::addStereoCamera(int camera_id) { + if (camera_id < 0) + camera_id = 0; + for (int i = 0; i <= tree_model->rowCount(); ++i) { + std::stringstream strstr; + strstr << STEREO_CAMERA_BASE_NAME << (camera_id + i); + QModelIndexList list = tree_model->match(tree_model->index(0, 0), Qt::DisplayRole, QVariant(strstr.str().c_str()), 1, Qt::MatchExactly); + if (list.empty()) { + tree_model->appendRow(new qcam_calib::CameraItem(camera_id + i, QString(strstr.str().c_str()))); + break; + } + } +} + +void QCamCalib::saveCameraParameter(int camera_id) { CameraItem *item = getCameraItem(camera_id); - if(!item->isCalibrated()) - { + if (!item->isCalibrated()) { calibrateCamera(camera_id); - if(!item->isCalibrated()) + if (!item->isCalibrated()) return; } - QString path = QFileDialog::getSaveFileName(this, "Save Parameter",current_load_path, "config (*.yml *.xml)"); - if(path.size() != 0) + QString path = QFileDialog::getSaveFileName(this, "Save Parameter", current_load_path, "config (*.yml *.xml)"); + if (path.size() != 0) item->saveParameter(path); } -void QCamCalib::removeCamera(int camera_id) -{ +void QCamCalib::removeCamera(int camera_id) { CameraItem *item = getCameraItem(camera_id); tree_model->removeRow(item->row()); } -QImage loadImage(const QString &path) -{ +QImage loadImage(const QString &path) { return QImage(path); } -void QCamCalib::loadImages(int camera_id) -{ +void QCamCalib::loadImages(int camera_id) { QSpinBox *cols = findChild("spinBoxCols"); QSpinBox *rows = findChild("spinBoxRows"); - if(!cols || !rows) + if (!cols || !rows) throw std::runtime_error("cannot find chessboard config"); //select images - QStringList paths = QFileDialog::getOpenFileNames(this, "Open images",current_load_path, "Images (*.png *.jpg)"); + QStringList paths = QFileDialog::getOpenFileNames(this, "Open images", current_load_path, "Images (*.png *.jpg)"); //load images in parallel - QFuture images = QtConcurrent::mapped(paths,loadImage); + QFuture images = QtConcurrent::mapped(paths, loadImage); future_watcher_images->setFuture(images); - if(QDialog::Accepted != progress_dialog_images->exec() && future_watcher_images->isCanceled()) + if (QDialog::Accepted != progress_dialog_images->exec() && future_watcher_images->isCanceled()) return; future_watcher_images->waitForFinished(); //progress_dialog_images->close(); //find chess boards in parallel QFuture > chessboards; - chessboards = QtConcurrent::mapped(images, - boost::bind(static_cast(*)(const QImage&,int,int)>(ImageItem::findChessboard),_1,cols->value(),rows->value())); + chessboards = QtConcurrent::mapped(images, boost::bind(static_cast (*)(const QImage&, int, int)>(ImageItem::findChessboard), _1,cols->value(),rows->value())); future_watcher_chessboard->setFuture(chessboards); - progress_dialog_chessboard->setRange(progress_dialog_images->minimum(),progress_dialog_images->maximum()); - if(QDialog::Accepted != progress_dialog_chessboard->exec() && future_watcher_chessboard->isCanceled()) + progress_dialog_chessboard->setRange(progress_dialog_images->minimum(), progress_dialog_images->maximum()); + if (QDialog::Accepted != progress_dialog_chessboard->exec() && future_watcher_chessboard->isCanceled()) return; future_watcher_chessboard->waitForFinished(); progress_dialog_chessboard->close(); @@ -200,158 +197,137 @@ void QCamCalib::loadImages(int camera_id) QFuture::const_iterator iter_image = images.begin(); QFuture >::const_iterator iter_chessboard = chessboards.begin(); ImageItem *last_image_item = NULL; - for(;iter_path!=paths.end() && iter_image!=images.end() && iter_chessboard!=chessboards.end();++iter_path,++iter_image,++iter_chessboard) - { + for (; iter_path != paths.end() && iter_image != images.end() && iter_chessboard != chessboards.end(); ++iter_path, ++iter_image, ++iter_chessboard) { QFileInfo info(*iter_path); current_load_path = info.absolutePath(); CameraItem *item = getCameraItem(camera_id); - last_image_item = item->addImage(info.fileName(),*iter_image); - last_image_item->setChessboard(*iter_chessboard,cols->value(),rows->value()); + last_image_item = item->addImage(info.fileName(), *iter_image); + last_image_item->setChessboard(*iter_chessboard, cols->value(), rows->value()); } - if(last_image_item) + if (last_image_item) displayImage(last_image_item->getImage()); } -void QCamCalib::calibrateCamera(int camera_id) -{ +void QCamCalib::calibrateCamera(int camera_id) { QSpinBox *cols = findChild("spinBoxCols"); QSpinBox *rows = findChild("spinBoxRows"); QDoubleSpinBox *dx = findChild("spinBoxDx"); QDoubleSpinBox *dy = findChild("spinBoxDy"); - if(!cols || !rows || !dx || !dy) + if (!cols || !rows || !dx || !dy) throw std::runtime_error("cannot find chessboard config"); //select images CameraItem *item = getCameraItem(camera_id); - if(item->countChessboards() < 5) - { + if (item->countChessboards() < 5) { QErrorMessage box; - box.showMessage("Not enough chessboards for calibration. Add more images." ); + box.showMessage("Not enough chessboards for calibration. Add more images."); box.exec(); return; } - future_watcher_calibrate->setFuture(QtConcurrent::run(item,&CameraItem::calibrate,cols->value(),rows->value(),dx->value(),dy->value())); - progress_dialog_calibrate->setRange(0,0); - if(QDialog::Accepted != progress_dialog_calibrate->exec() && future_watcher_calibrate->isCanceled()) + future_watcher_calibrate->setFuture(QtConcurrent::run(item, &CameraItem::calibrate, cols->value(), rows->value(), dx->value(), dy->value())); + progress_dialog_calibrate->setRange(0, 0); + if (QDialog::Accepted != progress_dialog_calibrate->exec() && future_watcher_calibrate->isCanceled()) return; } -CameraItem *QCamCalib::getCameraItem(int camera_id) -{ +CameraItem *QCamCalib::getCameraItem(int camera_id) { CameraItem *item = NULL; - if(camera_id < 0) - { + if (camera_id < 0) { QTreeView *tree_view = findChild("treeView"); - if(!tree_view) + if (!tree_view) throw std::runtime_error("Cannot find treeView object"); QModelIndex index = tree_view->currentIndex(); - if(index.isValid()) + if (index.isValid()) item = dynamic_cast(tree_model->itemFromIndex(index)); - } - else - { - for(int i=0;irowCount();++i) - { - item = dynamic_cast(tree_model->item(i,0)); - if(item && item->getId() == camera_id) + } else { + for (int i = 0; i < tree_model->rowCount(); ++i) { + item = dynamic_cast(tree_model->item(i, 0)); + if (item && item->getId() == camera_id) break; else item = NULL; } } - if(item == NULL) + if (item == NULL) throw std::runtime_error("Internal error: cannot find camera"); return item; } -ImageItem *QCamCalib::getImageItem(int camera_id,const QString &name) -{ +ImageItem *QCamCalib::getImageItem(int camera_id, const QString &name) { ImageItem *item = NULL; - if(camera_id < 0) - { + if (camera_id < 0) { QTreeView *tree_view = findChild("treeView"); - if(!tree_view) + if (!tree_view) throw std::runtime_error("Cannot find treeView object"); QModelIndex index = tree_view->currentIndex(); - if(index.isValid()) + if (index.isValid()) item = dynamic_cast(tree_model->itemFromIndex(index)); - } - else - { - for(int i=0;irowCount()&&!item;++i) - { - CameraItem *camera = dynamic_cast(tree_model->item(i,0)); - if(camera) + } else { + for (int i = 0; i < tree_model->rowCount() && !item; ++i) { + CameraItem *camera = dynamic_cast(tree_model->item(i, 0)); + if (camera) item = camera->getImageItem(name); } } - if(!item) + if (!item) throw std::runtime_error("Internal error: cannot find image item"); return item; } -void QCamCalib::addImage(const QString &name,const QImage &image,int camera_id) -{ +void QCamCalib::addImage(const QString &name, const QImage &image, int camera_id) { CameraItem *item = getCameraItem(camera_id); - item->addImage(name,image); + item->addImage(name, image); } -void QCamCalib::findChessBoard(int camera_id,const QString &name) -{ +void QCamCalib::findChessBoard(int camera_id, const QString &name) { QSpinBox *cols = findChild("spinBoxCols"); QSpinBox *rows = findChild("spinBoxRows"); - if(!cols || !rows) + if (!cols || !rows) throw std::runtime_error("cannot find chessboard config"); - ImageItem *item = getImageItem(camera_id,name); + ImageItem *item = getImageItem(camera_id, name); QList images; images.push_back(item->getRawImage()); QFuture > chessboards; - chessboards = QtConcurrent::mapped(images, - boost::bind(static_cast(*)(const QImage&,int,int)>(ImageItem::findChessboard),_1,cols->value(),rows->value())); + chessboards = QtConcurrent::mapped(images, boost::bind(static_cast (*)(const QImage&, int, int)>(ImageItem::findChessboard), _1,cols->value(),rows->value())); future_watcher_chessboard->setFuture(chessboards); - progress_dialog_chessboard->setRange(0,1); - if(QDialog::Accepted != progress_dialog_chessboard->exec() && future_watcher_chessboard->isCanceled()) + progress_dialog_chessboard->setRange(0, 1); + if (QDialog::Accepted != progress_dialog_chessboard->exec() && future_watcher_chessboard->isCanceled()) return; - item->setChessboard(chessboards.results().front(),cols->value(),rows->value()); + item->setChessboard(chessboards.results().front(), cols->value(), rows->value()); displayImage(item->getImage()); } -void QCamCalib::removeCurrentItem() -{ +void QCamCalib::removeCurrentItem() { QTreeView *tree_view = findChild("treeView"); - if(!tree_view) + if (!tree_view) throw std::runtime_error("Cannot find treeView object"); QModelIndex index = tree_view->currentIndex(); - if(index.isValid()) - { - if(index.parent().isValid()) + if (index.isValid()) { + if (index.parent().isValid()) tree_model->itemFromIndex(index.parent())->removeRow(index.row()); else tree_model->removeRow(index.row()); } } -void QCamCalib::displayImage(const QImage &image) -{ +void QCamCalib::displayImage(const QImage &image) { image_view->displayImage(image); } -void QCamCalib::clickedTreeView(const QModelIndex& index) -{ - if(!index.isValid()) +void QCamCalib::clickedTreeView(const QModelIndex& index) { + if (!index.isValid()) return; const QStandardItemModel *model = dynamic_cast(index.model()); - if(!model) + if (!model) return; QStandardItem *item = model->itemFromIndex(index); - if(!item) + if (!item) return; ImageItem *image = dynamic_cast(item); - if(image) + if (image) image_view->displayImage(image->getImage()); } - diff --git a/src/QCamCalib.hpp b/src/QCamCalib.hpp index 1f203aa..94f71e1 100644 --- a/src/QCamCalib.hpp +++ b/src/QCamCalib.hpp @@ -5,14 +5,12 @@ #include #include -namespace qcam_calib -{ - class CameraItem; - class ImageItem; - class ImageView; +namespace qcam_calib { +class CameraItem; +class ImageItem; +class ImageView; } - /** * \brief Widget for calibrating pinhole cameras * @@ -22,8 +20,7 @@ namespace qcam_calib * * \author Alexander.Duda@dfki.de */ -class QCamCalib : public QWidget -{ +class QCamCalib: public QWidget { Q_OBJECT public: QCamCalib(QWidget *parent = 0); @@ -38,6 +35,14 @@ public slots: */ void addCamera(int camera_id = -1); + /** + * \brief Adds a new stereo camera to the workspace + * + * \param[in] camera_id The id of the stereo camera. If no id is given the next free id is used starting from 0 + * \author trocolit2@gmail.com + */ + void addStereoCamera(int camera_id = -1); + /** * \brief Removes a camera from the workspace * @@ -70,7 +75,7 @@ public slots: * \param[in] camera_id The id of the camera. * \author Alexander.Duda@dfki.de */ - void addImage(const QString &name,const QImage &image,int camera_id=-1); + void addImage(const QString &name, const QImage &image, int camera_id = -1); /** * \brief Opens a file dialog and saves the camera parameter as YAML or XML @@ -101,7 +106,7 @@ public slots: * \param[in] name The name of the image * \author Alexander.Duda@dfki.de */ - void findChessBoard(int camera_id=-1,const QString &name=QString("")); + void findChessBoard(int camera_id = -1, const QString &name = QString("")); private slots: void contextMenuTreeView(const QPoint &point); @@ -111,7 +116,7 @@ private slots: private: qcam_calib::CameraItem *getCameraItem(int camera_id); - qcam_calib::ImageItem *getImageItem(int camera_id,const QString &name); + qcam_calib::ImageItem *getImageItem(int camera_id, const QString &name); private: // file paths From af1fc8043dbd691269b9159dbcf5ffd275aceea5 Mon Sep 17 00:00:00 2001 From: trocolit2 Date: Tue, 5 Jan 2016 17:26:48 -0300 Subject: [PATCH 02/13] Implement the function to add stereo camera object Implement the first tree menu of stereo camera: Stereo Camera --Fundamental Matrix --Left Camera ----Parameters ----Images --Right Camera Implement the owner stereo class to add stereo function --- src/ItemsStereoCamera.cpp | 138 ++++++++++++++++++ ...StereoCamera.hpp => ItemsStereoCamera.hpp} | 39 +++-- src/ItensStereoCamera.cpp | 9 -- src/QCamCalib.cpp | 43 +++--- src/QCamCalib.hpp | 18 ++- 5 files changed, 199 insertions(+), 48 deletions(-) create mode 100644 src/ItemsStereoCamera.cpp rename src/{ItensStereoCamera.hpp => ItemsStereoCamera.hpp} (56%) delete mode 100644 src/ItensStereoCamera.cpp diff --git a/src/ItemsStereoCamera.cpp b/src/ItemsStereoCamera.cpp new file mode 100644 index 0000000..535c640 --- /dev/null +++ b/src/ItemsStereoCamera.cpp @@ -0,0 +1,138 @@ +/* + * ItensStereoCamera.cpp + * + * Created on: Jan 4, 2016 + * Author: tiagotrocoli + */ + +#include "ItemsStereoCamera.hpp" + +#include + +using namespace qcam_calib; + +//StereoCameraParameterItem +StereoCameraParameterItem::StereoCameraParameterItem(const QString& string, QList parameters) : + QCamCalibItem(string) { + + setEditable(false); + setColumnCount(2); + + for (int i = 0; i < parameters.size(); ++i) { + setParameter(parameters[i], 0); + } +} + +void StereoCameraParameterItem::setParameter(const QString& name, double val) { + QModelIndexList list; + if (model() && index().isValid()) + list = model()->match(index().child(0, 0), Qt::DisplayRole, QVariant(name), 1, Qt::MatchExactly); + if (list.empty()) { + QList items; + items.append(new QCamCalibItem(name)); + items.back()->setEditable(false); + items.append(new QCamCalibItem(val)); + items.back()->setEditable(false); + appendRow(items); + } else { + QStandardItem *item = child(list.front().row(), 1); + if (item) + item->setText(QString::number(val)); + } +} + +double StereoCameraParameterItem::getParameter(const QString& name) const { + QModelIndexList list; + if (model() && index().isValid()) + list = model()->match(index().child(0, 0), Qt::DisplayRole, QVariant(name), 1, Qt::MatchExactly); + if (!list.empty()) { + QStandardItem *item = child(list.front().row(), 1); + if (item) + return item->data(Qt::EditRole).toDouble(); + } else + throw std::runtime_error("cannot find parameter"); + return 0; +} + +void StereoCameraParameterItem::save(const QString& path) const { + +} + +//StereoImageItem +QVector StereoImageItem::findChessboard(const QImage& image, int cols, int rows) { +} + +StereoImageItem::StereoImageItem(const QString& name, const QImage& image) { +} + +StereoImageItem::~StereoImageItem() { +} + +const QVector& StereoImageItem::getChessboardCorners() const { +} + +QImage StereoImageItem::loadRawImage() { +} + +QImage StereoImageItem::drawImageWithChessboard() { +} + +bool StereoImageItem::findChessboard() { +} + +//StereoCameraItem +StereoCameraItem::StereoCameraItem(int id, const QString& string) : + QCamCalibItem(string), camera_id(id) { + + setEditable(false); + this->parameter = new StereoCameraParameterItem("Parameters", INTRINSIC_PARAMETERS_LIST); + appendRow(this->parameter); + + images = new QStandardItem("Images"); + images->setEditable(false); + appendRow(images); + +} + +int StereoCameraItem::getId() { +} + +StereoImageItem* StereoCameraItem::addImage(const QString& name, const QImage& image) { +} + +StereoImageItem* StereoCameraItem::getImageItem(const QString& name) { +} + +//StereoItem +StereoItem::StereoItem(int id, const QString& string) : + QCamCalibItem(string), stereo_id(id) { + + setEditable(false); + + this->fundamental_matrix = new StereoCameraParameterItem("Fundamental Matrix", FUNDAMENTAL_MATRIX_PARAMETERS_LIST); + appendRow(this->fundamental_matrix); + + this->left_camera = new StereoCameraItem(0, "Left Camera"); + appendRow(this->left_camera); + + this->right_camera = new StereoCameraItem(1, "Right Camera"); + appendRow(this->right_camera); +} + +int StereoItem::getId() { + return this->stereo_id; +} + +char* StereoItem::getBaseName() { + return "Stereo Camera "; +} + +void StereoItem::calibrate(int cols, int rows, float dx, float dy) { +} + +void StereoItem::saveParameter(const QString& path) const { +} + +bool StereoItem::isCalibrated() { +} + diff --git a/src/ItensStereoCamera.hpp b/src/ItemsStereoCamera.hpp similarity index 56% rename from src/ItensStereoCamera.hpp rename to src/ItemsStereoCamera.hpp index 2f2d553..a03e094 100644 --- a/src/ItensStereoCamera.hpp +++ b/src/ItemsStereoCamera.hpp @@ -5,23 +5,31 @@ * Author: tiagotrocoli */ -#ifndef GUI_QCAM_CALIB_SRC_ITENSSTEREOCAMERA_HPP_ -#define GUI_QCAM_CALIB_SRC_ITENSSTEREOCAMERA_HPP_ +#ifndef GUI_QCAM_CALIB_SRC_ITEMSSTEREOCAMERA_HPP_ +#define GUI_QCAM_CALIB_SRC_ITEMSSTEREOCAMERA_HPP_ #include #include #include +#include + #include "Items.hpp" namespace qcam_calib { +static const QList INTRINSIC_PARAMETERS_LIST = QList() << "fx" << "fy" << "cx" << "cy" << "k1" << "k2" << "p1" << "p2" << "projection error" << "pixel error"; +static const QList FUNDAMENTAL_MATRIX_PARAMETERS_LIST = QList() << "e1" << "e2" << "e3" << "e4" << "e5" << "e6" << "e7" << "e8" << "e9"; + class StereoCameraParameterItem: public QCamCalibItem { public: - StereoCameraParameterItem(const QString &string); + StereoCameraParameterItem(const QString &string, QList parameters); void setParameter(const QString &name, double val = 0); - void save(const QString &path) const; double getParameter(const QString &name) const; + + // vou modificar + void save(const QString &path) const; + }; class StereoImageItem: public QCamCalibItem { @@ -47,18 +55,29 @@ class StereoCameraItem: public QCamCalibItem { StereoImageItem* addImage(const QString &name, const QImage &image); StereoImageItem* getImageItem(const QString &name); +private: + int camera_id; + StereoCameraParameterItem* parameter; + QStandardItem *images; +}; + +class StereoItem: public QCamCalibItem { +public: + StereoItem(int id, const QString &string); + int getId(); + static char* getBaseName(); + void calibrate(int cols, int rows, float dx, float dy); void saveParameter(const QString &path) const; bool isCalibrated(); - int countChessboards(); private: - int stereo_camera_id; - StereoCameraParameterItem* stereo_camera_parameter; - QStandardItem *left_images; - QStandardItem *right_images; + int stereo_id; + StereoCameraParameterItem* fundamental_matrix; + StereoCameraItem *left_camera; + StereoCameraItem *right_camera; }; } -#endif /* GUI_QCAM_CALIB_SRC_ITENSSTEREOCAMERA_HPP_ */ +#endif /* GUI_QCAM_CALIB_SRC_ITEMSSTEREOCAMERA_HPP_ */ diff --git a/src/ItensStereoCamera.cpp b/src/ItensStereoCamera.cpp deleted file mode 100644 index 22c5283..0000000 --- a/src/ItensStereoCamera.cpp +++ /dev/null @@ -1,9 +0,0 @@ -/* - * ItensStereoCamera.cpp - * - * Created on: Jan 4, 2016 - * Author: tiagotrocoli - */ - -#include "ItensStereoCamera.hpp" - diff --git a/src/QCamCalib.cpp b/src/QCamCalib.cpp index c32b55c..a6199f2 100644 --- a/src/QCamCalib.cpp +++ b/src/QCamCalib.cpp @@ -1,5 +1,6 @@ #include "QCamCalib.hpp" #include "Items.hpp" +#include "ItemsStereoCamera.hpp" #include "ImageView.hpp" #include "ui_main_gui.h" @@ -14,7 +15,6 @@ using namespace qcam_calib; const char* CAMERA_BASE_NAME = "camera_"; -const char* STEREO_CAMERA_BASE_NAME = "stereo_camera_"; QCamCalib::QCamCalib(QWidget *parent) : QWidget(parent), current_load_path("."), tree_model(NULL), camera_item_menu(NULL), tree_view_menu(NULL), image_item_menu(NULL), progress_dialog_images(NULL), progress_dialog_chessboard(NULL), progress_dialog_calibrate( @@ -56,11 +56,6 @@ QCamCalib::QCamCalib(QWidget *parent) : connect(act, SIGNAL(triggered()), this, SLOT(addCamera())); tree_view_menu->addAction(act); - // stereo camera - act = new QAction("add Stereo Camera", this); - connect(act, SIGNAL(triggered()), this, SLOT(addStereoCamera())); - tree_view_menu->addAction(act); - // image item menu image_item_menu = new QMenu(this); image_item_menu->addAction(act_remove); @@ -68,11 +63,17 @@ QCamCalib::QCamCalib(QWidget *parent) : connect(act, SIGNAL(triggered()), this, SLOT(findChessBoard())); image_item_menu->addAction(act); + // tree view menu + // stereo camera + act = new QAction("add Stereo Camera", this); + connect(act, SIGNAL(triggered()), this, SLOT(addStereoCamera())); + tree_view_menu->addAction(act); + //graphics view image_view = gui.imageView; // add initial camera - addCamera(); + //addCamera(); // progress dialog progress_dialog_images = new QProgressDialog("loading images", "cancel", 0, 0, this); @@ -130,20 +131,6 @@ void QCamCalib::addCamera(int camera_id) { } } -void QCamCalib::addStereoCamera(int camera_id) { - if (camera_id < 0) - camera_id = 0; - for (int i = 0; i <= tree_model->rowCount(); ++i) { - std::stringstream strstr; - strstr << STEREO_CAMERA_BASE_NAME << (camera_id + i); - QModelIndexList list = tree_model->match(tree_model->index(0, 0), Qt::DisplayRole, QVariant(strstr.str().c_str()), 1, Qt::MatchExactly); - if (list.empty()) { - tree_model->appendRow(new qcam_calib::CameraItem(camera_id + i, QString(strstr.str().c_str()))); - break; - } - } -} - void QCamCalib::saveCameraParameter(int camera_id) { CameraItem *item = getCameraItem(camera_id); if (!item->isCalibrated()) { @@ -331,3 +318,17 @@ void QCamCalib::clickedTreeView(const QModelIndex& index) { image_view->displayImage(image->getImage()); } +void QCamCalib::addStereoCamera(int camera_id) { + if (camera_id < 0) + camera_id = 0; + for (int i = 0; i <= tree_model->rowCount(); ++i) { + std::stringstream strstr; + strstr << qcam_calib::StereoItem::getBaseName() << (camera_id + i); + QModelIndexList list = tree_model->match(tree_model->index(0, 0), Qt::DisplayRole, QVariant(strstr.str().c_str()), 1, Qt::MatchExactly); + if (list.empty()) { + tree_model->appendRow(new qcam_calib::StereoItem(camera_id + i, QString(strstr.str().c_str()))); + break; + } + } +} + diff --git a/src/QCamCalib.hpp b/src/QCamCalib.hpp index 94f71e1..50218f3 100644 --- a/src/QCamCalib.hpp +++ b/src/QCamCalib.hpp @@ -35,14 +35,6 @@ public slots: */ void addCamera(int camera_id = -1); - /** - * \brief Adds a new stereo camera to the workspace - * - * \param[in] camera_id The id of the stereo camera. If no id is given the next free id is used starting from 0 - * \author trocolit2@gmail.com - */ - void addStereoCamera(int camera_id = -1); - /** * \brief Removes a camera from the workspace * @@ -108,6 +100,16 @@ public slots: */ void findChessBoard(int camera_id = -1, const QString &name = QString("")); + + // stereo camrea methods + /** + * \brief Adds a new stereo camera to the workspace + * + * \param[in] camera_id The id of the stereo camera. If no id is given the next free id is used starting from 0 + * \author trocolit2@gmail.com + */ + void addStereoCamera(int camera_id = -1); + private slots: void contextMenuTreeView(const QPoint &point); void clickedTreeView(const QModelIndex& index); From 2646aa5f824439b2ff12911a8eb70fab684c3acf Mon Sep 17 00:00:00 2001 From: trocolit2 Date: Thu, 7 Jan 2016 18:10:46 -0300 Subject: [PATCH 03/13] Finished the stereo camera tree view and menus Implement functions to load images in stereo cameras, only to show image and find the chessboard --- src/ItemsStereoCamera.cpp | 31 +++++++- src/ItemsStereoCamera.hpp | 16 ++++- src/QCamCalib.cpp | 145 ++++++++++++++++++++++++++++++++++++-- src/QCamCalib.hpp | 33 +++++++-- 4 files changed, 209 insertions(+), 16 deletions(-) diff --git a/src/ItemsStereoCamera.cpp b/src/ItemsStereoCamera.cpp index 535c640..020db72 100644 --- a/src/ItemsStereoCamera.cpp +++ b/src/ItemsStereoCamera.cpp @@ -8,6 +8,8 @@ #include "ItemsStereoCamera.hpp" #include +#include +#include using namespace qcam_calib; @@ -62,7 +64,8 @@ void StereoCameraParameterItem::save(const QString& path) const { QVector StereoImageItem::findChessboard(const QImage& image, int cols, int rows) { } -StereoImageItem::StereoImageItem(const QString& name, const QImage& image) { +StereoImageItem::StereoImageItem(const QString& name, const QString& path) : + chessboard(NULL), QCamCalibItem(name), image_path(path) { } StereoImageItem::~StereoImageItem() { @@ -97,7 +100,8 @@ StereoCameraItem::StereoCameraItem(int id, const QString& string) : int StereoCameraItem::getId() { } -StereoImageItem* StereoCameraItem::addImage(const QString& name, const QImage& image) { +StereoImageItem* StereoCameraItem::addImages(const QList &stereoImageitems) { + images->appendRow(stereoImageitems); } StereoImageItem* StereoCameraItem::getImageItem(const QString& name) { @@ -136,3 +140,26 @@ void StereoItem::saveParameter(const QString& path) const { bool StereoItem::isCalibrated() { } +QList StereoTools::loadStereoImageItem(const QString &path) { + + QFileInfo info(path); + + QList items; + StereoImageItem *item = new StereoImageItem(info.fileName(), info.absoluteFilePath()); + + item->setEditable(false); + items.append(item); + + items.append(new QCamCalibItem("No Chessboard")); + items.back()->setEditable(false); + + return items; +} + +QList StereoTools::findChessboard(const QList &items) { + + std::cout<<"findChessboard"<text().toStdString()< findChessboard(const QImage &image, int cols, int rows); - StereoImageItem(const QString &name, const QImage &image); + QVector findChessboard(const QImage &image, int cols, int rows); + StereoImageItem(const QString &name, const QString &path); virtual ~StereoImageItem(); + const QString &getImagePath(); const QVector &getChessboardCorners() const; QImage loadRawImage(); QImage drawImageWithChessboard(); @@ -52,7 +53,7 @@ class StereoCameraItem: public QCamCalibItem { public: StereoCameraItem(int id, const QString &string); int getId(); - StereoImageItem* addImage(const QString &name, const QImage &image); + StereoImageItem* addImages(const QList &stereoImageitems); StereoImageItem* getImageItem(const QString &name); private: @@ -78,6 +79,15 @@ class StereoItem: public QCamCalibItem { StereoCameraItem *right_camera; }; +class StereoTools { + +public: + + static QList loadStereoImageItem(const QString &path); + static QList findChessboard(const QList &items); + +}; + } #endif /* GUI_QCAM_CALIB_SRC_ITEMSSTEREOCAMERA_HPP_ */ diff --git a/src/QCamCalib.cpp b/src/QCamCalib.cpp index a6199f2..a215ed3 100644 --- a/src/QCamCalib.cpp +++ b/src/QCamCalib.cpp @@ -45,7 +45,7 @@ QCamCalib::QCamCalib(QWidget *parent) : connect(act, SIGNAL(triggered()), this, SLOT(saveCameraParameter())); camera_item_menu->addAction(act); - QAction *act_remove = new QAction("remove", this); + QAction *act_remove = new QAction("Remove", this); connect(act_remove, SIGNAL(triggered()), this, SLOT(removeCurrentItem())); camera_item_menu->addAction(act_remove); @@ -64,11 +64,41 @@ QCamCalib::QCamCalib(QWidget *parent) : image_item_menu->addAction(act); // tree view menu - // stereo camera - act = new QAction("add Stereo Camera", this); - connect(act, SIGNAL(triggered()), this, SLOT(addStereoCamera())); + // stereo item + act = new QAction("Add Stereo Camera", this); + connect(act, SIGNAL(triggered()), this, SLOT(addStereoItem())); tree_view_menu->addAction(act); + // stereo item view menu + this->stereo_item_menu = new QMenu(this); + this->stereo_item_menu->addAction(act_remove); + + act = new QAction("Calibre Stereo Camera", this); + this->stereo_item_menu->addAction(act); + connect(act, SIGNAL(triggered()), this, SLOT(calibreStereoItem())); + this->stereo_item_menu->addAction(act); + + act = new QAction("Save Stereo Camera Parameters", this); + this->stereo_item_menu->addAction(act); + connect(act, SIGNAL(triggered()), this, SLOT(saveStereoItemParameters())); + this->stereo_item_menu->addAction(act); + + // stereo camera menu + this->stereo_camera_item_menu = new QMenu(this); + act = new QAction("Load Images", this); + this->stereo_camera_item_menu->addAction(act); + connect(act, SIGNAL(triggered()), this, SLOT(loadStereoImages())); + this->stereo_camera_item_menu->addAction(act); + + // stereo image menu + this->stereo_image_item_menu = new QMenu(this); + this->stereo_image_item_menu->addAction(act_remove); + + act = new QAction("Find Chessboard", this); + this->stereo_image_item_menu->addAction(act); + connect(act, SIGNAL(triggered()), this, SLOT(stereofindChessBoard())); + this->stereo_image_item_menu->addAction(act); + //graphics view image_view = gui.imageView; @@ -93,6 +123,14 @@ QCamCalib::QCamCalib(QWidget *parent) : future_watcher_calibrate = new QFutureWatcher(this); connect(future_watcher_calibrate, SIGNAL(progressValueChanged(int)), progress_dialog_calibrate, SLOT(setValue(int))); connect(future_watcher_calibrate, SIGNAL(finished()), progress_dialog_calibrate, SLOT(accept())); + + // process dialog for stereo procedures + this->progress_dialog_stereo_images_items = new QProgressDialog("Loading Images", "Cancel", 0, 0, this); + this->future_watcher_stereo_images_items = new QFutureWatcher >(this); + connect(this->future_watcher_stereo_images_items, SIGNAL(progressValueChanged(int)), this->progress_dialog_stereo_images_items, SLOT(setValue(int))); + connect(this->future_watcher_stereo_images_items, SIGNAL(progressRangeChanged(int, int)), this->progress_dialog_stereo_images_items, SLOT(setRange(int, int))); + connect(this->future_watcher_stereo_images_items, SIGNAL(finished()), this->progress_dialog_stereo_images_items, SLOT(accept())); + } QCamCalib::~QCamCalib() { @@ -112,6 +150,12 @@ void QCamCalib::contextMenuTreeView(const QPoint &point) { camera_item_menu->exec(tree_view->viewport()->mapToGlobal(point)); else if (dynamic_cast(item)) image_item_menu->exec(tree_view->viewport()->mapToGlobal(point)); + else if (dynamic_cast(item)) + this->stereo_item_menu->exec(tree_view->viewport()->mapToGlobal(point)); + else if (dynamic_cast(item)) + this->stereo_camera_item_menu->exec(tree_view->viewport()->mapToGlobal(point)); + else if (dynamic_cast(item)) + this->stereo_image_item_menu->exec(tree_view->viewport()->mapToGlobal(point)); } else { tree_view_menu->exec(tree_view->viewport()->mapToGlobal(point)); } @@ -318,7 +362,7 @@ void QCamCalib::clickedTreeView(const QModelIndex& index) { image_view->displayImage(image->getImage()); } -void QCamCalib::addStereoCamera(int camera_id) { +void QCamCalib::addStereoItem(int camera_id) { if (camera_id < 0) camera_id = 0; for (int i = 0; i <= tree_model->rowCount(); ++i) { @@ -332,3 +376,94 @@ void QCamCalib::addStereoCamera(int camera_id) { } } +void QCamCalib::saveStereoItemParameters(int camera_id) { + std::cout << "saveStereoCameraParameters" << std::endl; +} + +void QCamCalib::calibreStereoItem(int camera_id) { + std::cout << "calibreStereoCamera" << std::endl; +} + +StereoCameraItem *QCamCalib::getStereoCameraItem(int camera_id) { + StereoCameraItem *item = NULL; + if (camera_id < 0) { + QTreeView *tree_view = findChild("treeView"); + if (!tree_view) + throw std::runtime_error("Cannot find treeView object"); + QModelIndex index = tree_view->currentIndex(); + if (index.isValid()) + item = dynamic_cast(tree_model->itemFromIndex(index)); + } else { + for (int i = 0; i < tree_model->rowCount(); ++i) { + item = dynamic_cast(tree_model->item(i, 0)); + if (item && item->getId() == camera_id) + break; + else + item = NULL; + } + } + if (item == NULL) + throw std::runtime_error("Internal error: cannot find camera"); + return item; +} + +void QCamCalib::loadStereoImages(int camera_id) { + std::cout << "loadStereoImages" << std::endl; + + QSpinBox *cols = findChild("spinBoxCols"); + QSpinBox *rows = findChild("spinBoxRows"); + if (!cols || !rows) + throw std::runtime_error("Cannot find chessboard config!!"); + + //select images + QStringList paths = QFileDialog::getOpenFileNames(this, "Open images", current_load_path, "Images (*.png *.jpg)"); + + //load stereo image items in parallel + QFuture > stereoImagesItems = QtConcurrent::mapped(paths, StereoTools::loadStereoImageItem); + this->future_watcher_stereo_images_items->setFuture(stereoImagesItems); + if (QDialog::Accepted != this->progress_dialog_stereo_images_items->exec() && this->future_watcher_stereo_images_items->isCanceled()) + return; + this->future_watcher_stereo_images_items->waitForFinished(); + +// QFuture > stereoImagesItemsWithChessboard = QtConcurrent::mapped(stereoImagesItems, StereoTools::findChessboard); + + + //add images items to camera + QFuture >::const_iterator iterStereoImageitems; + StereoCameraItem *item = getStereoCameraItem(camera_id); + for (iterStereoImageitems = stereoImagesItems.begin(); iterStereoImageitems != stereoImagesItems.end(); ++iterStereoImageitems) + item->addImages(*iterStereoImageitems); + + + //find chess boards in parallel + // QFuture > chessboards; + // chessboards = QtConcurrent::mapped(images, boost::bind(static_cast (*)(const QImage&, int, int)>(ImageItem::findChessboard), _1,cols->value(),rows->value())); + // future_watcher_chessboard->setFuture(chessboards); + // progress_dialog_chessboard->setRange(progress_dialog_images->minimum(), progress_dialog_images->maximum()); + // if (QDialog::Accepted != progress_dialog_chessboard->exec() && future_watcher_chessboard->isCanceled()) + // return; + // future_watcher_chessboard->waitForFinished(); + // progress_dialog_chessboard->close(); + // + // //add items + // QStringList::const_iterator iter_path = paths.begin(); + // QFuture::const_iterator iter_image = images.begin(); + // QFuture >::const_iterator iter_chessboard = chessboards.begin(); + // ImageItem *last_image_item = NULL; + // for (; iter_path != paths.end() && iter_image != images.end() && iter_chessboard != chessboards.end(); ++iter_path, ++iter_image, ++iter_chessboard) { + // QFileInfo info(*iter_path); + // current_load_path = info.absolutePath(); + // + // CameraItem *item = getCameraItem(camera_id); + // last_image_item = item->addImage(info.fileName(), *iter_image); + // last_image_item->setChessboard(*iter_chessboard, cols->value(), rows->value()); + // } + // if (last_image_item) + // displayImage(last_image_item->getImage()); + +} + +void QCamCalib::stereofindChessBoard(int camera_id) { + std::cout << "stereofindChessBoard" << std::endl; +} + diff --git a/src/QCamCalib.hpp b/src/QCamCalib.hpp index 50218f3..4620459 100644 --- a/src/QCamCalib.hpp +++ b/src/QCamCalib.hpp @@ -9,6 +9,7 @@ namespace qcam_calib { class CameraItem; class ImageItem; class ImageView; +class StereoCameraItem; } /** @@ -103,12 +104,20 @@ public slots: // stereo camrea methods /** - * \brief Adds a new stereo camera to the workspace - * - * \param[in] camera_id The id of the stereo camera. If no id is given the next free id is used starting from 0 - * \author trocolit2@gmail.com - */ - void addStereoCamera(int camera_id = -1); + * \brief Adds a new stereo camera to the workspace + * + * \param[in] camera_id The id of the stereo camera. If no id is given the next free id is used starting from 0 + * \author trocolit2@gmail.com + */ + void addStereoItem(int camera_id = -1); + + void saveStereoItemParameters(int camera_id = -1); + + void calibreStereoItem(int camera_id = -1); + + void loadStereoImages(int camera_id = -1); + + void stereofindChessBoard(int camera_id = -1); private slots: void contextMenuTreeView(const QPoint &point); @@ -120,6 +129,11 @@ private slots: qcam_calib::CameraItem *getCameraItem(int camera_id); qcam_calib::ImageItem *getImageItem(int camera_id, const QString &name); + //find camera from stereo item + qcam_calib::StereoCameraItem *getStereoCameraItem(int camera_id); + + + private: // file paths QString current_load_path; @@ -132,6 +146,10 @@ private slots: QMenu *tree_view_menu; QMenu *image_item_menu; + QMenu *stereo_item_menu; + QMenu *stereo_camera_item_menu; + QMenu *stereo_image_item_menu; + // image dispay qcam_calib::ImageView *image_view; @@ -142,6 +160,9 @@ private slots: QFutureWatcher *future_watcher_images; QFutureWatcher > *future_watcher_chessboard; QFutureWatcher *future_watcher_calibrate; + + QProgressDialog *progress_dialog_stereo_images_items; + QFutureWatcher > *future_watcher_stereo_images_items; }; #endif /* QCAMCALIB_HPP */ From 6b0ea4466b80347320f3e8d7406c28a5849e3c64 Mon Sep 17 00:00:00 2001 From: trocolit2 Date: Fri, 8 Jan 2016 18:49:03 -0300 Subject: [PATCH 04/13] Finished the feature to load images Finished the feature to search chessboard in images Implement concurrent process do load images and search the chessboard Eliminate the need to load images in memory, allowing to load more images with high resolution --- src/ItemsStereoCamera.cpp | 76 ++++++++++++++++++++++++++++++++------- src/ItemsStereoCamera.hpp | 15 +++++--- src/QCamCalib.cpp | 44 ++++++----------------- 3 files changed, 84 insertions(+), 51 deletions(-) diff --git a/src/ItemsStereoCamera.cpp b/src/ItemsStereoCamera.cpp index 020db72..7ac5c82 100644 --- a/src/ItemsStereoCamera.cpp +++ b/src/ItemsStereoCamera.cpp @@ -7,13 +7,16 @@ #include "ItemsStereoCamera.hpp" +#include +#include +#include + #include #include #include using namespace qcam_calib; -//StereoCameraParameterItem StereoCameraParameterItem::StereoCameraParameterItem(const QString& string, QList parameters) : QCamCalibItem(string) { @@ -61,9 +64,6 @@ void StereoCameraParameterItem::save(const QString& path) const { } //StereoImageItem -QVector StereoImageItem::findChessboard(const QImage& image, int cols, int rows) { -} - StereoImageItem::StereoImageItem(const QString& name, const QString& path) : chessboard(NULL), QCamCalibItem(name), image_path(path) { } @@ -71,16 +71,31 @@ StereoImageItem::StereoImageItem(const QString& name, const QString& path) : StereoImageItem::~StereoImageItem() { } -const QVector& StereoImageItem::getChessboardCorners() const { +bool StereoImageItem::isChessboardFound() { + return this->chessboard.size() > 0; } -QImage StereoImageItem::loadRawImage() { +void StereoImageItem::setChessboardCorners(QVector points) { + this->chessboard = points; } -QImage StereoImageItem::drawImageWithChessboard() { +const QVector& StereoImageItem::getChessboardCorners() const { + return this->chessboard; } -bool StereoImageItem::findChessboard() { +QImage qcam_calib::StereoImageItem::getImageWithChessboard(int cols, int rows) { + + QImage qtImage(this->image_path); + qtImage = qtImage.convertToFormat(QImage::Format_RGB888); + cv::Mat cvImage(qtImage.height(), qtImage.width(), CV_8UC3, qtImage.bits(), qtImage.bytesPerLine()); + + std::vector cvPoints; + if (this->isChessboardFound()) { + cvPoints = StereoTools::convertQVectorQPointFToVectorPoints2f(this->chessboard); + cv::drawChessboardCorners(cvImage, cv::Size(cols, rows), cvPoints, true); + } + + return QImage(cvImage.data, cvImage.cols, cvImage.rows, cvImage.step, QImage::Format_RGB888).copy(); } //StereoCameraItem @@ -94,10 +109,10 @@ StereoCameraItem::StereoCameraItem(int id, const QString& string) : images = new QStandardItem("Images"); images->setEditable(false); appendRow(images); - } int StereoCameraItem::getId() { + return this->camera_id; } StereoImageItem* StereoCameraItem::addImages(const QList &stereoImageitems) { @@ -138,6 +153,21 @@ void StereoItem::saveParameter(const QString& path) const { } bool StereoItem::isCalibrated() { + +} + +QList StereoTools::loadStereoImageAndFindChessboardItem(const QString& path, int cols, int rows) { + + QList items = loadStereoImageItem(path); + + StereoImageItem *item = dynamic_cast(items.at(0)); + item->setChessboardCorners(findChessboard(path, cols, rows)); + + if (item->isChessboardFound()) + items.at(1)->setText("OK, Chessboard Found"); + + return items; + } QList StereoTools::loadStereoImageItem(const QString &path) { @@ -156,10 +186,30 @@ QList StereoTools::loadStereoImageItem(const QString &path) { return items; } -QList StereoTools::findChessboard(const QList &items) { +QVector StereoTools::findChessboard(const QString &path, int cols, int rows) { - std::cout<<"findChessboard"<text().toStdString()< cvPoints; + cv::findChessboardCorners(cvImage, cv::Size(cols, rows), cvPoints); +// + return convertVectorPoints2fToQVectorQPointF(cvPoints); +} - return items; +QVector StereoTools::convertVectorPoints2fToQVectorQPointF(const std::vector&points1) { + QVector points2; + std::vector::const_iterator iter = points1.begin(); + for (; iter != points1.end(); ++iter) + points2.push_back(QPointF(iter->x, iter->y)); + return points2; +} + +std::vector StereoTools::convertQVectorQPointFToVectorPoints2f(const QVector&points1) { + std::vector points2; + QVector::const_iterator iter = points1.begin(); + for (; iter != points1.end(); ++iter) + points2.push_back(cv::Point2f(iter->x(), iter->y())); + return points2; } diff --git a/src/ItemsStereoCamera.hpp b/src/ItemsStereoCamera.hpp index 82f5e1c..30adedd 100644 --- a/src/ItemsStereoCamera.hpp +++ b/src/ItemsStereoCamera.hpp @@ -12,6 +12,8 @@ #include #include +#include + #include #include "Items.hpp" @@ -34,15 +36,15 @@ class StereoCameraParameterItem: public QCamCalibItem { class StereoImageItem: public QCamCalibItem { public: - QVector findChessboard(const QImage &image, int cols, int rows); StereoImageItem(const QString &name, const QString &path); virtual ~StereoImageItem(); + QImage getImageWithChessboard(int cols, int rows); + + bool isChessboardFound(); const QString &getImagePath(); const QVector &getChessboardCorners() const; - QImage loadRawImage(); - QImage drawImageWithChessboard(); - bool findChessboard(); + void setChessboardCorners(QVector points); private: QString image_path; // path to image @@ -83,9 +85,12 @@ class StereoTools { public: + static QList loadStereoImageAndFindChessboardItem(const QString& path, int cols, int rows); static QList loadStereoImageItem(const QString &path); - static QList findChessboard(const QList &items); + static QVector findChessboard(const QString &path, int cols, int rows); + static QVector convertVectorPoints2fToQVectorQPointF(const std::vector &points1); + static std::vector convertQVectorQPointFToVectorPoints2f(const QVector &points1); }; } diff --git a/src/QCamCalib.cpp b/src/QCamCalib.cpp index a215ed3..5533282 100644 --- a/src/QCamCalib.cpp +++ b/src/QCamCalib.cpp @@ -125,7 +125,7 @@ QCamCalib::QCamCalib(QWidget *parent) : connect(future_watcher_calibrate, SIGNAL(finished()), progress_dialog_calibrate, SLOT(accept())); // process dialog for stereo procedures - this->progress_dialog_stereo_images_items = new QProgressDialog("Loading Images", "Cancel", 0, 0, this); + this->progress_dialog_stereo_images_items = new QProgressDialog("Loading images and searching chessboard", "Cancel", 0, 0, this); this->future_watcher_stereo_images_items = new QFutureWatcher >(this); connect(this->future_watcher_stereo_images_items, SIGNAL(progressValueChanged(int)), this->progress_dialog_stereo_images_items, SLOT(setValue(int))); connect(this->future_watcher_stereo_images_items, SIGNAL(progressRangeChanged(int, int)), this->progress_dialog_stereo_images_items, SLOT(setRange(int, int))); @@ -360,6 +360,12 @@ void QCamCalib::clickedTreeView(const QModelIndex& index) { ImageItem *image = dynamic_cast(item); if (image) image_view->displayImage(image->getImage()); + + StereoImageItem *stereo_image = dynamic_cast(item); + QSpinBox *cols = findChild("spinBoxCols"); + QSpinBox *rows = findChild("spinBoxRows"); + if (stereo_image) + image_view->displayImage(stereo_image->getImageWithChessboard(cols->value(),rows->value())); } void QCamCalib::addStereoItem(int camera_id) { @@ -419,48 +425,20 @@ void QCamCalib::loadStereoImages(int camera_id) { QStringList paths = QFileDialog::getOpenFileNames(this, "Open images", current_load_path, "Images (*.png *.jpg)"); //load stereo image items in parallel - QFuture > stereoImagesItems = QtConcurrent::mapped(paths, StereoTools::loadStereoImageItem); + QFuture > stereoImagesItems = QtConcurrent::mapped(paths, + boost::bind(static_cast (*)(const QString&, int, int)>(StereoTools::loadStereoImageAndFindChessboardItem), _1,cols->value(),rows->value())); + + //progress bar this->future_watcher_stereo_images_items->setFuture(stereoImagesItems); if (QDialog::Accepted != this->progress_dialog_stereo_images_items->exec() && this->future_watcher_stereo_images_items->isCanceled()) return; this->future_watcher_stereo_images_items->waitForFinished(); -// QFuture > stereoImagesItemsWithChessboard = QtConcurrent::mapped(stereoImagesItems, StereoTools::findChessboard); - - //add images items to camera QFuture >::const_iterator iterStereoImageitems; StereoCameraItem *item = getStereoCameraItem(camera_id); for (iterStereoImageitems = stereoImagesItems.begin(); iterStereoImageitems != stereoImagesItems.end(); ++iterStereoImageitems) item->addImages(*iterStereoImageitems); - - - //find chess boards in parallel - // QFuture > chessboards; - // chessboards = QtConcurrent::mapped(images, boost::bind(static_cast (*)(const QImage&, int, int)>(ImageItem::findChessboard), _1,cols->value(),rows->value())); - // future_watcher_chessboard->setFuture(chessboards); - // progress_dialog_chessboard->setRange(progress_dialog_images->minimum(), progress_dialog_images->maximum()); - // if (QDialog::Accepted != progress_dialog_chessboard->exec() && future_watcher_chessboard->isCanceled()) - // return; - // future_watcher_chessboard->waitForFinished(); - // progress_dialog_chessboard->close(); - // - // //add items - // QStringList::const_iterator iter_path = paths.begin(); - // QFuture::const_iterator iter_image = images.begin(); - // QFuture >::const_iterator iter_chessboard = chessboards.begin(); - // ImageItem *last_image_item = NULL; - // for (; iter_path != paths.end() && iter_image != images.end() && iter_chessboard != chessboards.end(); ++iter_path, ++iter_image, ++iter_chessboard) { - // QFileInfo info(*iter_path); - // current_load_path = info.absolutePath(); - // - // CameraItem *item = getCameraItem(camera_id); - // last_image_item = item->addImage(info.fileName(), *iter_image); - // last_image_item->setChessboard(*iter_chessboard, cols->value(), rows->value()); - // } - // if (last_image_item) - // displayImage(last_image_item->getImage()); - } void QCamCalib::stereofindChessBoard(int camera_id) { From b0870102c47db95402493dffe6ca2709030ccdc1 Mon Sep 17 00:00:00 2001 From: trocolit2 Date: Wed, 13 Jan 2016 19:24:10 -0300 Subject: [PATCH 05/13] Implement the call to calibrate the stereo camera --- src/ItemsStereoCamera.cpp | 63 ++++++++++++++++++++++++++++++++++++++- src/ItemsStereoCamera.hpp | 5 +++- src/QCamCalib.cpp | 55 +++++++++++++++++++++------------- src/QCamCalib.hpp | 8 ++--- 4 files changed, 104 insertions(+), 27 deletions(-) diff --git a/src/ItemsStereoCamera.cpp b/src/ItemsStereoCamera.cpp index 7ac5c82..521cc28 100644 --- a/src/ItemsStereoCamera.cpp +++ b/src/ItemsStereoCamera.cpp @@ -72,7 +72,11 @@ StereoImageItem::~StereoImageItem() { } bool StereoImageItem::isChessboardFound() { - return this->chessboard.size() > 0; + return &this->chessboard != 0 && this->chessboard.size() > 0; +} + +const QString& StereoImageItem::getImagePath() const { + return this->image_path; } void StereoImageItem::setChessboardCorners(QVector points) { @@ -122,6 +126,10 @@ StereoImageItem* StereoCameraItem::addImages(const QList &stereo StereoImageItem* StereoCameraItem::getImageItem(const QString& name) { } +QStandardItem* StereoCameraItem::getImagesItems() const { + return this->images; +} + //StereoItem StereoItem::StereoItem(int id, const QString& string) : QCamCalibItem(string), stereo_id(id) { @@ -147,6 +155,48 @@ char* StereoItem::getBaseName() { } void StereoItem::calibrate(int cols, int rows, float dx, float dy) { + + std::cout << "StereoItem::calibrate" << std::endl; + QStandardItem* leftImages = this->left_camera->getImagesItems(); + QStandardItem* rightImages = this->right_camera->getImagesItems(); + + int itemRowCount = leftImages->rowCount(); + if (leftImages->rowCount() > rightImages->rowCount()) + itemRowCount = rightImages->rowCount(); + + std::vector > objectPoints; + std::vector > leftPoints, rightPoints; + + std::vector chessboard3DPonts; + for (int row = 0; row < rows; ++row) + for (int col = 0; col < cols; ++col) + chessboard3DPonts.push_back(cv::Point3f(dx * col, dy * row, 0)); + + int imageSample = -1; + for (int i = 0; i < itemRowCount; ++i) { + StereoImageItem* leftStereoImage = dynamic_cast(leftImages->child(i, 0)); + StereoImageItem* rightStereoImage = dynamic_cast(rightImages->child(i, 0)); + + bool bothChessboardDetect = leftStereoImage->isChessboardFound() && rightStereoImage->isChessboardFound(); + if (!bothChessboardDetect) + continue; + + leftPoints.push_back(StereoTools::convertQVectorQPointFToVectorPoints2f(leftStereoImage->getChessboardCorners())); + rightPoints.push_back(StereoTools::convertQVectorQPointFToVectorPoints2f(rightStereoImage->getChessboardCorners())); + objectPoints.push_back(chessboard3DPonts); + imageSample = i; + } + + if (objectPoints.size() < 5) + throw std::runtime_error("Not enough detected chessboards!"); + + StereoImageItem* stereoImage = dynamic_cast(leftImages->child(imageSample, 0)); + QImage qtImage(stereoImage->getImagePath()); + qtImage = qtImage.convertToFormat(QImage::Format_RGB888); + cv::Size imageSize(qtImage.height(), qtImage.width()); + + StereoTools::stereoCalibrate(leftPoints, rightPoints, objectPoints, imageSize); + } void StereoItem::saveParameter(const QString& path) const { @@ -198,6 +248,16 @@ QVector StereoTools::findChessboard(const QString &path, int cols, int return convertVectorPoints2fToQVectorQPointF(cvPoints); } +void qcam_calib::StereoTools::stereoCalibrate(std::vector > leftPoints, std::vector > rightPoints, + std::vector > objectPoints, cv::Size imageSize) { + + std::cout << "SIZE LEFT" << leftPoints.size() << std::endl; + std::cout << "SIZE RIGHT" << rightPoints.size() << std::endl; + std::cout << "SIZE CHESSBOARD" << objectPoints.size() << std::endl; + std::cout << "IMAGE SIZE" << imageSize << std::endl; + +} + QVector StereoTools::convertVectorPoints2fToQVectorQPointF(const std::vector&points1) { QVector points2; std::vector::const_iterator iter = points1.begin(); @@ -213,3 +273,4 @@ std::vector StereoTools::convertQVectorQPointFToVectorPoints2f(cons points2.push_back(cv::Point2f(iter->x(), iter->y())); return points2; } + diff --git a/src/ItemsStereoCamera.hpp b/src/ItemsStereoCamera.hpp index 30adedd..4d2ab9b 100644 --- a/src/ItemsStereoCamera.hpp +++ b/src/ItemsStereoCamera.hpp @@ -42,7 +42,7 @@ class StereoImageItem: public QCamCalibItem { QImage getImageWithChessboard(int cols, int rows); bool isChessboardFound(); - const QString &getImagePath(); + const QString &getImagePath() const; const QVector &getChessboardCorners() const; void setChessboardCorners(QVector points); @@ -54,9 +54,11 @@ class StereoImageItem: public QCamCalibItem { class StereoCameraItem: public QCamCalibItem { public: StereoCameraItem(int id, const QString &string); + int getId(); StereoImageItem* addImages(const QList &stereoImageitems); StereoImageItem* getImageItem(const QString &name); + QStandardItem* getImagesItems() const; private: int camera_id; @@ -88,6 +90,7 @@ class StereoTools { static QList loadStereoImageAndFindChessboardItem(const QString& path, int cols, int rows); static QList loadStereoImageItem(const QString &path); static QVector findChessboard(const QString &path, int cols, int rows); + static void stereoCalibrate(std::vector > leftPoints, std::vector > rightPoints, std::vector > objectPoints, cv::Size imageSize); static QVector convertVectorPoints2fToQVectorQPointF(const std::vector &points1); static std::vector convertQVectorQPointFToVectorPoints2f(const QVector &points1); diff --git a/src/QCamCalib.cpp b/src/QCamCalib.cpp index 5533282..b30240f 100644 --- a/src/QCamCalib.cpp +++ b/src/QCamCalib.cpp @@ -94,11 +94,6 @@ QCamCalib::QCamCalib(QWidget *parent) : this->stereo_image_item_menu = new QMenu(this); this->stereo_image_item_menu->addAction(act_remove); - act = new QAction("Find Chessboard", this); - this->stereo_image_item_menu->addAction(act); - connect(act, SIGNAL(triggered()), this, SLOT(stereofindChessBoard())); - this->stereo_image_item_menu->addAction(act); - //graphics view image_view = gui.imageView; @@ -365,7 +360,7 @@ void QCamCalib::clickedTreeView(const QModelIndex& index) { QSpinBox *cols = findChild("spinBoxCols"); QSpinBox *rows = findChild("spinBoxRows"); if (stereo_image) - image_view->displayImage(stereo_image->getImageWithChessboard(cols->value(),rows->value())); + image_view->displayImage(stereo_image->getImageWithChessboard(cols->value(), rows->value())); } void QCamCalib::addStereoItem(int camera_id) { @@ -384,32 +379,29 @@ void QCamCalib::addStereoItem(int camera_id) { void QCamCalib::saveStereoItemParameters(int camera_id) { std::cout << "saveStereoCameraParameters" << std::endl; -} -void QCamCalib::calibreStereoItem(int camera_id) { - std::cout << "calibreStereoCamera" << std::endl; } - -StereoCameraItem *QCamCalib::getStereoCameraItem(int camera_id) { - StereoCameraItem *item = NULL; - if (camera_id < 0) { +template +T QCamCalib::getItems(int item_id, QString erro_msg) { + T item = NULL; + if (item_id < 0) { QTreeView *tree_view = findChild("treeView"); if (!tree_view) throw std::runtime_error("Cannot find treeView object"); QModelIndex index = tree_view->currentIndex(); if (index.isValid()) - item = dynamic_cast(tree_model->itemFromIndex(index)); + item = dynamic_cast(tree_model->itemFromIndex(index)); } else { for (int i = 0; i < tree_model->rowCount(); ++i) { - item = dynamic_cast(tree_model->item(i, 0)); - if (item && item->getId() == camera_id) + item = dynamic_cast(tree_model->item(i, 0)); + if (item && item->getId() == item_id) break; else item = NULL; } } if (item == NULL) - throw std::runtime_error("Internal error: cannot find camera"); + throw std::runtime_error(erro_msg.toStdString()); return item; } @@ -435,13 +427,34 @@ void QCamCalib::loadStereoImages(int camera_id) { this->future_watcher_stereo_images_items->waitForFinished(); //add images items to camera + QString error_msg = "Internal error: Cannot find camera"; + StereoCameraItem *item = getItems(camera_id, error_msg); + QFuture >::const_iterator iterStereoImageitems; - StereoCameraItem *item = getStereoCameraItem(camera_id); for (iterStereoImageitems = stereoImagesItems.begin(); iterStereoImageitems != stereoImagesItems.end(); ++iterStereoImageitems) item->addImages(*iterStereoImageitems); } -void QCamCalib::stereofindChessBoard(int camera_id) { - std::cout << "stereofindChessBoard" << std::endl; -} +void QCamCalib::calibreStereoItem(int stereo_id) { + std::cout << "calibreStereoCamera" << std::endl; + + QSpinBox *cols = findChild("spinBoxCols"); + QSpinBox *rows = findChild("spinBoxRows"); + QDoubleSpinBox *dx = findChild("spinBoxDx"); + QDoubleSpinBox *dy = findChild("spinBoxDy"); + if (!cols || !rows || !dx || !dy) + throw std::runtime_error("cannot find chessboard config"); + + QString erro_msg = "Internal error: Can not find camera"; + StereoItem* stereo_item = getItems(stereo_id, erro_msg); + try { + stereo_item->calibrate(cols->value(), rows->value(), dx->value(), dy->value()); + } catch (std::exception& e) { + QErrorMessage box; + box.showMessage(QString(e.what())); + box.exec(); + return; + } + +} diff --git a/src/QCamCalib.hpp b/src/QCamCalib.hpp index 4620459..6dea232 100644 --- a/src/QCamCalib.hpp +++ b/src/QCamCalib.hpp @@ -113,12 +113,10 @@ public slots: void saveStereoItemParameters(int camera_id = -1); - void calibreStereoItem(int camera_id = -1); + void calibreStereoItem(int stereo_id = -1); void loadStereoImages(int camera_id = -1); - void stereofindChessBoard(int camera_id = -1); - private slots: void contextMenuTreeView(const QPoint &point); void clickedTreeView(const QModelIndex& index); @@ -130,7 +128,9 @@ private slots: qcam_calib::ImageItem *getImageItem(int camera_id, const QString &name); //find camera from stereo item - qcam_calib::StereoCameraItem *getStereoCameraItem(int camera_id); + template + T getItems(int item_id, QString erro_msg); + From fcb923f8312d55cba99a90c0c040052d2f5c0f4e Mon Sep 17 00:00:00 2001 From: trocolit2 Date: Thu, 14 Jan 2016 18:30:12 -0300 Subject: [PATCH 06/13] Coded the calibration process based in OpenCV. --- .../stereo_dataset/left_images/left01.jpg | Bin 0 -> 27908 bytes .../stereo_dataset/left_images/left02.jpg | Bin 0 -> 28611 bytes .../stereo_dataset/left_images/left03.jpg | Bin 0 -> 29553 bytes .../stereo_dataset/left_images/left04.jpg | Bin 0 -> 25150 bytes .../stereo_dataset/left_images/left05.jpg | Bin 0 -> 28743 bytes .../stereo_dataset/left_images/left06.jpg | Bin 0 -> 28530 bytes .../stereo_dataset/left_images/left07.jpg | Bin 0 -> 29864 bytes .../stereo_dataset/left_images/left08.jpg | Bin 0 -> 28689 bytes .../stereo_dataset/left_images/left09.jpg | Bin 0 -> 27244 bytes .../stereo_dataset/left_images/left10.jpg | Bin 0 -> 27004 bytes .../stereo_dataset/left_images/left11.jpg | Bin 0 -> 27749 bytes .../stereo_dataset/left_images/left12.jpg | Bin 0 -> 25603 bytes .../stereo_dataset/left_images/left13.jpg | Bin 0 -> 28129 bytes .../stereo_dataset/left_images/left14.jpg | Bin 0 -> 27875 bytes resource/stereo_dataset/parameters.txt | 0 .../stereo_dataset/right_images/right01.jpg | Bin 0 -> 27072 bytes .../stereo_dataset/right_images/right02.jpg | Bin 0 -> 27263 bytes .../stereo_dataset/right_images/right03.jpg | Bin 0 -> 28652 bytes .../stereo_dataset/right_images/right04.jpg | Bin 0 -> 24314 bytes .../stereo_dataset/right_images/right05.jpg | Bin 0 -> 26307 bytes .../stereo_dataset/right_images/right06.jpg | Bin 0 -> 27849 bytes .../stereo_dataset/right_images/right07.jpg | Bin 0 -> 28426 bytes .../stereo_dataset/right_images/right08.jpg | Bin 0 -> 28292 bytes .../stereo_dataset/right_images/right09.jpg | Bin 0 -> 25915 bytes .../stereo_dataset/right_images/right10.jpg | Bin 0 -> 25175 bytes .../stereo_dataset/right_images/right11.jpg | Bin 0 -> 25725 bytes .../stereo_dataset/right_images/right12.jpg | Bin 0 -> 24796 bytes .../stereo_dataset/right_images/right13.jpg | Bin 0 -> 27379 bytes .../stereo_dataset/right_images/right14.jpg | Bin 0 -> 25748 bytes resource/stereo_dataset/stereo_parameters.gif | Bin 0 -> 15741 bytes src/ItemsStereoCamera.cpp | 105 ++++++++++++++++-- src/ItemsStereoCamera.hpp | 14 ++- 32 files changed, 105 insertions(+), 14 deletions(-) create mode 100644 resource/stereo_dataset/left_images/left01.jpg create mode 100644 resource/stereo_dataset/left_images/left02.jpg create mode 100644 resource/stereo_dataset/left_images/left03.jpg create mode 100644 resource/stereo_dataset/left_images/left04.jpg create mode 100644 resource/stereo_dataset/left_images/left05.jpg create mode 100644 resource/stereo_dataset/left_images/left06.jpg create mode 100644 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zuCp|prIoMRa$qMu!X;ynriRthRnnx0C({|iX>2BG(`ojLekU8Q?aTOPJqt}t-CCd% z>GQ^!39)O5KuCggi!9+O##Pg{ parameters) { + + items->setParameter(parameters[0], intrinsic.at(0, 0)); // fx + items->setParameter(parameters[1], intrinsic.at(1, 1)); // fy + items->setParameter(parameters[2], intrinsic.at(0, 2)); // cx + items->setParameter(parameters[3], intrinsic.at(1, 2)); // cx + items->setParameter(parameters[4], distMatrix.at(0)); // k1 + items->setParameter(parameters[5], distMatrix.at(1)); // k2 + items->setParameter(parameters[6], distMatrix.at(2)); // p1 + items->setParameter(parameters[7], distMatrix.at(3)); // p2 + items->setParameter(parameters[8], distMatrix.at(4)); // k3 + items->setParameter(parameters[9], distMatrix.at(5)); // k4 + items->setParameter(parameters[10], distMatrix.at(6)); // k5 + items->setParameter(parameters[11], distMatrix.at(7)); // k6 +} + StereoCameraParameterItem::StereoCameraParameterItem(const QString& string, QList parameters) : QCamCalibItem(string) { @@ -55,7 +71,7 @@ double StereoCameraParameterItem::getParameter(const QString& name) const { if (item) return item->data(Qt::EditRole).toDouble(); } else - throw std::runtime_error("cannot find parameter"); + throw std::runtime_error("Cannot find parameter!"); return 0; } @@ -130,14 +146,27 @@ QStandardItem* StereoCameraItem::getImagesItems() const { return this->images; } +StereoCameraParameterItem* StereoCameraItem::getParameter() const { + return this->parameter; +} + //StereoItem StereoItem::StereoItem(int id, const QString& string) : QCamCalibItem(string), stereo_id(id) { setEditable(false); - this->fundamental_matrix = new StereoCameraParameterItem("Fundamental Matrix", FUNDAMENTAL_MATRIX_PARAMETERS_LIST); - appendRow(this->fundamental_matrix); + this->parameters = new QStandardItem("Parameters"); + this->parameters->setEditable(false); + appendRow(this->parameters); + + this->parameters->appendRow(new StereoCameraParameterItem("Fundamental Matrix", FUNDAMENTAL_MATRIX_PARAMETERS_LIST)); + this->parameters->appendRow(new StereoCameraParameterItem("Essential Matrix", FUNDAMENTAL_MATRIX_PARAMETERS_LIST)); + this->parameters->appendRow(new StereoCameraParameterItem("Rotation Matrix", ROTATION_MATRIX_PARAMETERS_LIST)); + this->parameters->appendRow(new StereoCameraParameterItem("Translation Matrix", TRANSLATION_VECTOR_PARAMETERS_LIST)); + + this->error_values = new StereoCameraParameterItem("Error Values", ERROR_VALUES_PARAMETERS_LIST); + appendRow(this->error_values); this->left_camera = new StereoCameraItem(0, "Left Camera"); appendRow(this->left_camera); @@ -195,7 +224,13 @@ void StereoItem::calibrate(int cols, int rows, float dx, float dy) { qtImage = qtImage.convertToFormat(QImage::Format_RGB888); cv::Size imageSize(qtImage.height(), qtImage.width()); - StereoTools::stereoCalibrate(leftPoints, rightPoints, objectPoints, imageSize); + std::vector vecMatrix = StereoTools::stereoCalibrate(leftPoints, rightPoints, objectPoints, imageSize); + + fillParametersValuesFromIntrinsecMatrix(this->left_camera->getParameter(), vecMatrix[0], vecMatrix[1], INTRINSIC_PARAMETERS_LIST); + fillParametersValuesFromIntrinsecMatrix(this->right_camera->getParameter(), vecMatrix[2], vecMatrix[3], INTRINSIC_PARAMETERS_LIST); + + this->error_values->setParameter(ERROR_VALUES_PARAMETERS_LIST[0], vecMatrix[4].at(0,0)); + this->error_values->setParameter(ERROR_VALUES_PARAMETERS_LIST[1], vecMatrix[4].at(0,1)); } @@ -217,7 +252,6 @@ QList StereoTools::loadStereoImageAndFindChessboardItem(const QS items.at(1)->setText("OK, Chessboard Found"); return items; - } QList StereoTools::loadStereoImageItem(const QString &path) { @@ -248,14 +282,64 @@ QVector StereoTools::findChessboard(const QString &path, int cols, int return convertVectorPoints2fToQVectorQPointF(cvPoints); } -void qcam_calib::StereoTools::stereoCalibrate(std::vector > leftPoints, std::vector > rightPoints, +std::vector StereoTools::stereoCalibrate(std::vector > leftPoints, std::vector > rightPoints, std::vector > objectPoints, cv::Size imageSize) { - std::cout << "SIZE LEFT" << leftPoints.size() << std::endl; - std::cout << "SIZE RIGHT" << rightPoints.size() << std::endl; - std::cout << "SIZE CHESSBOARD" << objectPoints.size() << std::endl; - std::cout << "IMAGE SIZE" << imageSize << std::endl; + cv::Mat cameraMatrix[2], distCoeffs[2]; + cameraMatrix[0] = cv::Mat::eye(3, 3, CV_64F); + cameraMatrix[1] = cv::Mat::eye(3, 3, CV_64F); + cv::Mat rotation, translation, essential, fundamental; + + double rms = cv::stereoCalibrate(objectPoints, leftPoints, rightPoints, cameraMatrix[0], distCoeffs[0], cameraMatrix[1], distCoeffs[1], imageSize, rotation, translation, essential, fundamental, + cv::TermCriteria(CV_TERMCRIT_ITER + CV_TERMCRIT_EPS, 1000, 1e-8), cv::CALIB_RATIONAL_MODEL); + std::cout << " RMS ERROR " << rms << std::endl; + + double err = 0; + int npoints = 0; + std::vector lines[2]; + for (int i = 0; i < objectPoints.size(); i++) { + int npt = (int) leftPoints[i].size(); + cv::Mat imgpt[2]; + for (int k = 0; k < 2; k++) { + std::vector tempPoints; + k == 0 ? tempPoints = leftPoints[i] : tempPoints = rightPoints[i]; + imgpt[k] = cv::Mat(tempPoints); + cv::undistortPoints(imgpt[k], imgpt[k], cameraMatrix[k], distCoeffs[k], cv::Mat(), cameraMatrix[k]); + cv::computeCorrespondEpilines(imgpt[k], k + 1, fundamental, lines[k]); + } + for (int j = 0; j < npt; j++) { + double errij = fabs(leftPoints[i][j].x * lines[1][j][0] + leftPoints[i][j].y * lines[1][j][1] + lines[1][j][2]) + + fabs(rightPoints[i][j].x * lines[0][j][0] + rightPoints[i][j].y * lines[0][j][1] + lines[0][j][2]); + err += errij; + } + npoints += npt; + } + + std::cout << " AVAREGE ERROR " << err / npoints << std::endl; + + cv::Mat errorMat = (cv::Mat_(1, 2) << rms, err/npoints); + + std::vector mats; + mats.push_back(cameraMatrix[0]); + mats.push_back(distCoeffs[0]); + mats.push_back(cameraMatrix[1]); + mats.push_back(distCoeffs[1]); + + mats.push_back(errorMat); + mats.push_back(rotation); + mats.push_back(translation); + mats.push_back(fundamental); + mats.push_back(essential); + +// std::cout << "CAMERA INTRIN LEFt " << cameraMatrix[0] << std::endl; +// std::cout << "DIST COEFF LEFT " << distCoeffs[0] << std::endl; +// +// std::cout << "CAMERA INTRIN RIGHT" << cameraMatrix[1] << std::endl; +// std::cout << "DIST COEFF RIGHT" << distCoeffs[1] << std::endl; +// std::cout << "error " << errorMat << std::endl; + + return mats; } QVector StereoTools::convertVectorPoints2fToQVectorQPointF(const std::vector&points1) { @@ -273,4 +357,3 @@ std::vector StereoTools::convertQVectorQPointFToVectorPoints2f(cons points2.push_back(cv::Point2f(iter->x(), iter->y())); return points2; } - diff --git a/src/ItemsStereoCamera.hpp b/src/ItemsStereoCamera.hpp index 4d2ab9b..9eb5e2b 100644 --- a/src/ItemsStereoCamera.hpp +++ b/src/ItemsStereoCamera.hpp @@ -20,8 +20,12 @@ namespace qcam_calib { -static const QList INTRINSIC_PARAMETERS_LIST = QList() << "fx" << "fy" << "cx" << "cy" << "k1" << "k2" << "p1" << "p2" << "projection error" << "pixel error"; +static const QList INTRINSIC_PARAMETERS_LIST = QList() << "fx" << "fy" << "cx" << "cy" << "k1" << "k2" << "p1" << "p2"<<"k3"<<"k4"<<"k5"<<"k6"; static const QList FUNDAMENTAL_MATRIX_PARAMETERS_LIST = QList() << "e1" << "e2" << "e3" << "e4" << "e5" << "e6" << "e7" << "e8" << "e9"; +static const QList ROTATION_MATRIX_PARAMETERS_LIST = QList() << "r1" << "r2" << "r3" << "r4" << "r5" << "r6" << "r7" << "r8" << "r9"; +static const QList TRANSLATION_VECTOR_PARAMETERS_LIST = QList() << "t1" << "t2" << "t3"; +static const QList ERROR_VALUES_PARAMETERS_LIST = QList() << "RMS Error" << "Average reprojection error"; + class StereoCameraParameterItem: public QCamCalibItem { public: @@ -59,6 +63,7 @@ class StereoCameraItem: public QCamCalibItem { StereoImageItem* addImages(const QList &stereoImageitems); StereoImageItem* getImageItem(const QString &name); QStandardItem* getImagesItems() const; + StereoCameraParameterItem* getParameter() const; private: int camera_id; @@ -78,7 +83,9 @@ class StereoItem: public QCamCalibItem { private: int stereo_id; - StereoCameraParameterItem* fundamental_matrix; + QStandardItem *parameters; + StereoCameraParameterItem* error_values; + StereoCameraItem *left_camera; StereoCameraItem *right_camera; }; @@ -90,7 +97,8 @@ class StereoTools { static QList loadStereoImageAndFindChessboardItem(const QString& path, int cols, int rows); static QList loadStereoImageItem(const QString &path); static QVector findChessboard(const QString &path, int cols, int rows); - static void stereoCalibrate(std::vector > leftPoints, std::vector > rightPoints, std::vector > objectPoints, cv::Size imageSize); + static std::vector stereoCalibrate(std::vector > leftPoints, std::vector > rightPoints, std::vector > objectPoints, + cv::Size imageSize); static QVector convertVectorPoints2fToQVectorQPointF(const std::vector &points1); static std::vector convertQVectorQPointFToVectorPoints2f(const QVector &points1); From 48655af5e8261c819c575d2af2d2f2ee7c283eda Mon Sep 17 00:00:00 2001 From: trocolit2 Date: Fri, 15 Jan 2016 15:58:15 -0300 Subject: [PATCH 07/13] All the features to load images, find chessboard, calibrate stereo camera, and save estimated parameters implemented. Keep the original layout. --- resource/stereo_dataset/parameters.txt | 0 src/ItemsStereoCamera.cpp | 127 +++++++++++++----- src/QCamCalib.cpp | 34 +++-- .../stereo_dataset/left_images/left01.jpg | Bin .../stereo_dataset/left_images/left02.jpg | Bin .../stereo_dataset/left_images/left03.jpg | Bin .../stereo_dataset/left_images/left04.jpg | Bin .../stereo_dataset/left_images/left05.jpg | Bin .../stereo_dataset/left_images/left06.jpg | Bin .../stereo_dataset/left_images/left07.jpg | Bin .../stereo_dataset/left_images/left08.jpg | Bin .../stereo_dataset/left_images/left09.jpg | Bin .../stereo_dataset/left_images/left10.jpg | Bin .../stereo_dataset/left_images/left11.jpg | Bin .../stereo_dataset/left_images/left12.jpg | Bin .../stereo_dataset/left_images/left13.jpg | Bin .../stereo_dataset/left_images/left14.jpg | Bin test/resource/stereo_dataset/left_images/test | 14 ++ .../stereo_dataset/right_images/right01.jpg | Bin .../stereo_dataset/right_images/right02.jpg | Bin .../stereo_dataset/right_images/right03.jpg | Bin .../stereo_dataset/right_images/right04.jpg | Bin .../stereo_dataset/right_images/right05.jpg | Bin .../stereo_dataset/right_images/right06.jpg | Bin .../stereo_dataset/right_images/right07.jpg | Bin .../stereo_dataset/right_images/right08.jpg | Bin .../stereo_dataset/right_images/right09.jpg | Bin .../stereo_dataset/right_images/right10.jpg | Bin .../stereo_dataset/right_images/right11.jpg | Bin .../stereo_dataset/right_images/right12.jpg | Bin .../stereo_dataset/right_images/right13.jpg | Bin .../stereo_dataset/right_images/right14.jpg | Bin .../stereo_dataset/stereo_parameters.gif | Bin 33 files changed, 128 insertions(+), 47 deletions(-) delete mode 100644 resource/stereo_dataset/parameters.txt rename {resource => test/resource}/stereo_dataset/left_images/left01.jpg (100%) rename {resource => test/resource}/stereo_dataset/left_images/left02.jpg (100%) rename {resource => test/resource}/stereo_dataset/left_images/left03.jpg (100%) rename {resource => test/resource}/stereo_dataset/left_images/left04.jpg (100%) rename {resource => test/resource}/stereo_dataset/left_images/left05.jpg (100%) rename {resource => test/resource}/stereo_dataset/left_images/left06.jpg (100%) rename {resource => test/resource}/stereo_dataset/left_images/left07.jpg (100%) rename {resource => test/resource}/stereo_dataset/left_images/left08.jpg (100%) rename {resource => test/resource}/stereo_dataset/left_images/left09.jpg (100%) rename {resource => test/resource}/stereo_dataset/left_images/left10.jpg (100%) rename {resource => test/resource}/stereo_dataset/left_images/left11.jpg (100%) rename {resource => test/resource}/stereo_dataset/left_images/left12.jpg (100%) rename {resource => test/resource}/stereo_dataset/left_images/left13.jpg (100%) rename {resource => test/resource}/stereo_dataset/left_images/left14.jpg (100%) create mode 100644 test/resource/stereo_dataset/left_images/test rename {resource => test/resource}/stereo_dataset/right_images/right01.jpg (100%) rename {resource => test/resource}/stereo_dataset/right_images/right02.jpg (100%) rename {resource => test/resource}/stereo_dataset/right_images/right03.jpg (100%) rename {resource => test/resource}/stereo_dataset/right_images/right04.jpg (100%) rename {resource => test/resource}/stereo_dataset/right_images/right05.jpg (100%) rename {resource => test/resource}/stereo_dataset/right_images/right06.jpg (100%) rename {resource => test/resource}/stereo_dataset/right_images/right07.jpg (100%) rename {resource => test/resource}/stereo_dataset/right_images/right08.jpg (100%) rename {resource => test/resource}/stereo_dataset/right_images/right09.jpg (100%) rename {resource => test/resource}/stereo_dataset/right_images/right10.jpg (100%) rename {resource => test/resource}/stereo_dataset/right_images/right11.jpg (100%) rename {resource => test/resource}/stereo_dataset/right_images/right12.jpg (100%) rename {resource => test/resource}/stereo_dataset/right_images/right13.jpg (100%) rename {resource => test/resource}/stereo_dataset/right_images/right14.jpg (100%) rename {resource => test/resource}/stereo_dataset/stereo_parameters.gif (100%) diff --git a/resource/stereo_dataset/parameters.txt b/resource/stereo_dataset/parameters.txt deleted file mode 100644 index e69de29..0000000 diff --git a/src/ItemsStereoCamera.cpp b/src/ItemsStereoCamera.cpp index a752605..a5645dc 100644 --- a/src/ItemsStereoCamera.cpp +++ b/src/ItemsStereoCamera.cpp @@ -17,12 +17,62 @@ using namespace qcam_calib; +cv::Mat fillMatrixParametersbyParametersValues(StereoCameraParameterItem* items, cv::Size sizeMat, QList parameters) { + + cv::Mat mat = cv::Mat(sizeMat, CV_64FC1); + cv::MatIterator_ it = mat.begin(); + int i = 0; + while (it != mat.end()) { + (*it) = items->getParameter(parameters[i]); + ++it; + ++i; + } + + return mat; +} + +void fillIntrinsecMatrixFromParametersValues(StereoCameraParameterItem* items, cv::Mat &intrinsic, cv::Mat &distCoeff, QList parameters) { + + cv::Mat k = cv::Mat::zeros(3, 3, CV_64FC1); + cv::Mat dist = cv::Mat::zeros(8, 1, CV_64FC1); + + k.at(0, 0) = items->getParameter(parameters[0]); + k.at(1, 1) = items->getParameter(parameters[1]); + k.at(0, 2) = items->getParameter(parameters[2]); + k.at(1, 2) = items->getParameter(parameters[3]); + + dist.at(0) = items->getParameter(parameters[3]); + dist.at(1) = items->getParameter(parameters[4]); + dist.at(2) = items->getParameter(parameters[5]); + dist.at(3) = items->getParameter(parameters[6]); + dist.at(4) = items->getParameter(parameters[7]); + dist.at(5) = items->getParameter(parameters[8]); + dist.at(6) = items->getParameter(parameters[9]); + dist.at(7) = items->getParameter(parameters[10]); + dist.at(8) = items->getParameter(parameters[11]); + + k.copyTo(intrinsic); + dist.copyTo(distCoeff); +} + +void fillParametersValuesbyListParameters(StereoCameraParameterItem* items, cv::Mat mat, QList parameters) { + + cv::MatIterator_ it = mat.begin(); + int i = 0; + while (it != mat.end()) { + items->setParameter(parameters[i], (*it)); + ++it; + ++i; + } +} + void fillParametersValuesFromIntrinsecMatrix(StereoCameraParameterItem* items, cv::Mat intrinsic, cv::Mat distMatrix, QList parameters) { items->setParameter(parameters[0], intrinsic.at(0, 0)); // fx items->setParameter(parameters[1], intrinsic.at(1, 1)); // fy items->setParameter(parameters[2], intrinsic.at(0, 2)); // cx items->setParameter(parameters[3], intrinsic.at(1, 2)); // cx + items->setParameter(parameters[4], distMatrix.at(0)); // k1 items->setParameter(parameters[5], distMatrix.at(1)); // k2 items->setParameter(parameters[6], distMatrix.at(2)); // p1 @@ -75,10 +125,6 @@ double StereoCameraParameterItem::getParameter(const QString& name) const { return 0; } -void StereoCameraParameterItem::save(const QString& path) const { - -} - //StereoImageItem StereoImageItem::StereoImageItem(const QString& name, const QString& path) : chessboard(NULL), QCamCalibItem(name), image_path(path) { @@ -139,9 +185,6 @@ StereoImageItem* StereoCameraItem::addImages(const QList &stereo images->appendRow(stereoImageitems); } -StereoImageItem* StereoCameraItem::getImageItem(const QString& name) { -} - QStandardItem* StereoCameraItem::getImagesItems() const { return this->images; } @@ -185,7 +228,6 @@ char* StereoItem::getBaseName() { void StereoItem::calibrate(int cols, int rows, float dx, float dy) { - std::cout << "StereoItem::calibrate" << std::endl; QStandardItem* leftImages = this->left_camera->getImagesItems(); QStandardItem* rightImages = this->right_camera->getImagesItems(); @@ -229,16 +271,40 @@ void StereoItem::calibrate(int cols, int rows, float dx, float dy) { fillParametersValuesFromIntrinsecMatrix(this->left_camera->getParameter(), vecMatrix[0], vecMatrix[1], INTRINSIC_PARAMETERS_LIST); fillParametersValuesFromIntrinsecMatrix(this->right_camera->getParameter(), vecMatrix[2], vecMatrix[3], INTRINSIC_PARAMETERS_LIST); - this->error_values->setParameter(ERROR_VALUES_PARAMETERS_LIST[0], vecMatrix[4].at(0,0)); - this->error_values->setParameter(ERROR_VALUES_PARAMETERS_LIST[1], vecMatrix[4].at(0,1)); + this->error_values->setParameter(ERROR_VALUES_PARAMETERS_LIST[0], vecMatrix[4].at(0, 0)); + this->error_values->setParameter(ERROR_VALUES_PARAMETERS_LIST[1], vecMatrix[4].at(0, 1)); + + fillParametersValuesbyListParameters(dynamic_cast(this->parameters->child(0, 0)), vecMatrix[5], FUNDAMENTAL_MATRIX_PARAMETERS_LIST); + fillParametersValuesbyListParameters(dynamic_cast(this->parameters->child(1, 0)), vecMatrix[6], FUNDAMENTAL_MATRIX_PARAMETERS_LIST); + fillParametersValuesbyListParameters(dynamic_cast(this->parameters->child(2, 0)), vecMatrix[7], ROTATION_MATRIX_PARAMETERS_LIST); + fillParametersValuesbyListParameters(dynamic_cast(this->parameters->child(3, 0)), vecMatrix[8], TRANSLATION_VECTOR_PARAMETERS_LIST); } void StereoItem::saveParameter(const QString& path) const { + + std::vector intrisc_mat(2), dist_coeff(2); + fillIntrinsecMatrixFromParametersValues(this->left_camera->getParameter(), intrisc_mat[0], dist_coeff[0], INTRINSIC_PARAMETERS_LIST); + fillIntrinsecMatrixFromParametersValues(this->right_camera->getParameter(), intrisc_mat[1], dist_coeff[1], INTRINSIC_PARAMETERS_LIST); + + cv::Mat fundamental = fillMatrixParametersbyParametersValues(dynamic_cast(parameters->child(0, 0)), cv::Size(3, 3), FUNDAMENTAL_MATRIX_PARAMETERS_LIST); + cv::Mat essential = fillMatrixParametersbyParametersValues(dynamic_cast(parameters->child(1, 0)), cv::Size(3, 3), FUNDAMENTAL_MATRIX_PARAMETERS_LIST); + cv::Mat rotation = fillMatrixParametersbyParametersValues(dynamic_cast(parameters->child(2, 0)), cv::Size(3, 3), ROTATION_MATRIX_PARAMETERS_LIST); + cv::Mat translation = fillMatrixParametersbyParametersValues(dynamic_cast(parameters->child(3, 0)), cv::Size(3, 1), TRANSLATION_VECTOR_PARAMETERS_LIST); + + cv::FileStorage fs(path.toStdString(), cv::FileStorage::WRITE); + time_t rawtime; + time(&rawtime); + fs << "calibrationDate" << asctime(localtime(&rawtime)); + fs << "leftCameraMatrix" << intrisc_mat[0] << "leftDistCoeffs" << dist_coeff[0]; + fs << "rightCameraMatrix" << intrisc_mat[1] << "rightDistCoeffs" << dist_coeff[1]; + fs << "fundamentalMatrix" << fundamental << "essentialMatrix" << essential; + fs << "rotationMatrix" << rotation << "translationMatrix" << translation; + fs.release(); } bool StereoItem::isCalibrated() { - + return error_values->getParameter(ERROR_VALUES_PARAMETERS_LIST[0]) > 0; } QList StereoTools::loadStereoImageAndFindChessboardItem(const QString& path, int cols, int rows) { @@ -278,21 +344,20 @@ QVector StereoTools::findChessboard(const QString &path, int cols, int cv::cvtColor(cvImage, cvImage, cv::COLOR_BGR2GRAY); std::vector cvPoints; cv::findChessboardCorners(cvImage, cv::Size(cols, rows), cvPoints); -// + return convertVectorPoints2fToQVectorQPointF(cvPoints); } std::vector StereoTools::stereoCalibrate(std::vector > leftPoints, std::vector > rightPoints, std::vector > objectPoints, cv::Size imageSize) { - cv::Mat cameraMatrix[2], distCoeffs[2]; - cameraMatrix[0] = cv::Mat::eye(3, 3, CV_64F); - cameraMatrix[1] = cv::Mat::eye(3, 3, CV_64F); + cv::Mat camera_matrix[2], dist_coeffs[2]; + camera_matrix[0] = cv::Mat::eye(3, 3, CV_64F); + camera_matrix[1] = cv::Mat::eye(3, 3, CV_64F); cv::Mat rotation, translation, essential, fundamental; - double rms = cv::stereoCalibrate(objectPoints, leftPoints, rightPoints, cameraMatrix[0], distCoeffs[0], cameraMatrix[1], distCoeffs[1], imageSize, rotation, translation, essential, fundamental, - cv::TermCriteria(CV_TERMCRIT_ITER + CV_TERMCRIT_EPS, 1000, 1e-8), cv::CALIB_RATIONAL_MODEL); - std::cout << " RMS ERROR " << rms << std::endl; + double rms = cv::stereoCalibrate(objectPoints, leftPoints, rightPoints, camera_matrix[0], dist_coeffs[0], camera_matrix[1], dist_coeffs[1], imageSize, rotation, translation, essential, + fundamental, cv::TermCriteria(CV_TERMCRIT_ITER + CV_TERMCRIT_EPS, 1000, 1e-8), cv::CALIB_RATIONAL_MODEL); double err = 0; int npoints = 0; @@ -304,7 +369,7 @@ std::vector StereoTools::stereoCalibrate(std::vector tempPoints; k == 0 ? tempPoints = leftPoints[i] : tempPoints = rightPoints[i]; imgpt[k] = cv::Mat(tempPoints); - cv::undistortPoints(imgpt[k], imgpt[k], cameraMatrix[k], distCoeffs[k], cv::Mat(), cameraMatrix[k]); + cv::undistortPoints(imgpt[k], imgpt[k], camera_matrix[k], dist_coeffs[k], cv::Mat(), camera_matrix[k]); cv::computeCorrespondEpilines(imgpt[k], k + 1, fundamental, lines[k]); } for (int j = 0; j < npt; j++) { @@ -315,29 +380,19 @@ std::vector StereoTools::stereoCalibrate(std::vector(1, 2) << rms, err/npoints); + cv::Mat errorMat = (cv::Mat_(1, 2) << rms, err / npoints); std::vector mats; - mats.push_back(cameraMatrix[0]); - mats.push_back(distCoeffs[0]); - mats.push_back(cameraMatrix[1]); - mats.push_back(distCoeffs[1]); + mats.push_back(camera_matrix[0]); + mats.push_back(dist_coeffs[0]); + mats.push_back(camera_matrix[1]); + mats.push_back(dist_coeffs[1]); mats.push_back(errorMat); - - mats.push_back(rotation); - mats.push_back(translation); mats.push_back(fundamental); mats.push_back(essential); - -// std::cout << "CAMERA INTRIN LEFt " << cameraMatrix[0] << std::endl; -// std::cout << "DIST COEFF LEFT " << distCoeffs[0] << std::endl; -// -// std::cout << "CAMERA INTRIN RIGHT" << cameraMatrix[1] << std::endl; -// std::cout << "DIST COEFF RIGHT" << distCoeffs[1] << std::endl; -// std::cout << "error " << errorMat << std::endl; + mats.push_back(rotation); + mats.push_back(translation); return mats; } diff --git a/src/QCamCalib.cpp b/src/QCamCalib.cpp index b30240f..e839507 100644 --- a/src/QCamCalib.cpp +++ b/src/QCamCalib.cpp @@ -71,7 +71,6 @@ QCamCalib::QCamCalib(QWidget *parent) : // stereo item view menu this->stereo_item_menu = new QMenu(this); - this->stereo_item_menu->addAction(act_remove); act = new QAction("Calibre Stereo Camera", this); this->stereo_item_menu->addAction(act); @@ -83,6 +82,8 @@ QCamCalib::QCamCalib(QWidget *parent) : connect(act, SIGNAL(triggered()), this, SLOT(saveStereoItemParameters())); this->stereo_item_menu->addAction(act); + this->stereo_item_menu->addAction(act_remove); + // stereo camera menu this->stereo_camera_item_menu = new QMenu(this); act = new QAction("Load Images", this); @@ -377,10 +378,6 @@ void QCamCalib::addStereoItem(int camera_id) { } } -void QCamCalib::saveStereoItemParameters(int camera_id) { - std::cout << "saveStereoCameraParameters" << std::endl; - -} template T QCamCalib::getItems(int item_id, QString erro_msg) { T item = NULL; @@ -406,7 +403,6 @@ T QCamCalib::getItems(int item_id, QString erro_msg) { } void QCamCalib::loadStereoImages(int camera_id) { - std::cout << "loadStereoImages" << std::endl; QSpinBox *cols = findChild("spinBoxCols"); QSpinBox *rows = findChild("spinBoxRows"); @@ -435,21 +431,37 @@ void QCamCalib::loadStereoImages(int camera_id) { item->addImages(*iterStereoImageitems); } -void QCamCalib::calibreStereoItem(int stereo_id) { - std::cout << "calibreStereoCamera" << std::endl; +void QCamCalib::saveStereoItemParameters(int stereo_id) { + QString erro_msg = "Internal error: Cannot find stereo camera."; + StereoItem *item = getItems(stereo_id, erro_msg); + + if (!item->isCalibrated()) { + calibreStereoItem(stereo_id); + if (!item->isCalibrated()) + return; + } + QString path = QFileDialog::getSaveFileName(this, "Save Parameter", current_load_path, "config (*.yml *.xml)"); + if (path.size() != 0) + item->saveParameter(path); +} + +void QCamCalib::calibreStereoItem(int stereo_id) { QSpinBox *cols = findChild("spinBoxCols"); QSpinBox *rows = findChild("spinBoxRows"); QDoubleSpinBox *dx = findChild("spinBoxDx"); QDoubleSpinBox *dy = findChild("spinBoxDy"); if (!cols || !rows || !dx || !dy) - throw std::runtime_error("cannot find chessboard config"); + throw std::runtime_error("Cannot find chessboard config."); - QString erro_msg = "Internal error: Can not find camera"; + QString erro_msg = "Internal error: Cannot find stereo camera."; StereoItem* stereo_item = getItems(stereo_id, erro_msg); try { - stereo_item->calibrate(cols->value(), rows->value(), dx->value(), dy->value()); + future_watcher_calibrate->setFuture(QtConcurrent::run(stereo_item, &StereoItem::calibrate, cols->value(), rows->value(), dx->value(), dy->value())); + progress_dialog_calibrate->setRange(0, 0); + if (QDialog::Accepted != progress_dialog_calibrate->exec() && future_watcher_calibrate->isCanceled()) + return; } catch (std::exception& e) { QErrorMessage box; box.showMessage(QString(e.what())); diff --git a/resource/stereo_dataset/left_images/left01.jpg b/test/resource/stereo_dataset/left_images/left01.jpg similarity index 100% rename from resource/stereo_dataset/left_images/left01.jpg rename to test/resource/stereo_dataset/left_images/left01.jpg diff --git a/resource/stereo_dataset/left_images/left02.jpg b/test/resource/stereo_dataset/left_images/left02.jpg similarity index 100% rename from resource/stereo_dataset/left_images/left02.jpg rename to test/resource/stereo_dataset/left_images/left02.jpg diff --git a/resource/stereo_dataset/left_images/left03.jpg b/test/resource/stereo_dataset/left_images/left03.jpg similarity index 100% rename from resource/stereo_dataset/left_images/left03.jpg rename to test/resource/stereo_dataset/left_images/left03.jpg diff --git a/resource/stereo_dataset/left_images/left04.jpg b/test/resource/stereo_dataset/left_images/left04.jpg similarity index 100% rename from resource/stereo_dataset/left_images/left04.jpg rename to test/resource/stereo_dataset/left_images/left04.jpg diff --git a/resource/stereo_dataset/left_images/left05.jpg b/test/resource/stereo_dataset/left_images/left05.jpg similarity index 100% rename from resource/stereo_dataset/left_images/left05.jpg rename to test/resource/stereo_dataset/left_images/left05.jpg diff --git a/resource/stereo_dataset/left_images/left06.jpg b/test/resource/stereo_dataset/left_images/left06.jpg similarity index 100% rename from resource/stereo_dataset/left_images/left06.jpg rename to test/resource/stereo_dataset/left_images/left06.jpg diff --git a/resource/stereo_dataset/left_images/left07.jpg b/test/resource/stereo_dataset/left_images/left07.jpg similarity index 100% rename from resource/stereo_dataset/left_images/left07.jpg rename to test/resource/stereo_dataset/left_images/left07.jpg diff --git a/resource/stereo_dataset/left_images/left08.jpg b/test/resource/stereo_dataset/left_images/left08.jpg similarity index 100% rename from resource/stereo_dataset/left_images/left08.jpg rename to test/resource/stereo_dataset/left_images/left08.jpg diff --git a/resource/stereo_dataset/left_images/left09.jpg b/test/resource/stereo_dataset/left_images/left09.jpg similarity index 100% rename from resource/stereo_dataset/left_images/left09.jpg rename to test/resource/stereo_dataset/left_images/left09.jpg diff --git a/resource/stereo_dataset/left_images/left10.jpg b/test/resource/stereo_dataset/left_images/left10.jpg similarity index 100% rename from resource/stereo_dataset/left_images/left10.jpg rename to test/resource/stereo_dataset/left_images/left10.jpg diff --git a/resource/stereo_dataset/left_images/left11.jpg b/test/resource/stereo_dataset/left_images/left11.jpg similarity index 100% rename from resource/stereo_dataset/left_images/left11.jpg rename to test/resource/stereo_dataset/left_images/left11.jpg diff --git a/resource/stereo_dataset/left_images/left12.jpg b/test/resource/stereo_dataset/left_images/left12.jpg similarity index 100% rename from resource/stereo_dataset/left_images/left12.jpg rename to test/resource/stereo_dataset/left_images/left12.jpg diff --git a/resource/stereo_dataset/left_images/left13.jpg b/test/resource/stereo_dataset/left_images/left13.jpg similarity index 100% rename from resource/stereo_dataset/left_images/left13.jpg rename to test/resource/stereo_dataset/left_images/left13.jpg diff --git a/resource/stereo_dataset/left_images/left14.jpg b/test/resource/stereo_dataset/left_images/left14.jpg similarity index 100% rename from resource/stereo_dataset/left_images/left14.jpg rename to test/resource/stereo_dataset/left_images/left14.jpg diff --git a/test/resource/stereo_dataset/left_images/test b/test/resource/stereo_dataset/left_images/test new file mode 100644 index 0000000..cf33740 --- /dev/null +++ b/test/resource/stereo_dataset/left_images/test @@ -0,0 +1,14 @@ +%YAML:1.0 +calibrationDate: "Fri Jan 15 10:34:50 2016\n" +cameraMatrix: !!opencv-matrix + rows: 3 + cols: 3 + dt: d + data: [ 5.3073900000000003e+02, 0., 3.4220600000000002e+02, 0., + 5.3150800000000004e+02, 2.3821299999999999e+02, 0., 0., 1. ] +distCoeffs: !!opencv-matrix + rows: 4 + cols: 1 + dt: d + data: [ -2.6834100000000000e-01, -7.9057000000000002e-02, + 1.1427500000000001e-03, -4.0985899999999999e-04 ] diff --git a/resource/stereo_dataset/right_images/right01.jpg b/test/resource/stereo_dataset/right_images/right01.jpg similarity index 100% rename from resource/stereo_dataset/right_images/right01.jpg rename to test/resource/stereo_dataset/right_images/right01.jpg diff --git a/resource/stereo_dataset/right_images/right02.jpg b/test/resource/stereo_dataset/right_images/right02.jpg similarity index 100% rename from resource/stereo_dataset/right_images/right02.jpg rename to test/resource/stereo_dataset/right_images/right02.jpg diff --git a/resource/stereo_dataset/right_images/right03.jpg b/test/resource/stereo_dataset/right_images/right03.jpg similarity index 100% rename from resource/stereo_dataset/right_images/right03.jpg rename to test/resource/stereo_dataset/right_images/right03.jpg diff --git a/resource/stereo_dataset/right_images/right04.jpg b/test/resource/stereo_dataset/right_images/right04.jpg similarity index 100% rename from resource/stereo_dataset/right_images/right04.jpg rename to test/resource/stereo_dataset/right_images/right04.jpg diff --git a/resource/stereo_dataset/right_images/right05.jpg b/test/resource/stereo_dataset/right_images/right05.jpg similarity index 100% rename from resource/stereo_dataset/right_images/right05.jpg rename to test/resource/stereo_dataset/right_images/right05.jpg diff --git a/resource/stereo_dataset/right_images/right06.jpg b/test/resource/stereo_dataset/right_images/right06.jpg similarity index 100% rename from resource/stereo_dataset/right_images/right06.jpg rename to test/resource/stereo_dataset/right_images/right06.jpg diff --git a/resource/stereo_dataset/right_images/right07.jpg b/test/resource/stereo_dataset/right_images/right07.jpg similarity index 100% rename from resource/stereo_dataset/right_images/right07.jpg rename to test/resource/stereo_dataset/right_images/right07.jpg diff --git a/resource/stereo_dataset/right_images/right08.jpg b/test/resource/stereo_dataset/right_images/right08.jpg similarity index 100% rename from resource/stereo_dataset/right_images/right08.jpg rename to test/resource/stereo_dataset/right_images/right08.jpg diff --git a/resource/stereo_dataset/right_images/right09.jpg b/test/resource/stereo_dataset/right_images/right09.jpg similarity index 100% rename from resource/stereo_dataset/right_images/right09.jpg rename to test/resource/stereo_dataset/right_images/right09.jpg diff --git a/resource/stereo_dataset/right_images/right10.jpg b/test/resource/stereo_dataset/right_images/right10.jpg similarity index 100% rename from resource/stereo_dataset/right_images/right10.jpg rename to test/resource/stereo_dataset/right_images/right10.jpg diff --git a/resource/stereo_dataset/right_images/right11.jpg b/test/resource/stereo_dataset/right_images/right11.jpg similarity index 100% rename from resource/stereo_dataset/right_images/right11.jpg rename to test/resource/stereo_dataset/right_images/right11.jpg diff --git a/resource/stereo_dataset/right_images/right12.jpg b/test/resource/stereo_dataset/right_images/right12.jpg similarity index 100% rename from resource/stereo_dataset/right_images/right12.jpg rename to test/resource/stereo_dataset/right_images/right12.jpg diff --git a/resource/stereo_dataset/right_images/right13.jpg b/test/resource/stereo_dataset/right_images/right13.jpg similarity index 100% rename from resource/stereo_dataset/right_images/right13.jpg rename to test/resource/stereo_dataset/right_images/right13.jpg diff --git a/resource/stereo_dataset/right_images/right14.jpg b/test/resource/stereo_dataset/right_images/right14.jpg similarity index 100% rename from resource/stereo_dataset/right_images/right14.jpg rename to test/resource/stereo_dataset/right_images/right14.jpg diff --git a/resource/stereo_dataset/stereo_parameters.gif b/test/resource/stereo_dataset/stereo_parameters.gif similarity index 100% rename from resource/stereo_dataset/stereo_parameters.gif rename to test/resource/stereo_dataset/stereo_parameters.gif From a6746ed831e13ce942d572b367d1e89db3e9a397 Mon Sep 17 00:00:00 2001 From: trocolit2 Date: Mon, 18 Jan 2016 17:35:36 -0300 Subject: [PATCH 08/13] Start to implement the test cases, to validate the class of stereo procedures --- test/CMakeLists.txt | 6 ++ test/StereoTools_test.cpp | 121 ++++++++++++++++++++++++++++++++++++++ test/suite.cpp | 5 ++ 3 files changed, 132 insertions(+) create mode 100644 test/CMakeLists.txt create mode 100644 test/StereoTools_test.cpp create mode 100644 test/suite.cpp diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt new file mode 100644 index 0000000..a054cf8 --- /dev/null +++ b/test/CMakeLists.txt @@ -0,0 +1,6 @@ +rock_testsuite(stereoTools_test StereoTools_test.cpp + DEPS QCamCalib + LIBS ${Boost_THREAD_LIBRARY} ${Boost_SYSTEM_LIBRARY} + DEPS_PKGCONFIG opencv ) + + ## QtCore QtGui \ No newline at end of file diff --git a/test/StereoTools_test.cpp b/test/StereoTools_test.cpp new file mode 100644 index 0000000..7a07e3b --- /dev/null +++ b/test/StereoTools_test.cpp @@ -0,0 +1,121 @@ +/* + * StereoTools_test.cpp + * + * Created on: Jan 18, 2016 + * Author: tiagotrocoli + */ + +#define BOOST_TEST_MODULE "StereoTools_test" +#include + +#include +#include +#include + +#include + +#include + +#define IMAGE_STEREO_CHESSBOARD "../../test/resource/stereo_dataset" +#define NO_CHESSBOARD "No Chessboard" +#define OK_CHESSBOARD "OK, Chessboard Found" + +using namespace qcam_calib; + +int precision = 1000; +int chessboard_cols = 9; +int chessboard_rows = 6; + +int ground_truth_points[][54 * 2] = { { 244, 94, 274, 92, 305, 90, 338, 88, 371, 87, 406, 86, 441, 86, 477, 86, 514, 86, 244, 126, 275, 125, 306, 124, 338, 123, 372, 122, 406, 122, 442, 122, 478, 122, + 513, 123, 245, 158, 275, 158, 306, 157, 338, 157, 372, 157, 406, 157, 441, 157, 477, 158, 513, 158, 246, 190, 275, 190, 307, 190, 339, 191, 372, 191, 406, 192, 441, 193, 477, 194, 513, 195, + 247, 222, 276, 223, 307, 224, 339, 225, 372, 226, 406, 227, 440, 228, 476, 229, 511, 231, 248, 253, 277, 255, 308, 256, 340, 258, 372, 259, 406, 261, 440, 262, 475, 264, 510, 266 }, + +{ 256, 357, 255, 334, 254, 308, 253, 280, 252, 248, 252, 213, 251, 172, 251, 128, 251, 77, 291, 366, 292, 343, 293, 318, 294, 290, 296, 257, 298, 221, 301, 182, 304, 135, 306, 86, 327, 374, 331, 352, + 334, 327, 337, 299, 342, 267, 347, 233, 352, 192, 357, 145, 365, 96, 367, 382, 369, 360, 375, 335, 381, 308, 388, 277, 396, 241, 404, 202, 413, 158, 423, 106, 401, 389, 407, 368, 416, 344, + 425, 317, 433, 287, 445, 252, 456, 213, 469, 169, 482, 120, 437, 396, 446, 376, 456, 352, 467, 326, 480, 296, 492, 262, 508, 224, 523, 181, 539, 131 }, + +{ 277, 72, 313, 81, 352, 91, 394, 101, 434, 113, 476, 126, 519, 140, 561, 154, 604, 169, 259, 106, 297, 114, 336, 126, 378, 137, 421, 150, 465, 165, 508, 178, 552, 193, 594, 208, 242, 141, 279, 152, + 320, 164, 364, 177, 406, 190, 450, 205, 495, 219, 540, 235, 585, 250, 224, 177, 262, 191, 303, 204, 345, 218, 389, 233, 435, 248, 481, 264, 528, 280, 573, 295, 205, 217, 244, 230, 284, 245, + 328, 261, 372, 276, 419, 293, 465, 309, 513, 326, 560, 342, 187, 257, 225, 272, 267, 289, 309, 305, 354, 323, 402, 340, 449, 358, 496, 373, 545, 390 } }; + +std::string intToStr(int a) { + std::stringstream ss; + ss << a; + return ss.str(); +} + +BOOST_AUTO_TEST_CASE(convertOpenCVpointstoQt_testcase) { + + std::vector pointsCV; + pointsCV.push_back(cv::Point2f(0, 0)); + pointsCV.push_back(cv::Point2f(-0.1235, 0.1235)); + pointsCV.push_back(cv::Point2f(1.2345, 0.1235)); + pointsCV.push_back(cv::Point2f(0.2345, -1.1235)); + + QVector qtPoints = StereoTools::convertVectorPoints2fToQVectorQPointF(pointsCV); + + QVector::const_iterator iterQt = qtPoints.begin(); + std::vector::const_iterator iterCV = pointsCV.begin(); + for (; iterCV != pointsCV.end(); ++iterCV, ++iterQt) { + BOOST_CHECK_EQUAL((int )(iterQt->x() * precision), (int ) (iterCV->x * precision)); + BOOST_CHECK_EQUAL((int )(iterQt->y() * precision), (int )(iterCV->y * precision)); + } +} + +BOOST_AUTO_TEST_CASE(convertQtpointstoOpenCV_testcase) { + + QVector qt_points; + qt_points.push_back(QPointF(0, 0)); + qt_points.push_back(QPointF(-0.123, 0.123)); + qt_points.push_back(QPointF(1.234, 0.123)); + qt_points.push_back(QPointF(0.234, -1.123)); + + std::vector cv_points = StereoTools::convertQVectorQPointFToVectorPoints2f(qt_points); + + QVector::const_iterator iterQt = qt_points.begin(); + std::vector::const_iterator iterCV = cv_points.begin(); + for (; iterQt != qt_points.end(); ++iterCV, ++iterQt) { + BOOST_CHECK_EQUAL((int )(iterQt->x() * precision), (int ) (iterCV->x * precision)); + BOOST_CHECK_EQUAL((int )(iterQt->y() * precision), (int )(iterCV->y * precision)); + } +} + +BOOST_AUTO_TEST_CASE(testSearchChessboard_testcase) { + + std::string root_path = std::string(IMAGE_STEREO_CHESSBOARD) + "/left_images/left"; + for (int i = 1; i <= 3; ++i) { + + std::string temp_path = root_path + "0" + intToStr(i) + ".jpg"; + QVector qt_points = StereoTools::findChessboard(QString::fromUtf8(temp_path.c_str()), chessboard_cols, chessboard_rows); + + int count_points_gt = 0; + QVector::const_iterator iterQt = qt_points.begin(); + for (; iterQt != qt_points.end(); ++iterQt) { + BOOST_CHECK_EQUAL((int )iterQt->x(), ground_truth_points[i - 1][count_points_gt++]); + BOOST_CHECK_EQUAL((int )iterQt->y(), ground_truth_points[i - 1][count_points_gt++]); + } + } +} + +BOOST_AUTO_TEST_CASE(loadStereoImageAndFindChessboardItem_test) { + + std::string root_path = std::string(IMAGE_STEREO_CHESSBOARD) + "/left_images/left"; + for (int i = 1; i <= 3; ++i) { + + std::string temp_path = root_path + "0" + intToStr(i) + ".jpg"; + QList items = StereoTools::loadStereoImageAndFindChessboardItem(QString::fromUtf8(temp_path.c_str()), chessboard_cols, chessboard_rows); + StereoImageItem *item = dynamic_cast(items.at(0)); + + BOOST_CHECK_EQUAL(items.at(1)->text().toStdString(), std::string(OK_CHESSBOARD)); + + int count_points_gt = 0; + QVector::const_iterator iterQt = item->getChessboardCorners().begin(); + for (; iterQt != item->getChessboardCorners().end(); ++iterQt) { + BOOST_CHECK_EQUAL((int )iterQt->x(), ground_truth_points[i - 1][count_points_gt++]); + BOOST_CHECK_EQUAL((int )iterQt->y(), ground_truth_points[i - 1][count_points_gt++]); + } + + std::cout << std::endl; + } +} + diff --git a/test/suite.cpp b/test/suite.cpp new file mode 100644 index 0000000..af38cdc --- /dev/null +++ b/test/suite.cpp @@ -0,0 +1,5 @@ +// Do NOT add anything to this file +// This header from boost takes ages to compile, so we make sure it is compiled +// only once (here) +#define BOOST_TEST_MAIN +#include From 7a9ee52d7b3603f0dd16282a8f12abcc240b0e4a Mon Sep 17 00:00:00 2001 From: trocolit2 Date: Tue, 19 Jan 2016 16:53:44 -0300 Subject: [PATCH 09/13] Finished the code test implementation Ready to release --- src/ItemsStereoCamera.cpp | 114 +++++++++--------- src/ItemsStereoCamera.hpp | 10 +- test/CMakeLists.txt | 3 +- test/StereoTools_test.cpp | 65 +++++++++- .../stereo_dataset/stereo_parameters.gif | Bin 15741 -> 0 bytes test/suite.cpp | 5 - 6 files changed, 127 insertions(+), 70 deletions(-) delete mode 100644 test/resource/stereo_dataset/stereo_parameters.gif delete mode 100644 test/suite.cpp diff --git a/src/ItemsStereoCamera.cpp b/src/ItemsStereoCamera.cpp index a5645dc..7404c93 100644 --- a/src/ItemsStereoCamera.cpp +++ b/src/ItemsStereoCamera.cpp @@ -151,17 +151,17 @@ const QVector& StereoImageItem::getChessboardCorners() const { QImage qcam_calib::StereoImageItem::getImageWithChessboard(int cols, int rows) { - QImage qtImage(this->image_path); - qtImage = qtImage.convertToFormat(QImage::Format_RGB888); - cv::Mat cvImage(qtImage.height(), qtImage.width(), CV_8UC3, qtImage.bits(), qtImage.bytesPerLine()); + QImage qt_image(this->image_path); + qt_image = qt_image.convertToFormat(QImage::Format_RGB888); + cv::Mat cv_image(qt_image.height(), qt_image.width(), CV_8UC3, qt_image.bits(), qt_image.bytesPerLine()); - std::vector cvPoints; + std::vector cv_points; if (this->isChessboardFound()) { - cvPoints = StereoTools::convertQVectorQPointFToVectorPoints2f(this->chessboard); - cv::drawChessboardCorners(cvImage, cv::Size(cols, rows), cvPoints, true); + cv_points = StereoTools::convertQVectorQPointFToVectorPoints2f(this->chessboard); + cv::drawChessboardCorners(cv_image, cv::Size(cols, rows), cv_points, true); } - return QImage(cvImage.data, cvImage.cols, cvImage.rows, cvImage.step, QImage::Format_RGB888).copy(); + return QImage(cv_image.data, cv_image.cols, cv_image.rows, cv_image.step, QImage::Format_RGB888).copy(); } //StereoCameraItem @@ -228,56 +228,56 @@ char* StereoItem::getBaseName() { void StereoItem::calibrate(int cols, int rows, float dx, float dy) { - QStandardItem* leftImages = this->left_camera->getImagesItems(); - QStandardItem* rightImages = this->right_camera->getImagesItems(); + QStandardItem* left_images = this->left_camera->getImagesItems(); + QStandardItem* right_images = this->right_camera->getImagesItems(); - int itemRowCount = leftImages->rowCount(); - if (leftImages->rowCount() > rightImages->rowCount()) - itemRowCount = rightImages->rowCount(); + int item_row_count = left_images->rowCount(); + if (left_images->rowCount() > right_images->rowCount()) + item_row_count = right_images->rowCount(); - std::vector > objectPoints; - std::vector > leftPoints, rightPoints; + std::vector > object_points; + std::vector > left_points, right_points; - std::vector chessboard3DPonts; + std::vector chessboard_3Dpoints; for (int row = 0; row < rows; ++row) for (int col = 0; col < cols; ++col) - chessboard3DPonts.push_back(cv::Point3f(dx * col, dy * row, 0)); + chessboard_3Dpoints.push_back(cv::Point3f(dx * col, dy * row, 0)); - int imageSample = -1; - for (int i = 0; i < itemRowCount; ++i) { - StereoImageItem* leftStereoImage = dynamic_cast(leftImages->child(i, 0)); - StereoImageItem* rightStereoImage = dynamic_cast(rightImages->child(i, 0)); + int image_sample = -1; + for (int i = 0; i < item_row_count; ++i) { + StereoImageItem* left_stereo_image = dynamic_cast(left_images->child(i, 0)); + StereoImageItem* right_stereo_image = dynamic_cast(right_images->child(i, 0)); - bool bothChessboardDetect = leftStereoImage->isChessboardFound() && rightStereoImage->isChessboardFound(); - if (!bothChessboardDetect) + bool both_chessboard_detect = left_stereo_image->isChessboardFound() && right_stereo_image->isChessboardFound(); + if (!both_chessboard_detect) continue; - leftPoints.push_back(StereoTools::convertQVectorQPointFToVectorPoints2f(leftStereoImage->getChessboardCorners())); - rightPoints.push_back(StereoTools::convertQVectorQPointFToVectorPoints2f(rightStereoImage->getChessboardCorners())); - objectPoints.push_back(chessboard3DPonts); - imageSample = i; + left_points.push_back(StereoTools::convertQVectorQPointFToVectorPoints2f(left_stereo_image->getChessboardCorners())); + right_points.push_back(StereoTools::convertQVectorQPointFToVectorPoints2f(right_stereo_image->getChessboardCorners())); + object_points.push_back(chessboard_3Dpoints); + image_sample = i; } - if (objectPoints.size() < 5) + if (object_points.size() < 5) throw std::runtime_error("Not enough detected chessboards!"); - StereoImageItem* stereoImage = dynamic_cast(leftImages->child(imageSample, 0)); - QImage qtImage(stereoImage->getImagePath()); - qtImage = qtImage.convertToFormat(QImage::Format_RGB888); - cv::Size imageSize(qtImage.height(), qtImage.width()); + StereoImageItem* stereo_image = dynamic_cast(left_images->child(image_sample, 0)); + QImage qt_image(stereo_image->getImagePath()); + qt_image = qt_image.convertToFormat(QImage::Format_RGB888); + cv::Size image_size(qt_image.height(), qt_image.width()); - std::vector vecMatrix = StereoTools::stereoCalibrate(leftPoints, rightPoints, objectPoints, imageSize); + std::vector vec_matrix = StereoTools::stereoCalibrate(left_points, right_points, object_points, image_size); - fillParametersValuesFromIntrinsecMatrix(this->left_camera->getParameter(), vecMatrix[0], vecMatrix[1], INTRINSIC_PARAMETERS_LIST); - fillParametersValuesFromIntrinsecMatrix(this->right_camera->getParameter(), vecMatrix[2], vecMatrix[3], INTRINSIC_PARAMETERS_LIST); + fillParametersValuesFromIntrinsecMatrix(this->left_camera->getParameter(), vec_matrix[0], vec_matrix[1], INTRINSIC_PARAMETERS_LIST); + fillParametersValuesFromIntrinsecMatrix(this->right_camera->getParameter(), vec_matrix[2], vec_matrix[3], INTRINSIC_PARAMETERS_LIST); - this->error_values->setParameter(ERROR_VALUES_PARAMETERS_LIST[0], vecMatrix[4].at(0, 0)); - this->error_values->setParameter(ERROR_VALUES_PARAMETERS_LIST[1], vecMatrix[4].at(0, 1)); + this->error_values->setParameter(ERROR_VALUES_PARAMETERS_LIST[0], vec_matrix[4].at(0, 0)); + this->error_values->setParameter(ERROR_VALUES_PARAMETERS_LIST[1], vec_matrix[4].at(0, 1)); - fillParametersValuesbyListParameters(dynamic_cast(this->parameters->child(0, 0)), vecMatrix[5], FUNDAMENTAL_MATRIX_PARAMETERS_LIST); - fillParametersValuesbyListParameters(dynamic_cast(this->parameters->child(1, 0)), vecMatrix[6], FUNDAMENTAL_MATRIX_PARAMETERS_LIST); - fillParametersValuesbyListParameters(dynamic_cast(this->parameters->child(2, 0)), vecMatrix[7], ROTATION_MATRIX_PARAMETERS_LIST); - fillParametersValuesbyListParameters(dynamic_cast(this->parameters->child(3, 0)), vecMatrix[8], TRANSLATION_VECTOR_PARAMETERS_LIST); + fillParametersValuesbyListParameters(dynamic_cast(this->parameters->child(0, 0)), vec_matrix[5], FUNDAMENTAL_MATRIX_PARAMETERS_LIST); + fillParametersValuesbyListParameters(dynamic_cast(this->parameters->child(1, 0)), vec_matrix[6], FUNDAMENTAL_MATRIX_PARAMETERS_LIST); + fillParametersValuesbyListParameters(dynamic_cast(this->parameters->child(2, 0)), vec_matrix[7], ROTATION_MATRIX_PARAMETERS_LIST); + fillParametersValuesbyListParameters(dynamic_cast(this->parameters->child(3, 0)), vec_matrix[8], TRANSLATION_VECTOR_PARAMETERS_LIST); } @@ -338,49 +338,49 @@ QList StereoTools::loadStereoImageItem(const QString &path) { QVector StereoTools::findChessboard(const QString &path, int cols, int rows) { - QImage qtImage(path); - qtImage = qtImage.convertToFormat(QImage::Format_RGB888); - cv::Mat cvImage(qtImage.height(), qtImage.width(), CV_8UC3, qtImage.bits(), qtImage.bytesPerLine()); - cv::cvtColor(cvImage, cvImage, cv::COLOR_BGR2GRAY); - std::vector cvPoints; - cv::findChessboardCorners(cvImage, cv::Size(cols, rows), cvPoints); + QImage qt_image(path); + qt_image = qt_image.convertToFormat(QImage::Format_RGB888); + cv::Mat cv_image(qt_image.height(), qt_image.width(), CV_8UC3, qt_image.bits(), qt_image.bytesPerLine()); + cv::cvtColor(cv_image, cv_image, cv::COLOR_BGR2GRAY); + std::vector cv_points; + cv::findChessboardCorners(cv_image, cv::Size(cols, rows), cv_points); - return convertVectorPoints2fToQVectorQPointF(cvPoints); + return convertVectorPoints2fToQVectorQPointF(cv_points); } -std::vector StereoTools::stereoCalibrate(std::vector > leftPoints, std::vector > rightPoints, - std::vector > objectPoints, cv::Size imageSize) { +std::vector StereoTools::stereoCalibrate(std::vector > left_points, std::vector > right_points, + std::vector > object_points, cv::Size image_size) { cv::Mat camera_matrix[2], dist_coeffs[2]; camera_matrix[0] = cv::Mat::eye(3, 3, CV_64F); camera_matrix[1] = cv::Mat::eye(3, 3, CV_64F); cv::Mat rotation, translation, essential, fundamental; - double rms = cv::stereoCalibrate(objectPoints, leftPoints, rightPoints, camera_matrix[0], dist_coeffs[0], camera_matrix[1], dist_coeffs[1], imageSize, rotation, translation, essential, + double rms = cv::stereoCalibrate(object_points, left_points, right_points, camera_matrix[0], dist_coeffs[0], camera_matrix[1], dist_coeffs[1], image_size, rotation, translation, essential, fundamental, cv::TermCriteria(CV_TERMCRIT_ITER + CV_TERMCRIT_EPS, 1000, 1e-8), cv::CALIB_RATIONAL_MODEL); double err = 0; int npoints = 0; std::vector lines[2]; - for (int i = 0; i < objectPoints.size(); i++) { - int npt = (int) leftPoints[i].size(); + for (int i = 0; i < object_points.size(); i++) { + int npt = (int) left_points[i].size(); cv::Mat imgpt[2]; for (int k = 0; k < 2; k++) { std::vector tempPoints; - k == 0 ? tempPoints = leftPoints[i] : tempPoints = rightPoints[i]; + k == 0 ? tempPoints = left_points[i] : tempPoints = right_points[i]; imgpt[k] = cv::Mat(tempPoints); cv::undistortPoints(imgpt[k], imgpt[k], camera_matrix[k], dist_coeffs[k], cv::Mat(), camera_matrix[k]); cv::computeCorrespondEpilines(imgpt[k], k + 1, fundamental, lines[k]); } for (int j = 0; j < npt; j++) { - double errij = fabs(leftPoints[i][j].x * lines[1][j][0] + leftPoints[i][j].y * lines[1][j][1] + lines[1][j][2]) - + fabs(rightPoints[i][j].x * lines[0][j][0] + rightPoints[i][j].y * lines[0][j][1] + lines[0][j][2]); + double errij = fabs(left_points[i][j].x * lines[1][j][0] + left_points[i][j].y * lines[1][j][1] + lines[1][j][2]) + + fabs(right_points[i][j].x * lines[0][j][0] + right_points[i][j].y * lines[0][j][1] + lines[0][j][2]); err += errij; } npoints += npt; } - cv::Mat errorMat = (cv::Mat_(1, 2) << rms, err / npoints); + cv::Mat error_mat = (cv::Mat_(1, 2) << rms, err / npoints); std::vector mats; mats.push_back(camera_matrix[0]); @@ -388,7 +388,7 @@ std::vector StereoTools::stereoCalibrate(std::vector &stereoImageitems); + StereoImageItem* addImages(const QList &stereo_image_items); StereoImageItem* getImageItem(const QString &name); QStandardItem* getImagesItems() const; StereoCameraParameterItem* getParameter() const; @@ -97,11 +97,11 @@ class StereoTools { static QList loadStereoImageAndFindChessboardItem(const QString& path, int cols, int rows); static QList loadStereoImageItem(const QString &path); static QVector findChessboard(const QString &path, int cols, int rows); - static std::vector stereoCalibrate(std::vector > leftPoints, std::vector > rightPoints, std::vector > objectPoints, - cv::Size imageSize); + static std::vector stereoCalibrate(std::vector > left_points, std::vector > right_points, std::vector > object_points, + cv::Size image_size); - static QVector convertVectorPoints2fToQVectorQPointF(const std::vector &points1); - static std::vector convertQVectorQPointFToVectorPoints2f(const QVector &points1); + static QVector convertVectorPoints2fToQVectorQPointF(const std::vector &points); + static std::vector convertQVectorQPointFToVectorPoints2f(const QVector &points); }; } diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt index a054cf8..eb7061a 100644 --- a/test/CMakeLists.txt +++ b/test/CMakeLists.txt @@ -1,6 +1,5 @@ rock_testsuite(stereoTools_test StereoTools_test.cpp DEPS QCamCalib LIBS ${Boost_THREAD_LIBRARY} ${Boost_SYSTEM_LIBRARY} - DEPS_PKGCONFIG opencv ) + DEPS_PKGCONFIG opencv) - ## QtCore QtGui \ No newline at end of file diff --git a/test/StereoTools_test.cpp b/test/StereoTools_test.cpp index 7a07e3b..5b83c11 100644 --- a/test/StereoTools_test.cpp +++ b/test/StereoTools_test.cpp @@ -13,9 +13,12 @@ #include #include +#include #include +#include + #define IMAGE_STEREO_CHESSBOARD "../../test/resource/stereo_dataset" #define NO_CHESSBOARD "No Chessboard" #define OK_CHESSBOARD "OK, Chessboard Found" @@ -25,6 +28,10 @@ using namespace qcam_calib; int precision = 1000; int chessboard_cols = 9; int chessboard_rows = 6; +int chessboard_dx = 35; +int chessboard_dy = 35; +float calibrate_error_rms = 0.5659; +float calibrate_avarege_error = 4.8452; int ground_truth_points[][54 * 2] = { { 244, 94, 274, 92, 305, 90, 338, 88, 371, 87, 406, 86, 441, 86, 477, 86, 514, 86, 244, 126, 275, 125, 306, 124, 338, 123, 372, 122, 406, 122, 442, 122, 478, 122, 513, 123, 245, 158, 275, 158, 306, 157, 338, 157, 372, 157, 406, 157, 441, 157, 477, 158, 513, 158, 246, 190, 275, 190, 307, 190, 339, 191, 372, 191, 406, 192, 441, 193, 477, 194, 513, 195, @@ -114,8 +121,64 @@ BOOST_AUTO_TEST_CASE(loadStereoImageAndFindChessboardItem_test) { BOOST_CHECK_EQUAL((int )iterQt->x(), ground_truth_points[i - 1][count_points_gt++]); BOOST_CHECK_EQUAL((int )iterQt->y(), ground_truth_points[i - 1][count_points_gt++]); } + } +} + +BOOST_AUTO_TEST_CASE(stereoCalibrate_test) { + + std::string root_path_left = std::string(IMAGE_STEREO_CHESSBOARD) + "/left_images/left"; + std::string root_path_right = std::string(IMAGE_STEREO_CHESSBOARD) + "/right_images/right"; + std::vector > left_points, right_points; + std::vector > object_points; + + std::vector chessboard_3DPonts; + for (int row = 0; row < chessboard_rows; ++row) + for (int col = 0; col < chessboard_cols; ++col) + chessboard_3DPonts.push_back(cv::Point3f(chessboard_dx * col, chessboard_dy * row, 0)); + + int image_sample = -1; + for (int i = 1; i <= 14; ++i) { + + std::string temp_path_left = root_path_left; + std::string temp_path_right = root_path_right; + + if (i < 10) { + temp_path_left += "0"; + temp_path_right += "0"; + } - std::cout << std::endl; + temp_path_left += intToStr(i) + ".jpg"; + temp_path_right += intToStr(i) + ".jpg"; + + QList items_left = StereoTools::loadStereoImageAndFindChessboardItem(QString::fromUtf8(temp_path_left.c_str()), chessboard_cols, chessboard_rows); + StereoImageItem *item_left = dynamic_cast(items_left.at(0)); + + QList items_right = StereoTools::loadStereoImageAndFindChessboardItem(QString::fromUtf8(temp_path_right.c_str()), chessboard_cols, chessboard_rows); + StereoImageItem *item_right = dynamic_cast(items_right.at(0)); + + if (!(item_right->isChessboardFound() && item_left->isChessboardFound())) + continue; + + left_points.push_back(StereoTools::convertQVectorQPointFToVectorPoints2f(item_left->getChessboardCorners())); + right_points.push_back(StereoTools::convertQVectorQPointFToVectorPoints2f(item_right->getChessboardCorners())); + object_points.push_back(chessboard_3DPonts); + image_sample = i; } + + std::string temp_path = root_path_left + intToStr(image_sample) + ".jpg"; + QImage qt_image(QString::fromUtf8(temp_path.c_str())); + qt_image = qt_image.convertToFormat(QImage::Format_RGB888); + cv::Size image_size(qt_image.height(), qt_image.width()); + + cv::Mat camera_matrix[2], dist_coeffs[2]; + camera_matrix[0] = cv::Mat::eye(3, 3, CV_64F); + camera_matrix[1] = cv::Mat::eye(3, 3, CV_64F); + cv::Mat rotation, translation, essential, fundamental; + + std::vector vec_matrix = StereoTools::stereoCalibrate(left_points, right_points, object_points, image_size); + + BOOST_CHECK_EQUAL((int )(calibrate_error_rms * precision), (int )(vec_matrix[4].at(0) * precision)); + BOOST_CHECK_EQUAL((int )(calibrate_avarege_error * precision), (int )(vec_matrix[4].at(1) * precision)); + } diff --git a/test/resource/stereo_dataset/stereo_parameters.gif b/test/resource/stereo_dataset/stereo_parameters.gif deleted file mode 100644 index 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10/13] Included procedure to check number of chessboard points detected --- CMakeLists.txt | 2 +- src/ItemsStereoCamera.cpp | 4 +++- test/StereoTools_test.cpp | 1 - .../right_images_no_chessboard/right13.jpg | Bin 0 -> 34575 bytes .../right_images_no_chessboard/right14.jpg | Bin 0 -> 32312 bytes 5 files changed, 4 insertions(+), 3 deletions(-) create mode 100644 test/resource/stereo_dataset/right_images_no_chessboard/right13.jpg create mode 100644 test/resource/stereo_dataset/right_images_no_chessboard/right14.jpg diff --git a/CMakeLists.txt b/CMakeLists.txt index 873e3c4..b7e6344 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,4 +3,4 @@ cmake_minimum_required(VERSION 2.6) find_package(Rock) rock_init(qcam_calib 0.1) -rock_standard_layout() +rock_standard_layout() \ No newline at end of file diff --git a/src/ItemsStereoCamera.cpp b/src/ItemsStereoCamera.cpp index 7404c93..a556a76 100644 --- a/src/ItemsStereoCamera.cpp +++ b/src/ItemsStereoCamera.cpp @@ -243,13 +243,15 @@ void StereoItem::calibrate(int cols, int rows, float dx, float dy) { for (int col = 0; col < cols; ++col) chessboard_3Dpoints.push_back(cv::Point3f(dx * col, dy * row, 0)); + int j=0; int image_sample = -1; for (int i = 0; i < item_row_count; ++i) { StereoImageItem* left_stereo_image = dynamic_cast(left_images->child(i, 0)); StereoImageItem* right_stereo_image = dynamic_cast(right_images->child(i, 0)); bool both_chessboard_detect = left_stereo_image->isChessboardFound() && right_stereo_image->isChessboardFound(); - if (!both_chessboard_detect) + bool equal_number_of_points = left_stereo_image->getChessboardCorners().size() == right_stereo_image->getChessboardCorners().size(); + if (!both_chessboard_detect || !equal_number_of_points) continue; left_points.push_back(StereoTools::convertQVectorQPointFToVectorPoints2f(left_stereo_image->getChessboardCorners())); diff --git a/test/StereoTools_test.cpp b/test/StereoTools_test.cpp index 5b83c11..f11ebcc 100644 --- a/test/StereoTools_test.cpp +++ 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z7ZvBv_nUh+U9+WMjh=V+8`rxJ`a};HXv7{Oe^`~J)#$x{=EImN=_L>0j4?q#&z}FO zJ~30!!zr9g(=m%X;`q5vpYpE(0>Qy{|1x>$HBBq0e*(yD#>X@)eMnf~9S*q5<~Q1R z;rW2p*|B><{R2PH`dNNnFQ#>K^?5SuV{ZDT-}S1v-mIXUK;$)31I*%n^?uck)uNwo z#oF%uVcbA+Sygrcd@zOh~A~tqkEU@i`3GFmMvkE=Q6(W6=hZ?xUu7u3=^m; YIyc)~r{nna51f~J!oAOaL2s-72klz0lK=n! literal 0 HcmV?d00001 From 125f3cd6e3b6bb95b859ea466fdd0e5814fab0a3 Mon Sep 17 00:00:00 2001 From: trocolit2 Date: Mon, 29 Feb 2016 19:49:11 -0300 Subject: [PATCH 11/13] Included procedure to check number of chessboard points detected --- CMakeLists.txt | 2 +- src/ItemsStereoCamera.cpp | 6 ++++-- test/StereoTools_test.cpp | 1 - .../right_images_no_chessboard/right13.jpg | Bin 0 -> 34575 bytes .../right_images_no_chessboard/right14.jpg | Bin 0 -> 32312 bytes 5 files changed, 5 insertions(+), 4 deletions(-) create mode 100644 test/resource/stereo_dataset/right_images_no_chessboard/right13.jpg create mode 100644 test/resource/stereo_dataset/right_images_no_chessboard/right14.jpg diff --git a/CMakeLists.txt b/CMakeLists.txt index 873e3c4..b7e6344 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,4 +3,4 @@ cmake_minimum_required(VERSION 2.6) find_package(Rock) rock_init(qcam_calib 0.1) -rock_standard_layout() +rock_standard_layout() \ No newline at end of file diff --git a/src/ItemsStereoCamera.cpp b/src/ItemsStereoCamera.cpp index 7404c93..25835e3 100644 --- a/src/ItemsStereoCamera.cpp +++ b/src/ItemsStereoCamera.cpp @@ -243,13 +243,15 @@ void StereoItem::calibrate(int cols, int rows, float dx, float dy) { for (int col = 0; col < cols; ++col) chessboard_3Dpoints.push_back(cv::Point3f(dx * col, dy * row, 0)); + int j=0; int image_sample = -1; for (int i = 0; i < item_row_count; ++i) { StereoImageItem* left_stereo_image = dynamic_cast(left_images->child(i, 0)); StereoImageItem* right_stereo_image = dynamic_cast(right_images->child(i, 0)); bool both_chessboard_detect = left_stereo_image->isChessboardFound() && right_stereo_image->isChessboardFound(); - if (!both_chessboard_detect) + bool equal_number_of_points = left_stereo_image->getChessboardCorners().size() == right_stereo_image->getChessboardCorners().size(); + if (!both_chessboard_detect || !equal_number_of_points) continue; left_points.push_back(StereoTools::convertQVectorQPointFToVectorPoints2f(left_stereo_image->getChessboardCorners())); @@ -343,7 +345,7 @@ QVector StereoTools::findChessboard(const QString &path, int cols, int cv::Mat cv_image(qt_image.height(), qt_image.width(), CV_8UC3, qt_image.bits(), qt_image.bytesPerLine()); cv::cvtColor(cv_image, cv_image, cv::COLOR_BGR2GRAY); std::vector cv_points; - cv::findChessboardCorners(cv_image, cv::Size(cols, rows), cv_points); + cv::findChessboardCorners(cv_image, cv::Size(cols, rows), cv_points, cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_NORMALIZE_IMAGE + cv::CALIB_CB_FAST_CHECK); return convertVectorPoints2fToQVectorQPointF(cv_points); } diff --git a/test/StereoTools_test.cpp b/test/StereoTools_test.cpp index 5b83c11..f11ebcc 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YIyc)~r{nna51f~J!oAOaL2s-72klz0lK=n! literal 0 HcmV?d00001 From 527555f68efeefe96d40b073772e16da42bf1c0f Mon Sep 17 00:00:00 2001 From: trocolit2 Date: Wed, 2 Mar 2016 10:15:56 -0300 Subject: [PATCH 12/13] Fixed bug found on procedure to detect chessboard in image --- src/ItemsStereoCamera.cpp | 18 ++++++++++++++---- 1 file changed, 14 insertions(+), 4 deletions(-) diff --git a/src/ItemsStereoCamera.cpp b/src/ItemsStereoCamera.cpp index a556a76..b51aadd 100644 --- a/src/ItemsStereoCamera.cpp +++ b/src/ItemsStereoCamera.cpp @@ -7,6 +7,7 @@ #include "ItemsStereoCamera.hpp" +//#include #include #include #include @@ -156,11 +157,14 @@ QImage qcam_calib::StereoImageItem::getImageWithChessboard(int cols, int rows) { cv::Mat cv_image(qt_image.height(), qt_image.width(), CV_8UC3, qt_image.bits(), qt_image.bytesPerLine()); std::vector cv_points; + QVector qt_points = this->chessboard; + if (this->isChessboardFound()) { cv_points = StereoTools::convertQVectorQPointFToVectorPoints2f(this->chessboard); cv::drawChessboardCorners(cv_image, cv::Size(cols, rows), cv_points, true); } + return QImage(cv_image.data, cv_image.cols, cv_image.rows, cv_image.step, QImage::Format_RGB888).copy(); } @@ -250,8 +254,10 @@ void StereoItem::calibrate(int cols, int rows, float dx, float dy) { StereoImageItem* right_stereo_image = dynamic_cast(right_images->child(i, 0)); bool both_chessboard_detect = left_stereo_image->isChessboardFound() && right_stereo_image->isChessboardFound(); - bool equal_number_of_points = left_stereo_image->getChessboardCorners().size() == right_stereo_image->getChessboardCorners().size(); - if (!both_chessboard_detect || !equal_number_of_points) + bool equal_number_of_points_left = left_stereo_image->getChessboardCorners().size() == cols*rows; + bool equal_number_of_points_right = right_stereo_image->getChessboardCorners().size() == cols*rows; + + if (!both_chessboard_detect || !equal_number_of_points_left || !equal_number_of_points_right) continue; left_points.push_back(StereoTools::convertQVectorQPointFToVectorPoints2f(left_stereo_image->getChessboardCorners())); @@ -345,9 +351,13 @@ QVector StereoTools::findChessboard(const QString &path, int cols, int cv::Mat cv_image(qt_image.height(), qt_image.width(), CV_8UC3, qt_image.bits(), qt_image.bytesPerLine()); cv::cvtColor(cv_image, cv_image, cv::COLOR_BGR2GRAY); std::vector cv_points; - cv::findChessboardCorners(cv_image, cv::Size(cols, rows), cv_points); + bool found_chessboard = cv::findChessboardCorners(cv_image, cv::Size(cols, rows), cv_points); + + QVector qt_points; + if(found_chessboard) + qt_points = convertVectorPoints2fToQVectorQPointF(cv_points); - return convertVectorPoints2fToQVectorQPointF(cv_points); + return qt_points; } std::vector StereoTools::stereoCalibrate(std::vector > left_points, std::vector > right_points, From 211dd48cff4dc1faaf1392fa886daa920e651386 Mon Sep 17 00:00:00 2001 From: trocolit2 Date: Wed, 2 Mar 2016 11:17:58 -0300 Subject: [PATCH 13/13] Fixed bug found on procedure to detect chessboard in image --- src/ItemsStereoCamera.cpp | 17 +++++++++++++---- 1 file changed, 13 insertions(+), 4 deletions(-) diff --git a/src/ItemsStereoCamera.cpp b/src/ItemsStereoCamera.cpp index a556a76..a48283d 100644 --- a/src/ItemsStereoCamera.cpp +++ b/src/ItemsStereoCamera.cpp @@ -156,11 +156,14 @@ QImage qcam_calib::StereoImageItem::getImageWithChessboard(int cols, int rows) { cv::Mat cv_image(qt_image.height(), qt_image.width(), CV_8UC3, qt_image.bits(), qt_image.bytesPerLine()); std::vector cv_points; + QVector qt_points = this->chessboard; + if (this->isChessboardFound()) { cv_points = StereoTools::convertQVectorQPointFToVectorPoints2f(this->chessboard); cv::drawChessboardCorners(cv_image, cv::Size(cols, rows), cv_points, true); } + return QImage(cv_image.data, cv_image.cols, cv_image.rows, cv_image.step, QImage::Format_RGB888).copy(); } @@ -250,8 +253,10 @@ void StereoItem::calibrate(int cols, int rows, float dx, float dy) { StereoImageItem* right_stereo_image = dynamic_cast(right_images->child(i, 0)); bool both_chessboard_detect = left_stereo_image->isChessboardFound() && right_stereo_image->isChessboardFound(); - bool equal_number_of_points = left_stereo_image->getChessboardCorners().size() == right_stereo_image->getChessboardCorners().size(); - if (!both_chessboard_detect || !equal_number_of_points) + bool equal_number_of_points_left = left_stereo_image->getChessboardCorners().size() == cols*rows; + bool equal_number_of_points_right = right_stereo_image->getChessboardCorners().size() == cols*rows; + + if (!both_chessboard_detect || !equal_number_of_points_left || !equal_number_of_points_right) continue; left_points.push_back(StereoTools::convertQVectorQPointFToVectorPoints2f(left_stereo_image->getChessboardCorners())); @@ -345,9 +350,13 @@ QVector StereoTools::findChessboard(const QString &path, int cols, int cv::Mat cv_image(qt_image.height(), qt_image.width(), CV_8UC3, qt_image.bits(), qt_image.bytesPerLine()); cv::cvtColor(cv_image, cv_image, cv::COLOR_BGR2GRAY); std::vector cv_points; - cv::findChessboardCorners(cv_image, cv::Size(cols, rows), cv_points); + bool found_chessboard = cv::findChessboardCorners(cv_image, cv::Size(cols, rows), cv_points); + + QVector qt_points; + if(found_chessboard) + qt_points = convertVectorPoints2fToQVectorQPointF(cv_points); - return convertVectorPoints2fToQVectorQPointF(cv_points); + return qt_points; } std::vector StereoTools::stereoCalibrate(std::vector > left_points, std::vector > right_points,