Add stereo camera calibration feature

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()

src/ItemsStereoCamera.hpp

@@ -0,0 +1,109 @@
+/*
+ * ItensStereoCamera.h
+ *
+ *  Created on: Jan 4, 2016
+ *      Author: tiagotrocoli
+ */
+
+#ifndef GUI_QCAM_CALIB_SRC_ITEMSSTEREOCAMERA_HPP_
+#define GUI_QCAM_CALIB_SRC_ITEMSSTEREOCAMERA_HPP_
+
+#include <QStandardItem>
+#include <QMenu>
+#include <QVector>
+
+#include <opencv2/core/core.hpp>
+
+#include <string>
+
+#include "Items.hpp"
+
+namespace qcam_calib {
+
+static const QList<QString> INTRINSIC_PARAMETERS_LIST = QList<QString>() << "fx" << "fy" << "cx" << "cy" << "k1" << "k2" << "p1" << "p2"<<"k3"<<"k4"<<"k5"<<"k6";
+static const QList<QString> FUNDAMENTAL_MATRIX_PARAMETERS_LIST = QList<QString>() << "e1" << "e2" << "e3" << "e4" << "e5" << "e6" << "e7" << "e8" << "e9";
+static const QList<QString> ROTATION_MATRIX_PARAMETERS_LIST = QList<QString>() << "r1" << "r2" << "r3" << "r4" << "r5" << "r6" << "r7" << "r8" << "r9";
+static const QList<QString> TRANSLATION_VECTOR_PARAMETERS_LIST = QList<QString>() << "t1" << "t2" << "t3";
+static const QList<QString> ERROR_VALUES_PARAMETERS_LIST = QList<QString>() << "RMS Error" << "Average reprojection error";
+
+
+class StereoCameraParameterItem: public QCamCalibItem {
+public:
+    StereoCameraParameterItem(const QString &string, QList<QString> parameters);
+    void setParameter(const QString &name, double val = 0);
+    double getParameter(const QString &name) const;
+
+    // vou modificar
+    void save(const QString &path) const;
+
+};
+
+class StereoImageItem: public QCamCalibItem {
+public:
+    StereoImageItem(const QString &name, const QString &path);
+    virtual ~StereoImageItem();
+
+    QImage getImageWithChessboard(int cols, int rows);
+
+    bool isChessboardFound();
+    const QString &getImagePath() const;
+    const QVector<QPointF> &getChessboardCorners() const;
+    void setChessboardCorners(QVector<QPointF> points);
+
+private:
+    QString image_path; // path to image
+    QVector<QPointF> chessboard;
+};
+
+class StereoCameraItem: public QCamCalibItem {
+public:
+    StereoCameraItem(int id, const QString &string);
+
+    int getId();
+    StereoImageItem* addImages(const QList<QStandardItem*> &stereo_image_items);
+    StereoImageItem* getImageItem(const QString &name);
+    QStandardItem* getImagesItems() const;
+    StereoCameraParameterItem* getParameter() const;
+
+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();
+
+private:
+    int stereo_id;
+    QStandardItem *parameters;
+    StereoCameraParameterItem* error_values;
+
+    StereoCameraItem *left_camera;
+    StereoCameraItem *right_camera;
+};
+
+class StereoTools {
+
+public:
+
+    static QList<QStandardItem*> loadStereoImageAndFindChessboardItem(const QString& path, int cols, int rows);
+    static QList<QStandardItem*> loadStereoImageItem(const QString &path);
+    static QVector<QPointF> findChessboard(const QString &path, int cols, int rows);
+    static std::vector<cv::Mat> stereoCalibrate(std::vector<std::vector<cv::Point2f> > left_points, std::vector<std::vector<cv::Point2f> > right_points, std::vector<std::vector<cv::Point3f> > object_points,
+            cv::Size image_size);
+
+    static QVector<QPointF> convertVectorPoints2fToQVectorQPointF(const std::vector<cv::Point2f> &points);
+    static std::vector<cv::Point2f> convertQVectorQPointFToVectorPoints2f(const QVector<QPointF> &points);
+};
+
+}
+
+#endif /* GUI_QCAM_CALIB_SRC_ITEMSSTEREOCAMERA_HPP_ */