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#include <QtWidgets>
#include <QFileDialog>
#include <QMessageBox>
#include "extrCalibration.h"
#include "petrack.h"
#include "control.h"
using namespace std;
using namespace cv;
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#define MAX_AV_ERROR 20
ExtrCalibration::ExtrCalibration()
{
mMainWindow = NULL;
mControlWidget = NULL;
}
ExtrCalibration::~ExtrCalibration()
{
}
void ExtrCalibration::setMainWindow(Petrack *mw)
{
mMainWindow = mw;
mControlWidget = mw->getControlWidget();
init();
}
void ExtrCalibration::init()
{
rotation_matrix = new double[9];
translation_vector = new double[3];
translation_vector2 = new double[3];
camValues = new double[9];
distValues = new double[8];
isExtCalib = false;
}
bool ExtrCalibration::isEmptyExtrCalibFile()
{
return mExtrCalibFile.isEmpty();
}
void ExtrCalibration::setExtrCalibFile(const QString &f)
{
mExtrCalibFile = f;
}
QString ExtrCalibration::getExtrCalibFile()
{
if (!this->isEmptyExtrCalibFile())
return mExtrCalibFile;
else
return QString();
}
bool ExtrCalibration::openExtrCalibFile(){
if (mMainWindow)
{
static QString lastDir;
if (!mExtrCalibFile.isEmpty())
lastDir = QFileInfo(mExtrCalibFile).path();
QString extrCalibFile = QFileDialog::getOpenFileName(mMainWindow, Petrack::tr("Open extrinisc calibration file with point correspondences"), lastDir, "3D-Calibration-File (*.3dc);;Text (*.txt);;All supported types (*.3dc *.txt);;All files (*.*)");
if (!extrCalibFile.isEmpty())
{
mExtrCalibFile = extrCalibFile;
return loadExtrCalibFile();
}
//cout << mCalibFiles.first().toStdString() << endl; //toAscii() .data() Local8Bit().constData() << endl;
}
return false;
}
bool ExtrCalibration::loadExtrCalibFile(){
bool all_ok = true;
if( !mExtrCalibFile.isEmpty() )
{
if( mExtrCalibFile.right(4) == ".3dc" || mExtrCalibFile.right(4) == ".txt" )
{
QFile file(mExtrCalibFile);
if( !file.open(QIODevice::ReadOnly | QIODevice::Text) )
{
QMessageBox::critical(mMainWindow, QObject::tr("Petrack"), QObject::tr("Error: Cannot open %1:\n%2.").arg(mExtrCalibFile).arg(file.errorString()));
return false;
}
debout << "Reading 3D calibration data from " << mExtrCalibFile << "..." << endl;
vector<Point3f> points3D_tmp;
vector<Point2f> points2D_tmp;
QTextStream in(&file);
QString line;
int line_counter = 0, counter;
float x,y,z,px,py;
float zahl;
bool with_2D_data = false,
with_3D_data = false,
end_loop = false;
while( 1 )
{
// Falls Datei am Ende Schleife beenden
if( in.atEnd() )
{
break;
}
// Neue Zeile einlesen
line = in.readLine();
++line_counter;
// Kommentare ueberlesen
if( line.startsWith("#",Qt::CaseInsensitive) ||
line.startsWith(";;",Qt::CaseInsensitive) ||
line.startsWith("//",Qt::CaseInsensitive) ||
line.startsWith("!",Qt::CaseInsensitive) )
continue;
// Test-Ausgabe
// debout << "line: " << line << endl;
QTextStream stream(&line);
counter = 0;
end_loop = false;
while( !stream.atEnd() && !end_loop )
{
stream >> zahl;
++counter;
switch( counter )
{
case 1:
x = zahl;
if( !with_3D_data )
{
points3D_tmp.clear();
with_3D_data = true;
}
break;
case 2:
y = zahl;
break;
case 3:
z = zahl;
break;
case 4:
px = zahl;
if( !with_2D_data )
{
points2D_tmp.clear();
with_2D_data = true;
}
break;
case 5:
py = zahl;
break;
default:
//debout << "### Error: counter=" << counter << endl;
end_loop = true;
}
}
if( counter == 1 )
{
debout << "Optional number of points in line " << line_counter << " ignored." << endl;
}else if( counter != 3 && counter != 5 )
debout << "Something wrong in line " << line_counter << "( " << line << " )! Ignored. (counter=" << counter << ")" << endl;
// 3D daten abspeichern
if( with_3D_data && (counter == 3 || counter == 5) )
{
//debout << "x: " << x << " y: " << y << " z: " << z << endl;
points3D_tmp.push_back( Point3f( x, y, z ) );
}
// 2D daten abspeichern
if( with_2D_data && counter == 5 )
{
//debout << " px: " << px << " py: " << py << endl;
points2D_tmp.push_back( Point2f( px, py ) );
}
}
// Check if there are more than 4 points for calibration in the file
if( points3D_tmp.size() < 4 )
{
QMessageBox::critical(mMainWindow, QObject::tr("PeTrack"), QObject::tr("Error: Not enough points given: %1 (minimum 4 needed!). Please check your extrinsic calibration file!").arg(points3D_tmp.size()));
all_ok = false;
}
// Check if 2D points delivered and if the number of 2D and 3D points agree
else if( points2D_tmp.size() > 0 && points2D_tmp.size() != points3D_tmp.size() )
{
QMessageBox::critical(mMainWindow, QObject::tr("PeTrack"), QObject::tr("Error: Unsupported File Format in: %1 (number of 3D (%2) and 2D (%3) points disagree!)").arg(mExtrCalibFile).arg(points3D_tmp.size()).arg(points2D_tmp.size()));
all_ok = false;
}
// Check if number of loaded 3D points agree with stored 2D points
else if( !with_2D_data && points2D.size()>0 && points3D_tmp.size() != points2D.size() )
{
// ask if stored 2D points should be deleted?
int result = QMessageBox::warning(mMainWindow, QObject::tr("PeTrack"), QObject::tr("Number of 3D points (%1) disagree with number of stored 2D points (%2)!<br />The 2D points will be deleted! You have to fetch new ones from the image!").arg(points3D_tmp.size()).arg(points2D.size()),QMessageBox::Ok, QMessageBox::Abort);
if (result != QMessageBox::Ok)
all_ok = false;
else
points2D.clear();
}
if( all_ok )
{
if( with_3D_data ) points3D = points3D_tmp;
if( with_2D_data ) points2D = points2D_tmp;
}
}else
{
debout << "unsupported file extension (supported: .3dc,.txt)" << endl;
}
}else
{
// no calib_file
all_ok = false;
}
if (all_ok && !mMainWindow->isLoading())
calibExtrParams();
return all_ok;
}
bool ExtrCalibration::fetch2DPoints()
{
bool all_ok = true;
if( !mMainWindow->getTracker() || mMainWindow->getTracker()->size() < 4 )
{
QMessageBox::critical(mMainWindow, QObject::tr("Petrack"), QObject::tr("Error: At minimum four 3D calibration points needed for 3D calibration."));
all_ok = false;
}else
{
size_t sz_2d = mMainWindow->getTracker()->size();
if( points3D.size()>0 && sz_2d != points3D.size() ){
QMessageBox::critical(mMainWindow, QObject::tr("Petrack"), QObject::tr("Count of 2D-Points (%1) and 3D-Points (%2) disagree").arg(sz_2d).arg(points3D.size()));
all_ok = false;
}
//debout << "Marked 2D-Image-Points: " << endl;
if( all_ok )
{
points2D.clear();
for(size_t i = 0; i < sz_2d; i++)
{
//debout << "[" << i << "]: (" << mMainWindow->getTracker()->at(i).at(0).x() << ", " << mMainWindow->getTracker()->at(i).at(0).y() << ")" << endl;
// Info: Tracker->TrackPerson->TrackPoint->Vec2F
points2D.push_back(Point2f(mMainWindow->getTracker()->at(i).at(0).x(),mMainWindow->getTracker()->at(i).at(0).y()));
}
}
}
if( all_ok )
{
mMainWindow->getTracker()->clear();
calibExtrParams();
}
return all_ok;
}
bool ExtrCalibration::saveExtrCalibPoints()
{
bool all_okay = false;
QString out_str;
QTextStream out(&out_str);
for (size_t i = 0; i < points3D.size(); ++i)
out << "[" << QString::number(i+1,'i',0) << "]: "<< QString::number(points3D.at(i).x,'f',1) << " " << QString::number(points3D.at(i).y,'f',1) << " " << QString::number(points3D.at(i).z,'f',1) << " " << QString::number(points2D.at(i).x,'f',3) << " " << QString::number(points2D.at(i).y,'f',3) << Qt::endl;
}
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Warning);
msgBox.setText("The corresponding calibration points have been changed.");
msgBox.setInformativeText("Do you want to save your changes?");
msgBox.setDetailedText(out_str);
msgBox.setStandardButtons(QMessageBox::QMessageBox::Save | QMessageBox::Cancel);
msgBox.setDefaultButton(QMessageBox::Save);
int ret = msgBox.exec();
switch (ret) {
case QMessageBox::Save:
{
// Save was clicked
QFile file(mExtrCalibFile);
if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
{
QMessageBox::critical(mMainWindow, QObject::tr("Petrack"), QObject::tr("Cannot open %1:\n%2.").arg(mExtrCalibFile).arg(file.errorString()));
return false;
}
QTextStream file_out(&file);
file_out << points3D.size() << Qt::endl;
for (size_t i = 0; i < points3D.size(); ++i)
file_out << points3D.at(i).x << " " << points3D.at(i).y << " " << points3D.at(i).z << " " << points2D.at(i).x << " " << points2D.at(i).y << Qt::endl;
}
all_okay = file.flush();
file.close();
break;
}
case QMessageBox::Discard:
// Don't Save was clicked
break;
case QMessageBox::Cancel:
// Cancel was clicked
break;
default:
// should never be reached
break;
}
return all_okay;
}
bool ExtrCalibration::isSetExtrCalib(){
// bool isSetExtrCalib = false;
//
// if( mControlWidget->getCalibExtrRot1() != 0.00 &&
// mControlWidget->getCalibExtrRot2() != 0.00 &&
// mControlWidget->getCalibExtrRot3() != 0.00 &&
// mControlWidget->getCalibExtrTrans1() != 0.00 &&
// mControlWidget->getCalibExtrTrans2() != 0.00 &&
// mControlWidget->getCalibExtrTrans3() != 0.00 )
// {
// isSetExtrCalib = true;
// }
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return true;//isSetExtrCalib;
}
void ExtrCalibration::calibExtrParams()
{
if( !points3D.empty() && !points2D.empty() && points2D.size() == points3D.size() )
{
int bS = mMainWindow->getImageBorderSize();
/* Create Camera-Matrix form Camera-Params in the Petrack-GUI */
Mat camMat = (Mat_<double>(3,3) <<
mControlWidget->fx->value(), 0, mControlWidget->cx->value()-bS,
0, mControlWidget->fy->value(), mControlWidget->cy->value()-bS,
0, 0, 1);
/* Distortion Params must be 0 because only undistorted images are supported */
// if( mControlWidget->r2->value() != 0 || mControlWidget->r4->value() != 0
// || mControlWidget->tx->value() != 0 || mControlWidget->ty->value() != 0 )
// {
// QMessageBox::warning(mMainWindow, "Petrack",
// "The distortion Parameters are set!\n"
// "The 3D Camera-Calibration is implemented only for images without distortion.\n"
// "There is no waranty of correct results!",
// QMessageBox::Ok,QMessageBox::Ok);
// }
Mat distMat = (Mat_<double>(8,1) <<
0,//mControlWidget->r2->value(),
0,//mControlWidget->r4->value(),
0,//mControlWidget->tx->value(),
0,//mControlWidget->ty->value(),
// r^>4 not supported
0,//mControlWidget->r6->value(),
0,//mControlWidget->k4->value(),
0,//mControlWidget->k5->value(),
0//mControlWidget->k6->value()
);
/* Create Mat-objects of point correspondences */
Mat op(points3D);
Mat ip(points2D);
//cout << "3D Punkte: " << endl << " " << format(points3D,"csv") << endl;
//cout << "2D Punkte: " << endl << " " << format(points2D,"csv") << endl;
/* Mat-objects for result rotation and translation vectors */
Mat rvec(3,1,CV_64F),/*,0),*/ tvec(3,1,CV_64F);//,0);
// Solve the PnP-Problem to calibrate the camera to its environment
solvePnP(op,ip,camMat,distMat,rvec,tvec,false,SOLVEPNP_ITERATIVE);
//bool solvePNPsuccess = solvePnP(op,ip,camMat,distMat,rvec,tvec,false,SOLVEPNP_P3P); // Requires exactly 4 points
//bool solvePNPsuccess = solvePnP(op,ip,camMat,distMat,rvec,tvec,false,SOLVEPNP_EPNP);
//bool solvePNPsuccess = solvePnP(op,ip,camMat,distMat,rvec,tvec,false,SOLVEPNP_DLS);
//bool solvePNPsuccess = solvePnP(op,ip,camMat,distMat,rvec,tvec,false,SOLVEPNP_UPNP);
//bool solvePNPsuccess = true;
//solvePnPRansac(op,ip,camMat,distMat,rvec,tvec);
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// debout << "The solvePNP-Method " << (solvePNPsuccess ? "" : "doesn't ") << "worked. " << solvePNPsuccess << endl;
// void decomposeProjectionMatrix(InputArray projMatrix,
// OutputArray cameraMatrix,
// OutputArray rotMatrix,
// OutputArray transVect,
// OutputArray rotMatrixX=noArray(),
// OutputArray rotMatrixY=noArray(),
// OutputArray rotMatrixZ=noArray(),
// OutputArray eulerAngles=noArray() );
// debout << "Rotation:" << endl;
// debout << rvec.at<double>(0,0) << ", " << rvec.at<double>(1,0) << ", " << rvec.at<double>(2,0) << endl;
// debout << rvec.at<double>(0,0) << ", " << rvec.at<double>(0,1) << ", " << rvec.at<double>(0,2) << endl;
// debout << "Translation:" << endl;
// debout << tvec.at<double>(0,0) << ", " << tvec.at<double>(1,0) << ", " << tvec.at<double>(2,0) << endl;
// debout << tvec.at<double>(0,0) << ", " << tvec.at<double>(0,1) << ", " << tvec.at<double>(0,2) << endl;
Mat rot_mat(3,3,CV_64F);//, 0);
// Transform the rotation vector into a rotation matrix with opencvs rodrigues method
Rodrigues(rvec,rot_mat);
rotation_matrix[0] = rot_mat.at<double>(0,0);
rotation_matrix[1] = rot_mat.at<double>(0,1);
rotation_matrix[2] = rot_mat.at<double>(0,2);
rotation_matrix[3] = rot_mat.at<double>(1,0);
rotation_matrix[4] = rot_mat.at<double>(1,1);
rotation_matrix[5] = rot_mat.at<double>(1,2);
rotation_matrix[6] = rot_mat.at<double>(2,0);
rotation_matrix[7] = rot_mat.at<double>(2,1);
rotation_matrix[8] = rot_mat.at<double>(2,2);
translation_vector[0] = tvec.at<double>(0,0);
translation_vector[1] = tvec.at<double>(0,1);
translation_vector[2] = tvec.at<double>(0,2);
translation_vector2[0] =
rotation_matrix[0] * translation_vector[0] +
rotation_matrix[3] * translation_vector[1] +
rotation_matrix[6] * translation_vector[2];
translation_vector2[1] =
rotation_matrix[1] * translation_vector[0] +
rotation_matrix[4] * translation_vector[1] +
rotation_matrix[7] * translation_vector[2];
translation_vector2[2] =
rotation_matrix[2] * translation_vector[0] +
rotation_matrix[5] * translation_vector[1] +
rotation_matrix[8] * translation_vector[2];
debout << "-.- ESTIMATED ROTATION -.-" << endl;
for ( size_t p=0; p<3; p++ )
debout << rotation_matrix[p*3] << " , " << rotation_matrix[p*3+1] << " , " << rotation_matrix[p*3+2] << endl;
debout << "-.- ESTIMATED TRANSLATION -.-" << endl;
debout << translation_vector[0] << " , " << translation_vector[1] << " , " << translation_vector[2] << endl;
debout << "-.- Translation vector -.-" << endl;
debout << translation_vector2[0] << " , " << translation_vector2[1] << " , " << translation_vector2[2] << endl;
debout << "-.- Rotation vector -.-" << endl;
debout << rvec.at<double>(0,0) << " , " << rvec.at<double>(1,0) << " , " << rvec.at<double>(2,0) << endl;
camHeight = translation_vector2[2] < 0 ? -translation_vector2[2] : translation_vector2[2];
mControlWidget->setCalibExtrRot1(rvec.at<double>(0,0));
mControlWidget->setCalibExtrRot2(rvec.at<double>(1,0));
mControlWidget->setCalibExtrRot3(rvec.at<double>(2,0));
mControlWidget->setCalibExtrTrans1(translation_vector2[0]);
mControlWidget->setCalibExtrTrans2(translation_vector2[1]);
mControlWidget->setCalibExtrTrans3(translation_vector2[2]);
// mControlWidget->setCalibCoord3DTransX(0);
// mControlWidget->setCalibCoord3DTransY(0);
// mControlWidget->setCalibCoord3DTransZ(0);
if ( !calcReprojectionError() )
{
cout << "# Warning: extrinsic calibration not possible! Please select other 2D/3D points!" << endl;
mControlWidget->setCalibExtrRot1(0);
mControlWidget->setCalibExtrRot2(0);
mControlWidget->setCalibExtrRot3(0);
translation_vector2[0] = 0;
translation_vector2[1] = 0;
translation_vector2[2] = 0;
rotation_matrix[0] = 0;
rotation_matrix[1] = 0;
rotation_matrix[2] = 0;
mControlWidget->setCalibExtrTrans1(translation_vector2[0]);
mControlWidget->setCalibExtrTrans2(translation_vector2[1]);
mControlWidget->setCalibExtrTrans3(translation_vector2[2]);
reprojectionError.clear();
QMessageBox::critical(mMainWindow, QObject::tr("Petrack"), QObject::tr("Error: Could not calculate extrinsic calibration. Please select other 2D/3D point correspondences for extrinsic calibration!"));
isExtCalib = false;
return;
}
isExtCalib = true;
cout << "End of extern calibration!" << endl;
}else
{
cerr << "# Warning: invalid point correspondences for camera calibration." << endl;
cerr << "# 2D points:" << points2D.size() << ", 3D points: " << points3D.size() << endl;
}
mMainWindow->getScene()->update();
}
bool ExtrCalibration::calcReprojectionError()
{
//////
/// \brief error measurements
///
float val, max_px = -1.0, max_pH = -1.0, max_dH = -1.0,
var_px = 0, sd_px = 0, var_pH = 0, sd_pH = 0, var_dH = 0, sd_dH = 0,
sum_px = 0, sum_pH = 0, sum_dH = 0;
//int bS = mMainWindow->getImageBorderSize();
int num_points = get2DList().size();
bool debug = false;
for(int i=0; i< num_points; i++)
{
Point2f p2 = get2DList().at(i);
Point3f p3d = get3DList().at(i);
p3d.x -= mControlWidget->getCalibCoord3DTransX();
p3d.y -= mControlWidget->getCalibCoord3DTransY();
p3d.z -= mControlWidget->getCalibCoord3DTransZ();
Point2f p3 = getImagePoint(p3d);
// Error measurements metric (cm)
//debout << "Point-Height: " << endl;
Point3f p2d = get3DPoint(Point2f(p2.x/*+bS*/,p2.y/*+bS*/),p3d.z);
//debout << p2d.x << " " << p2d.y << " " << p2d.z << endl;
//debout << p3d.x << " " <<p3d.y << " " <<p3d.z << endl;
//debout << "Default-Height: " << endl;
Point3f p2d_mapDefaultHeight = get3DPoint(p2,mControlWidget->mapDefaultHeight->value()); // mStatusPosRealHeight->value()); ?
//debout << p2d_mapDefaultHeight.x << " " << p2d_mapDefaultHeight.y << " " << p2d_mapDefaultHeight.z << endl;
Point3f p3d_mapDefaultHeight = get3DPoint(Point2f(p3.x,p3.y)/*getImagePoint(p2d_mapDefaultHeight)*/,mControlWidget->mapDefaultHeight->value());
//debout << p3d_mapDefaultHeight.x << " " << p3d_mapDefaultHeight.y << " " << p3d_mapDefaultHeight.z << endl;
val = sqrt(pow(p3d.x-p2d.x,2) + pow(p3d.y-p2d.y,2));
if ( val > max_pH ) max_pH = val;
sum_pH += val;
if( debug ) debout << "Error point[" << i << "]: " << val << endl;
val = sqrt(pow(p3d_mapDefaultHeight.x-p2d_mapDefaultHeight.x,2) + pow(p3d_mapDefaultHeight.y-p2d_mapDefaultHeight.y,2));
if ( val > max_dH ) max_dH = val;
sum_dH += val;
if( debug ) debout << "Error point[" << i << "]: " << val << endl;
// Error measurements pixel
val = sqrt(pow(p3.x-p2.x,2) + pow(p3.y-p2.y,2));
// Maximum
if ( val > max_px ) max_px = val;
sum_px += val;
if( debug ) debout << "Error point[" << i << "]: " << val << endl;
}
for(int i=0; i< num_points; i++)
{
Point2f p2 = get2DList().at(i);
Point3f p3d = get3DList().at(i);
p3d.x -= mControlWidget->getCalibCoord3DTransX();
p3d.y -= mControlWidget->getCalibCoord3DTransY();
p3d.z -= mControlWidget->getCalibCoord3DTransZ();
Point2f p3 = getImagePoint(p3d);
// Error measurements metric (cm)
//debout << "Point-Height: " << endl;
Point3f p2d = get3DPoint(Point2f(p2.x/*+bS*/,p2.y/*+bS*/),p3d.z);
//debout << p2d.x << " " << p2d.y << " " << p2d.z << endl;
//debout << p3d.x << " " <<p3d.y << " " <<p3d.z << endl;
//debout << "Default-Height: " << endl;
Point3f p2d_mapDefaultHeight = get3DPoint(p2,mControlWidget->mapDefaultHeight->value()); // mStatusPosRealHeight->value()); ?
//debout << p2d_mapDefaultHeight.x << " " << p2d_mapDefaultHeight.y << " " << p2d_mapDefaultHeight.z << endl;
Point3f p3d_mapDefaultHeight = get3DPoint(Point2f(p3.x,p3.y)/*getImagePoint(p2d_mapDefaultHeight)*/,mControlWidget->mapDefaultHeight->value());
//debout << p3d_mapDefaultHeight.x << " " << p3d_mapDefaultHeight.y << " " << p3d_mapDefaultHeight.z << endl;
val = pow(sqrt(pow(p3d.x-p2d.x,2) + pow(p3d.y-p2d.y,2))-(sum_pH/num_points),2);
var_pH += val;
val = pow(sqrt(pow(p3d_mapDefaultHeight.x-p2d_mapDefaultHeight.x,2) + pow(p3d_mapDefaultHeight.y-p2d_mapDefaultHeight.y,2))-(sum_dH/num_points),2);
var_dH += val;
val = pow(sqrt(pow(p3.x-p2.x,2) + pow(p3.y-p2.y,2))-(sum_px/num_points),2);
var_px += val;
}
if( reprojectionError.isEmpty() )
reprojectionError = QVector<double>(13);
// average
sum_pH /= num_points;
var_pH /= num_points;
sd_pH = sqrt(var_pH);
debout << "Reprojection error (pointHeight) average: " << sum_pH << "cm (standard deviation: " << sd_pH << " variance: " << var_pH << " Max error: " << max_pH << "cm)" << endl;
reprojectionError[0] = sum_pH;
reprojectionError[1] = sd_pH;
reprojectionError[2] = var_pH;
reprojectionError[3] = max_pH;
// average
sum_dH /= num_points;
var_dH /= num_points;
sd_dH = sqrt(var_dH);
debout << "Reprojection error (defaultHeight=" << mControlWidget->mapDefaultHeight->value() << ") average: " << sum_dH << "cm (standard deviation: " << sd_dH << " variance: " << var_dH << " Max error: " << max_dH << "cm)" << endl;
reprojectionError[4] = sum_dH;
reprojectionError[5] = sd_dH;
reprojectionError[6] = var_dH;
reprojectionError[7] = max_dH;
// average
sum_px /= num_points;
var_px /= num_points;
sd_px = sqrt(var_px);
debout << "Reprojection error (Pixel) average: " << sum_px << "px (standard deviation: " << sd_px << " variance: " << var_px << " Max error: " << max_px << "px)" << endl;
reprojectionError[8] = sum_px;
reprojectionError[9] = sd_px;
reprojectionError[10] = var_px;
reprojectionError[11] = max_px;
// default height
reprojectionError[12] = mControlWidget->mapDefaultHeight->value();
return reprojectionError[0] > MAX_AV_ERROR ? false : true; // Falls pixel fehler im schnitt > 20 ist das Ergebnis nicht akzeptabel
}
Point2f ExtrCalibration::getImagePoint(Point3f p3d)
{
bool debug = false;
p3d.x *= mControlWidget->getCalibCoord3DSwapX() ? -1 : 1;
p3d.y *= mControlWidget->getCalibCoord3DSwapY() ? -1 : 1;
p3d.z *= mControlWidget->getCalibCoord3DSwapZ() ? -1 : 1;
// Adding the coordsystem translation from petrack window
p3d.x += mControlWidget->getCalibCoord3DTransX();
p3d.y += mControlWidget->getCalibCoord3DTransY();
p3d.z += mControlWidget->getCalibCoord3DTransZ();
if( debug ) cout << "getImagePoint: Start Point3D: (" << p3d.x << ", " << p3d.y << ", " << p3d.z << ")" << endl;
// ToDo: use projectPoints();
int bS = mMainWindow->getImage() ? mMainWindow->getImageBorderSize() : 0;
double rvec_array[3], translation_vector[3];
rvec_array[0] = mControlWidget->getCalibExtrRot1();
rvec_array[1] = mControlWidget->getCalibExtrRot2();
rvec_array[2] = mControlWidget->getCalibExtrRot3();
Mat rvec(3,1,CV_64F, rvec_array), rot_inv;
Mat rot_mat(3,3,CV_64F), e(3,3,CV_64F);
// Transform the rotation vector into a rotation matrix with opencvs rodrigues method
Rodrigues(rvec,rot_mat);
// use inverse Matrix to get translation_vector?
rot_inv = rot_mat.inv(DECOMP_SVD);
e = rot_inv*rot_mat;
translation_vector[0] =
rot_mat.at<double>(0,0)*mControlWidget->getCalibExtrTrans1()+
rot_mat.at<double>(0,1)*mControlWidget->getCalibExtrTrans2()+
rot_mat.at<double>(0,2)*mControlWidget->getCalibExtrTrans3();
translation_vector[1] =
rot_mat.at<double>(1,0)*mControlWidget->getCalibExtrTrans1()+
rot_mat.at<double>(1,1)*mControlWidget->getCalibExtrTrans2()+
rot_mat.at<double>(1,2)*mControlWidget->getCalibExtrTrans3();
translation_vector[2] =
rot_mat.at<double>(2,0)*mControlWidget->getCalibExtrTrans1()+
rot_mat.at<double>(2,1)*mControlWidget->getCalibExtrTrans2()+
rot_mat.at<double>(2,2)*mControlWidget->getCalibExtrTrans3();
if( debug )
{
cout << "\n-.- ESTIMATED ROTATION\n";
for ( size_t p=0; p<3; p++ )
printf("%20.18f, %20.18f, %20.18f\n",rot_mat.at<double>(p,0),rot_mat.at<double>(p,1),rot_mat.at<double>(p,2));
//cout << rot_mat.at<double>(p,0) << " , " << rot_mat.at<double>(p,1) << " , " << rot_mat.at<double>(p,2) << "\n";
cout << "\n-.- ESTIMATED ROTATION^-1\n";
for ( size_t p=0; p<3; p++ )
printf("%20.18f, %20.18f, %20.18f\n",rot_inv.at<double>(p,0),rot_inv.at<double>(p,1),rot_inv.at<double>(p,2));
//cout << rot_inv.at<double>(p,0) << " , " << rot_inv.at<double>(p,1) << " , " << rot_inv.at<double>(p,2) << "\n";
cout << "\n-.- ESTIMATED R^-1*R\n";
for ( size_t p=0; p<3; p++ )
printf("%20.18f, %20.18f, %20.18f\n",e.at<double>(p,0),e.at<double>(p,1),e.at<double>(p,2));
//cout << e.at<double>(p,0) << " , " << e.at<double>(p,1) << " , " << e.at<double>(p,2) << "\n";
cout << "\n-.- ESTIMATED TRANSLATION\n";
printf("%20.15f, %20.15f, %20.15f\n",translation_vector[0],translation_vector[1],translation_vector[2]);
//cout << translation_vector[0] << " , " << translation_vector[1] << " , " << translation_vector[2] << "\n";
//cout << this->translation_vector[0] << " = " << translation_vector[0] << endl;
//cout << this->translation_vector[1] << " = " << translation_vector[1] << endl;
//cout << this->translation_vector[2] << " = " << translation_vector[2] << endl;
}
Point3f point3D;
point3D.x =
rot_mat.at<double>(0,0) * p3d.x +
rot_mat.at<double>(0,1) * p3d.y +
rot_mat.at<double>(0,2) * p3d.z +
translation_vector[0];
point3D.y =
rot_mat.at<double>(1,0) * p3d.x +
rot_mat.at<double>(1,1) * p3d.y +
rot_mat.at<double>(1,2) * p3d.z +
translation_vector[1];
point3D.z =
rot_mat.at<double>(2,0) * p3d.x +
rot_mat.at<double>(2,1) * p3d.y +
rot_mat.at<double>(2,2) * p3d.z +
translation_vector[2];
if( debug ) cout << "###### After extern calibration: (" << point3D.x << ", " << point3D.y << ", " << point3D.z << ")" << endl;
Point2f point2D = Point2f( 0.0, 0.0 );
if ( point3D.z != 0 )
{
point2D.x = (mControlWidget->fx->value() * point3D.x) / point3D.z + (mControlWidget->cx->value()-bS);
point2D.y = (mControlWidget->fy->value() * point3D.y) / point3D.z + (mControlWidget->cy->value()-bS);
}
if (false && bS > 0)
{
point2D.x += bS;
point2D.y += bS;
}
return point2D;
}
/**
* Methode get3DPoint
* Wandelt einen 2D-Punkt in einen 3D Punkt um
* Dazu muss der 2D-Pixelpunkt sowie der Abstand
* des 2D-Punktes zur xy-Ebene angegeben werden (i.d.R. die Hoehe/Personengroesse)
*
* Input: p2d = 2D Pixelpunkt (Uebergabe ohne Border)
* h = Abstand des Punktes zur xy-Ebene
*
* Output: Point3f resultPoint gibt den berechneten 3D-Punkt zurueck
*
*/
Point3f ExtrCalibration::get3DPoint(Point2f p2d, double h)
{
bool debug = false;
// bool debug = true;
if( debug ) cout << "get3DPoint: Start Point2D: (" << p2d.x << ", " << p2d.y << ") h: " << h << endl;
int bS = mMainWindow->getImage() ? mMainWindow->getImageBorderSize() : 0;
if (false && bS > 0)
{
p2d.x += bS;
p2d.y += bS;
}
// Ergebnis 3D-Punkt
Point3f resultPoint, tmpPoint;
bool newMethod = true;
/////////////// Start new method
if( newMethod )
{
double rvec_array[3], translation_vector[3];
rvec_array[0] = mControlWidget->getCalibExtrRot1();
rvec_array[1] = mControlWidget->getCalibExtrRot2();
rvec_array[2] = mControlWidget->getCalibExtrRot3();
Mat rvec(3,1,CV_64F, rvec_array), rot_inv;
Mat rot_mat(3,3,CV_64F), e(3,3,CV_64F);
// Transform the rotation vector into a rotation matrix with opencvs rodrigues method
Rodrigues(rvec,rot_mat);
translation_vector[0] =
rot_mat.at<double>(0,0)*mControlWidget->getCalibExtrTrans1()+
rot_mat.at<double>(0,1)*mControlWidget->getCalibExtrTrans2()+
rot_mat.at<double>(0,2)*mControlWidget->getCalibExtrTrans3();
translation_vector[1] =
rot_mat.at<double>(1,0)*mControlWidget->getCalibExtrTrans1()+
rot_mat.at<double>(1,1)*mControlWidget->getCalibExtrTrans2()+
rot_mat.at<double>(1,2)*mControlWidget->getCalibExtrTrans3();
translation_vector[2] =
rot_mat.at<double>(2,0)*mControlWidget->getCalibExtrTrans1()+
rot_mat.at<double>(2,1)*mControlWidget->getCalibExtrTrans2()+
rot_mat.at<double>(2,2)*mControlWidget->getCalibExtrTrans3();
// use inverse Matrix
rot_inv = rot_mat.inv(DECOMP_LU);
e = rot_inv*rot_mat;
if( debug )
{
debout << "\n-.- ESTIMATED ROTATION\n";
for ( size_t p=0; p<3; p++ )
printf("%20.18f, %20.18f, %20.18f\n",rot_mat.at<double>(p,0),rot_mat.at<double>(p,1),rot_mat.at<double>(p,2));
//cout << rot_mat.at<double>(p,0) << " , " << rot_mat.at<double>(p,1) << " , " << rot_mat.at<double>(p,2) << "\n";
debout << "\n-.- ESTIMATED ROTATION^-1\n";
for ( size_t p=0; p<3; p++ )
printf("%20.18f, %20.18f, %20.18f\n",rot_inv.at<double>(p,0),rot_inv.at<double>(p,1),rot_inv.at<double>(p,2));
//cout << rot_inv.at<double>(p,0) << " , " << rot_inv.at<double>(p,1) << " , " << rot_inv.at<double>(p,2) << "\n";
debout << "\n-.- ESTIMATED R^-1*R\n";
for ( size_t p=0; p<3; p++ )
printf("%20.18f, %20.18f, %20.18f\n",e.at<double>(p,0),e.at<double>(p,1),e.at<double>(p,2));
//cout << e.at<double>(p,0) << " , " << e.at<double>(p,1) << " , " << e.at<double>(p,2) << "\n";
debout << "\n-.- ESTIMATED TRANSLATION\n";
debout << mControlWidget->getCalibExtrTrans1() << " , " << mControlWidget->getCalibExtrTrans2() << " , " << mControlWidget->getCalibExtrTrans3() << "\n";
debout << translation_vector[0] << " , " << translation_vector[1] << " , " << translation_vector[2] << "\n";
debout << "Det(rot_mat): "<< determinant(rot_mat) << endl;
debout << "Det(rot_inv): "<< determinant(rot_inv) << endl;
}
double z = h + rot_inv.at<double>(2,0)*translation_vector[0] +
rot_inv.at<double>(2,1)*translation_vector[1] +
rot_inv.at<double>(2,2)*translation_vector[2];
if( debug )
{
debout << "##### z: " << h << " + " << rot_inv.at<double>(2,0) << "*" << translation_vector[0] << " + "
<< rot_inv.at<double>(2,1) << "*" << translation_vector[1] << " + "
<< rot_inv.at<double>(2,2) << "*" << translation_vector[2] << " = " << z << endl;
}
z /= (rot_inv.at<double>(2,0)*(p2d.x-/*bS)-(*/(mControlWidget->getCalibCxValue()-bS)/*-bS*/)/mControlWidget->getCalibFxValue() +
rot_inv.at<double>(2,1)*(p2d.y-/*bS)-(*/(mControlWidget->getCalibCyValue()-bS)/*-bS*/)/mControlWidget->getCalibFyValue() +
rot_inv.at<double>(2,2));
if( debug ) cout << "###### z: "<< z << endl;
resultPoint.x = (p2d.x-/*bS)-(*/(mControlWidget->getCalibCxValue()-bS)/*-bS*/);
resultPoint.y = (p2d.y-/*bS)-(*/(mControlWidget->getCalibCyValue()-bS)/*-bS*/);
resultPoint.z = z;
if( debug ) cout << "###### (" << resultPoint.x << ", " << resultPoint.y << ", " << resultPoint.z << ")" << endl;
resultPoint.x = resultPoint.x * z/mControlWidget->getCalibFxValue();
resultPoint.y = resultPoint.y * z/mControlWidget->getCalibFyValue();
if( debug ) cout << "###### After intern re-calibration: (" << resultPoint.x << ", " << resultPoint.y << ", " << resultPoint.z << ")" << endl;
tmpPoint.x = resultPoint.x - translation_vector[0];
tmpPoint.y = resultPoint.y - translation_vector[1];
tmpPoint.z = resultPoint.z - translation_vector[2];
if( debug ) cout << "###### After translation: (" << tmpPoint.x << ", " << tmpPoint.y << ", " << tmpPoint.z << ")" << endl;
resultPoint.x = rot_inv.at<double>(0,0)*(tmpPoint.x)+
rot_inv.at<double>(0,1)*(tmpPoint.y)+
rot_inv.at<double>(0,2)*(tmpPoint.z);
resultPoint.y = rot_inv.at<double>(1,0)*(tmpPoint.x)+
rot_inv.at<double>(1,1)*(tmpPoint.y)+
rot_inv.at<double>(1,2)*(tmpPoint.z);
resultPoint.z = rot_inv.at<double>(2,0)*(tmpPoint.x)+
rot_inv.at<double>(2,1)*(tmpPoint.y)+
rot_inv.at<double>(2,2)*(tmpPoint.z);
if( debug ) cout << "#resultPoint: (" << resultPoint.x << ", " << resultPoint.y << ", " << resultPoint.z << ")" << endl;
if( debug ) cout << "Coord Translation: x: " << mControlWidget->getCalibCoord3DTransX() << ", y: " << mControlWidget->getCalibCoord3DTransY() << ", z: " << mControlWidget->getCalibCoord3DTransZ() << endl;
// Coordinate Transformations
resultPoint.x -= mControlWidget->getCalibCoord3DTransX();
resultPoint.y -= mControlWidget->getCalibCoord3DTransY();
resultPoint.z -= mControlWidget->getCalibCoord3DTransZ();
resultPoint.x *= mControlWidget->getCalibCoord3DSwapX() ? -1 : 1;
resultPoint.y *= mControlWidget->getCalibCoord3DSwapY() ? -1 : 1;
resultPoint.z *= mControlWidget->getCalibCoord3DSwapZ() ? -1 : 1;
}else//////////////// End new method
{
//////////////// Start old method
Point3f camInWorld = transformRT(Point3f(0,0,0));
// 3D-Punkt vor der Kamera mit Tiefe 5
CvPoint3D32f pointBeforeCam;
pointBeforeCam.x = (p2d.x - mControlWidget->cx->value()) / mControlWidget->fx->value() * 50;
pointBeforeCam.y = (p2d.y - mControlWidget->cy->value()) / mControlWidget->fy->value() * 50;
pointBeforeCam.z = 50;
if( debug ) cout << "Point before Camera: [" << pointBeforeCam.x << ", " << pointBeforeCam.y << ", " << pointBeforeCam.z << "]" << endl;
// 3D-Punkt vor Kamera in Weltkoordinaten
Point3f pBCInWorld = transformRT(pointBeforeCam);
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if( debug ) cout << "Point before Camera in World-Coordinatesystem: [" << pBCInWorld.x << ", " << pBCInWorld.y << ", " << pBCInWorld.z << "]" << endl;
if( debug ) cout << "Camera in World-Coordinatesystem: [" << camInWorld.x << ", " << camInWorld.y << ", " << camInWorld.z << "]" << endl;
// Berechnung des Richtungsvektors der Gerade von der Kamera durch den Pixel
// Als Sttzvektor der Geraden wird die Position der Kamera gewhlt
pBCInWorld.x -= camInWorld.x;
pBCInWorld.y -= camInWorld.y;
pBCInWorld.z -= camInWorld.z;
if( debug ) cout << "G:x = (" << camInWorld.x << " / " << camInWorld.y << " / " << camInWorld.z << ") + lambda (" << pBCInWorld.x << " / " << pBCInWorld.y << " / " << pBCInWorld.z << ")" << endl;
// Berechnung des Schnittpunktes: Hier lambda von der Geraden
double lambda = (h -camInWorld.z) / (pBCInWorld.z);
if( debug ) cout << "Lambda: " << lambda << endl;
// Lambda in Gerade einsetzen
resultPoint.x = (mControlWidget->getCalibCoord3DSwapX() ? -1 : 1) * (camInWorld.x + lambda * pBCInWorld.x);
resultPoint.y = (mControlWidget->getCalibCoord3DSwapY() ? -1 : 1) * (camInWorld.y + lambda * pBCInWorld.y);
resultPoint.z = (mControlWidget->getCalibCoord3DSwapZ() ? -1 : 1) * (camInWorld.z + lambda * pBCInWorld.z);
}//////////////// End old method
return resultPoint;
}
/**
* Transformiert den angegebenen 3D-Punkt mit der Rotation und Translation
* um Umrechnungen zwischen verschiedenen Koordinatensystemen zu ermglichen
*/
Point3f ExtrCalibration::transformRT(Point3f p)
{
// ToDo: use projectPoints();
double rvec_array[3], rotation_matrix[9];
rvec_array[0] = mControlWidget->getCalibExtrRot1();
rvec_array[1] = mControlWidget->getCalibExtrRot2();
rvec_array[2] = mControlWidget->getCalibExtrRot3();
Mat rvec(3,1,CV_64F, rvec_array);
Mat rot_mat(3,3,CV_64F);
// Transform the rotation vector into a rotation matrix with opencvs rodrigues method
Rodrigues(rvec,rot_mat);
rotation_matrix[0] = rot_mat.at<double>(0,0);
rotation_matrix[1] = rot_mat.at<double>(0,1);
rotation_matrix[2] = rot_mat.at<double>(0,2);
rotation_matrix[3] = rot_mat.at<double>(1,0);
rotation_matrix[4] = rot_mat.at<double>(1,1);
rotation_matrix[5] = rot_mat.at<double>(1,2);
rotation_matrix[6] = rot_mat.at<double>(2,0);
rotation_matrix[7] = rot_mat.at<double>(2,1);
rotation_matrix[8] = rot_mat.at<double>(2,2);
Point3f point3D;
point3D.x = rotation_matrix[0] * p.x +
rotation_matrix[3] * p.y +
rotation_matrix[6] * p.z -
mControlWidget->trans1->value();//translation_vector2[0];
point3D.y = rotation_matrix[1] * p.x +
rotation_matrix[4] * p.y +
rotation_matrix[7] * p.z -
mControlWidget->trans2->value();//translation_vector2[1];
point3D.z = rotation_matrix[2] * p.x +
rotation_matrix[5] * p.y +
rotation_matrix[8] * p.z -
mControlWidget->trans3->value();//translation_vector2[2];
return point3D;
}
bool ExtrCalibration::isOutsideImage(Point2f p2d)
{
int bS = mMainWindow->getImage() ? mMainWindow->getImageBorderSize() : 0;
if( mMainWindow->getImage())
{
if( !isnormal(p2d.x) || !isnormal(p2d.y) || !isnormal(p2d.x) || !isnormal(p2d.y) )
return true;
if (isnan(p2d.x) || isnan(p2d.y) || isinf(p2d.x) || isinf(p2d.y))
return true;
//return p2d.x < 0 || p2d.x > mMainWindow->getImage()->width() || p2d.y < 0 || p2d.y > mMainWindow->getImage()->height();
return p2d.x < -bS || p2d.x > mMainWindow->getImage()->width()-bS || p2d.y < -bS || p2d.y > mMainWindow->getImage()->height()-bS;
}else
{
return false;
}
}