diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3034c5b3effcf5e37a8707c470572890a2e61be4..54348f6be35057c50288957f0511a895483df8f2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,7 +18,7 @@
# Project setup
################################################################################
cmake_minimum_required(VERSION 3.16 FATAL_ERROR)
-project(petrack LANGUAGES CXX VERSION 0.10.2)
+project(petrack LANGUAGES CXX VERSION 0.10.3)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
diff --git a/demo/00_files/00_empty.pet b/demo/00_files/00_empty.pet
index 629db10d11002be8e2490c5ef5bf68f3371fcb57..b7b25506c25a8444edc241a36581779ad089fa78 100644
--- a/demo/00_files/00_empty.pet
+++ b/demo/00_files/00_empty.pet
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
-<PETRACK VERSION="0.10.2">
+<PETRACK VERSION="0.10.3">
<MAIN SRC="" STATUS_HEIGHT="0"/>
<CONTROL TAB="0">
<CALIBRATION>
@@ -11,7 +11,10 @@
<SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
<BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
<PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
- <INTRINSIC_PARAMETERS CALIB_FILES="" CX="511.5" CY="383.5" ENABLED="0" EXT_MODEL_ENABLED="1" FIX_CENTER="0" FX="881" FY="881" IMMUTABLE="0" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TANG_DIST="1" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ <INTRINSIC_PARAMETERS CALIB_FILES="" ENABLED="0" EXT_MODEL_ENABLED="1" FIX_CENTER="0" IMMUTABLE="0" QUAD_ASPECT_RATIO="0" TANG_DIST="1">
+ <OLD_MODEL CX="551.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ <EXT_MODEL CX="551.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ </INTRINSIC_PARAMETERS>
<EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="" EXTR_ROT_1="0" EXTR_ROT_2="0" EXTR_ROT_3="0" EXTR_TRANS_1="0" EXTR_TRANS_2="0" EXTR_TRANS_3="-500" FIX="0" IMMUTABLE_COORD_BOX="0" IMMUTABLE_EXTRINSIC_BOX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" IMMUTABLE="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
</CALIBRATION>
diff --git a/demo/01_calibration/01_intrinsic.pet b/demo/01_calibration/01_intrinsic.pet
index 78fe55296d1484e0387301421ac8607762ccb0b3..8abea774a1de5a417b104d0225d4d8a13a42ec90 100644
--- a/demo/01_calibration/01_intrinsic.pet
+++ b/demo/01_calibration/01_intrinsic.pet
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
-<PETRACK VERSION="0.10.2">
+<PETRACK VERSION="0.10.3">
<MAIN SRC="" STATUS_HEIGHT="0"/>
<CONTROL TAB="0">
<CALIBRATION>
@@ -11,7 +11,10 @@
<SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
<BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
<PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
- <INTRINSIC_PARAMETERS CALIB_FILES="" CX="947.47000000000003" CY="698.44000000000005" ENABLED="1" EXT_MODEL_ENABLED="1" FIX_CENTER="0" FX="857.12" FY="857.50999999999999" IMMUTABLE="0" K4="1.7398640000000001" K5="0.399007" K6="-0.013342" QUAD_ASPECT_RATIO="0" R2="1.358914" R4="0.123435" R6="-0.0091129999999999996" ReprError="0.52066329210560447" S1="0.001026" S2="-6.6000000000000005e-05" S3="-0.00019000000000000001" S4="-9.7999999999999997e-05" TANG_DIST="1" TAUX="-3.0000000000000001e-05" TAUY="-5.0000000000000002e-05" TX="0.000184" TY="-0.000388"/>
+ <INTRINSIC_PARAMETERS CALIB_FILES="" ENABLED="0" EXT_MODEL_ENABLED="1" FIX_CENTER="0" IMMUTABLE="0" QUAD_ASPECT_RATIO="0" TANG_DIST="1">
+ <OLD_MODEL CX="952.04445892782496" CY="698.71746765411331" FX="842.57112155626476" FY="842.69028289943685" K4="0" K5="0" K6="0" R2="-0.2766259" R4="0.093288489" R6="-0.014229562" ReprError="1.1930548" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="-0.0002467561" TY="5.5423141e-05"/>
+ <EXT_MODEL CX="947.46961721777984" CY="698.44056337756024" FX="857.12444927931074" FY="857.51289718746045" K4="1.7399007" K5="0.39904982" K6="-0.013336699" R2="1.3589505" R4="0.12346415" R6="-0.0091119213" ReprError="0.52066356" S1="0.001025668" S2="-6.6003791e-05" S3="-0.00018953315" S4="-9.7617914e-05" TAUX="-2.980377e-05" TAUY="-5.050141e-05" TX="0.00018436424" TY="-0.00038751212"/>
+ </INTRINSIC_PARAMETERS>
<EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="" EXTR_ROT_1="0" EXTR_ROT_2="0" EXTR_ROT_3="0" EXTR_TRANS_1="0" EXTR_TRANS_2="0" EXTR_TRANS_3="-500" FIX="0" IMMUTABLE_COORD_BOX="0" IMMUTABLE_EXTRINSIC_BOX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" IMMUTABLE="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
</CALIBRATION>
diff --git a/demo/01_calibration/02_extrinsic.pet b/demo/01_calibration/02_extrinsic.pet
index a73fb2ab44118028058a3a43307a69da9f14b6ea..f3b9b566761fb766ce87ef0fc30d065c7b8e306a 100644
--- a/demo/01_calibration/02_extrinsic.pet
+++ b/demo/01_calibration/02_extrinsic.pet
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
-<PETRACK VERSION="0.10.2">
+<PETRACK VERSION="0.10.3">
<MAIN SRC="../00_files/calibration/extrinsic/00_all.jpg" STATUS_HEIGHT="0"/>
<CONTROL TAB="0">
<CALIBRATION>
@@ -11,7 +11,10 @@
<SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
<BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
<PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
- <INTRINSIC_PARAMETERS CALIB_FILES="" CX="947.47000000000003" CY="698.44000000000005" ENABLED="1" EXT_MODEL_ENABLED="1" FIX_CENTER="0" FX="857.12" FY="857.50999999999999" IMMUTABLE="0" K4="1.7398640000000001" K5="0.399007" K6="-0.013342" QUAD_ASPECT_RATIO="0" R2="1.358914" R4="0.123435" R6="-0.0091129999999999996" ReprError="0.52066329210560447" S1="0.001026" S2="-6.6000000000000005e-05" S3="-0.00019000000000000001" S4="-9.7999999999999997e-05" TANG_DIST="1" TAUX="-3.0000000000000001e-05" TAUY="-5.0000000000000002e-05" TX="0.000184" TY="-0.000388"/>
+ <INTRINSIC_PARAMETERS CALIB_FILES="" ENABLED="1" EXT_MODEL_ENABLED="1" FIX_CENTER="0" IMMUTABLE="0" QUAD_ASPECT_RATIO="0" TANG_DIST="1">
+ <OLD_MODEL CX="551.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ <EXT_MODEL CX="947.47000000000003" CY="698.44000000000005" FX="857.12" FY="857.50999999999999" K4="1.739864" K5="0.39900699" K6="-0.013342" R2="1.358914" R4="0.123435" R6="-0.0091129998" ReprError="0.52066332" S1="0.001026" S2="-6.6000001e-05" S3="-0.00019000001" S4="-9.7999997e-05" TAUX="-2.9999999e-05" TAUY="-4.9999999e-05" TX="0.000184" TY="-0.00038799999"/>
+ </INTRINSIC_PARAMETERS>
<EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="before.3dc" EXTR_ROT_1="-2.1949999999999998" EXTR_ROT_2="-2.1869999999999998" EXTR_ROT_3="0.029999999999999999" EXTR_TRANS_1="-1047.981" EXTR_TRANS_2="15.172000000000001" EXTR_TRANS_3="-634.48599999999999" FIX="0" IMMUTABLE_COORD_BOX="0" IMMUTABLE_EXTRINSIC_BOX="0" ROTATE="0" SCALE="100" SHOW="1" SHOW_CALIB_POINTS="1" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" IMMUTABLE="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
</CALIBRATION>
diff --git a/demo/01_calibration/03_calibrated_with_video.pet b/demo/01_calibration/03_calibrated_with_video.pet
index 368947e988bce196fbd9e90eaa7ab3faf1350d35..039a4099193ffce843ed20c97ab999dbfb300565 100644
--- a/demo/01_calibration/03_calibrated_with_video.pet
+++ b/demo/01_calibration/03_calibrated_with_video.pet
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
-<PETRACK VERSION="0.10.2">
+<PETRACK VERSION="0.10.3">
<MAIN SRC="../00_files/video/video.mp4" STATUS_HEIGHT="0"/>
<CONTROL TAB="0">
<CALIBRATION>
@@ -11,7 +11,10 @@
<SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
<BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
<PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
- <INTRINSIC_PARAMETERS CALIB_FILES="" CX="947.47000000000003" CY="698.44000000000005" ENABLED="1" EXT_MODEL_ENABLED="1" FIX_CENTER="0" FX="857.12" FY="857.50999999999999" IMMUTABLE="0" K4="1.7398640000000001" K5="0.399007" K6="-0.013342" QUAD_ASPECT_RATIO="0" R2="1.358914" R4="0.123435" R6="-0.0091129999999999996" ReprError="0.52066329210560447" S1="0.001026" S2="-6.6000000000000005e-05" S3="-0.00019000000000000001" S4="-9.7999999999999997e-05" TANG_DIST="1" TAUX="-3.0000000000000001e-05" TAUY="-5.0000000000000002e-05" TX="0.000184" TY="-0.000388"/>
+ <INTRINSIC_PARAMETERS CALIB_FILES="" ENABLED="1" EXT_MODEL_ENABLED="1" FIX_CENTER="0" IMMUTABLE="0" QUAD_ASPECT_RATIO="0" TANG_DIST="1">
+ <OLD_MODEL CX="551.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ <EXT_MODEL CX="947.47000000000003" CY="698.44000000000005" FX="857.12" FY="857.50999999999999" K4="1.739864" K5="0.39900699" K6="-0.013342" R2="1.358914" R4="0.123435" R6="-0.0091129998" ReprError="0.52066332" S1="0.001026" S2="-6.6000001e-05" S3="-0.00019000001" S4="-9.7999997e-05" TAUX="-2.9999999e-05" TAUY="-4.9999999e-05" TX="0.000184" TY="-0.00038799999"/>
+ </INTRINSIC_PARAMETERS>
<EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="before.3dc" EXTR_ROT_1="-2.1949999999999998" EXTR_ROT_2="-2.1869999999999998" EXTR_ROT_3="0.029999999999999999" EXTR_TRANS_1="-1047.981" EXTR_TRANS_2="15.172000000000001" EXTR_TRANS_3="-634.48599999999999" FIX="0" IMMUTABLE_COORD_BOX="0" IMMUTABLE_EXTRINSIC_BOX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" IMMUTABLE="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
</CALIBRATION>
diff --git a/demo/02_recognition/04_recognition.pet b/demo/02_recognition/04_recognition.pet
index 1f1778342494a07df1d3f36b4926f1b2ee074521..a63bda2b98ef67703b2cf266d3a1d5b44bf8e716 100644
--- a/demo/02_recognition/04_recognition.pet
+++ b/demo/02_recognition/04_recognition.pet
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
-<PETRACK VERSION="0.10.2">
+<PETRACK VERSION="0.10.3">
<MAIN SRC="../00_files/video/video.mp4" STATUS_HEIGHT="0"/>
<CONTROL TAB="1">
<CALIBRATION>
@@ -11,7 +11,10 @@
<SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
<BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
<PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
- <INTRINSIC_PARAMETERS CALIB_FILES="" CX="947.47000000000003" CY="698.44000000000005" ENABLED="1" EXT_MODEL_ENABLED="1" FIX_CENTER="0" FX="857.12" FY="857.50999999999999" IMMUTABLE="0" K4="1.7398640000000001" K5="0.399007" K6="-0.013342" QUAD_ASPECT_RATIO="0" R2="1.358914" R4="0.123435" R6="-0.0091129999999999996" ReprError="0.52066329210560447" S1="0.001026" S2="-6.6000000000000005e-05" S3="-0.00019000000000000001" S4="-9.7999999999999997e-05" TANG_DIST="1" TAUX="-3.0000000000000001e-05" TAUY="-5.0000000000000002e-05" TX="0.000184" TY="-0.000388"/>
+ <INTRINSIC_PARAMETERS CALIB_FILES="" ENABLED="1" EXT_MODEL_ENABLED="1" FIX_CENTER="0" IMMUTABLE="0" QUAD_ASPECT_RATIO="0" TANG_DIST="1">
+ <OLD_MODEL CX="551.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ <EXT_MODEL CX="947.47000000000003" CY="698.44000000000005" FX="857.12" FY="857.50999999999999" K4="1.739864" K5="0.39900699" K6="-0.013342" R2="1.358914" R4="0.123435" R6="-0.0091129998" ReprError="0.52066332" S1="0.001026" S2="-6.6000001e-05" S3="-0.00019000001" S4="-9.7999997e-05" TAUX="-2.9999999e-05" TAUY="-4.9999999e-05" TX="0.000184" TY="-0.00038799999"/>
+ </INTRINSIC_PARAMETERS>
<EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="../01_calibration/before.3dc" EXTR_ROT_1="-2.1949999999999998" EXTR_ROT_2="-2.1869999999999998" EXTR_ROT_3="0.029999999999999999" EXTR_TRANS_1="-1047.981" EXTR_TRANS_2="15.172000000000001" EXTR_TRANS_3="-634.48599999999999" FIX="0" IMMUTABLE_COORD_BOX="0" IMMUTABLE_EXTRINSIC_BOX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" IMMUTABLE="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
</CALIBRATION>
diff --git a/demo/03_tracking/05_tracking.pet b/demo/03_tracking/05_tracking.pet
index 21357d06142b83f6bb310a3c006a8f4b7dbcb4ca..6413308b24b204d1f63785207264c5924df23f52 100644
--- a/demo/03_tracking/05_tracking.pet
+++ b/demo/03_tracking/05_tracking.pet
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
-<PETRACK VERSION="0.10.2">
+<PETRACK VERSION="0.10.3">
<MAIN SRC="../00_files/video/video.mp4" STATUS_HEIGHT="0"/>
<CONTROL TAB="2">
<CALIBRATION>
@@ -11,7 +11,10 @@
<SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
<BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
<PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
- <INTRINSIC_PARAMETERS CALIB_FILES="" CX="947.47000000000003" CY="698.44000000000005" ENABLED="1" EXT_MODEL_ENABLED="1" FIX_CENTER="0" FX="857.12" FY="857.50999999999999" IMMUTABLE="0" K4="1.7398640000000001" K5="0.399007" K6="-0.013342" QUAD_ASPECT_RATIO="0" R2="1.358914" R4="0.123435" R6="-0.0091129999999999996" ReprError="0.52066329210560447" S1="0.001026" S2="-6.6000000000000005e-05" S3="-0.00019000000000000001" S4="-9.7999999999999997e-05" TANG_DIST="1" TAUX="-3.0000000000000001e-05" TAUY="-5.0000000000000002e-05" TX="0.000184" TY="-0.000388"/>
+ <INTRINSIC_PARAMETERS CALIB_FILES="" ENABLED="1" EXT_MODEL_ENABLED="1" FIX_CENTER="0" IMMUTABLE="0" QUAD_ASPECT_RATIO="0" TANG_DIST="1">
+ <OLD_MODEL CX="551.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ <EXT_MODEL CX="947.47000000000003" CY="698.44000000000005" FX="857.12" FY="857.50999999999999" K4="1.739864" K5="0.39900699" K6="-0.013342" R2="1.358914" R4="0.123435" R6="-0.0091129998" ReprError="0.52066332" S1="0.001026" S2="-6.6000001e-05" S3="-0.00019000001" S4="-9.7999997e-05" TAUX="-2.9999999e-05" TAUY="-4.9999999e-05" TX="0.000184" TY="-0.00038799999"/>
+ </INTRINSIC_PARAMETERS>
<EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="../01_calibration/before.3dc" EXTR_ROT_1="-2.1949999999999998" EXTR_ROT_2="-2.1869999999999998" EXTR_ROT_3="0.029999999999999999" EXTR_TRANS_1="-1047.981" EXTR_TRANS_2="15.172000000000001" EXTR_TRANS_3="-634.48599999999999" FIX="0" IMMUTABLE_COORD_BOX="0" IMMUTABLE_EXTRINSIC_BOX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" IMMUTABLE="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
</CALIBRATION>
diff --git a/demo/03_tracking/06_tracking_with_trajectories.pet b/demo/03_tracking/06_tracking_with_trajectories.pet
index f37aa9205b7aba3ec0111b2d682a8aebc0554dbc..f9a8886d22066ff96438001196138fa6b0f330db 100644
--- a/demo/03_tracking/06_tracking_with_trajectories.pet
+++ b/demo/03_tracking/06_tracking_with_trajectories.pet
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
-<PETRACK VERSION="0.10.2">
+<PETRACK VERSION="0.10.3">
<MAIN SRC="../00_files/video/video.mp4" STATUS_HEIGHT="0"/>
<CONTROL TAB="2">
<CALIBRATION>
@@ -11,7 +11,10 @@
<SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
<BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
<PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
- <INTRINSIC_PARAMETERS CALIB_FILES="" CX="947.47000000000003" CY="698.44000000000005" ENABLED="1" EXT_MODEL_ENABLED="1" FIX_CENTER="0" FX="857.12" FY="857.50999999999999" IMMUTABLE="0" K4="1.7398640000000001" K5="0.399007" K6="-0.013342" QUAD_ASPECT_RATIO="0" R2="1.358914" R4="0.123435" R6="-0.0091129999999999996" ReprError="0.52066329210560447" S1="0.001026" S2="-6.6000000000000005e-05" S3="-0.00019000000000000001" S4="-9.7999999999999997e-05" TANG_DIST="1" TAUX="-3.0000000000000001e-05" TAUY="-5.0000000000000002e-05" TX="0.000184" TY="-0.000388"/>
+ <INTRINSIC_PARAMETERS CALIB_FILES="" ENABLED="1" EXT_MODEL_ENABLED="1" FIX_CENTER="0" IMMUTABLE="0" QUAD_ASPECT_RATIO="0" TANG_DIST="1">
+ <OLD_MODEL CX="551.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ <EXT_MODEL CX="947.47000000000003" CY="698.44000000000005" FX="857.12" FY="857.50999999999999" K4="1.739864" K5="0.39900699" K6="-0.013342" R2="1.358914" R4="0.123435" R6="-0.0091129998" ReprError="0.52066332" S1="0.001026" S2="-6.6000001e-05" S3="-0.00019000001" S4="-9.7999997e-05" TAUX="-2.9999999e-05" TAUY="-4.9999999e-05" TX="0.000184" TY="-0.00038799999"/>
+ </INTRINSIC_PARAMETERS>
<EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="../01_calibration/before.3dc" EXTR_ROT_1="-2.1949999999999998" EXTR_ROT_2="-2.1869999999999998" EXTR_ROT_3="0.029999999999999999" EXTR_TRANS_1="-1047.981" EXTR_TRANS_2="15.172000000000001" EXTR_TRANS_3="-634.48599999999999" FIX="0" IMMUTABLE_COORD_BOX="0" IMMUTABLE_EXTRINSIC_BOX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" IMMUTABLE="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
</CALIBRATION>
diff --git a/demo/04_correcting/07_corrected.pet b/demo/04_correcting/07_corrected.pet
index 0b1df104e5b8790413fc0eb8a932935e4572be5e..00dac46391a9ab419c59adf018e49e6e687f5983 100644
--- a/demo/04_correcting/07_corrected.pet
+++ b/demo/04_correcting/07_corrected.pet
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
-<PETRACK VERSION="0.10.2">
+<PETRACK VERSION="0.10.3">
<MAIN SRC="../00_files/video/video.mp4" STATUS_HEIGHT="0"/>
<CONTROL TAB="2">
<CALIBRATION>
@@ -11,7 +11,10 @@
<SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
<BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
<PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
- <INTRINSIC_PARAMETERS CALIB_FILES="" CX="947.47000000000003" CY="698.44000000000005" ENABLED="1" EXT_MODEL_ENABLED="1" FIX_CENTER="0" FX="857.12" FY="857.50999999999999" IMMUTABLE="0" K4="1.7398640000000001" K5="0.399007" K6="-0.013342" QUAD_ASPECT_RATIO="0" R2="1.358914" R4="0.123435" R6="-0.0091129999999999996" ReprError="0.52066329210560447" S1="0.001026" S2="-6.6000000000000005e-05" S3="-0.00019000000000000001" S4="-9.7999999999999997e-05" TANG_DIST="1" TAUX="-3.0000000000000001e-05" TAUY="-5.0000000000000002e-05" TX="0.000184" TY="-0.000388"/>
+ <INTRINSIC_PARAMETERS CALIB_FILES="" ENABLED="1" EXT_MODEL_ENABLED="1" FIX_CENTER="0" IMMUTABLE="0" QUAD_ASPECT_RATIO="0" TANG_DIST="1">
+ <OLD_MODEL CX="551.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ <EXT_MODEL CX="947.47000000000003" CY="698.44000000000005" FX="857.12" FY="857.50999999999999" K4="1.739864" K5="0.39900699" K6="-0.013342" R2="1.358914" R4="0.123435" R6="-0.0091129998" ReprError="0.52066332" S1="0.001026" S2="-6.6000001e-05" S3="-0.00019000001" S4="-9.7999997e-05" TAUX="-2.9999999e-05" TAUY="-4.9999999e-05" TX="0.000184" TY="-0.00038799999"/>
+ </INTRINSIC_PARAMETERS>
<EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="../01_calibration/before.3dc" EXTR_ROT_1="-2.1949999999999998" EXTR_ROT_2="-2.1869999999999998" EXTR_ROT_3="0.029999999999999999" EXTR_TRANS_1="-1047.981" EXTR_TRANS_2="15.172000000000001" EXTR_TRANS_3="-634.48599999999999" FIX="0" IMMUTABLE_COORD_BOX="0" IMMUTABLE_EXTRINSIC_BOX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" IMMUTABLE="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
</CALIBRATION>
diff --git a/src/calibration/autoCalib.cpp b/src/calibration/autoCalib.cpp
index c215e938a8721bd1aa65f58205ed9b1b76a388bd..08c26331ff294e200790950a133e99d15cb2b2c9 100644
--- a/src/calibration/autoCalib.cpp
+++ b/src/calibration/autoCalib.cpp
@@ -116,12 +116,10 @@ bool AutoCalib::openCalibFiles()
* @param quadAspectRatio whether to fix the aspect ratio
* @param fixCenter whether to fix the center/focal point
* @param tangDist whether to use non-zero tangential distortion
- * @param extModel whether to use "extended" calibration model
*
* @return new parameters or std::nullopt, if no calibration could be done
*/
-std::optional<IntrinsicCameraParams>
-AutoCalib::autoCalib(bool quadAspectRatio, bool fixCenter, bool tangDist, bool extModel)
+std::optional<IntrinsicModelsParameters> AutoCalib::autoCalib(bool quadAspectRatio, bool fixCenter, bool tangDist)
{
if(mMainWindow)
{
@@ -139,10 +137,13 @@ AutoCalib::autoCalib(bool quadAspectRatio, bool fixCenter, bool tangDist, bool e
int flags = 0;
std::vector<cv::Point2f> corners;
std::vector<std::vector<cv::Point2f>> image_points;
- cv::Mat camera_matrix = cv::Mat::eye(3, 3, CV_64F);
- cv::Mat dist_coeffs = cv::Mat::zeros(1, 14, CV_64F);
+ cv::Mat camera_matrix = cv::Mat::eye(3, 3, CV_64F);
+ cv::Mat distortion_coeffs = cv::Mat::zeros(1, 14, CV_64F);
+ cv::Mat camera_matrix_ext = cv::Mat::eye(3, 3, CV_64F);
+ cv::Mat distortion_coeffs_ext = cv::Mat::zeros(1, 14, CV_64F);
cv::Mat extr_params;
double reproj_errs;
+ double reproj_errs_ext;
cv::Mat view, view_gray;
bool found = false;
cv::Mat origImg;
@@ -259,10 +260,6 @@ AutoCalib::autoCalib(bool quadAspectRatio, bool fixCenter, bool tangDist, bool e
{
flags |= CV_CALIB_ZERO_TANGENT_DIST;
}
- if(extModel)
- {
- flags |= CV_CALIB_RATIONAL_MODEL + CV_CALIB_THIN_PRISM_MODEL + CV_CALIB_TILTED_MODEL;
- }
bool ok = runCalibration(
image_points,
@@ -272,10 +269,10 @@ AutoCalib::autoCalib(bool quadAspectRatio, bool fixCenter, bool tangDist, bool e
aspect_ratio,
flags,
camera_matrix,
- dist_coeffs,
+ distortion_coeffs,
&reproj_errs);
-
+ SPDLOG_INFO("OLD MODEL CALIBRATION");
SPDLOG_INFO("{}", ok ? "Calibration succeeded." : "Calibration failed.");
SPDLOG_INFO("Intrinsic reprojection error is: {:f}", reproj_errs);
@@ -286,23 +283,68 @@ AutoCalib::autoCalib(bool quadAspectRatio, bool fixCenter, bool tangDist, bool e
SPDLOG_INFO("distortion coefficients:");
SPDLOG_INFO(
"r2: {} r4: {} r6: {}",
- dist_coeffs.at<double>(0, 0),
- dist_coeffs.at<double>(0, 1),
- dist_coeffs.at<double>(0, 4));
- SPDLOG_INFO("tx: {} ty: {}", dist_coeffs.at<double>(0, 2), dist_coeffs.at<double>(0, 3));
+ distortion_coeffs.at<double>(0, 0),
+ distortion_coeffs.at<double>(0, 1),
+ distortion_coeffs.at<double>(0, 4));
+ SPDLOG_INFO("tx: {} ty: {}", distortion_coeffs.at<double>(0, 2), distortion_coeffs.at<double>(0, 3));
+ SPDLOG_INFO(
+ "k4: {} k5: {} k6: {}",
+ distortion_coeffs.at<double>(0, 5),
+ distortion_coeffs.at<double>(0, 6),
+ distortion_coeffs.at<double>(0, 7));
+
+ SPDLOG_INFO(
+ "s1: {} s2: {} s3: {} s4: {}",
+ distortion_coeffs.at<double>(0, 8),
+ distortion_coeffs.at<double>(0, 9),
+ distortion_coeffs.at<double>(0, 10),
+ distortion_coeffs.at<double>(0, 11));
+ SPDLOG_INFO("taux: {} tauy: {}", distortion_coeffs.at<double>(0, 12), distortion_coeffs.at<double>(0, 13));
+
+
+ flags |= CV_CALIB_RATIONAL_MODEL + CV_CALIB_THIN_PRISM_MODEL + CV_CALIB_TILTED_MODEL;
+
+ bool ok_ext = runCalibration(
+ image_points,
+ view.size(),
+ board_size,
+ square_size,
+ aspect_ratio,
+ flags,
+ camera_matrix_ext,
+ distortion_coeffs_ext,
+ &reproj_errs_ext);
+
+ SPDLOG_INFO("NEW MODEL CALIBRATION");
+ SPDLOG_INFO("{}", ok_ext ? "Calibration succeeded." : "Calibration failed.");
+ SPDLOG_INFO("Intrinsic reprojection error is: {:f}", reproj_errs_ext);
+
+ progress.setValue(mCalibFiles.size());
+
+ SPDLOG_INFO("camera matrix:\n{}", camera_matrix_ext);
+
+ SPDLOG_INFO("distortion coefficients:");
+ SPDLOG_INFO(
+ "r2: {} r4: {} r6: {}",
+ distortion_coeffs_ext.at<double>(0, 0),
+ distortion_coeffs_ext.at<double>(0, 1),
+ distortion_coeffs_ext.at<double>(0, 4));
+ SPDLOG_INFO("tx: {} ty: {}", distortion_coeffs_ext.at<double>(0, 2), distortion_coeffs_ext.at<double>(0, 3));
SPDLOG_INFO(
"k4: {} k5: {} k6: {}",
- dist_coeffs.at<double>(0, 5),
- dist_coeffs.at<double>(0, 6),
- dist_coeffs.at<double>(0, 7));
+ distortion_coeffs_ext.at<double>(0, 5),
+ distortion_coeffs_ext.at<double>(0, 6),
+ distortion_coeffs_ext.at<double>(0, 7));
SPDLOG_INFO(
"s1: {} s2: {} s3: {} s4: {}",
- dist_coeffs.at<double>(0, 8),
- dist_coeffs.at<double>(0, 9),
- dist_coeffs.at<double>(0, 10),
- dist_coeffs.at<double>(0, 11));
- SPDLOG_INFO("taux: {} tauy: {}", dist_coeffs.at<double>(0, 12), dist_coeffs.at<double>(0, 13));
+ distortion_coeffs_ext.at<double>(0, 8),
+ distortion_coeffs_ext.at<double>(0, 9),
+ distortion_coeffs_ext.at<double>(0, 10),
+ distortion_coeffs_ext.at<double>(0, 11));
+ SPDLOG_INFO(
+ "taux: {} tauy: {}", distortion_coeffs_ext.at<double>(0, 12), distortion_coeffs_ext.at<double>(0, 13));
+
#ifdef SHOW_CALIB_MAINWINDOW
// reset view to animation image
@@ -313,13 +355,22 @@ AutoCalib::autoCalib(bool quadAspectRatio, bool fixCenter, bool tangDist, bool e
#endif
// set calibration values
- IntrinsicCameraParams params;
- params.cameraMatrix = camera_matrix;
- params.cameraMatrix.at<double>(0, 2) += mMainWindow->getImageBorderSize();
- params.cameraMatrix.at<double>(1, 2) += mMainWindow->getImageBorderSize();
- dist_coeffs.convertTo(params.distortionCoeffs, CV_32F);
- params.reprojectionError = reproj_errs;
- checkParamPlausibility(params);
+ IntrinsicModelsParameters params;
+
+ params.oldModelParams.cameraMatrix = camera_matrix;
+ params.oldModelParams.cameraMatrix.at<double>(0, 2) += mMainWindow->getImageBorderSize();
+ params.oldModelParams.cameraMatrix.at<double>(1, 2) += mMainWindow->getImageBorderSize();
+ distortion_coeffs.convertTo(params.oldModelParams.distortionCoeffs, CV_32F);
+ params.oldModelParams.reprojectionError = reproj_errs;
+ checkParamPlausibility(params.oldModelParams);
+
+ params.extModelParams.cameraMatrix = camera_matrix_ext;
+ params.extModelParams.cameraMatrix.at<double>(0, 2) += mMainWindow->getImageBorderSize();
+ params.extModelParams.cameraMatrix.at<double>(1, 2) += mMainWindow->getImageBorderSize();
+ distortion_coeffs_ext.convertTo(params.extModelParams.distortionCoeffs, CV_32F);
+ params.extModelParams.reprojectionError = reproj_errs_ext;
+ checkParamPlausibility(params.extModelParams);
+
return params;
}
return std::nullopt;
@@ -337,7 +388,7 @@ AutoCalib::autoCalib(bool quadAspectRatio, bool fixCenter, bool tangDist, bool e
* @param aspect_ratio
* @param flags[in] Flags for calibration; user input assembled in autoCalib()
* @param camera_matrix[out]
- * @param dist_coeffs[out] distortion coefficients
+ * @param distortion_coeffs[out] distortion coefficients
* @param reproj_errs[out]
* @return
*/
@@ -349,7 +400,7 @@ int AutoCalib::runCalibration(
float aspect_ratio,
int flags,
cv::Mat &camera_matrix,
- cv::Mat &dist_coeffs,
+ cv::Mat &distortion_coeffs,
double *reproj_errs)
{
int code;
@@ -384,7 +435,7 @@ int AutoCalib::runCalibration(
// (some methods generate less coefficients than others/ normal vs. extended model)
for(int i = 0; i < dist_coeffs_out.cols; ++i)
{
- dist_coeffs.at<double>(i) = dist_coeffs_out.at<double>(i);
+ distortion_coeffs.at<double>(i) = dist_coeffs_out.at<double>(i);
}
code = 1;
diff --git a/src/calibration/autoCalib.h b/src/calibration/autoCalib.h
index 4c9dcea4c03997575610b7404ad06c17708de98e..7d0256c3a69de8120dec36fd82c24c934424e569 100644
--- a/src/calibration/autoCalib.h
+++ b/src/calibration/autoCalib.h
@@ -28,6 +28,7 @@
class Petrack;
+
/**
* @brief Class for intrinsic calibration
*
@@ -82,8 +83,8 @@ public:
inline void setLastDir(QString path) { mLastDir = path; }
inline QString getLastDir() const { return mLastDir; }
- std::optional<IntrinsicCameraParams> autoCalib(bool quadAspectRatio, bool fixCenter, bool tangDist, bool extModel);
- void checkParamPlausibility(IntrinsicCameraParams &modelParams);
+ virtual std::optional<IntrinsicModelsParameters> autoCalib(bool quadAspectRatio, bool fixCenter, bool tangDist);
+ void checkParamPlausibility(IntrinsicCameraParams &modelParams);
private:
int runCalibration(
@@ -94,7 +95,7 @@ private:
float aspect_ratio,
int flags,
cv::Mat &camera_matrix,
- cv::Mat &dist_coeffs,
+ cv::Mat &distortion_coeffs,
double *reproj_errs);
Petrack *mMainWindow;
diff --git a/src/calibration/extrinsicParameters.h b/src/calibration/extrinsicParameters.h
index 6d2175cfa3679547385f389f824b8c2095d4fb79..06dfe517515e82745a0658368a8f6bcc9cda6351 100644
--- a/src/calibration/extrinsicParameters.h
+++ b/src/calibration/extrinsicParameters.h
@@ -34,6 +34,7 @@ struct ExtrinsicParameters
return lhs.rot1 == rhs.rot1 && lhs.rot2 == rhs.rot2 && lhs.rot3 == rhs.rot3 && lhs.trans1 == rhs.trans1 &&
lhs.trans2 == rhs.trans2 && lhs.trans3 == rhs.trans3;
}
+ friend bool operator!=(const ExtrinsicParameters &lhs, const ExtrinsicParameters &rhs) { return !(lhs == rhs); }
};
#endif // EXTRINSICPARAMETERS_H
diff --git a/src/calibration/intrinsicCameraParams.h b/src/calibration/intrinsicCameraParams.h
index 0144cdea24536f1fc86991440781f8d9401c858b..8a16bea1fd78d13af10acf718298663fa61653a9 100644
--- a/src/calibration/intrinsicCameraParams.h
+++ b/src/calibration/intrinsicCameraParams.h
@@ -19,6 +19,7 @@
#ifndef INTRINSICCAMERAPARAMS_H
#define INTRINSICCAMERAPARAMS_H
+
#include <QMetaType>
#include <opencv2/core.hpp>
@@ -42,7 +43,18 @@
*/
struct IntrinsicCameraParams
{
- IntrinsicCameraParams() {}
+ IntrinsicCameraParams()
+ {
+ constexpr double defaultFocalLength = 881;
+ constexpr double defaultCx = 551.5;
+ constexpr double defaultCy = 383.5;
+ setFx(defaultFocalLength);
+ setFy(defaultFocalLength);
+ setCx(defaultCx);
+ setCy(defaultCy);
+
+ // distortionCoeffs already 0-initalized
+ }
IntrinsicCameraParams(const IntrinsicCameraParams &other);
IntrinsicCameraParams(IntrinsicCameraParams &&other) = default;
IntrinsicCameraParams &operator=(const IntrinsicCameraParams &other);
@@ -65,16 +77,107 @@ struct IntrinsicCameraParams
double getFy() const { return cameraMatrix.at<double>(1, 1); }
void setFy(double val) { cameraMatrix.at<double>(1, 1) = val; }
+ float getR2() const { return distortionCoeffs.at<float>(0); }
+ void setR2(float val) { distortionCoeffs.at<float>(0) = val; }
+
+ float getR4() const { return distortionCoeffs.at<float>(1); }
+ void setR4(float val) { distortionCoeffs.at<float>(1) = val; }
+
+ float getR6() const { return distortionCoeffs.at<float>(4); }
+ void setR6(float val) { distortionCoeffs.at<float>(4) = val; }
+
+ float getTx() const { return distortionCoeffs.at<float>(2); }
+ void setTx(float val) { distortionCoeffs.at<float>(2) = val; }
+
+ float getTy() const { return distortionCoeffs.at<float>(3); }
+ void setTy(float val) { distortionCoeffs.at<float>(3) = val; }
+
+ float getK4() const { return distortionCoeffs.at<float>(5); }
+ void setK4(float val) { distortionCoeffs.at<float>(5) = val; }
+
+ float getK5() const { return distortionCoeffs.at<float>(6); }
+ void setK5(float val) { distortionCoeffs.at<float>(6) = val; }
+
+ float getK6() const { return distortionCoeffs.at<float>(7); }
+ void setK6(float val) { distortionCoeffs.at<float>(7) = val; }
+
+ float getS1() const { return distortionCoeffs.at<float>(8); }
+ void setS1(float val) { distortionCoeffs.at<float>(8) = val; }
+
+ float getS2() const { return distortionCoeffs.at<float>(9); }
+ void setS2(float val) { distortionCoeffs.at<float>(9) = val; }
+
+ float getS3() const { return distortionCoeffs.at<float>(10); }
+ void setS3(float val) { distortionCoeffs.at<float>(10) = val; }
+
+ float getS4() const { return distortionCoeffs.at<float>(11); }
+ void setS4(float val) { distortionCoeffs.at<float>(11) = val; }
+
+ float getTaux() const { return distortionCoeffs.at<float>(12); }
+ void setTaux(float val) { distortionCoeffs.at<float>(12) = val; }
+
+ float getTauy() const { return distortionCoeffs.at<float>(13); }
+ void setTauy(float val) { distortionCoeffs.at<float>(13) = val; }
+
+ float getReprojectionError() const { return reprojectionError; }
+ void setReprojectionError(float val) { reprojectionError = val; }
friend bool operator==(const IntrinsicCameraParams &lhs, const IntrinsicCameraParams &rhs)
{
const bool eqCamMat = cv::countNonZero(lhs.cameraMatrix != rhs.cameraMatrix) == 0;
const bool eqDist = cv::countNonZero(lhs.distortionCoeffs != rhs.distortionCoeffs) == 0;
-
- return eqCamMat && eqDist && (lhs.reprojectionError == rhs.reprojectionError);
+ bool eqReprError;
+ if(qIsNaN(lhs.reprojectionError) && qIsNaN(rhs.reprojectionError))
+ {
+ eqReprError = true;
+ }
+ else if(!qIsNaN(lhs.reprojectionError) && !qIsNaN(rhs.reprojectionError))
+ {
+ eqReprError = lhs.reprojectionError == rhs.reprojectionError;
+ }
+ else
+ {
+ return false;
+ }
+ return eqCamMat && eqDist && eqReprError;
}
friend bool operator!=(const IntrinsicCameraParams &lhs, const IntrinsicCameraParams &rhs) { return !(lhs == rhs); }
+
+ friend std::ostream &operator<<(std::ostream &os, IntrinsicCameraParams params)
+ {
+ os << "Camera params: " << std::endl;
+ os << params.getFx() << " " << params.cameraMatrix.at<double>(0, 1) << " " << params.getCx() << std::endl;
+ os << params.cameraMatrix.at<double>(1, 0) << " " << params.getFy() << " " << params.getCy() << std::endl;
+ os << params.cameraMatrix.at<double>(2, 0) << " " << params.cameraMatrix.at<double>(2, 1) << " "
+ << params.cameraMatrix.at<double>(2, 2) << std::endl;
+
+ os << "Distortion params: " << std::endl;
+ os << params.getR2() << " " << params.getR4() << " " << params.getTx() << " " << params.getTy() << " "
+ << params.getR6() << " " << params.getK4() << " " << params.getK5() << " " << params.getK6() << " "
+ << params.getS1() << " " << params.getS2() << " " << params.getS3() << " " << params.getS4() << " "
+ << params.getTaux() << " " << params.getTauy() << std::endl;
+ os << "Reprojection Error: " << params.reprojectionError << std::endl;
+ return os;
+ }
+};
+
+struct IntrinsicModelsParameters
+{
+ IntrinsicCameraParams oldModelParams;
+ IntrinsicCameraParams extModelParams;
+
+ friend bool operator==(const IntrinsicModelsParameters &lhs, const IntrinsicModelsParameters &rhs)
+ {
+ bool eqOldModel = lhs.oldModelParams == rhs.oldModelParams;
+ bool eqExtModel = lhs.extModelParams == rhs.extModelParams;
+ return eqOldModel && eqExtModel;
+ }
+
+ friend bool operator!=(const IntrinsicModelsParameters &lhs, const IntrinsicModelsParameters &rhs)
+ {
+ return !(lhs == rhs);
+ }
};
Q_DECLARE_METATYPE(IntrinsicCameraParams)
diff --git a/src/petrack.cpp b/src/petrack.cpp
index e77d2f22e2dd7c07a026622418cee43247de4ac9..447547b4137c2fe0c8f40065f550952dd2f6960a 100644
--- a/src/petrack.cpp
+++ b/src/petrack.cpp
@@ -142,8 +142,8 @@ Petrack::Petrack(QString petrackVersion) :
*getSwapFilter(),
updateImageCallback);
- auto *intrinsicBox = new IntrinsicBox(this, *getAutoCalib(), *getCalibFilter(), updateImageCallback);
auto *extrinsicBox = new ExtrinsicBox(this, *getExtrCalibration());
+ auto *intrinsicBox = new IntrinsicBox(this, *getAutoCalib(), *getCalibFilter(), *extrinsicBox, updateImageCallback);
mImageItem = new ImageItem(this, nullptr);
auto *coordSysBox = new CoordinateSystemBox(
this,
@@ -812,7 +812,6 @@ void Petrack::openProject(QString fileName, bool openSeq) // default fileName=""
return;
}
mLastTrackerExport = mTrcFileName;
-
updateWindowTitle();
}
}
diff --git a/src/ui/main-windows/control.cpp b/src/ui/main-windows/control.cpp
index 1b0e059d402cd38b656815ed89083c4294117484..0274dda615d8b8e91648ae5dcadcdecaf344b22d 100644
--- a/src/ui/main-windows/control.cpp
+++ b/src/ui/main-windows/control.cpp
@@ -151,7 +151,6 @@ Control::Control(
auto *gridPBox = new PGroupBox(this, "alignment grid", mGrid);
ui->verticalLayout_13->insertWidget(4, gridPBox);
-
// integrate new widgets in tabbing order
QWidget::setTabOrder(mFilterBefore, mIntr);
QWidget::setTabOrder(mIntr, mExtr);
diff --git a/src/ui/main-windows/intrinsicBox.cpp b/src/ui/main-windows/intrinsicBox.cpp
index 59ca0de97490014e6bc51b10db6e8422024aeea2..b9c260970e1906988c2db87cc287fc56193b3085 100644
--- a/src/ui/main-windows/intrinsicBox.cpp
+++ b/src/ui/main-windows/intrinsicBox.cpp
@@ -20,6 +20,7 @@
#include "autoCalib.h"
#include "calibFilter.h"
+#include "extrinsicBox.h"
#include "helper.h"
#include "pGroupBox.h"
#include "pMessageBox.h"
@@ -32,8 +33,9 @@ IntrinsicBox::IntrinsicBox(
QWidget *parent,
AutoCalib &autoCalib,
CalibFilter &calibFilter,
+ ExtrinsicBox &extrBox,
std::function<void()> updateImageCallback) :
- IntrinsicBox(parent, new Ui::IntrinsicBox(), autoCalib, calibFilter, updateImageCallback)
+ IntrinsicBox(parent, new Ui::IntrinsicBox(), autoCalib, calibFilter, extrBox, updateImageCallback)
{
}
@@ -42,15 +44,16 @@ IntrinsicBox::IntrinsicBox(
Ui::IntrinsicBox *ui,
AutoCalib &autoCalib,
CalibFilter &calibFilter,
+ ExtrinsicBox &extrBox,
std::function<void()> updateImageCallback) :
QWidget(parent),
mUi(ui),
mAutoCalib(autoCalib),
mCalibFilter(calibFilter),
+ mExtrBox(extrBox),
mUpdateImageCallback(std::move(updateImageCallback))
{
mUi->setupUi(this);
- connect(mUi->extModelCheckBox, &QCheckBox::stateChanged, this, &IntrinsicBox::on_extModelCheckBox_stateChanged);
connect(mUi->autoCalib, &QPushButton::clicked, this, &IntrinsicBox::runAutoCalib);
connect(mUi->quadAspectRatio, &QCheckBox::clicked, this, &IntrinsicBox::showRecalibrationDialog);
connect(mUi->fixCenter, &QCheckBox::clicked, this, &IntrinsicBox::showRecalibrationDialog);
@@ -58,7 +61,9 @@ IntrinsicBox::IntrinsicBox(
// apply intrinsic
mUi->apply->setCheckState(mCalibFilter.getEnabled() ? Qt::Checked : Qt::Unchecked);
- setIntrinsicCameraParams(mCalibFilter.getCamParams().getValue());
+ mModelsParams.oldModelParams = IntrinsicCameraParams{};
+ mModelsParams.extModelParams = IntrinsicCameraParams{};
+ applyCurrentModelParamsToUi();
setCalibSettings();
// FocusPolicy: TabFocus and first ui-element as proxy are needed for tab order
setFocusProxy(mUi->apply);
@@ -69,71 +74,54 @@ IntrinsicBox::~IntrinsicBox()
delete mUi;
}
-void IntrinsicBox::setIntrinsicCameraParams(const IntrinsicCameraParams ¶ms)
+void IntrinsicBox::setIntrinsicCameraParams(const IntrinsicModelsParameters params)
{
- if(params == mParams)
+ if(params == mModelsParams)
{
- // do not send signal if value hasn't changed
return;
}
+ mModelsParams = params;
+ applyCurrentModelParamsToUi();
+}
+void IntrinsicBox::setCurrentIntrinsicCameraParameters(const IntrinsicCameraParams params)
+{
+ if(mUi->extModelCheckBox->isChecked())
{
- // don't want to send signals for intermediate params
- const QSignalBlocker blocker(this);
-
- setValue(mUi->fx, params.getFx());
- setValue(mUi->fy, params.getFy());
- setValue(mUi->cx, params.getCx());
- setValue(mUi->cy, params.getCy());
- setValue(mUi->r2, static_cast<double>(params.distortionCoeffs.at<float>(0)));
- setValue(mUi->r4, static_cast<double>(params.distortionCoeffs.at<float>(1)));
- setValue(mUi->tx, static_cast<double>(params.distortionCoeffs.at<float>(2)));
- setValue(mUi->ty, static_cast<double>(params.distortionCoeffs.at<float>(3)));
- setValue(mUi->r6, static_cast<double>(params.distortionCoeffs.at<float>(4)));
- setValue(mUi->k4, static_cast<double>(params.distortionCoeffs.at<float>(5)));
- setValue(mUi->k5, static_cast<double>(params.distortionCoeffs.at<float>(6)));
- setValue(mUi->k6, static_cast<double>(params.distortionCoeffs.at<float>(7)));
- setValue(mUi->s1, static_cast<double>(params.distortionCoeffs.at<float>(8)));
- setValue(mUi->s2, static_cast<double>(params.distortionCoeffs.at<float>(9)));
- setValue(mUi->s3, static_cast<double>(params.distortionCoeffs.at<float>(10)));
- setValue(mUi->s4, static_cast<double>(params.distortionCoeffs.at<float>(11)));
- setValue(mUi->taux, static_cast<double>(params.distortionCoeffs.at<float>(12)));
- setValue(mUi->tauy, static_cast<double>(params.distortionCoeffs.at<float>(13)));
-
- if(params.reprojectionError == std::numeric_limits<float>::quiet_NaN())
- {
- mUi->intrError->setText(QString("invalid"));
- }
- else
- {
- mUi->intrError->setText(QString("%1").arg(params.reprojectionError));
- }
-
- // needed here because I surpress signals
- mParams = params;
+ mModelsParams.extModelParams = params;
+ }
+ else
+ {
+ mModelsParams.oldModelParams = params;
}
- emit paramsChanged(mParams);
+ applyCurrentModelParamsToUi();
}
void IntrinsicBox::imageSizeChanged(int width, int height, int borderDiff)
{
- const double cX = mParams.getCx();
- const double cY = mParams.getCy();
+ IntrinsicCameraParams params = getIntrinsicCameraParams();
mCxFixed = (width - 1) / 2.;
mCyFixed = (height - 1) / 2.;
-
if(mUi->fixCenter->isChecked())
{
- mUi->cx->setValue(mCxFixed);
- mUi->cy->setValue(mCyFixed);
+ mModelsParams.oldModelParams.setCx(mCxFixed);
+ mModelsParams.oldModelParams.setCy(mCyFixed);
+ mModelsParams.extModelParams.setCx(mCxFixed);
+ mModelsParams.extModelParams.setCy(mCyFixed);
+ setValueBlocked(mUi->cx, mCxFixed);
+ setValueBlocked(mUi->cy, mCyFixed);
}
else
{
try
{
- setValue(mUi->cx, cX + borderDiff);
- setValue(mUi->cy, cY + borderDiff);
+ mModelsParams.oldModelParams.setCx(mModelsParams.oldModelParams.getCx() + borderDiff);
+ mModelsParams.oldModelParams.setCy(mModelsParams.oldModelParams.getCy() + borderDiff);
+ mModelsParams.extModelParams.setCx(mModelsParams.extModelParams.getCx() + borderDiff);
+ mModelsParams.extModelParams.setCy(mModelsParams.extModelParams.getCy() + borderDiff);
+ setValueBlocked(mUi->cx, params.getCx() + borderDiff);
+ setValueBlocked(mUi->cy, params.getCy() + borderDiff);
}
catch(std::domain_error &)
{
@@ -143,6 +131,125 @@ void IntrinsicBox::imageSizeChanged(int width, int height, int borderDiff)
"The image has a different size for which the current values for cx and cy are not valid anymore.");
}
}
+ emit paramsChanged(getIntrinsicCameraParams());
+}
+
+IntrinsicCameraParams IntrinsicBox::getXmlParams(const QDomElement &elem)
+{
+ IntrinsicCameraParams params;
+ if(elem.hasAttribute("FX"))
+ {
+ params.setFx(elem.attribute("FX").toDouble());
+ }
+ if(elem.hasAttribute("FY"))
+ {
+ params.setFy(elem.attribute("FY").toDouble());
+ }
+ if(elem.hasAttribute("CX"))
+ {
+ params.setCx(elem.attribute("CX").toDouble());
+ }
+ if(elem.hasAttribute("CY"))
+ {
+ params.setCy(elem.attribute("CY").toDouble());
+ }
+ if(elem.hasAttribute("R2"))
+ {
+ params.setR2(elem.attribute("R2").toDouble());
+ }
+ if(elem.hasAttribute("R4"))
+ {
+ params.setR4(elem.attribute("R4").toDouble());
+ }
+ if(elem.hasAttribute("R6"))
+ {
+ params.setR6(elem.attribute("R6").toDouble());
+ }
+ if(elem.hasAttribute("TX"))
+ {
+ params.setTx(elem.attribute("TX").toDouble());
+ }
+ if(elem.hasAttribute("TY"))
+ {
+ params.setTy(elem.attribute("TY").toDouble());
+ }
+ if(elem.hasAttribute("K4"))
+ {
+ params.setK4(elem.attribute("K4").toDouble());
+ }
+ if(elem.hasAttribute("K5"))
+ {
+ params.setK5(elem.attribute("K5").toDouble());
+ }
+ if(elem.hasAttribute("K6"))
+ {
+ params.setK6(elem.attribute("K6").toDouble());
+ }
+ if(elem.hasAttribute("S1"))
+ {
+ params.setS1(elem.attribute("S1").toDouble());
+ }
+ if(elem.hasAttribute("S2"))
+ {
+ params.setS2(elem.attribute("S2").toDouble());
+ }
+ if(elem.hasAttribute("S3"))
+ {
+ params.setS3(elem.attribute("S3").toDouble());
+ }
+ if(elem.hasAttribute("S4"))
+ {
+ params.setS4(elem.attribute("S4").toDouble());
+ }
+ if(elem.hasAttribute("TAUX"))
+ {
+ params.setTaux(elem.attribute("TAUX").toDouble());
+ }
+ if(elem.hasAttribute("TAUY"))
+ {
+ params.setTauy(elem.attribute("TAUY").toDouble());
+ }
+ if(elem.hasAttribute("ReprError"))
+ {
+ bool conversionSuccessful;
+ params.reprojectionError = elem.attribute("ReprError").toDouble(&conversionSuccessful);
+ if(!conversionSuccessful)
+ {
+ // Qt sets to inf instead of nan
+ params.reprojectionError = std::numeric_limits<double>::quiet_NaN();
+ }
+ }
+ return params;
+}
+
+void IntrinsicBox::loadCalibFiles(QDomElement &subSubElem)
+{
+ if(subSubElem.hasAttribute("CALIB_FILES"))
+ {
+ QStringList fl = (subSubElem.attribute("CALIB_FILES")).split(",");
+ QString tmpStr;
+ for(int i = 0; i < fl.size(); ++i)
+ {
+ if((fl[i] = fl[i].trimmed()) == "")
+ {
+ fl.removeAt(i);
+ }
+ else
+ {
+ tmpStr = getExistingFile(fl[i]);
+ if(tmpStr != "")
+ {
+ fl[i] = tmpStr;
+ }
+ }
+ }
+ // auch setzen, wenn leer, vielleicht ist das ja gewuenscht
+ mAutoCalib.setCalibFiles(fl);
+ if(!fl.isEmpty())
+ {
+ mUi->autoCalib->setEnabled(true);
+ }
+ }
}
bool IntrinsicBox::getXml(QDomElement &subSubElem)
@@ -164,135 +271,39 @@ bool IntrinsicBox::getXml(QDomElement &subSubElem)
}
else if(subSubElem.tagName() == "INTRINSIC_PARAMETERS")
{
- IntrinsicCameraParams params;
- if(subSubElem.hasAttribute("ENABLED"))
- {
- mUi->apply->setChecked(subSubElem.attribute("ENABLED").toInt());
- }
- if(subSubElem.hasAttribute("FX"))
- {
- params.setFx(subSubElem.attribute("FX").toDouble());
- }
- if(subSubElem.hasAttribute("FY"))
- {
- params.setFy(subSubElem.attribute("FY").toDouble());
- }
- if(subSubElem.hasAttribute("CX"))
- {
- params.setCx(subSubElem.attribute("CX").toDouble());
- }
- if(subSubElem.hasAttribute("CY"))
- {
- params.setCy(subSubElem.attribute("CY").toDouble());
- }
- if(subSubElem.hasAttribute("R2"))
- {
- params.distortionCoeffs.at<float>(0) = subSubElem.attribute("R2").toDouble();
- }
- if(subSubElem.hasAttribute("R4"))
- {
- params.distortionCoeffs.at<float>(1) = subSubElem.attribute("R4").toDouble();
- }
- if(subSubElem.hasAttribute("R6"))
- {
- params.distortionCoeffs.at<float>(4) = subSubElem.attribute("R6").toDouble();
- }
- if(subSubElem.hasAttribute("TX"))
- {
- params.distortionCoeffs.at<float>(2) = subSubElem.attribute("TX").toDouble();
- }
- if(subSubElem.hasAttribute("TY"))
- {
- params.distortionCoeffs.at<float>(3) = subSubElem.attribute("TY").toDouble();
- }
- if(subSubElem.hasAttribute("K4"))
- {
- params.distortionCoeffs.at<float>(5) = subSubElem.attribute("K4").toDouble();
- }
- if(subSubElem.hasAttribute("K5"))
- {
- params.distortionCoeffs.at<float>(6) = subSubElem.attribute("K5").toDouble();
- }
- if(subSubElem.hasAttribute("K6"))
- {
- params.distortionCoeffs.at<float>(7) = subSubElem.attribute("K6").toDouble();
- }
- if(subSubElem.hasAttribute("S1"))
- {
- params.distortionCoeffs.at<float>(8) = subSubElem.attribute("S1").toDouble();
- }
- if(subSubElem.hasAttribute("S2"))
- {
- params.distortionCoeffs.at<float>(9) = subSubElem.attribute("S2").toDouble();
- }
- if(subSubElem.hasAttribute("S3"))
- {
- params.distortionCoeffs.at<float>(10) = subSubElem.attribute("S3").toDouble();
- }
- if(subSubElem.hasAttribute("S4"))
- {
- params.distortionCoeffs.at<float>(11) = subSubElem.attribute("S4").toDouble();
- }
- if(subSubElem.hasAttribute("TAUX"))
- {
- params.distortionCoeffs.at<float>(12) = subSubElem.attribute("TAUX").toDouble();
- }
- if(subSubElem.hasAttribute("TAUY"))
- {
- params.distortionCoeffs.at<float>(13) = subSubElem.attribute("TAUY").toDouble();
- }
- if(subSubElem.hasAttribute("ReprError"))
- {
- bool conversionSuccessful;
- params.reprojectionError = subSubElem.attribute("ReprError").toDouble(&conversionSuccessful);
- if(!conversionSuccessful)
- {
- // Qt sets to inf instead of nan
- params.reprojectionError = std::numeric_limits<double>::quiet_NaN();
- }
- }
- if(subSubElem.hasAttribute("QUAD_ASPECT_RATIO"))
- {
- mUi->quadAspectRatio->setChecked(subSubElem.attribute("QUAD_ASPECT_RATIO").toInt());
- }
- if(subSubElem.hasAttribute("FIX_CENTER"))
- {
- mUi->fixCenter->setChecked(subSubElem.attribute("FIX_CENTER").toInt());
- }
- if(subSubElem.hasAttribute("TANG_DIST"))
- {
- mUi->tangDist->setChecked(subSubElem.attribute("TANG_DIST").toInt());
- }
- if(subSubElem.hasAttribute("EXT_MODEL_ENABLED"))
- {
- mUi->extModelCheckBox->setChecked(subSubElem.attribute("EXT_MODEL_ENABLED").toInt());
- }
- if(subSubElem.hasAttribute("CALIB_FILES"))
+ loadValue(subSubElem, "ENABLED", mUi->apply);
+ // signals are supposed to change model values; but since we read them in
+ // from a valid file, no changes are neccessary -> can safely block signals
+ loadValue(subSubElem, "QUAD_ASPECT_RATIO", mUi->quadAspectRatio);
+ loadValue(subSubElem, "FIX_CENTER", mUi->fixCenter);
+ loadValue(subSubElem, "TANG_DIST", mUi->tangDist);
+
+ if(subSubElem.elementsByTagName("OLD_MODEL").isEmpty())
{
- QStringList fl = (subSubElem.attribute("CALIB_FILES")).split(",");
- QString tmpStr;
- for(int i = 0; i < fl.size(); ++i)
+ // old file with only one model
+ if(subSubElem.hasAttribute("EXT_MODEL_ENABLED") && subSubElem.attribute("EXT_MODEL_ENABLED").toInt())
{
- if((fl[i] = fl[i].trimmed()) == "")
- {
- fl.removeAt(i);
- }
- else
- {
- tmpStr = getExistingFile(fl[i]);
- if(tmpStr != "")
- {
- fl[i] = tmpStr;
- }
- }
+ mModelsParams.extModelParams = getXmlParams(subSubElem);
+ mModelsParams.oldModelParams = IntrinsicCameraParams{};
}
- // auch setzen, wenn leer, vielleicht ist das ja gewuenscht
- mAutoCalib.setCalibFiles(fl);
- if(!fl.isEmpty())
+ else
{
- mUi->autoCalib->setEnabled(true);
+ mModelsParams.oldModelParams = getXmlParams(subSubElem);
+ mModelsParams.extModelParams = IntrinsicCameraParams{};
}
}
+ else
+ {
+ // new file with multiple models saved
+ mModelsParams.extModelParams = getXmlParams(subSubElem.firstChildElement("EXT_MODEL"));
+ mModelsParams.oldModelParams = getXmlParams(subSubElem.firstChildElement("OLD_MODEL"));
+ }
+ checkModelParams(mModelsParams.oldModelParams);
+ checkModelParams(mModelsParams.extModelParams);
+
+ loadValue(subSubElem, "EXT_MODEL_ENABLED", mUi->extModelCheckBox);
+
+ loadCalibFiles(subSubElem);
const QDomElement root = subSubElem.ownerDocument().firstChildElement("PETRACK");
@@ -317,10 +328,20 @@ bool IntrinsicBox::getXml(QDomElement &subSubElem)
mUi->extModelCheckBox->setChecked(true);
}
}
-
- setIntrinsicCameraParams(params);
+ if(newerThanVersion(QString("0.10.3"), root.attribute("VERSION")))
+ {
+ IntrinsicCameraParams standardParams{};
+ if(mModelsParams.oldModelParams == standardParams || mModelsParams.extModelParams == standardParams)
+ {
+ PWarning(
+ this,
+ tr("PeTrack"),
+ tr("You are using a project version that only uses one calibration model. To use both, you need to "
+ "recalibrate"));
+ }
+ }
+ applyCurrentModelParamsToUi();
setCalibSettings();
-
if(subSubElem.hasAttribute("IMMUTABLE"))
{
if(this->parent())
@@ -350,26 +371,52 @@ void IntrinsicBox::setXml(QDomElement &subElem) const
subSubElem = (subElem.ownerDocument()).createElement("INTRINSIC_PARAMETERS");
subSubElem.setAttribute("ENABLED", mUi->apply->isChecked());
- subSubElem.setAttribute("FX", mUi->fx->value());
- subSubElem.setAttribute("FY", mUi->fy->value());
- subSubElem.setAttribute("CX", mUi->cx->value());
- subSubElem.setAttribute("CY", mUi->cy->value());
- subSubElem.setAttribute("R2", mUi->r2->value());
- subSubElem.setAttribute("R4", mUi->r4->value());
- subSubElem.setAttribute("R6", mUi->r6->value());
- subSubElem.setAttribute("TX", mUi->tx->value());
- subSubElem.setAttribute("TY", mUi->ty->value());
- subSubElem.setAttribute("K4", mUi->k4->value());
- subSubElem.setAttribute("K5", mUi->k5->value());
- subSubElem.setAttribute("K6", mUi->k6->value());
- subSubElem.setAttribute("S1", mUi->s1->value());
- subSubElem.setAttribute("S2", mUi->s2->value());
- subSubElem.setAttribute("S3", mUi->s3->value());
- subSubElem.setAttribute("S4", mUi->s4->value());
- subSubElem.setAttribute("TAUX", mUi->taux->value());
- subSubElem.setAttribute("TAUY", mUi->tauy->value());
- subSubElem.setAttribute("ReprError", mParams.reprojectionError);
+ auto subSubSubElem = (subSubElem.ownerDocument()).createElement("OLD_MODEL");
+ subSubSubElem.setAttribute("FX", mModelsParams.oldModelParams.getFx());
+ subSubSubElem.setAttribute("FY", mModelsParams.oldModelParams.getFy());
+ subSubSubElem.setAttribute("CX", mModelsParams.oldModelParams.getCx());
+ subSubSubElem.setAttribute("CY", mModelsParams.oldModelParams.getCy());
+ subSubSubElem.setAttribute("R2", mModelsParams.oldModelParams.getR2());
+ subSubSubElem.setAttribute("R4", mModelsParams.oldModelParams.getR4());
+ subSubSubElem.setAttribute("R6", mModelsParams.oldModelParams.getR6());
+ subSubSubElem.setAttribute("TX", mModelsParams.oldModelParams.getTx());
+ subSubSubElem.setAttribute("TY", mModelsParams.oldModelParams.getTy());
+ subSubSubElem.setAttribute("K4", mModelsParams.oldModelParams.getK4());
+ subSubSubElem.setAttribute("K5", mModelsParams.oldModelParams.getK5());
+ subSubSubElem.setAttribute("K6", mModelsParams.oldModelParams.getK6());
+ subSubSubElem.setAttribute("S1", mModelsParams.oldModelParams.getS1());
+ subSubSubElem.setAttribute("S2", mModelsParams.oldModelParams.getS2());
+ subSubSubElem.setAttribute("S3", mModelsParams.oldModelParams.getS3());
+ subSubSubElem.setAttribute("S4", mModelsParams.oldModelParams.getS4());
+ subSubSubElem.setAttribute("TAUX", mModelsParams.oldModelParams.getTaux());
+ subSubSubElem.setAttribute("TAUY", mModelsParams.oldModelParams.getTauy());
+ subSubSubElem.setAttribute("ReprError", mModelsParams.oldModelParams.getReprojectionError());
+
+ subSubElem.appendChild(subSubSubElem);
+
+ subSubSubElem = (subSubElem.ownerDocument()).createElement("EXT_MODEL");
+ subSubSubElem.setAttribute("FX", mModelsParams.extModelParams.getFx());
+ subSubSubElem.setAttribute("FY", mModelsParams.extModelParams.getFy());
+ subSubSubElem.setAttribute("CX", mModelsParams.extModelParams.getCx());
+ subSubSubElem.setAttribute("CY", mModelsParams.extModelParams.getCy());
+ subSubSubElem.setAttribute("R2", mModelsParams.extModelParams.getR2());
+ subSubSubElem.setAttribute("R4", mModelsParams.extModelParams.getR4());
+ subSubSubElem.setAttribute("R6", mModelsParams.extModelParams.getR6());
+ subSubSubElem.setAttribute("TX", mModelsParams.extModelParams.getTx());
+ subSubSubElem.setAttribute("TY", mModelsParams.extModelParams.getTy());
+ subSubSubElem.setAttribute("K4", mModelsParams.extModelParams.getK4());
+ subSubSubElem.setAttribute("K5", mModelsParams.extModelParams.getK5());
+ subSubSubElem.setAttribute("K6", mModelsParams.extModelParams.getK6());
+ subSubSubElem.setAttribute("S1", mModelsParams.extModelParams.getS1());
+ subSubSubElem.setAttribute("S2", mModelsParams.extModelParams.getS2());
+ subSubSubElem.setAttribute("S3", mModelsParams.extModelParams.getS3());
+ subSubSubElem.setAttribute("S4", mModelsParams.extModelParams.getS4());
+ subSubSubElem.setAttribute("TAUX", mModelsParams.extModelParams.getTaux());
+ subSubSubElem.setAttribute("TAUY", mModelsParams.extModelParams.getTauy());
+ subSubSubElem.setAttribute("ReprError", mModelsParams.extModelParams.getReprojectionError());
+
+ subSubElem.appendChild(subSubSubElem);
subSubElem.setAttribute("QUAD_ASPECT_RATIO", mCalibSettings.quadAspectRatio);
subSubElem.setAttribute("FIX_CENTER", mCalibSettings.fixCenter);
subSubElem.setAttribute("TANG_DIST", mCalibSettings.tangDist);
@@ -415,156 +462,172 @@ void IntrinsicBox::showRecalibrationDialog()
void IntrinsicBox::on_fx_valueChanged(double d)
{
- mParams.setFx(d);
+ IntrinsicCameraParams params = getIntrinsicCameraParams();
+ params.setFx(d);
+ params.reprojectionError = std::numeric_limits<double>::quiet_NaN();
mUi->intrError->setText(QString("invalid"));
- mParams.reprojectionError = std::numeric_limits<double>::quiet_NaN();
- emit paramsChanged(mParams);
+ setCurrentIntrinsicCameraParameters(params);
}
void IntrinsicBox::on_fy_valueChanged(double d)
{
- mParams.setFy(d);
+ IntrinsicCameraParams params = getIntrinsicCameraParams();
+ params.setFy(d);
+ params.reprojectionError = std::numeric_limits<double>::quiet_NaN();
mUi->intrError->setText(QString("invalid"));
- mParams.reprojectionError = std::numeric_limits<double>::quiet_NaN();
- emit paramsChanged(mParams);
+ setCurrentIntrinsicCameraParameters(params);
}
void IntrinsicBox::on_cx_valueChanged(double d)
{
- mParams.setCx(d);
+ IntrinsicCameraParams params = getIntrinsicCameraParams();
+ params.setCx(d);
+ params.reprojectionError = std::numeric_limits<double>::quiet_NaN();
mUi->intrError->setText(QString("invalid"));
- mParams.reprojectionError = std::numeric_limits<double>::quiet_NaN();
- emit paramsChanged(mParams);
+ setCurrentIntrinsicCameraParameters(params);
}
void IntrinsicBox::on_cy_valueChanged(double d)
{
- mParams.setCy(d);
+ IntrinsicCameraParams params = getIntrinsicCameraParams();
+ params.setCy(d);
+ params.reprojectionError = std::numeric_limits<double>::quiet_NaN();
mUi->intrError->setText(QString("invalid"));
- mParams.reprojectionError = std::numeric_limits<double>::quiet_NaN();
- emit paramsChanged(mParams);
+ setCurrentIntrinsicCameraParameters(params);
}
void IntrinsicBox::on_r2_valueChanged(double d)
{
- mParams.distortionCoeffs.at<float>(0) = static_cast<float>(d);
+ IntrinsicCameraParams params = getIntrinsicCameraParams();
+ params.setR2(d);
+ params.reprojectionError = std::numeric_limits<double>::quiet_NaN();
mUi->intrError->setText(QString("invalid"));
- mParams.reprojectionError = std::numeric_limits<double>::quiet_NaN();
- emit paramsChanged(mParams);
+ setCurrentIntrinsicCameraParameters(params);
}
void IntrinsicBox::on_r4_valueChanged(double d)
{
- mParams.distortionCoeffs.at<float>(1) = static_cast<float>(d);
+ IntrinsicCameraParams params = getIntrinsicCameraParams();
+ params.setR4(d);
+ params.reprojectionError = std::numeric_limits<double>::quiet_NaN();
mUi->intrError->setText(QString("invalid"));
- mParams.reprojectionError = std::numeric_limits<double>::quiet_NaN();
- emit paramsChanged(mParams);
+ setCurrentIntrinsicCameraParameters(params);
}
void IntrinsicBox::on_r6_valueChanged(double d)
{
- mParams.distortionCoeffs.at<float>(4) = static_cast<float>(d);
+ IntrinsicCameraParams params = getIntrinsicCameraParams();
+ params.setR6(d);
+ params.reprojectionError = std::numeric_limits<double>::quiet_NaN();
mUi->intrError->setText(QString("invalid"));
- mParams.reprojectionError = std::numeric_limits<double>::quiet_NaN();
- emit paramsChanged(mParams);
+ setCurrentIntrinsicCameraParameters(params);
}
void IntrinsicBox::on_s1_valueChanged(double d)
{
- mParams.distortionCoeffs.at<float>(8) = static_cast<float>(d);
+ IntrinsicCameraParams params = getIntrinsicCameraParams();
+ params.setS1(d);
+ params.reprojectionError = std::numeric_limits<double>::quiet_NaN();
mUi->intrError->setText(QString("invalid"));
- mParams.reprojectionError = std::numeric_limits<double>::quiet_NaN();
- emit paramsChanged(mParams);
+ setCurrentIntrinsicCameraParameters(params);
}
void IntrinsicBox::on_s2_valueChanged(double d)
{
- mParams.distortionCoeffs.at<float>(9) = static_cast<float>(d);
+ IntrinsicCameraParams params = getIntrinsicCameraParams();
+ params.setS2(d);
+ params.reprojectionError = std::numeric_limits<double>::quiet_NaN();
mUi->intrError->setText(QString("invalid"));
- mParams.reprojectionError = std::numeric_limits<double>::quiet_NaN();
- emit paramsChanged(mParams);
+ setCurrentIntrinsicCameraParameters(params);
}
void IntrinsicBox::on_s3_valueChanged(double d)
{
- mParams.distortionCoeffs.at<float>(10) = static_cast<float>(d);
+ IntrinsicCameraParams params = getIntrinsicCameraParams();
+ params.setS3(d);
+ params.reprojectionError = std::numeric_limits<double>::quiet_NaN();
mUi->intrError->setText(QString("invalid"));
- mParams.reprojectionError = std::numeric_limits<double>::quiet_NaN();
- emit paramsChanged(mParams);
+ setCurrentIntrinsicCameraParameters(params);
}
void IntrinsicBox::on_s4_valueChanged(double d)
{
- mParams.distortionCoeffs.at<float>(11) = static_cast<float>(d);
+ IntrinsicCameraParams params = getIntrinsicCameraParams();
+ params.setS4(d);
+ params.reprojectionError = std::numeric_limits<double>::quiet_NaN();
mUi->intrError->setText(QString("invalid"));
- mParams.reprojectionError = std::numeric_limits<double>::quiet_NaN();
- emit paramsChanged(mParams);
+ setCurrentIntrinsicCameraParameters(params);
}
void IntrinsicBox::on_taux_valueChanged(double d)
{
- mParams.distortionCoeffs.at<float>(12) = static_cast<float>(d);
+ IntrinsicCameraParams params = getIntrinsicCameraParams();
+ params.setTaux(d);
+ params.reprojectionError = std::numeric_limits<double>::quiet_NaN();
mUi->intrError->setText(QString("invalid"));
- mParams.reprojectionError = std::numeric_limits<double>::quiet_NaN();
- emit paramsChanged(mParams);
+ setCurrentIntrinsicCameraParameters(params);
}
void IntrinsicBox::on_tauy_valueChanged(double d)
{
- mParams.distortionCoeffs.at<float>(13) = static_cast<float>(d);
+ IntrinsicCameraParams params = getIntrinsicCameraParams();
+ params.setTauy(d);
+ params.reprojectionError = std::numeric_limits<double>::quiet_NaN();
mUi->intrError->setText(QString("invalid"));
- mParams.reprojectionError = std::numeric_limits<double>::quiet_NaN();
- emit paramsChanged(mParams);
+ setCurrentIntrinsicCameraParameters(params);
}
-
-
void IntrinsicBox::on_tx_valueChanged(double d)
{
- mParams.distortionCoeffs.at<float>(2) = static_cast<float>(d);
+ IntrinsicCameraParams params = getIntrinsicCameraParams();
+ params.setTx(d);
+ params.reprojectionError = std::numeric_limits<double>::quiet_NaN();
mUi->intrError->setText(QString("invalid"));
- mParams.reprojectionError = std::numeric_limits<double>::quiet_NaN();
- emit paramsChanged(mParams);
+ setCurrentIntrinsicCameraParameters(params);
}
void IntrinsicBox::on_ty_valueChanged(double d)
{
- mParams.distortionCoeffs.at<float>(3) = static_cast<float>(d);
+ IntrinsicCameraParams params = getIntrinsicCameraParams();
+ params.setTy(d);
+ params.reprojectionError = std::numeric_limits<double>::quiet_NaN();
mUi->intrError->setText(QString("invalid"));
- mParams.reprojectionError = std::numeric_limits<double>::quiet_NaN();
- emit paramsChanged(mParams);
+ setCurrentIntrinsicCameraParameters(params);
}
void IntrinsicBox::on_k4_valueChanged(double d)
{
- mParams.distortionCoeffs.at<float>(5) = static_cast<float>(d);
+ IntrinsicCameraParams params = getIntrinsicCameraParams();
+ params.setK4(d);
+ params.reprojectionError = std::numeric_limits<double>::quiet_NaN();
mUi->intrError->setText(QString("invalid"));
- mParams.reprojectionError = std::numeric_limits<double>::quiet_NaN();
- emit paramsChanged(mParams);
+ setCurrentIntrinsicCameraParameters(params);
}
void IntrinsicBox::on_k5_valueChanged(double d)
{
- mParams.distortionCoeffs.at<float>(6) = static_cast<float>(d);
+ IntrinsicCameraParams params = getIntrinsicCameraParams();
+ params.setK5(d);
+ params.reprojectionError = std::numeric_limits<double>::quiet_NaN();
mUi->intrError->setText(QString("invalid"));
- mParams.reprojectionError = std::numeric_limits<double>::quiet_NaN();
- emit paramsChanged(mParams);
+ setCurrentIntrinsicCameraParameters(params);
}
void IntrinsicBox::on_k6_valueChanged(double d)
{
- mParams.distortionCoeffs.at<float>(7) = static_cast<float>(d);
+ IntrinsicCameraParams params = getIntrinsicCameraParams();
+ params.setK6(d);
+ params.reprojectionError = std::numeric_limits<double>::quiet_NaN();
mUi->intrError->setText(QString("invalid"));
- mParams.reprojectionError = std::numeric_limits<double>::quiet_NaN();
- emit paramsChanged(mParams);
+ setCurrentIntrinsicCameraParameters(params);
}
void IntrinsicBox::on_boardSizeX_valueChanged(int x)
@@ -592,14 +655,14 @@ void IntrinsicBox::setCalibSettings()
void IntrinsicBox::runAutoCalib()
{
auto params = mAutoCalib.autoCalib(
- mUi->quadAspectRatio->isChecked(),
- mUi->fixCenter->isChecked(),
- mUi->tangDist->isChecked(),
- mUi->extModelCheckBox->isChecked());
+ mUi->quadAspectRatio->isChecked(), mUi->fixCenter->isChecked(), mUi->tangDist->isChecked());
if(params)
{
- setIntrinsicCameraParams(params.value());
setCalibSettings();
+ IntrinsicModelsParameters validParams = std::move(*params);
+ mModelsParams.oldModelParams = validParams.oldModelParams;
+ mModelsParams.extModelParams = validParams.extModelParams;
+ applyCurrentModelParamsToUi();
}
}
void IntrinsicBox::on_calibFiles_clicked()
@@ -610,34 +673,116 @@ void IntrinsicBox::on_calibFiles_clicked()
}
}
-void IntrinsicBox::on_extModelCheckBox_stateChanged(int i)
+void IntrinsicBox::on_extModelCheckBox_stateChanged(int)
{
- if(i == Qt::Checked)
+ bool checked = mUi->extModelCheckBox->isChecked();
+
+ mUi->k4->setEnabled(checked);
+ mUi->k5->setEnabled(checked);
+ mUi->k6->setEnabled(checked);
+ mUi->s1->setEnabled(checked);
+ mUi->s2->setEnabled(checked);
+ mUi->s3->setEnabled(checked);
+ mUi->s4->setEnabled(checked);
+ mUi->taux->setEnabled(checked);
+ mUi->tauy->setEnabled(checked);
+
+ applyCurrentModelParamsToUi();
+}
+
+void IntrinsicBox::on_extModelCheckBox_clicked(bool checked)
+{
+ // clicked only called in user action
+ const ExtrinsicParameters standardExtParams{};
+ if(standardExtParams != mExtrBox.getExtrinsicParameters())
{
- mUi->k4->setEnabled(true);
- mUi->k5->setEnabled(true);
- mUi->k6->setEnabled(true);
- mUi->s1->setEnabled(true);
- mUi->s2->setEnabled(true);
- mUi->s3->setEnabled(true);
- mUi->s4->setEnabled(true);
- mUi->taux->setEnabled(true);
- mUi->tauy->setEnabled(true);
+ int ret = PCustom(
+ this,
+ tr("PeTrack"),
+ tr("Using different intrinsic calibration would result in a different extrinsic calibration"),
+ {"Delete extrinsic calibration", "Keep intrinsic calibration", "Keep invalid extrinsic calibration"},
+ "Delete extrinsic calibration");
+ if(ret == 0)
+ {
+ mExtrBox.setExtrinsicParameters(standardExtParams);
+ }
+ else if(ret == 1)
+ {
+ mUi->extModelCheckBox->setCheckState(checked ? Qt::Unchecked : Qt::Checked);
+ }
}
- else if(i == Qt::Unchecked)
+}
+
+IntrinsicCameraParams IntrinsicBox::getIntrinsicCameraParams() const
+{
+ if(mUi->extModelCheckBox->isChecked())
{
- mUi->k4->setDisabled(true);
- mUi->k5->setDisabled(true);
- mUi->k6->setDisabled(true);
- mUi->s1->setDisabled(true);
- mUi->s2->setDisabled(true);
- mUi->s3->setDisabled(true);
- mUi->s4->setDisabled(true);
- mUi->taux->setDisabled(true);
- mUi->tauy->setDisabled(true);
+ return mModelsParams.extModelParams;
}
- mUi->intrError->setText(QString("invalid"));
- mParams.reprojectionError = std::numeric_limits<double>::quiet_NaN();
+ else
+ {
+ return mModelsParams.oldModelParams;
+ }
+}
+IntrinsicModelsParameters IntrinsicBox::getBothIntrinsicCameraParams() const
+{
+ return mModelsParams;
+}
+void IntrinsicBox::applyCurrentModelParamsToUi()
+{
+ IntrinsicCameraParams modelParams = getIntrinsicCameraParams();
+
+ setValueBlocked(mUi->fx, modelParams.getFx());
+ setValueBlocked(mUi->fy, modelParams.getFy());
+ setValueBlocked(mUi->cx, modelParams.getCx());
+ setValueBlocked(mUi->cy, modelParams.getCy());
+ setValueBlocked(mUi->r2, static_cast<double>(modelParams.getR2()));
+ setValueBlocked(mUi->r4, static_cast<double>(modelParams.getR4()));
+ setValueBlocked(mUi->tx, static_cast<double>(modelParams.getTx()));
+ setValueBlocked(mUi->ty, static_cast<double>(modelParams.getTy()));
+ setValueBlocked(mUi->r6, static_cast<double>(modelParams.getR6()));
+ setValueBlocked(mUi->k4, static_cast<double>(modelParams.getK4()));
+ setValueBlocked(mUi->k5, static_cast<double>(modelParams.getK5()));
+ setValueBlocked(mUi->k6, static_cast<double>(modelParams.getK6()));
+ setValueBlocked(mUi->s1, static_cast<double>(modelParams.getS1()));
+ setValueBlocked(mUi->s2, static_cast<double>(modelParams.getS2()));
+ setValueBlocked(mUi->s3, static_cast<double>(modelParams.getS3()));
+ setValueBlocked(mUi->s4, static_cast<double>(modelParams.getS4()));
+ setValueBlocked(mUi->taux, static_cast<double>(modelParams.getTaux()));
+ setValueBlocked(mUi->tauy, static_cast<double>(modelParams.getTauy()));
+
+ if(qIsNaN(modelParams.reprojectionError))
+ {
+ mUi->intrError->setText(QString("invalid"));
+ }
+ else
+ {
+ mUi->intrError->setText(QString("%1").arg(modelParams.reprojectionError));
+ }
+
+ emit paramsChanged(modelParams);
+}
+
+void IntrinsicBox::checkModelParams(const IntrinsicCameraParams &modelParams)
+{
+ checkValueValid(mUi->fx, modelParams.getFx());
+ checkValueValid(mUi->fy, modelParams.getFy());
+ checkValueValid(mUi->cx, modelParams.getCx());
+ checkValueValid(mUi->cy, modelParams.getCy());
+ checkValueValid(mUi->r2, static_cast<double>(modelParams.getR2()));
+ checkValueValid(mUi->r4, static_cast<double>(modelParams.getR4()));
+ checkValueValid(mUi->tx, static_cast<double>(modelParams.getTx()));
+ checkValueValid(mUi->ty, static_cast<double>(modelParams.getTy()));
+ checkValueValid(mUi->r6, static_cast<double>(modelParams.getR6()));
+ checkValueValid(mUi->k4, static_cast<double>(modelParams.getK4()));
+ checkValueValid(mUi->k5, static_cast<double>(modelParams.getK5()));
+ checkValueValid(mUi->k6, static_cast<double>(modelParams.getK6()));
+ checkValueValid(mUi->s1, static_cast<double>(modelParams.getS1()));
+ checkValueValid(mUi->s2, static_cast<double>(modelParams.getS2()));
+ checkValueValid(mUi->s3, static_cast<double>(modelParams.getS3()));
+ checkValueValid(mUi->s4, static_cast<double>(modelParams.getS4()));
+ checkValueValid(mUi->taux, static_cast<double>(modelParams.getTaux()));
+ checkValueValid(mUi->tauy, static_cast<double>(modelParams.getTauy()));
}
void IntrinsicBox::on_quadAspectRatio_stateChanged(int)
diff --git a/src/ui/main-windows/intrinsicBox.h b/src/ui/main-windows/intrinsicBox.h
index 673fed8e0c8a004b1d2bdd186633f5c2389c12dd..4d9e0a446041773e40b1a95130365c3a6cae6d65 100644
--- a/src/ui/main-windows/intrinsicBox.h
+++ b/src/ui/main-windows/intrinsicBox.h
@@ -32,6 +32,8 @@ class IntrinsicBox;
class CalibFilter;
class AutoCalib;
class QDomElement;
+class ExtrinsicBox;
+
struct CalibSettings
{
@@ -49,12 +51,14 @@ public:
QWidget *parent,
AutoCalib &autoCalib,
CalibFilter &calibFilter,
+ ExtrinsicBox &extrBox,
std::function<void()> updateImageCallback);
explicit IntrinsicBox(
QWidget *parent,
Ui::IntrinsicBox *ui,
AutoCalib &autoCalib,
CalibFilter &calibFilter,
+ ExtrinsicBox &extrBox,
std::function<void()> updateImageCallback);
IntrinsicBox(const IntrinsicBox &) = delete;
IntrinsicBox(IntrinsicBox &&) = delete;
@@ -62,24 +66,30 @@ public:
IntrinsicBox &operator=(IntrinsicBox &&) = delete;
~IntrinsicBox() override;
- IntrinsicCameraParams getIntrinsicCameraParams() const { return mParams; }
- void setIntrinsicCameraParams(const IntrinsicCameraParams ¶ms);
- void imageSizeChanged(int width, int height, int borderDiff);
-
+ IntrinsicCameraParams getIntrinsicCameraParams() const;
+ IntrinsicModelsParameters getBothIntrinsicCameraParams() const;
+ void setIntrinsicCameraParams(const IntrinsicModelsParameters params);
+ void setCurrentIntrinsicCameraParameters(IntrinsicCameraParams params);
+ void applyCurrentModelParamsToUi();
+ void checkModelParams(const IntrinsicCameraParams ¶ms);
+ void imageSizeChanged(int width, int height, int borderDiff);
- bool getXml(QDomElement &subSubElem);
- void setXml(QDomElement &subSubElem) const;
- void setCalibSettings();
+ IntrinsicCameraParams getXmlParams(const QDomElement &elem);
+ bool getXml(QDomElement &subSubElem);
+ void setXml(QDomElement &subSubElem) const;
+ void setCalibSettings();
+ void loadCalibFiles(QDomElement &subSubElem);
signals:
void paramsChanged(IntrinsicCameraParams newParams);
private slots:
void showRecalibrationDialog();
- void on_extModelCheckBox_stateChanged(int i);
- void on_quadAspectRatio_stateChanged(int i);
- void on_fixCenter_stateChanged(int i);
- void on_tangDist_stateChanged(int i);
+ void on_extModelCheckBox_stateChanged(int);
+ void on_extModelCheckBox_clicked(bool);
+ void on_quadAspectRatio_stateChanged(int);
+ void on_fixCenter_stateChanged(int);
+ void on_tangDist_stateChanged(int);
void on_fx_valueChanged(double d);
void on_fy_valueChanged(double d);
void on_cx_valueChanged(double d);
@@ -109,12 +119,13 @@ public slots:
private:
- Ui::IntrinsicBox *mUi;
- IntrinsicCameraParams mParams;
- CalibSettings mCalibSettings;
- AutoCalib &mAutoCalib;
- CalibFilter &mCalibFilter;
- std::function<void()> mUpdateImageCallback;
+ Ui::IntrinsicBox *mUi;
+ CalibSettings mCalibSettings;
+ AutoCalib &mAutoCalib;
+ CalibFilter &mCalibFilter;
+ ExtrinsicBox &mExtrBox;
+ std::function<void()> mUpdateImageCallback;
+ IntrinsicModelsParameters mModelsParams;
double mCxFixed = 0;
double mCyFixed = 0;
diff --git a/src/util/helper.cpp b/src/util/helper.cpp
index 6be9730f2fd02460e2da477fe9de981220473cc4..924e70a9fb203abc7eae5cb0bcc301e7b6e841b4 100644
--- a/src/util/helper.cpp
+++ b/src/util/helper.cpp
@@ -20,6 +20,7 @@
#include "logger.h"
+#include <QCheckBox>
#include <opencv2/opencv.hpp>
QString proFileName; ///< Path to the project (.pet) file; used for saving relative paths via getFileList and
@@ -255,3 +256,32 @@ bool newerThanVersion(const QString &q1, const QString &q2)
}
return false;
}
+
+
+void loadValueBlocked(const QDomElement &elem, const QString &name, QCheckBox *widget)
+{
+ if(elem.hasAttribute(name))
+ {
+ QSignalBlocker blocker(widget);
+ setValue(widget, bool(elem.attribute(name).toInt()));
+ }
+}
+
+void setValue(QCheckBox *widget, bool value)
+{
+ widget->setChecked(value);
+}
+
+void setValueBlocked(QCheckBox *widget, bool value)
+{
+ QSignalBlocker blocker(widget);
+ widget->setChecked(value);
+}
+
+void loadValue(const QDomElement &elem, const QString &name, QCheckBox *widget)
+{
+ if(elem.hasAttribute(name))
+ {
+ setValue(widget, bool(elem.attribute(name).toInt()));
+ }
+}
diff --git a/src/util/helper.h b/src/util/helper.h
index 4ff51f20d908c8100bddc6f8ba9e2379508dba75..5bf460aa4acf945df55da7a99a5674b5f0126e25 100644
--- a/src/util/helper.h
+++ b/src/util/helper.h
@@ -23,6 +23,8 @@
#include <QString>
#include <opencv2/opencv.hpp>
+class QCheckBox;
+
extern const QString commandLineOptionsString;
extern QString proFileName; ///< Path to the project (.pet) file; defined in helper.cpp
@@ -288,6 +290,8 @@ T computeMedian(std::vector<T> data)
return 0.5 * (data[data.size() / 2] + data[(data.size() - 1) / 2]);
}
+#include <QDomElement>
+
template <typename T>
void setValue(T widget, double value)
{
@@ -300,4 +304,59 @@ void setValue(T widget, double value)
}
widget->setValue(value);
}
+
+void setValue(QCheckBox *widget, bool value);
+
+template <typename T>
+void loadValue(const QDomElement &elem, const QString &name, T widget)
+{
+ if(elem.hasAttribute(name))
+ {
+ setValue(widget, elem.attribute(name).toDouble());
+ }
+}
+
+void loadValue(const QDomElement &elem, const QString &name, QCheckBox *widget);
+
+template <typename T>
+void setValueBlocked(T widget, double value)
+{
+ if(widget->minimum() > value || widget->maximum() < value)
+ {
+ std::stringstream ss;
+ ss << "Value " << value << " for " << widget->objectName().toStdString() << " is out of range from "
+ << widget->minimum() << " to " << widget->maximum();
+ throw std::domain_error(ss.str());
+ }
+ widget->blockSignals(true);
+ widget->setValue(value);
+ widget->blockSignals(false);
+}
+
+void setValueBlocked(QCheckBox *widget, bool value);
+
+
+template <typename T>
+void loadValueBlocked(const QDomElement &elem, const QString &name, T widget)
+{
+ if(elem.hasAttribute(name))
+ {
+ QSignalBlocker blocker(widget);
+ setValue(widget, elem.attribute(name).toDouble());
+ }
+}
+
+void loadValueBlocked(const QDomElement &elem, const QString &name, QCheckBox *widget);
+
+template <typename T>
+void checkValueValid(T widget, double value)
+{
+ if(widget->minimum() > value || widget->maximum() < value)
+ {
+ std::stringstream ss;
+ ss << "Value " << value << " for " << widget->objectName().toStdString() << " is out of range from "
+ << widget->minimum() << " to " << widget->maximum();
+ throw std::domain_error(ss.str());
+ }
+}
#endif
diff --git a/tests/regression_test/data/00_empty.pet b/tests/regression_test/data/00_empty.pet
index 7403a1e233a9f437faf1723113758fba6f07bb96..74e1a4ff6951a6bc21bcc2c2ec3c666712f882e2 100644
--- a/tests/regression_test/data/00_empty.pet
+++ b/tests/regression_test/data/00_empty.pet
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
-<PETRACK VERSION="0.10.2">
+<PETRACK VERSION="0.10.3">
<MAIN SRC="" STATUS_HEIGHT="0"/>
<CONTROL TAB="0">
<CALIBRATION>
@@ -11,7 +11,10 @@
<SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
<BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
<PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
- <INTRINSIC_PARAMETERS CALIB_FILES="" CX="511.5" CY="383.5" ENABLED="0" EXT_MODEL_ENABLED="0" FIX_CENTER="0" FX="881" FY="881" IMMUTABLE="0" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TANG_DIST="1" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ <INTRINSIC_PARAMETERS CALIB_FILES="" ENABLED="0" EXT_MODEL_ENABLED="0" FIX_CENTER="0" IMMUTABLE="0" QUAD_ASPECT_RATIO="0" TANG_DIST="1">
+ <OLD_MODEL CX="511.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ <EXT_MODEL CX="551.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ </INTRINSIC_PARAMETERS>
<EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="" EXTR_ROT_1="0" EXTR_ROT_2="0" EXTR_ROT_3="0" EXTR_TRANS_1="0" EXTR_TRANS_2="0" EXTR_TRANS_3="-500" FIX="0" IMMUTABLE_COORD_BOX="0" IMMUTABLE_EXTRINSIC_BOX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" IMMUTABLE="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
</CALIBRATION>
diff --git a/tests/regression_test/data/01_old_intrinsic_extModel.pet b/tests/regression_test/data/01_old_intrinsic_extModel.pet
new file mode 100644
index 0000000000000000000000000000000000000000..ba1aeba83e854a71d3af144c59c060ce64e10596
--- /dev/null
+++ b/tests/regression_test/data/01_old_intrinsic_extModel.pet
@@ -0,0 +1,97 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE PETRACK>
+<PETRACK VERSION="0.10.3">
+ <MAIN SRC="" STATUS_HEIGHT="0"/>
+ <CONTROL TAB="0">
+ <CALIBRATION>
+ <FILTER_BEFORE IMMUTABLE="0"/>
+ <BRIGHTNESS ENABLED="0" VALUE="0"/>
+ <CONTRAST ENABLED="0" VALUE="0"/>
+ <BORDER COLOR="#000000" ENABLED="0" VALUE="0"/>
+ <SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
+ <BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
+ <PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
+ <INTRINSIC_PARAMETERS CALIB_FILES="" ENABLED="0" EXT_MODEL_ENABLED="1" FIX_CENTER="0" IMMUTABLE="0" QUAD_ASPECT_RATIO="0" TANG_DIST="1">
+ <OLD_MODEL CX="551.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ <EXT_MODEL CX="947.47000000000003" CY="698.44000000000005" FX="857.12" FY="857.50999999999999" K4="1.7399009" K5="0.39905" K6="-0.013337" R2="1.35895" R4="0.123464" R6="-0.0091120005" ReprError="0.52066356" S1="0.001026" S2="-6.6000001e-05" S3="-0.00019000001" S4="-9.7999997e-05" TAUX="-2.9999999e-05" TAUY="-5.0999999e-05" TX="0.000184" TY="-0.00038799999"/>
+ </INTRINSIC_PARAMETERS>
+ <EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="" EXTR_ROT_1="0" EXTR_ROT_2="0" EXTR_ROT_3="0" EXTR_TRANS_1="0" EXTR_TRANS_2="0" EXTR_TRANS_3="-500" FIX="0" IMMUTABLE_COORD_BOX="0" IMMUTABLE_EXTRINSIC_BOX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
+ <ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" IMMUTABLE="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
+ </CALIBRATION>
+ <RECOGNITION>
+ <PERFORM ENABLED="0" METHOD="5" STEP="1"/>
+ <REGION_OF_INTEREST FIX="0" HEIGHT="0" SHOW="0" WIDTH="0" X="0" Y="0"/>
+ <MARKER BRIGHTNESS="50" IGNORE_WITHOUT="1"/>
+ <SIZE_COLOR AUTO_WB="0" DEFAULT_HEIGHT="180" GREY_LEVEL="50" MAP_NUMBER="0" MODEL="0" SHOW="1" SYMBOL_SIZE="10" X="0" Y="1" Z="255">
+ <MAP COLORED="1" FROM_HUE="0" FROM_SAT="0" FROM_VAL="128" HEIGHT="255" INV_HUE="0" MAP_HEIGHT="180" TO_HUE="359" TO_SAT="255" TO_VAL="255" WIDTH="359" X="0" Y="0"/>
+ </SIZE_COLOR>
+ <READ_HEIGHTS HEIGHT_FILE=""/>
+ <READ_MARKER_IDS MARKER_FILE=""/>
+ </RECOGNITION>
+ <TRACKING>
+ <ONLINE_CALCULATION ENABLED="0"/>
+ <REPEAT_BELOW ENABLED="1" QUALITY="50"/>
+ <EXTRAPOLATION ENABLED="1"/>
+ <MERGE ENABLED="0"/>
+ <ONLY_VISIBLE ENABLED="1"/>
+ <REGION_OF_INTEREST FIX="0" HEIGHT="0" SHOW="0" WIDTH="0" X="0" Y="0"/>
+ <SEARCH_MISSING_FRAMES ENABLED="1"/>
+ <RECALCULATE_MEDIAN_HEIGHT ENABLED="1"/>
+ <ALLOW_ALTERNATE_HEIGHT ENABLED="0"/>
+ <EXPORT_ELIMINATE_TRACKPOINT_WITHOUT_HEIGHT ENABLED="0"/>
+ <EXPORT_ELIMINATE_TRAJECTORY_WITHOUT_HEIGHT ENABLED="0"/>
+ <EXPORT_SMOOTH ENABLED="1"/>
+ <EXPORT_VIEWING_DIRECTION ENABLED="0"/>
+ <EXPORT_ANGLE_OF_VIEW ENABLED="0"/>
+ <EXPORT_USE_METER ENABLED="0"/>
+ <EXPORT_COMMENT ENABLED="0"/>
+ <EXPORT_MARKERID ENABLED="0"/>
+ <TRACK_FILE FILENAME=""/>
+ <SEARCH_REGION ADAPTIVE="0" LEVELS="3" MAX_ERROR="0" SCALE="16" SHOW="0"/>
+ <PATH AFTER="15" BEFORE="15" COLLECTIVE_COLOR_SIZE="11" COLOR_MARKER_LINE_WIDTH="1" COLOR_MARKER_SIZE="14" CURRENT_POINT_LINE_WIDTH="1" CURRENT_POINT_SIZE="60" FIX="0" GROUND_PATH_SIZE="1" GROUND_POSITION_SIZE="1" HEAD_SIZE="1" NUMBER_BOLD="1" NUMBER_SIZE="14" ONLY_PEOPLE="0" ONLY_PEOPLE_LIST="0" ONLY_PEOPLE_NR="1" ONLY_PEOPLE_NR_LIST="" ONLY_VISIBLE="0" PATH_SIZE="2" POINTS_COLORED="1" POINTS_SIZE="7" SHOW="1" SHOW_COLLECTIVE_COLOR="1" SHOW_COLOR_MARKER="1" SHOW_CURRENT_POINT="1" SHOW_GROUND_PATH="0" SHOW_GROUND_POSITION="0" SHOW_NUMBER="1" SHOW_PATH="1" SHOW_POINTS="0" SHOW_POINTS_LINE_WIDTH="1" TRACK_GROUND_PATH_COLOR="#00ff00" TRACK_PATH_COLOR="#ff0000"/>
+ </TRACKING>
+ <ANALYSIS>
+ <SEARCH_MISSING_FRAMES ENABLED="1"/>
+ <MARK_ACTUAL ENABLED="0"/>
+ <CALCULATION ABSOLUTE="0" CONSIDER_X="0" CONSIDER_Y="1" REVERSE="0" SHOW_VORONOI="0" STEP_SIZE="25"/>
+ </ANALYSIS>
+ <CORRECTION>
+ <EQUALITY DISTANCE="0.5" ENABLED="1"/>
+ <VELOCITY ENABLED="1"/>
+ <LENGTH ENABLED="1" MIN_LENGTH="10"/>
+ <INSIDE ENABLED="1" MARGIN="30"/>
+ </CORRECTION>
+ </CONTROL>
+ <EXTR_CALIBRATION>
+ <REPROJECTION_ERROR AVG_DH="0" AVG_PH="0" AVG_PX="0" MAX_DH="0" MAX_PH="0" MAX_PX="0" SD_DH="0" SD_PH="0" SD_PX="0" USED_HEIGHT="0"/>
+ </EXTR_CALIBRATION>
+ <STEREO>
+ <DISPARITY ALGO="0" COLOR="0" HIDE_INVALID="1" OPACITY="100" SHOW="0">
+ <VALUES MAX="100" MIN="0"/>
+ <MASK EDGE_SIZE="5" SIZE="7" USE_EDGE="0"/>
+ <USE CALIB_CENTER="1" EXPORT="0" HEIGHT="0" HEIGHT_EVER="1" RECO="0"/>
+ </DISPARITY>
+ </STEREO>
+ <COLOR_MARKER>
+ <MASK MASK="1" OPACITY="100" SHOW="0"/>
+ <FROM_COLOR HUE="0" SATURATION="0" VALUE="128"/>
+ <TO_COLOR HUE="359" SATURATION="255" VALUE="255"/>
+ <PARAM CLOSE_RADIUS="5" CLOSE_USED="1" INVERS_HUE="0" MAX_AREA="5000" MAX_RATIO="2" MIN_AREA="1000" OPEN_RADIUS="5" OPEN_USED="1"/>
+ </COLOR_MARKER>
+ <CODE_MARKER>
+ <DICTIONARY ID="0"/>
+ <PARAM ADAPTIVE_THRESH_CONSTANT="7" ADAPTIVE_THRESH_WIN_SIZE_MAX="27" ADAPTIVE_THRESH_WIN_SIZE_MIN="3" ADAPTIVE_THRESH_WIN_SIZE_STEP="10" CORNER_REFINEMENT="0" CORNER_REFINEMENT_MAX_ITERATIONS="30" CORNER_REFINEMENT_MIN_ACCURACY="0.10000000000000001" CORNER_REFINEMENT_WIN_SIZE="5" ERROR_CORRECTION_RATE="0.59999999999999998" MARKER_BORDER_BITS="1" MAX_ERRONEOUS_BITS_IN_BORDER_RATE="0.34999999999999998" MAX_MARKER_PERIMETER="15" MAX_RATIO_ERROR="0.029999999999999999" MIN_CORNER_DISTANCE="0.050000000000000003" MIN_DISTANCE_TO_BORDER="3" MIN_MARKER_DISTANCE="0.050000000000000003" MIN_MARKER_PERIMETER="5" MIN_OTSU_STD_DEV="5" PERSPECTIVE_REMOVE_IGNORED_MARGIN_PER_CELL="0.13" PERSPECTIVE_REMOVE_PIXEL_PER_CELL="4" SHOW_DETECTED_CANDIDATES="0"/>
+ </CODE_MARKER>
+ <MULTI_COLOR_MARKER>
+ <BLACK_DOT IGNORE_WITHOUT="1" RESTRICT_POSITION="0" SIZE="5" USE="1" USE_COLOR="0"/>
+ <CODE_MARKER USE="0"/>
+ <AUTO_CORRECT ONLY_EXPORT="0" USE="0"/>
+ <MASK MASK="1" OPACITY="100" SHOW="0"/>
+ <PARAM CLOSE_RADIUS="5" CLOSE_USED="1" MAX_AREA="5000" MAX_RATIO="2" MIN_AREA="1000" OPEN_RADIUS="5" OPEN_USED="1" USE_HEAD_SIZE="0"/>
+ </MULTI_COLOR_MARKER>
+ <MOCAP COLOR="#ffff37" SHOW="0" SIZE="2"/>
+ <PLAYER FRAME="-1" PLAYBACK_FPS="-1" PLAYER_SPEED_FIXED="0" SEQUENCE_FPS="-1" SOURCE_FRAME_IN="-1" SOURCE_FRAME_OUT="-1"/>
+ <VIEW ANTIALIAS="0" CAMERA="2" HIDE_CONTROLS="0" OPENGL="0" SAVE_TRANSFORMED="0" TRANSFORMATION="250 0 0 0"/>
+ <AUTO_TRACK BACK_TRACK="1" OPTIMZE_COLOR="0"/>
+ <MISSING_FRAMES executed="0"/>
+</PETRACK>
diff --git a/tests/regression_test/data/01_old_intrinsic_extModel_truth.pet b/tests/regression_test/data/01_old_intrinsic_extModel_truth.pet
new file mode 100644
index 0000000000000000000000000000000000000000..d178a73d6e32f02b7264ae8837fe091273df9679
--- /dev/null
+++ b/tests/regression_test/data/01_old_intrinsic_extModel_truth.pet
@@ -0,0 +1,97 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE PETRACK>
+<PETRACK VERSION="0.10.3">
+ <MAIN SRC="" STATUS_HEIGHT="0"/>
+ <CONTROL TAB="0">
+ <CALIBRATION>
+ <FILTER_BEFORE IMMUTABLE="0"/>
+ <BRIGHTNESS ENABLED="0" VALUE="0"/>
+ <CONTRAST ENABLED="0" VALUE="0"/>
+ <BORDER COLOR="#000000" ENABLED="0" VALUE="0"/>
+ <SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
+ <BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
+ <PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
+ <INTRINSIC_PARAMETERS CALIB_FILES="" ENABLED="0" EXT_MODEL_ENABLED="1" FIX_CENTER="0" IMMUTABLE="0" QUAD_ASPECT_RATIO="0" TANG_DIST="1">
+ <OLD_MODEL CX="551.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ <EXT_MODEL CX="947.47000000000003" CY="698.44000000000005" FX="857.12" FY="857.50999999999999" K4="1.7399009" K5="0.39905" K6="-0.013337" R2="1.35895" R4="0.123464" R6="-0.0091120005" ReprError="0.52066356" S1="0.001026" S2="-6.6000001e-05" S3="-0.00019000001" S4="-9.7999997e-05" TAUX="-2.9999999e-05" TAUY="-5.0999999e-05" TX="0.000184" TY="-0.00038799999"/>
+ </INTRINSIC_PARAMETERS>
+ <EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="" EXTR_ROT_1="0" EXTR_ROT_2="0" EXTR_ROT_3="0" EXTR_TRANS_1="0" EXTR_TRANS_2="0" EXTR_TRANS_3="-500" FIX="0" IMMUTABLE_COORD_BOX="0" IMMUTABLE_EXTRINSIC_BOX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
+ <ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" IMMUTABLE="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
+ </CALIBRATION>
+ <RECOGNITION>
+ <PERFORM ENABLED="0" METHOD="5" STEP="1"/>
+ <REGION_OF_INTEREST FIX="0" HEIGHT="0" SHOW="0" WIDTH="0" X="0" Y="0"/>
+ <MARKER BRIGHTNESS="50" IGNORE_WITHOUT="1"/>
+ <SIZE_COLOR AUTO_WB="0" DEFAULT_HEIGHT="180" GREY_LEVEL="50" MAP_NUMBER="0" MODEL="0" SHOW="1" SYMBOL_SIZE="10" X="0" Y="1" Z="255">
+ <MAP COLORED="1" FROM_HUE="0" FROM_SAT="0" FROM_VAL="128" HEIGHT="255" INV_HUE="0" MAP_HEIGHT="180" TO_HUE="359" TO_SAT="255" TO_VAL="255" WIDTH="359" X="0" Y="0"/>
+ </SIZE_COLOR>
+ <READ_HEIGHTS HEIGHT_FILE=""/>
+ <READ_MARKER_IDS MARKER_FILE=""/>
+ </RECOGNITION>
+ <TRACKING>
+ <ONLINE_CALCULATION ENABLED="0"/>
+ <REPEAT_BELOW ENABLED="1" QUALITY="50"/>
+ <EXTRAPOLATION ENABLED="1"/>
+ <MERGE ENABLED="0"/>
+ <ONLY_VISIBLE ENABLED="1"/>
+ <REGION_OF_INTEREST FIX="0" HEIGHT="0" SHOW="0" WIDTH="0" X="0" Y="0"/>
+ <SEARCH_MISSING_FRAMES ENABLED="1"/>
+ <RECALCULATE_MEDIAN_HEIGHT ENABLED="1"/>
+ <ALLOW_ALTERNATE_HEIGHT ENABLED="0"/>
+ <EXPORT_ELIMINATE_TRACKPOINT_WITHOUT_HEIGHT ENABLED="0"/>
+ <EXPORT_ELIMINATE_TRAJECTORY_WITHOUT_HEIGHT ENABLED="0"/>
+ <EXPORT_SMOOTH ENABLED="1"/>
+ <EXPORT_VIEWING_DIRECTION ENABLED="0"/>
+ <EXPORT_ANGLE_OF_VIEW ENABLED="0"/>
+ <EXPORT_USE_METER ENABLED="0"/>
+ <EXPORT_COMMENT ENABLED="0"/>
+ <EXPORT_MARKERID ENABLED="0"/>
+ <TRACK_FILE FILENAME=""/>
+ <SEARCH_REGION ADAPTIVE="0" LEVELS="3" MAX_ERROR="0" SCALE="16" SHOW="0"/>
+ <PATH AFTER="15" BEFORE="15" COLLECTIVE_COLOR_SIZE="11" COLOR_MARKER_LINE_WIDTH="1" COLOR_MARKER_SIZE="14" CURRENT_POINT_LINE_WIDTH="1" CURRENT_POINT_SIZE="60" FIX="0" GROUND_PATH_SIZE="1" GROUND_POSITION_SIZE="1" HEAD_SIZE="1" NUMBER_BOLD="1" NUMBER_SIZE="14" ONLY_PEOPLE="0" ONLY_PEOPLE_LIST="0" ONLY_PEOPLE_NR="1" ONLY_PEOPLE_NR_LIST="" ONLY_VISIBLE="0" PATH_SIZE="2" POINTS_COLORED="1" POINTS_SIZE="7" SHOW="1" SHOW_COLLECTIVE_COLOR="1" SHOW_COLOR_MARKER="1" SHOW_CURRENT_POINT="1" SHOW_GROUND_PATH="0" SHOW_GROUND_POSITION="0" SHOW_NUMBER="1" SHOW_PATH="1" SHOW_POINTS="0" SHOW_POINTS_LINE_WIDTH="1" TRACK_GROUND_PATH_COLOR="#00ff00" TRACK_PATH_COLOR="#ff0000"/>
+ </TRACKING>
+ <ANALYSIS>
+ <SEARCH_MISSING_FRAMES ENABLED="1"/>
+ <MARK_ACTUAL ENABLED="0"/>
+ <CALCULATION ABSOLUTE="0" CONSIDER_X="0" CONSIDER_Y="1" REVERSE="0" SHOW_VORONOI="0" STEP_SIZE="25"/>
+ </ANALYSIS>
+ <CORRECTION>
+ <EQUALITY DISTANCE="0.5" ENABLED="1"/>
+ <VELOCITY ENABLED="1"/>
+ <LENGTH ENABLED="1" MIN_LENGTH="10"/>
+ <INSIDE ENABLED="1" MARGIN="30"/>
+ </CORRECTION>
+ </CONTROL>
+ <EXTR_CALIBRATION>
+ <REPROJECTION_ERROR AVG_DH="0" AVG_PH="0" AVG_PX="0" MAX_DH="0" MAX_PH="0" MAX_PX="0" SD_DH="0" SD_PH="0" SD_PX="0" USED_HEIGHT="0"/>
+ </EXTR_CALIBRATION>
+ <STEREO>
+ <DISPARITY ALGO="0" COLOR="0" HIDE_INVALID="1" OPACITY="100" SHOW="0">
+ <VALUES MAX="100" MIN="0"/>
+ <MASK EDGE_SIZE="5" SIZE="7" USE_EDGE="0"/>
+ <USE CALIB_CENTER="1" EXPORT="0" HEIGHT="0" HEIGHT_EVER="1" RECO="0"/>
+ </DISPARITY>
+ </STEREO>
+ <COLOR_MARKER>
+ <MASK MASK="1" OPACITY="100" SHOW="0"/>
+ <FROM_COLOR HUE="0" SATURATION="0" VALUE="128"/>
+ <TO_COLOR HUE="359" SATURATION="255" VALUE="255"/>
+ <PARAM CLOSE_RADIUS="5" CLOSE_USED="1" INVERS_HUE="0" MAX_AREA="5000" MAX_RATIO="2" MIN_AREA="1000" OPEN_RADIUS="5" OPEN_USED="1"/>
+ </COLOR_MARKER>
+ <CODE_MARKER>
+ <DICTIONARY ID="0"/>
+ <PARAM ADAPTIVE_THRESH_CONSTANT="7" ADAPTIVE_THRESH_WIN_SIZE_MAX="27" ADAPTIVE_THRESH_WIN_SIZE_MIN="3" ADAPTIVE_THRESH_WIN_SIZE_STEP="10" CORNER_REFINEMENT="0" CORNER_REFINEMENT_MAX_ITERATIONS="30" CORNER_REFINEMENT_MIN_ACCURACY="0.10000000000000001" CORNER_REFINEMENT_WIN_SIZE="5" ERROR_CORRECTION_RATE="0.59999999999999998" MARKER_BORDER_BITS="1" MAX_ERRONEOUS_BITS_IN_BORDER_RATE="0.34999999999999998" MAX_MARKER_PERIMETER="15" MAX_RATIO_ERROR="0.029999999999999999" MIN_CORNER_DISTANCE="0.050000000000000003" MIN_DISTANCE_TO_BORDER="3" MIN_MARKER_DISTANCE="0.050000000000000003" MIN_MARKER_PERIMETER="5" MIN_OTSU_STD_DEV="5" PERSPECTIVE_REMOVE_IGNORED_MARGIN_PER_CELL="0.13" PERSPECTIVE_REMOVE_PIXEL_PER_CELL="4" SHOW_DETECTED_CANDIDATES="0"/>
+ </CODE_MARKER>
+ <MULTI_COLOR_MARKER>
+ <BLACK_DOT IGNORE_WITHOUT="1" RESTRICT_POSITION="0" SIZE="5" USE="1" USE_COLOR="0"/>
+ <CODE_MARKER USE="0"/>
+ <AUTO_CORRECT ONLY_EXPORT="0" USE="0"/>
+ <MASK MASK="1" OPACITY="100" SHOW="0"/>
+ <PARAM CLOSE_RADIUS="5" CLOSE_USED="1" MAX_AREA="5000" MAX_RATIO="2" MIN_AREA="1000" OPEN_RADIUS="5" OPEN_USED="1" USE_HEAD_SIZE="0"/>
+ </MULTI_COLOR_MARKER>
+ <MOCAP COLOR="#ffff37" SHOW="0" SIZE="2"/>
+ <PLAYER FRAME="-1" PLAYBACK_FPS="-1" PLAYER_SPEED_FIXED="0" SEQUENCE_FPS="-1" SOURCE_FRAME_IN="0" SOURCE_FRAME_OUT="-1"/>
+ <VIEW ANTIALIAS="0" CAMERA="2" HIDE_CONTROLS="0" OPENGL="0" SAVE_TRANSFORMED="0" TRANSFORMATION="250 0 0 0"/>
+ <AUTO_TRACK BACK_TRACK="1" OPTIMZE_COLOR="0"/>
+ <MISSING_FRAMES executed="0"/>
+</PETRACK>
diff --git a/tests/regression_test/data/01_intrinsic.pet b/tests/regression_test/data/01_old_intrinsic_oldModel.pet
similarity index 90%
rename from tests/regression_test/data/01_intrinsic.pet
rename to tests/regression_test/data/01_old_intrinsic_oldModel.pet
index 8d17958321cc836d4cd743ac1ed60fc20b560f13..6c5eabc4fd16dd62cf56752b53123f63d5d787b7 100644
--- a/tests/regression_test/data/01_intrinsic.pet
+++ b/tests/regression_test/data/01_old_intrinsic_oldModel.pet
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
-<PETRACK VERSION="0.10.2">
+<PETRACK VERSION="0.10.3">
<MAIN SRC="" STATUS_HEIGHT="0"/>
<CONTROL TAB="0">
<CALIBRATION>
@@ -11,7 +11,10 @@
<SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
<BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
<PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
- <INTRINSIC_PARAMETERS CALIB_FILES="" CX="952.03999999999996" CY="698.72000000000003" ENABLED="0" EXT_MODEL_ENABLED="0" FIX_CENTER="0" FX="842.57000000000005" FY="842.69000000000005" IMMUTABLE="0" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="-0.27662599999999998" R4="0.093287999999999996" R6="-0.01423" ReprError="1.1930544727952612" S1="0" S2="0" S3="0" S4="0" TANG_DIST="1" TAUX="0" TAUY="0" TX="-0.00024699999999999999" TY="5.5000000000000002e-05"/>
+ <INTRINSIC_PARAMETERS CALIB_FILES="" ENABLED="0" EXT_MODEL_ENABLED="0" FIX_CENTER="0" IMMUTABLE="0" QUAD_ASPECT_RATIO="0" TANG_DIST="1">
+ <OLD_MODEL CX="952.03999999999996" CY="698.72000000000003" FX="842.57000000000005" FY="842.69000000000005" K4="0" K5="0" K6="0" R2="-0.27662599" R4="0.093287997" R6="-0.01423" ReprError="1.1930544" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="-0.00024699999" TY="5.5e-05"/>
+ <EXT_MODEL CX="551.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ </INTRINSIC_PARAMETERS>
<EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="" EXTR_ROT_1="0" EXTR_ROT_2="0" EXTR_ROT_3="0" EXTR_TRANS_1="0" EXTR_TRANS_2="0" EXTR_TRANS_3="-500" FIX="0" IMMUTABLE_COORD_BOX="0" IMMUTABLE_EXTRINSIC_BOX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" IMMUTABLE="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
</CALIBRATION>
diff --git a/tests/regression_test/data/01_old_intrinsic_oldModel_truth.pet b/tests/regression_test/data/01_old_intrinsic_oldModel_truth.pet
new file mode 100644
index 0000000000000000000000000000000000000000..6c5eabc4fd16dd62cf56752b53123f63d5d787b7
--- /dev/null
+++ b/tests/regression_test/data/01_old_intrinsic_oldModel_truth.pet
@@ -0,0 +1,97 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE PETRACK>
+<PETRACK VERSION="0.10.3">
+ <MAIN SRC="" STATUS_HEIGHT="0"/>
+ <CONTROL TAB="0">
+ <CALIBRATION>
+ <FILTER_BEFORE IMMUTABLE="0"/>
+ <BRIGHTNESS ENABLED="0" VALUE="0"/>
+ <CONTRAST ENABLED="0" VALUE="0"/>
+ <BORDER COLOR="#000000" ENABLED="0" VALUE="0"/>
+ <SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
+ <BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
+ <PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
+ <INTRINSIC_PARAMETERS CALIB_FILES="" ENABLED="0" EXT_MODEL_ENABLED="0" FIX_CENTER="0" IMMUTABLE="0" QUAD_ASPECT_RATIO="0" TANG_DIST="1">
+ <OLD_MODEL CX="952.03999999999996" CY="698.72000000000003" FX="842.57000000000005" FY="842.69000000000005" K4="0" K5="0" K6="0" R2="-0.27662599" R4="0.093287997" R6="-0.01423" ReprError="1.1930544" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="-0.00024699999" TY="5.5e-05"/>
+ <EXT_MODEL CX="551.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ </INTRINSIC_PARAMETERS>
+ <EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="" EXTR_ROT_1="0" EXTR_ROT_2="0" EXTR_ROT_3="0" EXTR_TRANS_1="0" EXTR_TRANS_2="0" EXTR_TRANS_3="-500" FIX="0" IMMUTABLE_COORD_BOX="0" IMMUTABLE_EXTRINSIC_BOX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
+ <ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" IMMUTABLE="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
+ </CALIBRATION>
+ <RECOGNITION>
+ <PERFORM ENABLED="0" METHOD="5" STEP="1"/>
+ <REGION_OF_INTEREST FIX="0" HEIGHT="0" SHOW="0" WIDTH="0" X="0" Y="0"/>
+ <MARKER BRIGHTNESS="50" IGNORE_WITHOUT="1"/>
+ <SIZE_COLOR AUTO_WB="0" DEFAULT_HEIGHT="180" GREY_LEVEL="50" MAP_NUMBER="0" MODEL="0" SHOW="1" SYMBOL_SIZE="10" X="0" Y="1" Z="255">
+ <MAP COLORED="1" FROM_HUE="0" FROM_SAT="0" FROM_VAL="128" HEIGHT="255" INV_HUE="0" MAP_HEIGHT="180" TO_HUE="359" TO_SAT="255" TO_VAL="255" WIDTH="359" X="0" Y="0"/>
+ </SIZE_COLOR>
+ <READ_HEIGHTS HEIGHT_FILE=""/>
+ <READ_MARKER_IDS MARKER_FILE=""/>
+ </RECOGNITION>
+ <TRACKING>
+ <ONLINE_CALCULATION ENABLED="0"/>
+ <REPEAT_BELOW ENABLED="1" QUALITY="50"/>
+ <EXTRAPOLATION ENABLED="1"/>
+ <MERGE ENABLED="0"/>
+ <ONLY_VISIBLE ENABLED="1"/>
+ <REGION_OF_INTEREST FIX="0" HEIGHT="0" SHOW="0" WIDTH="0" X="0" Y="0"/>
+ <SEARCH_MISSING_FRAMES ENABLED="1"/>
+ <RECALCULATE_MEDIAN_HEIGHT ENABLED="1"/>
+ <ALLOW_ALTERNATE_HEIGHT ENABLED="0"/>
+ <EXPORT_ELIMINATE_TRACKPOINT_WITHOUT_HEIGHT ENABLED="0"/>
+ <EXPORT_ELIMINATE_TRAJECTORY_WITHOUT_HEIGHT ENABLED="0"/>
+ <EXPORT_SMOOTH ENABLED="1"/>
+ <EXPORT_VIEWING_DIRECTION ENABLED="0"/>
+ <EXPORT_ANGLE_OF_VIEW ENABLED="0"/>
+ <EXPORT_USE_METER ENABLED="0"/>
+ <EXPORT_COMMENT ENABLED="0"/>
+ <EXPORT_MARKERID ENABLED="0"/>
+ <TRACK_FILE FILENAME=""/>
+ <SEARCH_REGION ADAPTIVE="0" LEVELS="3" MAX_ERROR="0" SCALE="16" SHOW="0"/>
+ <PATH AFTER="15" BEFORE="15" COLLECTIVE_COLOR_SIZE="11" COLOR_MARKER_LINE_WIDTH="1" COLOR_MARKER_SIZE="14" CURRENT_POINT_LINE_WIDTH="1" CURRENT_POINT_SIZE="60" FIX="0" GROUND_PATH_SIZE="1" GROUND_POSITION_SIZE="1" HEAD_SIZE="1" NUMBER_BOLD="1" NUMBER_SIZE="14" ONLY_PEOPLE="0" ONLY_PEOPLE_LIST="0" ONLY_PEOPLE_NR="1" ONLY_PEOPLE_NR_LIST="" ONLY_VISIBLE="0" PATH_SIZE="2" POINTS_COLORED="1" POINTS_SIZE="7" SHOW="1" SHOW_COLLECTIVE_COLOR="1" SHOW_COLOR_MARKER="1" SHOW_CURRENT_POINT="1" SHOW_GROUND_PATH="0" SHOW_GROUND_POSITION="0" SHOW_NUMBER="1" SHOW_PATH="1" SHOW_POINTS="0" SHOW_POINTS_LINE_WIDTH="1" TRACK_GROUND_PATH_COLOR="#00ff00" TRACK_PATH_COLOR="#ff0000"/>
+ </TRACKING>
+ <ANALYSIS>
+ <SEARCH_MISSING_FRAMES ENABLED="1"/>
+ <MARK_ACTUAL ENABLED="0"/>
+ <CALCULATION ABSOLUTE="0" CONSIDER_X="0" CONSIDER_Y="1" REVERSE="0" SHOW_VORONOI="0" STEP_SIZE="25"/>
+ </ANALYSIS>
+ <CORRECTION>
+ <EQUALITY DISTANCE="0.5" ENABLED="1"/>
+ <VELOCITY ENABLED="1"/>
+ <LENGTH ENABLED="1" MIN_LENGTH="10"/>
+ <INSIDE ENABLED="1" MARGIN="30"/>
+ </CORRECTION>
+ </CONTROL>
+ <EXTR_CALIBRATION>
+ <REPROJECTION_ERROR AVG_DH="0" AVG_PH="0" AVG_PX="0" MAX_DH="4.6632130749188108e-310" MAX_PH="4.6632130749149077e-310" MAX_PX="4.6632132612882775e-310" SD_DH="4.6632137672154514e-310" SD_PH="6.9526421601088563e-310" SD_PX="6.952642160144429e-310" USED_HEIGHT="4.6632137672154514e-310"/>
+ </EXTR_CALIBRATION>
+ <STEREO>
+ <DISPARITY ALGO="0" COLOR="0" HIDE_INVALID="1" OPACITY="100" SHOW="0">
+ <VALUES MAX="100" MIN="0"/>
+ <MASK EDGE_SIZE="5" SIZE="7" USE_EDGE="0"/>
+ <USE CALIB_CENTER="1" EXPORT="0" HEIGHT="0" HEIGHT_EVER="1" RECO="0"/>
+ </DISPARITY>
+ </STEREO>
+ <COLOR_MARKER>
+ <MASK MASK="1" OPACITY="100" SHOW="0"/>
+ <FROM_COLOR HUE="0" SATURATION="0" VALUE="0"/>
+ <TO_COLOR HUE="359" SATURATION="255" VALUE="255"/>
+ <PARAM CLOSE_RADIUS="5" CLOSE_USED="1" INVERS_HUE="0" MAX_AREA="5000" MAX_RATIO="2" MIN_AREA="1000" OPEN_RADIUS="5" OPEN_USED="1"/>
+ </COLOR_MARKER>
+ <CODE_MARKER>
+ <DICTIONARY ID="0"/>
+ <PARAM ADAPTIVE_THRESH_CONSTANT="7" ADAPTIVE_THRESH_WIN_SIZE_MAX="27" ADAPTIVE_THRESH_WIN_SIZE_MIN="3" ADAPTIVE_THRESH_WIN_SIZE_STEP="10" CORNER_REFINEMENT="0" CORNER_REFINEMENT_MAX_ITERATIONS="30" CORNER_REFINEMENT_MIN_ACCURACY="0.10000000000000001" CORNER_REFINEMENT_WIN_SIZE="5" ERROR_CORRECTION_RATE="0.59999999999999998" MARKER_BORDER_BITS="1" MAX_ERRONEOUS_BITS_IN_BORDER_RATE="0.34999999999999998" MAX_MARKER_PERIMETER="15" MAX_RATIO_ERROR="0.029999999999999999" MIN_CORNER_DISTANCE="0.050000000000000003" MIN_DISTANCE_TO_BORDER="3" MIN_MARKER_DISTANCE="0.050000000000000003" MIN_MARKER_PERIMETER="5" MIN_OTSU_STD_DEV="5" PERSPECTIVE_REMOVE_IGNORED_MARGIN_PER_CELL="0.13" PERSPECTIVE_REMOVE_PIXEL_PER_CELL="4" SHOW_DETECTED_CANDIDATES="0"/>
+ </CODE_MARKER>
+ <MULTI_COLOR_MARKER>
+ <BLACK_DOT IGNORE_WITHOUT="1" RESTRICT_POSITION="0" SIZE="5" USE="1" USE_COLOR="0"/>
+ <CODE_MARKER USE="0"/>
+ <AUTO_CORRECT ONLY_EXPORT="0" USE="0"/>
+ <MASK MASK="1" OPACITY="100" SHOW="0"/>
+ <PARAM CLOSE_RADIUS="5" CLOSE_USED="1" MAX_AREA="5000" MAX_RATIO="2" MIN_AREA="1000" OPEN_RADIUS="5" OPEN_USED="1" USE_HEAD_SIZE="0"/>
+ </MULTI_COLOR_MARKER>
+ <MOCAP COLOR="#ffff37" SHOW="0" SIZE="2"/>
+ <PLAYER FRAME="-1" PLAYBACK_FPS="-1" PLAYER_SPEED_FIXED="0" SEQUENCE_FPS="-1" SOURCE_FRAME_IN="0" SOURCE_FRAME_OUT="-1"/>
+ <VIEW ANTIALIAS="0" CAMERA="2" HIDE_CONTROLS="0" OPENGL="0" SAVE_TRANSFORMED="0" TRANSFORMATION="250 0 0 0"/>
+ <AUTO_TRACK BACK_TRACK="1" OPTIMZE_COLOR="0"/>
+ <MISSING_FRAMES executed="0"/>
+</PETRACK>
diff --git a/tests/regression_test/data/02_extrinsic.pet b/tests/regression_test/data/02_extrinsic.pet
index d8b958547deda9c9f8e9255710fb6a9a3979f94b..2b34f9f1afcf81e8ff76255e500c50926cb52880 100644
--- a/tests/regression_test/data/02_extrinsic.pet
+++ b/tests/regression_test/data/02_extrinsic.pet
@@ -1,18 +1,22 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
-<PETRACK VERSION="0.10.0">
+<PETRACK VERSION="0.10.3">
<MAIN SRC="../00_files/calibration/extrinsic/00_all.jpg" STATUS_HEIGHT="0"/>
<CONTROL TAB="0">
<CALIBRATION>
+ <FILTER_BEFORE IMMUTABLE="0"/>
<BRIGHTNESS ENABLED="0" VALUE="0"/>
<CONTRAST ENABLED="0" VALUE="0"/>
<BORDER COLOR="#000000" ENABLED="0" VALUE="0"/>
<SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
<BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
<PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
- <INTRINSIC_PARAMETERS CALIB_FILES="" CX="947.47000000000003" CY="698.44000000000005" ENABLED="1" EXT_MODEL_ENABLED="1" FIX_CENTER="0" FX="857.12" FY="857.50999999999999" K4="1.7398640000000001" K5="0.399007" K6="-0.013342" QUAD_ASPECT_RATIO="0" R2="1.358914" R4="0.123435" R6="-0.0091129999999999996" ReprError="0.52066329210560447" S1="0.001026" S2="-6.6000000000000005e-05" S3="-0.00019000000000000001" S4="-9.7999999999999997e-05" TANG_DIST="1" TAUX="-3.0000000000000001e-05" TAUY="-5.0000000000000002e-05" TX="0.000184" TY="-0.000388"/>
- <EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="../data/before.3dc;C:/Users/Deniz/Documents/petrack/tests/regression_test/data/before.3dc;before.3dc" EXTR_ROT_1="-2.1949999999999998" EXTR_ROT_2="-2.1829999999999998" EXTR_ROT_3="0.017000000000000001" EXTR_TRANS_1="-1044.4970000000001" EXTR_TRANS_2="15.23" EXTR_TRANS_3="-628.18600000000004" FIX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
- <ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
+ <INTRINSIC_PARAMETERS CALIB_FILES="" ENABLED="1" EXT_MODEL_ENABLED="1" FIX_CENTER="0" IMMUTABLE="0" QUAD_ASPECT_RATIO="0" TANG_DIST="1">
+ <OLD_MODEL CX="551.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ <EXT_MODEL CX="947.47000000000003" CY="698.44000000000005" FX="857.12" FY="857.50999999999999" K4="1.739864" K5="0.39900699" K6="-0.013342" R2="1.358914" R4="0.123435" R6="-0.0091129998" ReprError="0.52066332" S1="0.001026" S2="-6.6000001e-05" S3="-0.00019000001" S4="-9.7999997e-05" TAUX="-2.9999999e-05" TAUY="-4.9999999e-05" TX="0.000184" TY="-0.00038799999"/>
+ </INTRINSIC_PARAMETERS>
+ <EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="before.3dc" EXTR_ROT_1="-2.1949999999999998" EXTR_ROT_2="-2.1829999999999998" EXTR_ROT_3="0.017000000000000001" EXTR_TRANS_1="-1044.4970000000001" EXTR_TRANS_2="15.23" EXTR_TRANS_3="-628.18600000000004" FIX="0" IMMUTABLE_COORD_BOX="0" IMMUTABLE_EXTRINSIC_BOX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
+ <ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" IMMUTABLE="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
</CALIBRATION>
<RECOGNITION>
<PERFORM ENABLED="0" METHOD="5" STEP="1"/>
@@ -86,7 +90,7 @@
<PARAM CLOSE_RADIUS="5" CLOSE_USED="1" MAX_AREA="5000" MAX_RATIO="2" MIN_AREA="1000" OPEN_RADIUS="5" OPEN_USED="1" USE_HEAD_SIZE="0"/>
</MULTI_COLOR_MARKER>
<MOCAP COLOR="#ffff37" SHOW="0" SIZE="2"/>
- <PLAYER FPS="25" FRAME="0" PLAYER_SPEED_FIXED="0" SOURCE_FRAME_IN="0" SOURCE_FRAME_OUT="0"/>
+ <PLAYER FRAME="-1" PLAYBACK_FPS="-1" PLAYER_SPEED_FIXED="0" SEQUENCE_FPS="-1" SOURCE_FRAME_IN="0" SOURCE_FRAME_OUT="0"/>
<VIEW ANTIALIAS="0" CAMERA="2" HIDE_CONTROLS="0" OPENGL="0" SAVE_TRANSFORMED="0" TRANSFORMATION="208 0 0 0"/>
<AUTO_TRACK BACK_TRACK="1" OPTIMZE_COLOR="0"/>
<MISSING_FRAMES executed="0"/>
diff --git a/tests/regression_test/data/blackdotMarker.pet b/tests/regression_test/data/blackdotMarker.pet
index d7e06ecd1f20c20bfdd533183d1bc1d2d4704f97..1517884f38b1ed14feeda51ec1a5f5f61e76c0fa 100755
--- a/tests/regression_test/data/blackdotMarker.pet
+++ b/tests/regression_test/data/blackdotMarker.pet
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
-<PETRACK VERSION="0.10.2">
+<PETRACK VERSION="0.10.3">
<MAIN SRC="blackdotMarker.mp4" STATUS_HEIGHT="0"/>
<CONTROL TAB="2">
<CALIBRATION>
@@ -11,7 +11,10 @@
<SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
<BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
<PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="9" SQUARE_SIZE="3"/>
- <INTRINSIC_PARAMETERS CALIB_FILES="" CX="1038" CY="798" ENABLED="1" EXT_MODEL_ENABLED="0" FIX_CENTER="0" FX="835.65999999999997" FY="835.75999999999999" IMMUTABLE="0" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="-0.246701" R4="0.072692000000000007" R6="-0.010224" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TANG_DIST="1" TAUX="0" TAUY="0" TX="0.00033700000000000001" TY="6.9999999999999999e-06"/>
+ <INTRINSIC_PARAMETERS CALIB_FILES="" ENABLED="1" EXT_MODEL_ENABLED="0" FIX_CENTER="0" IMMUTABLE="0" QUAD_ASPECT_RATIO="0" TANG_DIST="1">
+ <OLD_MODEL CX="1038" CY="798" FX="835.65999999999997" FY="835.75999999999999" K4="0" K5="0" K6="0" R2="-0.246701" R4="0.072691999" R6="-0.010224" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0.000337" TY="7.0000001e-06"/>
+ <EXT_MODEL CX="551.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ </INTRINSIC_PARAMETERS>
<EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="225" COORD3D_TRANS_Y="350" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="" EXTR_ROT_1="-2.2050000000000001" EXTR_ROT_2="-2.177" EXTR_ROT_3="0.104" EXTR_TRANS_1="-224.46700000000001" EXTR_TRANS_2="-629.58500000000004" EXTR_TRANS_3="-408.82499999999999" FIX="1" IMMUTABLE_COORD_BOX="0" IMMUTABLE_EXTRINSIC_BOX="0" ROTATE="0" SCALE="1" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="1" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="75" GRID3D_TRANS_Y="-18" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" IMMUTABLE="0" ROTATE="0" SCALE="1" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
</CALIBRATION>
diff --git a/tests/regression_test/data/codeMarker.pet b/tests/regression_test/data/codeMarker.pet
index 23da59c3ea0fe239ebe10d0fda7a474509e7be90..05e72beee75ca097268f03552bbe046f23b7ac63 100644
--- a/tests/regression_test/data/codeMarker.pet
+++ b/tests/regression_test/data/codeMarker.pet
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
-<PETRACK VERSION="0.10.2">
+<PETRACK VERSION="0.10.3">
<MAIN SRC="codeMarker.mp4" STATUS_HEIGHT="0"/>
<CONTROL TAB="2">
<CALIBRATION>
@@ -11,7 +11,10 @@
<SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
<BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
<PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
- <INTRINSIC_PARAMETERS CALIB_FILES="" CX="1397.98" CY="1138.9300000000001" ENABLED="1" EXT_MODEL_ENABLED="0" FIX_CENTER="0" FX="835.65999999999997" FY="835.75999999999999" IMMUTABLE="0" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="-0.246701" R4="0.072692000000000007" R6="-0.010224" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TANG_DIST="1" TAUX="0" TAUY="0" TX="0.00033700000000000001" TY="6.9999999999999999e-06"/>
+ <INTRINSIC_PARAMETERS CALIB_FILES="" ENABLED="1" EXT_MODEL_ENABLED="0" FIX_CENTER="0" IMMUTABLE="0" QUAD_ASPECT_RATIO="0" TANG_DIST="1">
+ <OLD_MODEL CX="1397.98" CY="1138.9300000000001" FX="835.65999999999997" FY="835.75999999999999" K4="0" K5="0" K6="0" R2="-0.246701" R4="0.072691999" R6="-0.010224" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0.000337" TY="7.0000001e-06"/>
+ <EXT_MODEL CX="551.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ </INTRINSIC_PARAMETERS>
<EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="" EXTR_ROT_1="0.012" EXTR_ROT_2="-0.014" EXTR_ROT_3="0.22700000000000001" EXTR_TRANS_1="50.128" EXTR_TRANS_2="23.611999999999998" EXTR_TRANS_3="-400.09800000000001" FIX="1" IMMUTABLE_COORD_BOX="0" IMMUTABLE_EXTRINSIC_BOX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="1" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" IMMUTABLE="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
</CALIBRATION>
diff --git a/tests/regression_test/data/correct_perspective.pet b/tests/regression_test/data/correct_perspective.pet
index aa9ef0389932b65b7c956563743a13eb3588cc58..525d0e08693e48724ccb6013419853cf0715b025 100644
--- a/tests/regression_test/data/correct_perspective.pet
+++ b/tests/regression_test/data/correct_perspective.pet
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
-<PETRACK VERSION="0.10.2">
+<PETRACK VERSION="0.10.3">
<MAIN SRC="multicolor.mp4" STATUS_HEIGHT="0"/>
<CONTROL TAB="2">
<CALIBRATION>
@@ -11,7 +11,10 @@
<SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
<BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
<PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
- <INTRINSIC_PARAMETERS CALIB_FILES="" CX="1134.04" CY="880.72000000000003" ENABLED="1" EXT_MODEL_ENABLED="0" FIX_CENTER="0" FX="842.57000000000005" FY="842.69000000000005" IMMUTABLE="0" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="-0.27662599999999998" R4="0.093287999999999996" R6="-0.01423" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TANG_DIST="1" TAUX="0" TAUY="0" TX="-0.00024699999999999999" TY="5.5000000000000002e-05"/>
+ <INTRINSIC_PARAMETERS CALIB_FILES="" ENABLED="1" EXT_MODEL_ENABLED="0" FIX_CENTER="0" IMMUTABLE="0" QUAD_ASPECT_RATIO="0" TANG_DIST="1">
+ <OLD_MODEL CX="1134.04" CY="880.72000000000003" FX="842.57000000000005" FY="842.69000000000005" K4="0" K5="0" K6="0" R2="-0.27662599" R4="0.093287997" R6="-0.01423" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="-0.00024699999" TY="5.5e-05"/>
+ <EXT_MODEL CX="551.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ </INTRINSIC_PARAMETERS>
<EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="1" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="" EXTR_ROT_1="-2.1920000000000002" EXTR_ROT_2="-2.1829999999999998" EXTR_ROT_3="0.016" EXTR_TRANS_1="-1043.473" EXTR_TRANS_2="13.741" EXTR_TRANS_3="-626.84199999999998" FIX="0" IMMUTABLE_COORD_BOX="0" IMMUTABLE_EXTRINSIC_BOX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="91" GRID3D_TRANS_Y="34" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" IMMUTABLE="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
</CALIBRATION>
diff --git a/tests/regression_test/data/markerCasern.pet b/tests/regression_test/data/markerCasern.pet
index 224f8a6d82284d725e3da7bb777bc48e64b0c168..61e3c83a96b2eecd273f6ac62737a361379fa580 100644
--- a/tests/regression_test/data/markerCasern.pet
+++ b/tests/regression_test/data/markerCasern.pet
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
-<PETRACK VERSION="0.10.2">
+<PETRACK VERSION="0.10.3">
<MAIN SRC="markerCasern.avi" STATUS_HEIGHT="180"/>
<CONTROL TAB="0">
<CALIBRATION>
@@ -11,7 +11,10 @@
<SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
<BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
<PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
- <INTRINSIC_PARAMETERS CALIB_FILES="" CX="589.5" CY="461.5" ENABLED="1" EXT_MODEL_ENABLED="0" FIX_CENTER="1" FX="882.15999999999997" FY="882.15999999999997" IMMUTABLE="0" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="1" R2="-0.378664" R4="0.15861700000000001" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TANG_DIST="1" TAUX="0" TAUY="0" TX="-0.000241" TY="0.00031199999999999999"/>
+ <INTRINSIC_PARAMETERS CALIB_FILES="" ENABLED="1" EXT_MODEL_ENABLED="0" FIX_CENTER="1" IMMUTABLE="0" QUAD_ASPECT_RATIO="1" TANG_DIST="1">
+ <OLD_MODEL CX="589.5" CY="461.5" FX="882.15999999999997" FY="882.15999999999997" K4="0" K5="0" K6="0" R2="-0.37866399" R4="0.158617" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="-0.000241" TY="0.00031199999"/>
+ <EXT_MODEL CX="589.5" CY="461.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ </INTRINSIC_PARAMETERS>
<EXTRINSIC_PARAMETERS ALTITUDE="537" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="1" EXTERNAL_CALIB_FILE="" EXTR_ROT_1="0" EXTR_ROT_2="0" EXTR_ROT_3="0" EXTR_TRANS_1="0" EXTR_TRANS_2="0" EXTR_TRANS_3="-500" FIX="1" IMMUTABLE_COORD_BOX="0" IMMUTABLE_EXTRINSIC_BOX="0" ROTATE="27" SCALE="767" SHOW="1" SHOW_CALIB_POINTS="0" TRANS_X="5179" TRANS_Y="2170" UNIT="46" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="1" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="1" IMMUTABLE="0" ROTATE="27" SCALE="768" SHOW="1" TRANS_X="245" TRANS_Y="657"/>
</CALIBRATION>
diff --git a/tests/regression_test/data/markerJapan.pet b/tests/regression_test/data/markerJapan.pet
index 0d0ef2c0b5b3dcf0773d216c83b494afbaecb079..57c55aef88da4e0ef02e99cf81035039ceae5cec 100644
--- a/tests/regression_test/data/markerJapan.pet
+++ b/tests/regression_test/data/markerJapan.pet
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
-<PETRACK VERSION="0.10.2">
+<PETRACK VERSION="0.10.3">
<MAIN SRC="markerJapan/000100000.jpg" STATUS_HEIGHT="0"/>
<CONTROL TAB="0">
<CALIBRATION>
@@ -11,7 +11,10 @@
<SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
<BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
<PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
- <INTRINSIC_PARAMETERS CALIB_FILES="" CX="973" CY="620" ENABLED="1" EXT_MODEL_ENABLED="0" FIX_CENTER="0" FX="1653.49" FY="1673.5599999999999" IMMUTABLE="0" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="0.00068099999999999996" R4="-0.22715399999999999" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TANG_DIST="1" TAUX="0" TAUY="0" TX="0.0042729999999999999" TY="0.00044799999999999999"/>
+ <INTRINSIC_PARAMETERS CALIB_FILES="" ENABLED="1" EXT_MODEL_ENABLED="0" FIX_CENTER="0" IMMUTABLE="0" QUAD_ASPECT_RATIO="0" TANG_DIST="1">
+ <OLD_MODEL CX="973" CY="620" FX="1653.49" FY="1673.5599999999999" K4="0" K5="0" K6="0" R2="0.000681" R4="-0.227154" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0.0042730002" TY="0.00044800001"/>
+ <EXT_MODEL CX="551.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ </INTRINSIC_PARAMETERS>
<EXTRINSIC_PARAMETERS ALTITUDE="2035" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="1" EXTERNAL_CALIB_FILE="" EXTR_ROT_1="0" EXTR_ROT_2="0" EXTR_ROT_3="0" EXTR_TRANS_1="0" EXTR_TRANS_2="0" EXTR_TRANS_3="-500" FIX="1" IMMUTABLE_COORD_BOX="0" IMMUTABLE_EXTRINSIC_BOX="0" ROTATE="3594" SCALE="1000" SHOW="1" SHOW_CALIB_POINTS="0" TRANS_X="14450" TRANS_Y="5468" UNIT="120" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="1" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="1" IMMUTABLE="0" ROTATE="895" SCALE="1001" SHOW="0" TRANS_X="392" TRANS_Y="586"/>
</CALIBRATION>
diff --git a/tests/regression_test/data/multiColorMarkerWithAruco.pet b/tests/regression_test/data/multiColorMarkerWithAruco.pet
index f0de23e3b4f1da50cecd36ab9068664ed761b039..c40a9e5202f8b0893dcc1c5c72d7fc52ab8bdf77 100644
--- a/tests/regression_test/data/multiColorMarkerWithAruco.pet
+++ b/tests/regression_test/data/multiColorMarkerWithAruco.pet
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
-<PETRACK VERSION="0.10.2">
+<PETRACK VERSION="0.10.3">
<MAIN SRC="multiColorMarkerWithAruco.mp4" STATUS_HEIGHT="0"/>
<CONTROL TAB="1">
<CALIBRATION>
@@ -11,7 +11,10 @@
<SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
<BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
<PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
- <INTRINSIC_PARAMETERS CALIB_FILES="" CX="983.10000000000002" CY="572.13" ENABLED="1" EXT_MODEL_ENABLED="0" FIX_CENTER="0" FX="1860.1700000000001" FY="1862.24" IMMUTABLE="0" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="-0.37733299999999997" R4="0.242947" R6="-0.15323500000000001" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TANG_DIST="1" TAUX="0" TAUY="0" TX="-0.0040350000000000004" TY="-0.001372"/>
+ <INTRINSIC_PARAMETERS CALIB_FILES="" ENABLED="1" EXT_MODEL_ENABLED="0" FIX_CENTER="0" IMMUTABLE="0" QUAD_ASPECT_RATIO="0" TANG_DIST="1">
+ <OLD_MODEL CX="983.10000000000002" CY="572.13" FX="1860.1700000000001" FY="1862.24" K4="0" K5="0" K6="0" R2="-0.37733299" R4="0.242947" R6="-0.153235" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="-0.0040350002" TY="-0.001372"/>
+ <EXT_MODEL CX="551.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ </INTRINSIC_PARAMETERS>
<EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="" EXTR_ROT_1="-2.1299999999999999" EXTR_ROT_2="2.1579999999999999" EXTR_ROT_3="-0.036999999999999998" EXTR_TRANS_1="14.253" EXTR_TRANS_2="14.198" EXTR_TRANS_3="-528.09799999999996" FIX="0" IMMUTABLE_COORD_BOX="0" IMMUTABLE_EXTRINSIC_BOX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" IMMUTABLE="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
</CALIBRATION>
diff --git a/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12.pet b/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12.pet
index 732bcb9b8489b3bb759a70e8a0503c89e051e9c2..702837ff568f4d93143ae5a537f860b4c8f4ffdc 100644
--- a/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12.pet
+++ b/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12.pet
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
-<PETRACK VERSION="0.10.2">
+<PETRACK VERSION="0.10.3">
<MAIN SRC="multiColorMarkerWithAruco_dictMip36h12.mp4" STATUS_HEIGHT="0"/>
<CONTROL TAB="1">
<CALIBRATION>
@@ -11,7 +11,10 @@
<SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
<BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
<PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
- <INTRINSIC_PARAMETERS CALIB_FILES="" CX="2380.0599999999999" CY="1911.8699999999999" ENABLED="1" EXT_MODEL_ENABLED="0" FIX_CENTER="0" FX="1716.1300000000001" FY="1716.6199999999999" IMMUTABLE="0" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="-0.23147100000000001" R4="0.060733000000000002" R6="-0.0072639999999999996" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TANG_DIST="1" TAUX="0" TAUY="0" TX="0.000106" TY="0.00046500000000000003"/>
+ <INTRINSIC_PARAMETERS CALIB_FILES="" ENABLED="1" EXT_MODEL_ENABLED="0" FIX_CENTER="0" IMMUTABLE="0" QUAD_ASPECT_RATIO="0" TANG_DIST="1">
+ <OLD_MODEL CX="2380.0599999999999" CY="1911.8699999999999" FX="1716.1300000000001" FY="1716.6199999999999" K4="0" K5="0" K6="0" R2="-0.231471" R4="0.060733002" R6="-0.0072639999" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0.000106" TY="0.00046499999"/>
+ <EXT_MODEL CX="551.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ </INTRINSIC_PARAMETERS>
<EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="" EXTR_ROT_1="3.1219999999999999" EXTR_ROT_2="0.041000000000000002" EXTR_ROT_3="0.050999999999999997" EXTR_TRANS_1="-1.2969999999999999" EXTR_TRANS_2="6.5439999999999996" EXTR_TRANS_3="-423.565" FIX="0" IMMUTABLE_COORD_BOX="0" IMMUTABLE_EXTRINSIC_BOX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" IMMUTABLE="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
</CALIBRATION>
diff --git a/tests/regression_test/data/multicolor.pet b/tests/regression_test/data/multicolor.pet
index da303259c43629aafa3eae9184b8315c3528890f..8c4b619cf48b51e93969fa8d3ba0ff1befc647c8 100644
--- a/tests/regression_test/data/multicolor.pet
+++ b/tests/regression_test/data/multicolor.pet
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
-<PETRACK VERSION="0.10.2">
+<PETRACK VERSION="0.10.3">
<MAIN SRC="multicolor.mp4" STATUS_HEIGHT="0"/>
<CONTROL TAB="2">
<CALIBRATION>
@@ -11,7 +11,10 @@
<SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
<BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
<PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
- <INTRINSIC_PARAMETERS CALIB_FILES="" CX="1134.04" CY="880.72000000000003" ENABLED="1" EXT_MODEL_ENABLED="0" FIX_CENTER="0" FX="842.57000000000005" FY="842.69000000000005" IMMUTABLE="0" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="-0.27662599999999998" R4="0.093287999999999996" R6="-0.01423" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TANG_DIST="1" TAUX="0" TAUY="0" TX="-0.00024699999999999999" TY="5.5000000000000002e-05"/>
+ <INTRINSIC_PARAMETERS CALIB_FILES="" ENABLED="1" EXT_MODEL_ENABLED="0" FIX_CENTER="0" IMMUTABLE="0" QUAD_ASPECT_RATIO="0" TANG_DIST="1">
+ <OLD_MODEL CX="1134.04" CY="880.72000000000003" FX="842.57000000000005" FY="842.69000000000005" K4="0" K5="0" K6="0" R2="-0.27662599" R4="0.093287997" R6="-0.01423" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="-0.00024699999" TY="5.5e-05"/>
+ <EXT_MODEL CX="551.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ </INTRINSIC_PARAMETERS>
<EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="1" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="" EXTR_ROT_1="-2.1920000000000002" EXTR_ROT_2="-2.1829999999999998" EXTR_ROT_3="0.016" EXTR_TRANS_1="-1043.473" EXTR_TRANS_2="13.741" EXTR_TRANS_3="-626.84199999999998" FIX="0" IMMUTABLE_COORD_BOX="0" IMMUTABLE_EXTRINSIC_BOX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="91" GRID3D_TRANS_Y="34" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" IMMUTABLE="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
</CALIBRATION>
diff --git a/tests/regression_test/data/test_Fps_truth.pet b/tests/regression_test/data/test_Fps_truth.pet
index 7e1935d85233c94faac2487265e32f251b61ff18..d6e3298908ffeff8e32ac5304f8632d56f26c004 100644
--- a/tests/regression_test/data/test_Fps_truth.pet
+++ b/tests/regression_test/data/test_Fps_truth.pet
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
-<PETRACK VERSION="0.10.2">
+<PETRACK VERSION="0.10.3">
<MAIN SRC="../../../demo/00_files/video/video.mp4" STATUS_HEIGHT="0"/>
<CONTROL TAB="0">
<CALIBRATION>
@@ -11,7 +11,10 @@
<SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
<BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
<PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
- <INTRINSIC_PARAMETERS CALIB_FILES="/home/luke/Dev/petrack/demo/00_files/calibration/intrinsic/01_still.png" CX="551.5" CY="383.5" ENABLED="0" EXT_MODEL_ENABLED="1" FIX_CENTER="0" FX="881" FY="881" IMMUTABLE="0" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TANG_DIST="1" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ <INTRINSIC_PARAMETERS CALIB_FILES="/home/luke/Dev/petrack/demo/00_files/calibration/intrinsic/01_still.png" ENABLED="0" EXT_MODEL_ENABLED="1" FIX_CENTER="0" IMMUTABLE="0" QUAD_ASPECT_RATIO="0" TANG_DIST="1">
+ <OLD_MODEL CX="551.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ <EXT_MODEL CX="551.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ </INTRINSIC_PARAMETERS>
<EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="" EXTR_ROT_1="0" EXTR_ROT_2="0" EXTR_ROT_3="0" EXTR_TRANS_1="0" EXTR_TRANS_2="0" EXTR_TRANS_3="-500" FIX="0" IMMUTABLE_COORD_BOX="0" IMMUTABLE_EXTRINSIC_BOX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" IMMUTABLE="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
</CALIBRATION>
diff --git a/tests/regression_test/data/test_oldFps.pet b/tests/regression_test/data/test_oldFps.pet
index 466eb6d71e32511463cfeae5024abb8288f18f6a..c7a17d46a5b2ae6d30bb05c66140139eadc5ebef 100644
--- a/tests/regression_test/data/test_oldFps.pet
+++ b/tests/regression_test/data/test_oldFps.pet
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
-<PETRACK VERSION="0.10.2">
+<PETRACK VERSION="0.10.3">
<MAIN SRC="../../../demo/00_files/video/video.mp4" STATUS_HEIGHT="0"/>
<CONTROL TAB="0">
<CALIBRATION>
@@ -11,7 +11,10 @@
<SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
<BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
<PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
- <INTRINSIC_PARAMETERS CALIB_FILES="" CX="511.5" CY="383.5" ENABLED="0" EXT_MODEL_ENABLED="0" FIX_CENTER="0" FX="881" FY="881" IMMUTABLE="0" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TANG_DIST="1" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ <INTRINSIC_PARAMETERS CALIB_FILES="" ENABLED="0" EXT_MODEL_ENABLED="0" FIX_CENTER="0" IMMUTABLE="0" QUAD_ASPECT_RATIO="0" TANG_DIST="1">
+ <OLD_MODEL CX="511.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ <EXT_MODEL CX="551.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ </INTRINSIC_PARAMETERS>
<EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="" EXTR_ROT_1="0" EXTR_ROT_2="0" EXTR_ROT_3="0" EXTR_TRANS_1="0" EXTR_TRANS_2="0" EXTR_TRANS_3="-500" FIX="0" IMMUTABLE_COORD_BOX="0" IMMUTABLE_EXTRINSIC_BOX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" IMMUTABLE="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
</CALIBRATION>
diff --git a/tests/regression_test/data/test_oldFps_truth.pet b/tests/regression_test/data/test_oldFps_truth.pet
index f9b2dacd5165d867513d059e35c8ab239c0bda38..29d907e99945cd3ba5cd93cf66d1f994f65e6cbe 100644
--- a/tests/regression_test/data/test_oldFps_truth.pet
+++ b/tests/regression_test/data/test_oldFps_truth.pet
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
-<PETRACK VERSION="0.10.2">
+<PETRACK VERSION="0.10.3">
<MAIN SRC="../../../demo/00_files/video/video.mp4" STATUS_HEIGHT="0"/>
<CONTROL TAB="0">
<CALIBRATION>
@@ -11,7 +11,10 @@
<SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
<BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
<PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
- <INTRINSIC_PARAMETERS CALIB_FILES="" CX="511.5" CY="383.5" ENABLED="0" EXT_MODEL_ENABLED="0" FIX_CENTER="0" FX="881" FY="881" IMMUTABLE="0" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TANG_DIST="1" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ <INTRINSIC_PARAMETERS CALIB_FILES="" ENABLED="0" EXT_MODEL_ENABLED="0" FIX_CENTER="0" IMMUTABLE="0" QUAD_ASPECT_RATIO="0" TANG_DIST="1">
+ <OLD_MODEL CX="511.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ <EXT_MODEL CX="551.5" CY="383.5" FX="881" FY="881" K4="0" K5="0" K6="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TAUX="0" TAUY="0" TX="0" TY="0"/>
+ </INTRINSIC_PARAMETERS>
<EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="" EXTR_ROT_1="0" EXTR_ROT_2="0" EXTR_ROT_3="0" EXTR_TRANS_1="0" EXTR_TRANS_2="0" EXTR_TRANS_3="-500" FIX="0" IMMUTABLE_COORD_BOX="0" IMMUTABLE_EXTRINSIC_BOX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" IMMUTABLE="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
</CALIBRATION>
diff --git a/tests/regression_test/tests/test_calib.py b/tests/regression_test/tests/test_calib.py
index e7d6f0fef17c91abb0a86c15009487cd2c913185..30492fc034a59e06bfd569e47815ef62e512d99d 100644
--- a/tests/regression_test/tests/test_calib.py
+++ b/tests/regression_test/tests/test_calib.py
@@ -20,19 +20,14 @@ from pytest import approx
import subprocess
import xml.etree.ElementTree as ET
import numpy as np
+import math
from dataclasses import dataclass
from numpy import r_
-# NOTE: Does not test all options; ie. QuadAspectRatio, Fix Center, Ext. Model, ...
-
-def read_intrinsics(tree: ET.ElementTree) -> np.ndarray:
- # NOTE: needs non-nan reprojection error
-
- node = tree.find("./CONTROL/CALIBRATION/INTRINSIC_PARAMETERS")
- if node is None:
- raise RuntimeError("Invalid pet-File! No Calibration node")
+# NOTE: Does not test all options; ie. QuadAspectRatio, Fix Center, Ext. Model, ...
+def extract_parameters(node):
cx = float(node.get("CX", "nan"))
cy = float(node.get("CY", "nan"))
fx = float(node.get("FX", "nan"))
@@ -47,14 +42,14 @@ def read_intrinsics(tree: ET.ElementTree) -> np.ndarray:
s2 = float(node.get("S2", "nan"))
s3 = float(node.get("S3", "nan"))
s4 = float(node.get("S4", "nan"))
- tang_dist = float(node.get("TANG_DIST", "nan"))
taux = float(node.get("TAUX", "nan"))
tauy = float(node.get("TAUY", "nan"))
tx = float(node.get("TX", "nan"))
ty = float(node.get("TY", "nan"))
-
# comparison will fail, if this is NaN
reprojection_error = float(node.get("ReprError", "nan"))
+ if math.isnan(reprojection_error):
+ reprojection_error = float("-inf")
return np.array(
[
cx,
@@ -71,7 +66,6 @@ def read_intrinsics(tree: ET.ElementTree) -> np.ndarray:
s2,
s3,
s4,
- tang_dist,
taux,
tauy,
tx,
@@ -81,6 +75,27 @@ def read_intrinsics(tree: ET.ElementTree) -> np.ndarray:
)
+def read_intrinsics(tree: ET.ElementTree) -> np.ndarray:
+ # NOTE: needs non-nan reprojection error
+
+ oldModelNode = tree.find("./CONTROL/CALIBRATION/INTRINSIC_PARAMETERS/OLD_MODEL")
+
+ extModelNode = tree.find("./CONTROL/CALIBRATION/INTRINSIC_PARAMETERS/EXT_MODEL")
+
+ if oldModelNode is None or extModelNode is None:
+ raise RuntimeError("Invalid pet-File! No Calibration node")
+
+ node = tree.find("./CONTROL/CALIBRATION/INTRINSIC_PARAMETERS")
+ tang_dist = float(node.get("TANG_DIST", "nan"))
+ fix_center = float(node.get("FIX_CENTER", "nan"))
+ quad_aspect = float(node.get("QUAD_ASPECT_RATIO", "nan"))
+
+ oldModelParams = extract_parameters(oldModelNode)
+ extModelParams = extract_parameters(extModelNode)
+ config = np.array([tang_dist, fix_center, quad_aspect])
+ return np.concatenate([oldModelParams, extModelParams, config])
+
+
@dataclass
class Extrinsic3DParams:
rot: np.ndarray
@@ -169,11 +184,36 @@ def test_autoCalib_default_options(pytestconfig):
compare_intrinsic_calib(test_pet, truth_pet)
-def test_autoCalib_old_model(pytestconfig):
+def test_load_old_project_old_model(pytestconfig):
petrack_path = pytestconfig.getoption("path")
- project = "../data/00_empty.pet"
- real_intrinsic = "../data/01_intrinsic.pet"
- intrinsic_dir = "../../../demo/00_files/calibration/intrinsic"
+ project = "../data/01_old_intrinsic_oldModel.pet"
+ real_intrinsic = "../data/01_old_intrinsic_oldModel_truth.pet"
+ output = "../data/calibTest.pet" # same for other test, cannot be run concurrently
+
+ # run autocalib on demo project
+ subprocess.run(
+ [
+ petrack_path,
+ "-project",
+ project,
+ "-autosave",
+ output,
+ "-platform",
+ "offscreen",
+ ],
+ check=True,
+ )
+
+ test_pet = ET.parse(output)
+ truth_pet = ET.parse(real_intrinsic)
+
+ compare_intrinsic_calib(test_pet, truth_pet)
+
+
+def test_load_old_project_ext_model(pytestconfig):
+ petrack_path = pytestconfig.getoption("path")
+ project = "../data/01_old_intrinsic_extModel.pet"
+ real_intrinsic = "../data/01_old_intrinsic_extModel_truth.pet"
output = "../data/calibTest.pet" # same for other test, cannot be run concurrently
# run autocalib on demo project
@@ -182,8 +222,6 @@ def test_autoCalib_old_model(pytestconfig):
petrack_path,
"-project",
project,
- "-autoIntrinsic",
- intrinsic_dir,
"-autosave",
output,
"-platform",
@@ -200,9 +238,9 @@ def test_autoCalib_old_model(pytestconfig):
def test_extr_calib(pytestconfig):
petrack_path = pytestconfig.getoption("path")
- project = "../data/01_intrinsic.pet"
- real_extrinsic = "../data/02_extrinsic.pet"
- extrinsic_file = "../data/before.3dc"
+ project = "../../../demo/01_calibration/01_intrinsic.pet"
+ real_extrinsic = "../../../demo/01_calibration/02_extrinsic.pet"
+ extrinsic_file = "../../../demo/01_calibration/before.3dc"
output = (
"../data/extrCalibTest.pet" # same for other test, cannot be run concurrently
)
diff --git a/tests/unit_test/ui/main-windows/tst_coordinateSystemBox.cpp b/tests/unit_test/ui/main-windows/tst_coordinateSystemBox.cpp
index a510f5f92ca83a0e82fcd2fba04e2edc6838330c..a2b679b9dabb5f752d6fcf2f9de59cc9df3a24ca 100644
--- a/tests/unit_test/ui/main-windows/tst_coordinateSystemBox.cpp
+++ b/tests/unit_test/ui/main-windows/tst_coordinateSystemBox.cpp
@@ -42,7 +42,7 @@ TEST_CASE("CoordinateSystemBox: display of values in UI")
ExtrinsicBox extrBox(nullptr, extrCalib);
AutoCalib autoCalib{};
CalibFilter calibFilter;
- IntrinsicBox intrBox{&petrack, autoCalib, calibFilter, []() {}};
+ IntrinsicBox intrBox{&petrack, autoCalib, calibFilter, extrBox, []() {}};
ImageItem imageItem{&petrack, nullptr};
auto *ui = new Ui::CoordinateSystemBox();
CoordinateSystemBox coordSysBox{
@@ -142,7 +142,7 @@ TEST_CASE("CoordinateSystemBox: UI logic")
ExtrinsicBox extrBox(nullptr, extrCalib);
AutoCalib autoCalib{};
CalibFilter calibFilter;
- IntrinsicBox intrBox{&petrack, autoCalib, calibFilter, []() {}};
+ IntrinsicBox intrBox{&petrack, autoCalib, calibFilter, extrBox, []() {}};
ImageItem imageItem{&petrack, nullptr};
auto *ui = new Ui::CoordinateSystemBox();
int updateStatusPosCounter = 0;
diff --git a/tests/unit_test/ui/main-windows/tst_extrinsicBox.cpp b/tests/unit_test/ui/main-windows/tst_extrinsicBox.cpp
index be13dff71b70520bb193106697337f983957e323..efa392720bd1b9f403a6ee124ed51d797181d6c1 100644
--- a/tests/unit_test/ui/main-windows/tst_extrinsicBox.cpp
+++ b/tests/unit_test/ui/main-windows/tst_extrinsicBox.cpp
@@ -21,6 +21,7 @@
#include "personStorage.h"
#include "petrack.h"
#include "ui_extrinsicBox.h"
+#include "util.h"
#include <QDomElement>
#include <catch2/catch.hpp>
@@ -92,7 +93,7 @@ TEST_CASE("ExtrinsicBox: reading/writing xml")
params.trans3 = 699;
extrBox.setExtrinsicParameters(params);
-
+ INFO(extrBox.getExtrinsicParameters().trans1);
AND_WHEN("We save that state into an xml-document")
{
QDomDocument doc;
@@ -108,6 +109,7 @@ TEST_CASE("ExtrinsicBox: reading/writing xml")
ExtrinsicBox extrBox(nullptr, calib);
extrBox.getXml(elem);
+ INFO(nodeToString(elem));
CHECK(extrBox.getExtrinsicParameters() == params);
}
}
diff --git a/tests/unit_test/ui/main-windows/tst_intrinsicBox.cpp b/tests/unit_test/ui/main-windows/tst_intrinsicBox.cpp
index 6f59b4a6caad23eb5701093a735b1973ff259cf3..1a5332b2e7614693d9c3f4c3ba0edc5129d36a49 100644
--- a/tests/unit_test/ui/main-windows/tst_intrinsicBox.cpp
+++ b/tests/unit_test/ui/main-windows/tst_intrinsicBox.cpp
@@ -18,14 +18,18 @@
#include "autoCalib.h"
#include "calibFilter.h"
+#include "extrCalibration.h"
+#include "extrinsicBox.h"
#include "intrinsicBox.h"
+#include "personStorage.h"
+#include "petrack.h"
#include "ui_intrinsicBox.h"
#include "util.h"
#include <QDomElement>
#include <QSignalSpy>
-#include <QTextStream>
#include <catch2/catch.hpp>
+#include <catch2/trompeloeil.hpp>
bool matEq(const cv::Mat &lhs, const cv::Mat &rhs)
@@ -38,33 +42,37 @@ constexpr double SERIALIZATION_MARGIN = 0.01;
TEST_CASE("IntrinsicCameraParams have value semantics")
{
IntrinsicCameraParams testParams;
+ testParams.setFx(1);
+ testParams.setFy(1);
+ testParams.setCx(0);
+ testParams.setCy(0);
CHECK(matEq(testParams.cameraMatrix, cv::Mat::eye(cv::Size(3, 3), CV_64F)));
CHECK(matEq(testParams.distortionCoeffs, cv::Mat::zeros(1, 14, CV_32F)));
- CHECK(std::isnan(testParams.reprojectionError));
- testParams.cameraMatrix.at<double>(0, 0) = 1000;
- testParams.distortionCoeffs.at<float>(0) = 2000;
+ CHECK(qIsNaN(testParams.reprojectionError));
+ testParams.setFx(1000);
+ testParams.setR2(2000);
SECTION("Copy Constructor")
{
IntrinsicCameraParams copy{testParams};
- copy.cameraMatrix.at<double>(1, 1) = -1;
- copy.distortionCoeffs.at<double>(1) = -1;
- CHECK(copy.cameraMatrix.at<double>(0, 0) == 1000);
- CHECK(copy.distortionCoeffs.at<float>(0) == 2000);
- CHECK(testParams.cameraMatrix.at<double>(1, 1) == 1);
- CHECK(testParams.distortionCoeffs.at<float>(1) == 0);
+ copy.setFy(-1);
+ copy.setR4(-1);
+ CHECK(copy.getFx() == 1000);
+ CHECK(copy.getR2() == 2000);
+ CHECK(testParams.getFy() == 1);
+ CHECK(testParams.getR4() == 0);
}
SECTION("Copy Assignment")
{
IntrinsicCameraParams copy;
- copy = testParams;
- copy.cameraMatrix.at<double>(1, 1) = -1;
- copy.distortionCoeffs.at<double>(1) = -1;
- CHECK(copy.cameraMatrix.at<double>(0, 0) == 1000);
- CHECK(copy.distortionCoeffs.at<float>(0) == 2000);
- CHECK(testParams.cameraMatrix.at<double>(1, 1) == 1);
- CHECK(testParams.distortionCoeffs.at<float>(1) == 0);
+ copy = testParams;
+ copy.setFy(-1);
+ copy.setR4(-1);
+ CHECK(copy.getFx() == 1000);
+ CHECK(copy.getR2() == 2000);
+ CHECK(testParams.getFy() == 1);
+ CHECK(testParams.getR4() == 0);
}
}
@@ -72,60 +80,68 @@ TEST_CASE("IntrinsicCameraParams values")
{
AutoCalib autoCalib;
CalibFilter filterCalib;
+ Petrack petrack{"Unkown"};
+ Autosave autosave(petrack);
+ PersonStorage storage(petrack, autosave);
+ ExtrCalibration calib(storage);
+ ExtrinsicBox extrBox(nullptr, calib);
Ui::IntrinsicBox *ui = new Ui::IntrinsicBox(); // ownership transferred to IntrinsicBox
- auto intrBox = IntrinsicBox(nullptr, ui, autoCalib, filterCalib, []() {});
+ auto intrBox = IntrinsicBox(nullptr, ui, autoCalib, filterCalib, extrBox, []() {});
QSignalSpy spy{&intrBox, &IntrinsicBox::paramsChanged};
CHECK(spy.isValid());
-
+ IntrinsicModelsParameters params;
WHEN("I set the values of the IntrinsicParameters (via the setter)")
{
- IntrinsicCameraParams params;
- params.cameraMatrix = (cv::Mat_<double>(3, 3) << 800, 2, 3, 4, 900, 6, 7, 8, 9);
- std::iota(params.distortionCoeffs.begin<float>(), params.distortionCoeffs.end<float>(), -5);
+ params.oldModelParams.cameraMatrix = (cv::Mat_<double>(3, 3) << 800, 2, 3, 4, 900, 6, 7, 8, 9);
// values need to be in valid range -5 to 5
- params.distortionCoeffs.at<float>(10) = 1;
- params.distortionCoeffs.at<float>(11) = 2;
- params.distortionCoeffs.at<float>(12) = 3;
- params.distortionCoeffs.at<float>(13) = 4;
+ params.oldModelParams.distortionCoeffs =
+ (cv::Mat_<float>(1, 14) << -4.5, -4, -3.5, -3, -2.5, -2, -1.5, -1, 1, 1.5, 2, 2.5, 3, 3.5);
- params.reprojectionError = 42;
+ params.oldModelParams.reprojectionError = 42;
- intrBox.setIntrinsicCameraParams(params);
+ params.extModelParams.cameraMatrix = (cv::Mat_<double>(3, 3) << 600, 2, 3, 4, 800, 6, 7, 8, 9);
+ // values need to be in valid range -5 to 5
+ params.extModelParams.distortionCoeffs =
+ (cv::Mat_<float>(1, 14) << 4.5, 4, 3.5, 3, 2.5, 2, 1.5, 1, -1, -1.5, -2, -2.5, -3, -3.5);
+ params.extModelParams.reprojectionError = 187;
+ intrBox.setIntrinsicCameraParams(params);
THEN("The params are changed in the params-struct")
{
- auto newParams = intrBox.getIntrinsicCameraParams();
- CHECK(intrBox.getIntrinsicCameraParams() == params);
+ auto newParams = intrBox.getBothIntrinsicCameraParams();
+ CHECK(newParams.oldModelParams == params.oldModelParams);
+ CHECK(newParams.extModelParams == params.extModelParams);
}
- THEN("The params are changed in the ui")
+ THEN("The extended model params are shown in the ui")
{
- CHECK(ui->fx->value() == params.cameraMatrix.at<double>(0, 0));
- CHECK(ui->fy->value() == params.cameraMatrix.at<double>(1, 1));
- CHECK(ui->cx->value() == params.cameraMatrix.at<double>(0, 2));
- CHECK(ui->cy->value() == params.cameraMatrix.at<double>(1, 2));
-
- CHECK(ui->r2->value() == static_cast<double>(params.distortionCoeffs.at<float>(0)));
- CHECK(ui->r4->value() == static_cast<double>(params.distortionCoeffs.at<float>(1)));
- CHECK(ui->tx->value() == static_cast<double>(params.distortionCoeffs.at<float>(2)));
- CHECK(ui->ty->value() == static_cast<double>(params.distortionCoeffs.at<float>(3)));
- CHECK(ui->r6->value() == static_cast<double>(params.distortionCoeffs.at<float>(4)));
- CHECK(ui->k4->value() == static_cast<double>(params.distortionCoeffs.at<float>(5)));
- CHECK(ui->k5->value() == static_cast<double>(params.distortionCoeffs.at<float>(6)));
- CHECK(ui->k6->value() == static_cast<double>(params.distortionCoeffs.at<float>(7)));
- CHECK(ui->s1->value() == static_cast<double>(params.distortionCoeffs.at<float>(8)));
- CHECK(ui->s2->value() == static_cast<double>(params.distortionCoeffs.at<float>(9)));
- CHECK(ui->s3->value() == static_cast<double>(params.distortionCoeffs.at<float>(10)));
- CHECK(ui->s4->value() == static_cast<double>(params.distortionCoeffs.at<float>(11)));
- CHECK(ui->taux->value() == static_cast<double>(params.distortionCoeffs.at<float>(12)));
- CHECK(ui->tauy->value() == static_cast<double>(params.distortionCoeffs.at<float>(13)));
+ CHECK(ui->fx->value() == Approx(params.extModelParams.getFx()));
+ CHECK(ui->fy->value() == Approx(params.extModelParams.getFy()));
+ CHECK(ui->cx->value() == Approx(params.extModelParams.getCx()));
+ CHECK(ui->cy->value() == Approx(params.extModelParams.getCy()));
+
+ CHECK(ui->r2->value() == Approx(static_cast<double>(params.extModelParams.getR2())));
+ CHECK(ui->r4->value() == Approx(static_cast<double>(params.extModelParams.getR4())));
+ CHECK(ui->tx->value() == Approx(static_cast<double>(params.extModelParams.getTx())));
+ CHECK(ui->ty->value() == Approx(static_cast<double>(params.extModelParams.getTy())));
+ CHECK(ui->r6->value() == Approx(static_cast<double>(params.extModelParams.getR6())));
+ CHECK(ui->k4->value() == Approx(static_cast<double>(params.extModelParams.getK4())));
+ CHECK(ui->k5->value() == Approx(static_cast<double>(params.extModelParams.getK5())));
+ CHECK(ui->k6->value() == Approx(static_cast<double>(params.extModelParams.getK6())));
+ CHECK(ui->s1->value() == Approx(static_cast<double>(params.extModelParams.getS1())));
+ CHECK(ui->s2->value() == Approx(static_cast<double>(params.extModelParams.getS2())));
+ CHECK(ui->s3->value() == Approx(static_cast<double>(params.extModelParams.getS3())));
+ CHECK(ui->s4->value() == Approx(static_cast<double>(params.extModelParams.getS4())));
+ CHECK(ui->taux->value() == Approx(static_cast<double>(params.extModelParams.getTaux())));
+ CHECK(ui->tauy->value() == Approx(static_cast<double>(params.extModelParams.getTauy())));
+ CHECK(
+ ui->intrError->text().toDouble() ==
+ Approx(static_cast<double>(params.extModelParams.reprojectionError)));
}
-
GIVEN("Some parameters are out of range")
{
- params.distortionCoeffs.at<float>(12) = 156468;
- auto oldParams = intrBox.getIntrinsicCameraParams();
+ params.extModelParams.setS4(156468);
THEN("An exception is thrown")
{
CHECK_THROWS_AS(intrBox.setIntrinsicCameraParams(params), std::domain_error);
@@ -136,6 +152,37 @@ TEST_CASE("IntrinsicCameraParams values")
{
CHECK(spy.count() == 1);
}
+
+ AND_WHEN("I press the extended model checkbox")
+ {
+ ui->extModelCheckBox->setChecked(false);
+
+ THEN("The old model parameters are shown in the UI")
+ {
+ CHECK(ui->fx->value() == Approx(params.oldModelParams.getFx()));
+ CHECK(ui->fy->value() == Approx(params.oldModelParams.getFy()));
+ CHECK(ui->cx->value() == Approx(params.oldModelParams.getCx()));
+ CHECK(ui->cy->value() == Approx(params.oldModelParams.getCy()));
+
+ CHECK(ui->r2->value() == Approx(static_cast<double>(params.oldModelParams.getR2())));
+ CHECK(ui->r4->value() == Approx(static_cast<double>(params.oldModelParams.getR4())));
+ CHECK(ui->tx->value() == Approx(static_cast<double>(params.oldModelParams.getTx())));
+ CHECK(ui->ty->value() == Approx(static_cast<double>(params.oldModelParams.getTy())));
+ CHECK(ui->r6->value() == Approx(static_cast<double>(params.oldModelParams.getR6())));
+ CHECK(ui->k4->value() == Approx(static_cast<double>(params.oldModelParams.getK4())));
+ CHECK(ui->k5->value() == Approx(static_cast<double>(params.oldModelParams.getK5())));
+ CHECK(ui->k6->value() == Approx(static_cast<double>(params.oldModelParams.getK6())));
+ CHECK(ui->s1->value() == Approx(static_cast<double>(params.oldModelParams.getS1())));
+ CHECK(ui->s2->value() == Approx(static_cast<double>(params.oldModelParams.getS2())));
+ CHECK(ui->s3->value() == Approx(static_cast<double>(params.oldModelParams.getS3())));
+ CHECK(ui->s4->value() == Approx(static_cast<double>(params.oldModelParams.getS4())));
+ CHECK(ui->taux->value() == Approx(static_cast<double>(params.oldModelParams.getTaux())));
+ CHECK(ui->tauy->value() == Approx(static_cast<double>(params.oldModelParams.getTauy())));
+ CHECK(
+ ui->intrError->text().toDouble() ==
+ Approx(static_cast<double>(params.oldModelParams.reprojectionError)));
+ }
+ }
}
}
@@ -143,8 +190,13 @@ TEST_CASE("IntrinsicBox: reading/writing xml")
{
AutoCalib autoCalib;
CalibFilter filterCalib;
+ Petrack petrack{"Unkown"};
+ Autosave autosave(petrack);
+ PersonStorage storage(petrack, autosave);
+ ExtrCalibration calib(storage);
+ ExtrinsicBox extrBox(nullptr, calib);
Ui::IntrinsicBox *ui = new Ui::IntrinsicBox(); // ownership transferred to IntrinsicBox
- auto intrBox = IntrinsicBox(nullptr, ui, autoCalib, filterCalib, []() {});
+ auto intrBox = IntrinsicBox(nullptr, ui, autoCalib, filterCalib, extrBox, []() {});
// spliting, because changing some of these also changes the intrinsic params
WHEN("We change non-calculated values")
@@ -173,8 +225,8 @@ TEST_CASE("IntrinsicBox: reading/writing xml")
{
AutoCalib newAutoCalib;
CalibFilter newFilterCalib;
- Ui::IntrinsicBox *newUi = new Ui::IntrinsicBox(); // ownership transferred to IntrinsicBox
- auto newIntrBox = IntrinsicBox(nullptr, newUi, newAutoCalib, newFilterCalib, []() {});
+ Ui::IntrinsicBox *newUi = new Ui::IntrinsicBox(); // ownership transferred to IntrinsicBox
+ auto newIntrBox = IntrinsicBox(nullptr, newUi, newAutoCalib, newFilterCalib, extrBox, []() {});
for(auto subElem = elem.firstChildElement(); !subElem.isNull(); subElem = subElem.nextSiblingElement())
{
@@ -191,6 +243,24 @@ TEST_CASE("IntrinsicBox: reading/writing xml")
CHECK(newUi->fixCenter->isChecked() == ui->fixCenter->isChecked());
CHECK(newUi->tangDist->isChecked() == ui->tangDist->isChecked());
CHECK(newUi->extModelCheckBox->isChecked() == ui->extModelCheckBox->isChecked());
+
+ AND_THEN("parameters are correctly disabled")
+ {
+ CHECK(!newUi->cx->isEnabled());
+ CHECK(!newUi->cy->isEnabled());
+ CHECK(!newUi->fy->isEnabled());
+ CHECK(!newUi->tx->isEnabled());
+ CHECK(!newUi->ty->isEnabled());
+ CHECK(!newUi->k4->isEnabled());
+ CHECK(!newUi->k5->isEnabled());
+ CHECK(!newUi->k6->isEnabled());
+ CHECK(!newUi->s1->isEnabled());
+ CHECK(!newUi->s2->isEnabled());
+ CHECK(!newUi->s3->isEnabled());
+ CHECK(!newUi->s4->isEnabled());
+ CHECK(!newUi->taux->isEnabled());
+ CHECK(!newUi->tauy->isEnabled());
+ }
}
}
}
@@ -214,8 +284,8 @@ TEST_CASE("IntrinsicBox: reading/writing xml")
{
AutoCalib newAutoCalib;
CalibFilter newFilterCalib;
- Ui::IntrinsicBox *newUi = new Ui::IntrinsicBox(); // ownership transferred to IntrinsicBox
- auto newIntrBox = IntrinsicBox(nullptr, newUi, newAutoCalib, newFilterCalib, []() {});
+ Ui::IntrinsicBox *newUi = new Ui::IntrinsicBox(); // ownership transferred to IntrinsicBox
+ auto newIntrBox = IntrinsicBox(nullptr, newUi, newAutoCalib, newFilterCalib, extrBox, []() {});
for(auto subElem = elem.firstChildElement(); !subElem.isNull(); subElem = subElem.nextSiblingElement())
{
@@ -231,22 +301,25 @@ TEST_CASE("IntrinsicBox: reading/writing xml")
WHEN("We change calculated values")
{
// set different parameters:
- IntrinsicCameraParams params;
- params.cameraMatrix = (cv::Mat_<double>(3, 3) << 800, 0, 5, 0, 900, 7, 0, 0, 1);
- std::iota(params.distortionCoeffs.begin<float>(), params.distortionCoeffs.end<float>(), -5);
+ IntrinsicModelsParameters params;
+ params.oldModelParams.cameraMatrix = (cv::Mat_<double>(3, 3) << 800, 0, 5, 0, 900, 7, 0, 0, 1);
+ // values need to be in valid range -5 to 5
+ params.oldModelParams.distortionCoeffs =
+ (cv::Mat_<float>(1, 14) << -4.5, -4, -3.5, -3, -2.5, -2, -1.5, -1, 1, 1.5, 2, 2.5, 3, 3.5);
+ params.oldModelParams.reprojectionError = 0.5;
+
+ params.extModelParams.cameraMatrix = (cv::Mat_<double>(3, 3) << 600, 0, 5, 0, 800, 7, 0, 0, 1);
// values need to be in valid range -5 to 5
- params.distortionCoeffs.at<float>(10) = 1;
- params.distortionCoeffs.at<float>(11) = 2;
- params.distortionCoeffs.at<float>(12) = 3;
- params.distortionCoeffs.at<float>(13) = 4;
- params.reprojectionError = 0.5;
+ params.extModelParams.distortionCoeffs =
+ (cv::Mat_<float>(1, 14) << 4.5, 4, 3.5, 3, 2.5, 2, 1.5, 1, -1, -1.5, -2, -2.5, -3, -3.5);
+ params.extModelParams.reprojectionError = 78.5;
intrBox.setIntrinsicCameraParams(params);
AND_WHEN("We save the widget into a pet-file")
{
QDomDocument doc;
auto root = doc.createElement("PETRACK");
- root.setAttribute("VERSION", "0.9.2");
+ root.setAttribute("VERSION", "0.10.1");
doc.appendChild(root);
QDomElement elem = doc.createElement("CALIBRATION");
root.appendChild(elem);
@@ -255,8 +328,8 @@ TEST_CASE("IntrinsicBox: reading/writing xml")
{
AutoCalib newAutoCalib;
CalibFilter newFilterCalib;
- Ui::IntrinsicBox *newUi = new Ui::IntrinsicBox(); // ownership transferred to IntrinsicBox
- auto newIntrBox = IntrinsicBox(nullptr, newUi, newAutoCalib, newFilterCalib, []() {});
+ Ui::IntrinsicBox *newUi = new Ui::IntrinsicBox(); // ownership transferred to IntrinsicBox
+ auto newIntrBox = IntrinsicBox(nullptr, newUi, newAutoCalib, newFilterCalib, extrBox, []() {});
for(auto subElem = elem.firstChildElement(); !subElem.isNull(); subElem = subElem.nextSiblingElement())
{
@@ -264,16 +337,41 @@ TEST_CASE("IntrinsicBox: reading/writing xml")
}
INFO(nodeToString(elem).toStdString())
- auto oldParams = intrBox.getIntrinsicCameraParams();
- auto newParams = newIntrBox.getIntrinsicCameraParams();
+ auto originalParams = intrBox.getBothIntrinsicCameraParams();
+ auto serializedParams = newIntrBox.getBothIntrinsicCameraParams();
CHECK(
- cv::norm(oldParams.cameraMatrix - newParams.cameraMatrix) ==
+ cv::norm(
+ originalParams.oldModelParams.cameraMatrix - serializedParams.oldModelParams.cameraMatrix) ==
Approx(0).margin(SERIALIZATION_MARGIN));
CHECK(
- cv::norm(oldParams.distortionCoeffs - newParams.distortionCoeffs) ==
+ cv::norm(
+ originalParams.oldModelParams.distortionCoeffs -
+ serializedParams.oldModelParams.distortionCoeffs) == Approx(0).margin(SERIALIZATION_MARGIN));
+
+ CHECK(
+ originalParams.oldModelParams.reprojectionError ==
+ Approx(serializedParams.oldModelParams.reprojectionError));
+
+ // check extended model parameters
+ CHECK(
+ cv::norm(
+ originalParams.extModelParams.cameraMatrix - serializedParams.extModelParams.cameraMatrix) ==
Approx(0).margin(SERIALIZATION_MARGIN));
+ CHECK(
+ cv::norm(
+ originalParams.extModelParams.distortionCoeffs -
+ serializedParams.extModelParams.distortionCoeffs) == Approx(0).margin(SERIALIZATION_MARGIN));
- CHECK(oldParams.reprojectionError == Approx(newParams.reprojectionError));
+ if(qIsNaN(originalParams.extModelParams.reprojectionError))
+ {
+ CHECK(qIsNaN(serializedParams.extModelParams.reprojectionError));
+ }
+ else
+ {
+ CHECK(
+ originalParams.extModelParams.reprojectionError ==
+ Approx(serializedParams.extModelParams.reprojectionError));
+ }
}
}
}
@@ -281,12 +379,17 @@ TEST_CASE("IntrinsicBox: reading/writing xml")
TEST_CASE("ImageSizeChanged")
{
- AutoCalib autoCalib;
- CalibFilter filterCalib;
- auto *ui = new Ui::IntrinsicBox(); // ownership transferred to IntrinsicBox
- auto intrBox = IntrinsicBox(nullptr, ui, autoCalib, filterCalib, []() {});
- constexpr int width = 1280;
- constexpr int height = 720;
+ AutoCalib autoCalib;
+ CalibFilter filterCalib;
+ Petrack petrack{"Unkown"};
+ Autosave autosave(petrack);
+ PersonStorage storage(petrack, autosave);
+ ExtrCalibration calib(storage);
+ ExtrinsicBox extrBox(nullptr, calib);
+ auto *ui = new Ui::IntrinsicBox(); // ownership transferred to IntrinsicBox
+ auto intrBox = IntrinsicBox(nullptr, ui, autoCalib, filterCalib, extrBox, []() {});
+ constexpr int width = 1280;
+ constexpr int height = 720;
WHEN("the image size changes")
{
@@ -294,10 +397,28 @@ TEST_CASE("ImageSizeChanged")
{
ui->fixCenter->setChecked(true);
intrBox.imageSizeChanged(width, height, 0);
+
+ double cxFixed = (width - 1) / 2.;
+ double cyFixed = (height - 1) / 2.;
THEN("cx and cy are set to the new image center")
{
- CHECK(ui->cx->value() == Approx((width - 1) / 2.));
- CHECK(ui->cy->value() == Approx((height - 1) / 2.));
+ IntrinsicCameraParams params = intrBox.getIntrinsicCameraParams();
+ CHECK(params.getCx() == Approx(cxFixed));
+ CHECK(params.getCy() == Approx(cyFixed));
+ CHECK(ui->cx->value() == Approx(cxFixed));
+ CHECK(ui->cy->value() == Approx(cyFixed));
+ }
+ AND_WHEN("I switch calibration models")
+ {
+ ui->extModelCheckBox->setChecked(false);
+ IntrinsicCameraParams params = intrBox.getIntrinsicCameraParams();
+ THEN("cx and cy are updated in ui and data accordingly")
+ {
+ CHECK(params.getCx() == Approx(cxFixed));
+ CHECK(params.getCy() == Approx(cyFixed));
+ CHECK(ui->cx->value() == Approx(cxFixed));
+ CHECK(ui->cy->value() == Approx(cyFixed));
+ }
}
}