for now remove calibration support

PT tracker returns garbage when calibrating, Z is zero. Maybe can be
reverted and fixed later.

11 files changed, 7 insertions, 203 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1f0685ee..16f779d3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -546,8 +546,6 @@ if(WIN32)
     install(FILES "${CMAKE_SOURCE_DIR}/bin/cleye.config" DESTINATION .)
 endif()
 
-install(DIRECTORY "${CMAKE_SOURCE_DIR}/bin/camera" DESTINATION .)
-
 if(APPLE)
     install(CODE "
     execute_process(COMMAND /bin/sh \"${CMAKE_SOURCE_DIR}/macosx/make-app-bundle.sh\"
diff --git a/bin/camera/Logitech HD Webcam C525.yml b/bin/camera/Logitech HD Webcam C525.yml
deleted file mode 100644
index ac1bc981..00000000
--- a/bin/camera/Logitech HD Webcam C525.yml
+++ /dev/null
@@ -1,22 +0,0 @@
-%YAML:1.0
-calibration_time: "07/13/15 17:32:58"
-image_width: 640
-image_height: 480
-board_width: 24
-board_height: 15
-square_size: 1.
-flags: 0
-camera_matrix: !!opencv-matrix
-   rows: 3
-   cols: 3
-   dt: d
-   data: [ 7.1195238148354849e+002, 0., 3.4210284784635138e+002, 0.,
-       7.1302752784110055e+002, 2.2837679451205264e+002, 0., 0., 1. ]
-distortion_coefficients: !!opencv-matrix
-   rows: 5
-   cols: 1
-   dt: d
-   data: [ -1.5165615866415242e-003, 3.6806867018034255e-002,
-       -6.6432394998828278e-004, 1.7782694073348656e-003,
-       -4.9225052904494471e-001 ]
-avg_reprojection_error: 2.5310746466741296e+000
diff --git a/bin/camera/ManyCam Video Source-56.yml b/bin/camera/ManyCam Video Source-56.yml
deleted file mode 100644
index 6859d0fb..00000000
--- a/bin/camera/ManyCam Video Source-56.yml
+++ /dev/null
@@ -1,22 +0,0 @@
-%YAML:1.0
-calibration_time: "07/13/15 17:45:33"
-image_width: 640
-image_height: 480
-board_width: 24
-board_height: 15
-square_size: 1.
-flags: 0
-camera_matrix: !!opencv-matrix
-   rows: 3
-   cols: 3
-   dt: d
-   data: [ 7.5119574967224673e+002, 0., 3.2806930334341007e+002, 0.,
-       7.5112907969240291e+002, 2.2681331450818737e+002, 0., 0., 1. ]
-distortion_coefficients: !!opencv-matrix
-   rows: 5
-   cols: 1
-   dt: d
-   data: [ -2.2741190107950382e-001, 9.4372681451250684e-001,
-       -4.0955586655475494e-003, -2.6778551080439902e-003,
-       -1.7969804313130640e+000 ]
-avg_reprojection_error: 1.9233386799903629e+000
diff --git a/bin/camera/ManyCam Video Source-75.yml b/bin/camera/ManyCam Video Source-75.yml
deleted file mode 100644
index bf8fe0d3..00000000
--- a/bin/camera/ManyCam Video Source-75.yml
+++ /dev/null
@@ -1,22 +0,0 @@
-%YAML:1.0
-calibration_time: "07/20/15 04:51:53"
-image_width: 640
-image_height: 480
-board_width: 5
-board_height: 5
-square_size: 1.
-flags: 0
-camera_matrix: !!opencv-matrix
-   rows: 3
-   cols: 3
-   dt: d
-   data: [ 7.1311062261797588e+002, 0., 2.8104464540018199e+002, 0.,
-       7.0668490426304095e+002, 2.7903331411454337e+002, 0., 0., 1. ]
-distortion_coefficients: !!opencv-matrix
-   rows: 5
-   cols: 1
-   dt: d
-   data: [ -2.2697038330479780e-001, 9.3383028790481815e-001,
-       1.0716120533882623e-002, -9.0372250512977884e-003,
-       -1.7702927181212214e+000 ]
-avg_reprojection_error: 1.7556161579210681e+000
diff --git a/bin/camera/PS3Eye Camera-56.yml b/bin/camera/PS3Eye Camera-56.yml
deleted file mode 100644
index 6859d0fb..00000000
--- a/bin/camera/PS3Eye Camera-56.yml
+++ /dev/null
@@ -1,22 +0,0 @@
-%YAML:1.0
-calibration_time: "07/13/15 17:45:33"
-image_width: 640
-image_height: 480
-board_width: 24
-board_height: 15
-square_size: 1.
-flags: 0
-camera_matrix: !!opencv-matrix
-   rows: 3
-   cols: 3
-   dt: d
-   data: [ 7.5119574967224673e+002, 0., 3.2806930334341007e+002, 0.,
-       7.5112907969240291e+002, 2.2681331450818737e+002, 0., 0., 1. ]
-distortion_coefficients: !!opencv-matrix
-   rows: 5
-   cols: 1
-   dt: d
-   data: [ -2.2741190107950382e-001, 9.4372681451250684e-001,
-       -4.0955586655475494e-003, -2.6778551080439902e-003,
-       -1.7969804313130640e+000 ]
-avg_reprojection_error: 1.9233386799903629e+000
diff --git a/bin/camera/PS3Eye Camera-75.yml b/bin/camera/PS3Eye Camera-75.yml
deleted file mode 100644
index bf8fe0d3..00000000
--- a/bin/camera/PS3Eye Camera-75.yml
+++ /dev/null
@@ -1,22 +0,0 @@
-%YAML:1.0
-calibration_time: "07/20/15 04:51:53"
-image_width: 640
-image_height: 480
-board_width: 5
-board_height: 5
-square_size: 1.
-flags: 0
-camera_matrix: !!opencv-matrix
-   rows: 3
-   cols: 3
-   dt: d
-   data: [ 7.1311062261797588e+002, 0., 2.8104464540018199e+002, 0.,
-       7.0668490426304095e+002, 2.7903331411454337e+002, 0., 0., 1. ]
-distortion_coefficients: !!opencv-matrix
-   rows: 5
-   cols: 1
-   dt: d
-   data: [ -2.2697038330479780e-001, 9.3383028790481815e-001,
-       1.0716120533882623e-002, -9.0372250512977884e-003,
-       -1.7702927181212214e+000 ]
-avg_reprojection_error: 1.7556161579210681e+000
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index 8acddc28..2e488486 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -17,7 +17,6 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/videoio.hpp>
 #include "opentrack/camera-names.hpp"
-#include "opentrack/opencv-calibration.hpp"
 #include "opentrack/sleep.hpp"
 
 typedef struct {
@@ -162,17 +161,10 @@ void Tracker::run()
         if (last_fov != s.fov)
         {
             last_fov = s.fov;
-            if (!get_camera_calibration(s.camera_name, intrinsics, dist_coeffs, grayscale.cols, grayscale.rows, s.fov))
-            {
-                intrinsics.at<float> (0, 0) = focal_length_w;
-                intrinsics.at<float> (1, 1) = focal_length_h;
-                intrinsics.at<float> (0, 2) = grayscale.cols/2;
-                intrinsics.at<float> (1, 2) = grayscale.rows/2;
-            }
-            else
-            {
-                qDebug() << "got calibration";
-            }
+            intrinsics.at<float> (0, 0) = focal_length_w;
+            intrinsics.at<float> (1, 1) = focal_length_h;
+            intrinsics.at<float> (0, 2) = grayscale.cols/2;
+            intrinsics.at<float> (1, 2) = grayscale.rows/2;
         }
 
         std::vector< aruco::Marker > markers;
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 48a62c2c..d166ad01 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -12,7 +12,6 @@
 #include <QFile>
 #include <QCoreApplication>
 #include "opentrack/camera-names.hpp"
-#include "opentrack/opencv-calibration.hpp"
 
 using namespace std;
 using namespace cv;
@@ -55,8 +54,6 @@ void Tracker_PT::reset_command(Command command)
 float Tracker_PT::get_focal_length()
 {
     QMutexLocker l(&camera_mtx);
-    if (!intrinsics.empty())
-        return intrinsics.at<float>(0, 0);
     CamInfo info = camera.get_info();
     const int w = info.res_x, h = info.res_y;
     static constexpr double pi = 3.1415926f;
@@ -99,16 +96,7 @@ void Tracker_PT::run()
             
             if (success)
             {
-                if (!intrinsics.empty())
-                {
-                    std::vector<cv::Vec2f> points_;
-                    cv::undistortPoints(points, points_, intrinsics, dist_coeffs);
-                    point_tracker.track(points_, PointModel(s), get_focal_length(), s.dynamic_pose, s.init_phase_timeout);
-                }
-                else
-                {
-                    point_tracker.track(points, PointModel(s), get_focal_length(), s.dynamic_pose, s.init_phase_timeout);
-                }
+                point_tracker.track(points, PointModel(s), get_focal_length(), s.dynamic_pose, s.init_phase_timeout);
             }
             
             {
@@ -159,20 +147,6 @@ void Tracker_PT::apply_settings()
     camera.set_res(s.cam_res_x, s.cam_res_y);
     camera.set_fps(s.cam_fps);
     camera.start();
-    cv::Mat intrinsics_ = cv::Mat::eye(3, 3, CV_32FC1);
-    cv::Mat dist_coeffs_ = cv::Mat::zeros(5, 1, CV_32FC1);
-    intrinsics = cv::Mat();
-    dist_coeffs = cv::Mat();
-    auto info = camera.get_info();
-    if (info.res_x == 0 || info.res_y == 0)
-        return;
-    if (get_camera_calibration(s.camera_name, intrinsics_, dist_coeffs_, info.res_x, info.res_y, s.fov))
-    {
-        intrinsics = intrinsics_.clone();
-        dist_coeffs = dist_coeffs_.clone();
-        qDebug() << s.camera_name << "calibrated";
-    }
-
     qDebug()<<"Tracker::apply ends";
 }
 
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
index 97aa54aa..b303a913 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
@@ -72,7 +72,6 @@ private:
     Timer time;
     
     volatile bool ever_success;
-    cv::Mat intrinsics, dist_coeffs;
 
     static constexpr double rad2deg = 180.0/3.14159265;
     static constexpr double deg2rad = 3.14159265/180.0;
diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp
index f141fe36..b4283d37 100644
--- a/ftnoir_tracker_pt/point_tracker.cpp
+++ b/ftnoir_tracker_pt/point_tracker.cpp
@@ -259,14 +259,9 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, float
 	X_CM.t[1] = order[0][1] * Z0/focal_length;
 	X_CM.t[2] = Z0;
 
-	return i;
+    //qDebug() << "iter:" << i;
 
-	//Rodrigues(X_CM.R, r);
-	//qDebug()<<"iter: "<<i;
-	//qDebug()<<"t: "<<X_CM.t[0]<<' '<<X_CM.t[1]<<' '<<X_CM.t[2];
-	//Vec3f r;
-	//
-	//qDebug()<<"r: "<<r[0]<<' '<<r[1]<<' '<<r[2]<<'\n';
+	return i;
 }
 
 cv::Vec2f PointTracker::project(const cv::Vec3f& v_M, float f)
diff --git a/opentrack/opencv-calibration.hpp b/opentrack/opencv-calibration.hpp
deleted file mode 100644
index 99e6d4c7..00000000
--- a/opentrack/opencv-calibration.hpp
+++ /dev/null
@@ -1,44 +0,0 @@
-/* Copyright (c) 2015, Stanislaw Halik <sthalik@misaki.pl>
-
- * Permission to use, copy, modify, and/or distribute this
- * software for any purpose with or without fee is hereby granted,
- * provided that the above copyright notice and this permission
- * notice appear in all copies.
- */
-
-#pragma once
-#include <QCoreApplication>
-#include <QString>
-#include <QByteArray>
-#include <string>
-#include <opencv2/core.hpp>
-
-template<typename = void>
-bool get_camera_calibration(const QString& camera_name, cv::Mat& intrinsics, cv::Mat& distortion, int w, int h, int fov)
-{
-    const QString pathnames[] = {
-        QCoreApplication::applicationDirPath() + "/camera/" + camera_name + "-" + QString::number(fov) + ".yml",
-        QCoreApplication::applicationDirPath() + "/camera/" + camera_name + ".yml",
-    };
-    for (auto& pathname : pathnames)
-    {
-        cv::FileStorage fs(pathname.toStdString(), cv::FileStorage::READ);
-        if (!fs.isOpened())
-            continue;
-        cv::Mat intrinsics_, distortion_;
-        fs["camera_matrix"] >> intrinsics_;
-        fs["distortion_coefficients"] >> distortion_;
-        int w_, h_;
-        fs["image_width"] >> w_;
-        fs["image_height"] >> h_;
-        double w__ = w_, h__ = h_;
-        intrinsics_.at<float>(0, 0) *= w / w__;
-        intrinsics_.at<float>(2, 0) *= w / w__;
-        intrinsics_.at<float>(1, 1) *= h / h__;
-        intrinsics_.at<float>(2, 1) *= h / h__;
-        intrinsics = intrinsics_;
-        distortion = distortion_;
-        return true;
-    }
-    return false;
-}