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authorStanislaw Halik <sthalik@misaki.pl>2015-07-20 08:08:58 +0200
committerStanislaw Halik <sthalik@misaki.pl>2015-07-20 08:08:58 +0200
commit8bf58b412d2b9c5cd3f1e1215c5ae9462d494888 (patch)
tree6f45efa943db858dd9d93aacc0012f523b2deaf2
parentfaae0ab01dd6d9a7ffed39f36c053e236abbcc61 (diff)
calibration: rewrite
- Intrinsics are floats, not doubles. - Try searching for calibration filename with fov specified first, then without fov. - Grab image width and height from calibration file, don't asume 640x480
-rw-r--r--opentrack/opencv-calibration.hpp42
1 files changed, 26 insertions, 16 deletions
diff --git a/opentrack/opencv-calibration.hpp b/opentrack/opencv-calibration.hpp
index 71f30850..99e6d4c7 100644
--- a/opentrack/opencv-calibration.hpp
+++ b/opentrack/opencv-calibration.hpp
@@ -14,21 +14,31 @@
#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)
+bool get_camera_calibration(const QString& camera_name, cv::Mat& intrinsics, cv::Mat& distortion, int w, int h, int fov)
{
- QString pathname_ = QCoreApplication::applicationDirPath() + "/camera/" + camera_name + ".yml";
- std::string pathname = pathname_.toStdString();
- cv::FileStorage fs(pathname, cv::FileStorage::READ);
- if (!fs.isOpened())
- return false;
- cv::Mat intrinsics_, distortion_;
- fs["camera_matrix"] >> intrinsics_;
- fs["distortion_coefficients"] >> distortion_;
- intrinsics_.at<double>(0, 0) *= w / 640.;
- intrinsics_.at<double>(2, 0) *= w / 640.;
- intrinsics_.at<double>(1, 1) *= h / 480.;
- intrinsics_.at<double>(2, 1) *= h / 480.;
- intrinsics = intrinsics_;
- distortion = distortion_;
- return true;
+ 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;
}