From 279d6c1b0534edd7c49f2f1fbf56acf9ed1c4a21 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Mon, 13 Jul 2015 19:04:22 +0200
Subject: allow for camera calibration

---
 CMakeLists.txt                         |  2 ++
 bin/camera/Logitech HD Webcam C525.yml | 22 ++++++++++++++++++++++
 bin/camera/PS3Eye Camera.yml           | 22 ++++++++++++++++++++++
 opentrack/opencv-calibration.hpp       | 26 ++++++++++++++++++++++++++
 4 files changed, 72 insertions(+)
 create mode 100644 bin/camera/Logitech HD Webcam C525.yml
 create mode 100644 bin/camera/PS3Eye Camera.yml
 create mode 100644 opentrack/opencv-calibration.hpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2c38b4d2..8a14b81f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -542,6 +542,8 @@ 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}/install-fail-tool\" \"${CMAKE_INSTALL_PREFIX}\")
diff --git a/bin/camera/Logitech HD Webcam C525.yml b/bin/camera/Logitech HD Webcam C525.yml
new file mode 100644
index 00000000..ac1bc981
--- /dev/null
+++ b/bin/camera/Logitech HD Webcam C525.yml	
@@ -0,0 +1,22 @@
+%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/PS3Eye Camera.yml b/bin/camera/PS3Eye Camera.yml
new file mode 100644
index 00000000..6859d0fb
--- /dev/null
+++ b/bin/camera/PS3Eye Camera.yml	
@@ -0,0 +1,22 @@
+%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/opentrack/opencv-calibration.hpp b/opentrack/opencv-calibration.hpp
new file mode 100644
index 00000000..6dee9908
--- /dev/null
+++ b/opentrack/opencv-calibration.hpp
@@ -0,0 +1,26 @@
+#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)
+{
+    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;
+}
-- 
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