From 8bf58b412d2b9c5cd3f1e1215c5ae9462d494888 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Mon, 20 Jul 2015 08:08:58 +0200
Subject: 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
---
 opentrack/opencv-calibration.hpp | 42 +++++++++++++++++++++++++---------------
 1 file 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;
 }
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