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HandEyeCalibration.patch
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Authored By
seitela
Sep 17 2010, 2:23 PM
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4 KB
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HandEyeCalibration.patch
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Index: mitkCameraIntrinsics.cpp
===================================================================
--- mitkCameraIntrinsics.cpp (revision 26004)
+++ mitkCameraIntrinsics.cpp (working copy)
@@ -52,6 +52,8 @@
m_CameraMatrix.at<double>(0,2) = principalPoint[0];
m_CameraMatrix.at<double>(1,2) = principalPoint[1];
+ m_CameraMatrix.at<double>(2,2) = 1.0;
+
m_DistorsionCoeffs.at<double>(0,0) = distortionCoefficients[0];
m_DistorsionCoeffs.at<double>(0,1) = distortionCoefficients[1];
m_DistorsionCoeffs.at<double>(0,2) = distortionCoefficients[2];
@@ -144,6 +146,8 @@
myAssert( PrincipalYElem != 0 );
CameraMatrix.at<double>(1,2) = atof( PrincipalYElem->GetText() );
+ CameraMatrix.at<double>(2,2) = 1.0;
+
// DISTORSION COEFFS
TiXmlElement* Dist1Elem = elem->FirstChildElement("Dist1");
@@ -209,6 +213,8 @@
else
err << "cy, ";
+ CameraMatrix.at<double>(2,2) = 1.0;
+
// DISTORSION COEFFS
cv::Mat DistorsionCoeffs = cv::Mat::zeros(1, 4, cv::DataType<double>::type);
if(elem->QueryFloatAttribute("k1", &val) == TIXML_SUCCESS)
Index: mitkHandEyeCalibration.cpp
===================================================================
--- mitkHandEyeCalibration.cpp (revision 26004)
+++ mitkHandEyeCalibration.cpp (working copy)
@@ -82,6 +82,21 @@
cv::Point3f(it->x*m_CameraCalibration->GetSquareSize()
, it->y*m_CameraCalibration->GetSquareSize(), 0) );
}
+ //int x = 1;
+ //int y = m_CameraCalibration->GetChessBoardSize().height;
+ //for( vector<cv::Point2f>::iterator it=imagepoints.begin()
+ // ; it!=imagepoints.end(); ++it )
+ //{
+ // objectpoints.push_back(
+ // cv::Point3f(x*m_CameraCalibration->GetSquareSize()
+ // , y*m_CameraCalibration->GetSquareSize(), 0) );
+ // y--;
+ // if (y==1)
+ // {
+ // x++;
+ // y = m_CameraCalibration->GetChessBoardSize().height;
+ // }
+ //}
cv::Mat rvec, tvec;
@@ -200,6 +215,7 @@
// m_AngleThreshold to 180 or 0/360 axis will be removed
// now begin to remove moves (beginning with the smallest
+ std::vector<unsigned int> indexToRemove;
std::vector<mitk::Transform::Pointer>::iterator it2;
unsigned int index = 0;
for( std::map<double, unsigned int>::iterator it = angleToIndex.begin()
@@ -222,10 +238,11 @@
// rotation angle too small
MITK_DEBUG << "rotation angle too small. removing move " << index+1
<< ". rotation angle was " << rotAngle;
- it2 = m_EyeMoves.begin() + index;
- m_EyeMoves.erase(it2);
- it2 = m_HandMoves.begin() + index;
- m_HandMoves.erase(it2);
+ indexToRemove.push_back(index);
+ //it2 = m_EyeMoves.begin() + index;
+ //m_EyeMoves.erase(it2);
+ //it2 = m_HandMoves.begin() + index;
+ //m_HandMoves.erase(it2);
}
// ascending order, if rotAngle is bigger than the threshold
// the upcomign angles are also bigger
@@ -233,6 +250,14 @@
break;
}
+ std::sort(indexToRemove.begin(), indexToRemove.end());
+ for (int i=indexToRemove.size()-1; i>=0; i--)
+ {
+ it2 = m_EyeMoves.begin() + indexToRemove.at(i);
+ m_EyeMoves.erase(it2);
+ it2 = m_HandMoves.begin() + indexToRemove.at(i);
+ m_HandMoves.erase(it2);
+ }
// now find the best movement pairs
std::map<double, std::pair<unsigned int, unsigned int> > ratingToMovePair;
@@ -241,7 +266,7 @@
unsigned int n = 0;
for( unsigned int i=0; i<m_EyeMoves.size(); ++i )
{
- for( unsigned int j=i; j<m_EyePoses.size(); ++j )
+ for( unsigned int j=i; j<m_EyeMoves.size(); ++j )
{
// no self movements here
if(i==j)
@@ -263,7 +288,6 @@
meanRating = meanRating / n;
MITK_DEBUG << "meanRating: " << meanRating;
MITK_DEBUG << "number of moves left before removing by rating : " << m_EyeMoves.size();
-
// remove underrated moves (moves that are higher than the mean)
// but leave out at least three moves
std::map<double, std::pair<unsigned int, unsigned int> >::iterator ratingToMovePairIt
Index: mitkPointReprojection.cpp
===================================================================
--- mitkPointReprojection.cpp (revision 26004)
+++ mitkPointReprojection.cpp (working copy)
@@ -106,6 +106,21 @@
->GetSquareSize(), it->y*d->m_Calibration->GetSquareSize(), 0) );
}
+ //int x = 1;
+ //int y = d->m_Calibration->GetSquareSize();
+ //for( vector<cv::Point2f>::iterator it=d->m_ImagePoints.begin()
+ // ; it!=d->m_ImagePoints.end(); ++it )
+ //{
+ // d->m_Objectpoints.push_back( cv::Point3f(x*d->m_Calibration
+ // ->GetSquareSize(), y*d->m_Calibration->GetSquareSize(), 0) );
+ // y--;
+ // if (y==1)
+ // {
+ // x++;
+ // y = d->m_Calibration->GetSquareSize();
+ // }
+ //}
+
// create camera extrinsics
cv::Mat rvec, tvec;
cv::solvePnP( cv::Mat(d->m_Objectpoints), cv::Mat(d->m_ImagePoints),

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HandEyeCalibration.patch (4 KB)

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seitela added a comment.Sep 17 2010, 2:23 PM

Some fixes for hand eye calibration

MITK · MIC · IMSY · DKFZ