Calibrate on separate thread, improves user feedback

EyeRecToo/src/CameraCalibration.cpp

@@ -17,6 +17,9 @@ void CameraCalibration::toggleCalibration(bool status)
 		calibrationTogglePB->setText("Calibrating...");
 		calibrationTogglePB->setEnabled(false);
 		collectPB->setEnabled(false);
+		setLabelText(rmsQL, "Calculating", "orange");
+		if (dbgCB->isChecked())
+			destroyWindow(DBG_WINDOW_NAME);
 		QMetaObject::invokeMethod(this, "finishCalibration", Qt::QueuedConnection);
 	}
 }
@@ -26,20 +29,29 @@ void CameraCalibration::startCalibration()
 	calibrationTogglePB->setText("Finish");
 	settingsGB->setEnabled(false);
 	collectPB->setEnabled(true);
+	undistortPB->setEnabled(false);
 	imagePoints.clear();
-	sampleCountQL->setText(QString::number(imagePoints.size()));
+	setCoverage();
+	sampleCount = 0;
+	sampleCountQL->setText(QString::number(sampleCount));
+	covered = Rect();
 	if (dbgCB->isChecked())
 		namedWindow(DBG_WINDOW_NAME);
 }
 
 void CameraCalibration::finishCalibration()
 {
-	if (dbgCB->isChecked())
-		destroyWindow(DBG_WINDOW_NAME);
-	calibrate();
+	QFuture<void> future = QtConcurrent::run(this, &CameraCalibration::calibrate);
+	watcher.setFuture(future);
+}
+
+void CameraCalibration::onCalibrated()
+{
+	this->layout()->setEnabled(true);
 	updateCalibrationStatus( calibrationSuccessful );
 	calibrationTogglePB->setText("Start");
 	calibrationTogglePB->setEnabled(true);
+	undistortPB->setEnabled(true);
 	settingsGB->setEnabled(true);
 	emit calibrationFinished( calibrationSuccessful );
 }
@@ -49,18 +61,15 @@ void CameraCalibration::updateCalibrationStatus(bool success)
 	if (success) {
 		qInfo() << "Camera calibration done. RMS Error =" << rms;
 		undistortPB->setEnabled(true);
-		if (rms < 1)
-			rmsQL->setStyleSheet("QLabel { font : bold; color : green }");
-		else {
-			rmsQL->setStyleSheet("QLabel { font : bold; color : red }");
-			qInfo() << "RMS Error is above the expected value. It's recommended to recalibrate.";
-		}
-		rmsQL->setText( QString::number(rms) );
+		setRms(rms);
+		setCoverage(coverage);
+		sampleCountQL->setText(QString::number(sampleCount));
 	} else {
 		qInfo() << "Camera calibration failed.";
 		undistortPB->setEnabled(false);
-		rmsQL->setStyleSheet("QLabel { font : bold; color : black }");
-		rmsQL->setText( "N/A" );
+		setRms();
+		setCoverage();
+		sampleCountQL->setText(QString::number(sampleCount));
 	}
 }
 
@@ -157,6 +166,18 @@ void CameraCalibration::processSample(const Mat &frame)
 			break;
 	}
 
+	if (found) {
+		imagePoints.push_back(pointBuf);
+		sampleCount = imagePoints.size();
+		if (sampleCount == 1)
+			covered = boundingRect(pointBuf);
+		else
+			covered |= boundingRect(pointBuf);
+		sampleCountQL->setText(QString::number(sampleCount));
+		coverage = covered.area() / (double) imageSize.area();
+		setCoverage( coverage );
+	}
+
 	if (dbgCB->isChecked()) {
 		Mat tmp;
 		if (frame.channels() == 1)
@@ -168,14 +189,10 @@ void CameraCalibration::processSample(const Mat &frame)
 			drawChessboardCorners( tmp, patternSize, Mat(pointBuf), found);
 		else
 			putText(tmp, "Pattern not found", Point(0, 0.5*frame.rows), CV_FONT_HERSHEY_PLAIN, 2, Scalar(0,0,255));
+		rectangle(tmp, covered, Scalar(0,255,0), 2);
 		imshow(DBG_WINDOW_NAME, tmp);
 	}
 
-	if (found) {
-		imagePoints.push_back(pointBuf);
-		sampleCountQL->setText(QString::number(imagePoints.size()));
-	}
-
 	collectPB->setEnabled(true);
 }
 
@@ -188,11 +205,11 @@ void CameraCalibration::calibrate()
 	else
 		distCoeffs = Mat::zeros(8, 1, CV_64F);
 
-	if (imagePoints.size() < 5) {
-		rms = 0;
-		calibrationSuccessful = false;
+	calibrationSuccessful = false;
+	rms = 0;
+
+	if (imagePoints.size() < 5)
 		return;
-	}
 
 	vector<vector<Point3f> > objectPoints(1);
 	calculateBoardCorners(objectPoints[0]);
@@ -216,6 +233,8 @@ void CameraCalibration::store(const QString &fileName)
 	fs << "distCoeffs" << distCoeffs;
 	fs << "imageSize" << imageSize;
 	fs << "newCameraMatrix" << newCameraMatrix;
+	fs << "sampleCount" << sampleCount;
+	fs << "coverage" << coverage;
 	fs << "rms" << rms;
 }
 
@@ -230,6 +249,8 @@ void CameraCalibration::load(const QString &fileName)
 		fs["distCoeffs"] >> distCoeffs;
 		fs["imageSize"] >> imageSize;
 		fs["newCameraMatrix"] >> newCameraMatrix;
+		fs["sampleCount"] >> sampleCount;
+		fs["coverage"] >> coverage;
 		fs["rms"] >> rms;
 		calibrationSuccessful = true;
 	}

EyeRecToo/src/CameraCalibration.h

@@ -16,6 +16,8 @@
 #include <QCheckBox>
 #include <QLabel>
 #include <QFileInfo>
+#include <QtConcurrent/QtConcurrent>
+#include <QFutureWatcher>
 
 #include "opencv2/imgproc.hpp"
 #include "opencv2/calib3d.hpp"
@@ -29,7 +31,9 @@ class CameraCalibration : public QDialog
 public:
 	CameraCalibration(QWidget *parent=0)
 		: QDialog(parent),
-		  calibrationSuccessful(false)
+		  calibrationSuccessful(false),
+		  sampleCount(0),
+		  coverage(0)
 	{
 		this->setWindowModality(Qt::ApplicationModal);
 		this->setWindowTitle("Camera Calibration");
@@ -102,14 +106,20 @@ public:
 		sampleCountQL = new QLabel();
 		sampleCountQL->setText(QString::number(0));
 		formLayout->addRow( new QLabel("Samples:"), sampleCountQL);
+		coveredQL = new QLabel();
+		coveredQL->setText(QString::number(0) + " %");
+		formLayout->addRow( new QLabel("Covered:"), coveredQL);
 		rmsQL = new QLabel();
-		rmsQL->setStyleSheet("QLabel { font : bold; color : black }");
-		rmsQL->setText("N/A");
+		setRms();
 		formLayout->addRow( new QLabel("RMS Error:"), rmsQL);
 		controlGB->setLayout(formLayout);
 		hl->addWidget(controlGB);
 
 		setLayout(hl);
+
+		connect(&watcher, SIGNAL(finished()),
+				this, SLOT(onCalibrated()) );
+
 	}
 
 	enum CALIBRATION_PATTERN {
@@ -121,6 +131,8 @@ public:
 	cv::Mat cameraMatrix;
 	cv::Mat newCameraMatrix;
 	cv::Mat distCoeffs;
+	int sampleCount;
+	double coverage;
 	bool calibrationSuccessful;
 
 signals:
@@ -153,21 +165,51 @@ private:
 	QPushButton *collectPB;
 	QPushButton *undistortPB;
 	QLabel *sampleCountQL;
+	QLabel *coveredQL;
 	QLabel *rmsQL;
 
+	QFutureWatcher<void> watcher;
+
 	std::vector<std::vector<cv::Point2f> > imagePoints;
 	cv::Size imageSize;
+	cv::Rect covered;
+
 	void processSample(const cv::Mat &frame);
 	void undistortSample(const cv::Mat &frame);
 	void calculateBoardCorners(std::vector<cv::Point3f> &corners);
 	void calibrate();
 	void updateCalibrationStatus(bool success);
+	void setLabelText(QLabel* label, QString val, QString color) {
+		label->setStyleSheet("QLabel { font : bold; color : " + color + " }");
+		label->setText( val );
+	}
+	void setRms() { setLabelText(rmsQL, "N/A", "black"); }
+	void setRms(double val) {
+		if ( val < 1)
+			setLabelText(rmsQL, QString::number(val), "green");
+		else {
+			setLabelText(rmsQL, QString::number(val), "red");
+			qInfo() << "RMS Error is above the expected value. It's recommended to recalibrate.";
+		}
+	}
+	void setCoverage() { setLabelText(coveredQL, "N/A", "black"); }
+	void setCoverage(double val) {
+		QString pct = QString::number( (int) 100 * val) + " %";
+		if ( val >= 0.8) {
+			setLabelText(coveredQL, pct, "green");
+		} else if (val >= 0.6) {
+			setLabelText(coveredQL, pct, "orange");
+		} else {
+			setLabelText(coveredQL, pct, "red");
+		}
+	}
 
 	double rms;
 
 private slots:
 	void startCalibration();
 	void finishCalibration();
+	void onCalibrated();
 };
 
 #endif // CAMERACALIBRATION_H