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fixed 3calibration sample

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This commit is contained in:
Vadim Pisarevsky 2010-10-01 09:13:52 +00:00
parent caa3076018
commit 18ce63ffdb
1 changed files with 20 additions and 13 deletions
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33
samples/cpp/3calibration.cpp
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@ -42,9 +42,13 @@ static bool run3Calibration( vector<vector<Point2f> > imagePoints1,
{ {
const vector<vector<Point2f> >& imgpt0 = c == 1 ? imagePoints1 : c == 2 ? imagePoints2 : imagePoints3; const vector<vector<Point2f> >& imgpt0 = c == 1 ? imagePoints1 : c == 2 ? imagePoints2 : imagePoints3;
imgpt.clear(); imgpt.clear();
int N = 0;
for( i = 0; i < (int)imgpt0.size(); i++ ) for( i = 0; i < (int)imgpt0.size(); i++ )
if( !imgpt0[i].empty() ) if( !imgpt0[i].empty() )
{
imgpt.push_back(imgpt0[i]); imgpt.push_back(imgpt0[i]);
N += (int)imgpt0[i].size();
}
if( imgpt.size() < 3 ) if( imgpt.size() < 3 )
{ {
@ -60,17 +64,16 @@ static bool run3Calibration( vector<vector<Point2f> > imagePoints1,
Mat distCoeffs = Mat::zeros(5, 1, CV_64F); Mat distCoeffs = Mat::zeros(5, 1, CV_64F);
if( c == 3 ) double err = calibrateCamera(objpt, imgpt, imageSize, cameraMatrix,
distCoeffs, rvecs, tvecs,
flags|CV_CALIB_FIX_K3/*|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5|CV_CALIB_FIX_K6*/);
bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);
if(!ok)
{ {
calibrateCamera(objpt, imgpt, imageSize, cameraMatrix, printf("Error: camera %d was not calibrated\n", c);
distCoeffs, rvecs, tvecs, flags|CV_CALIB_FIX_K3); return false;
bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);
if(!ok)
{
printf("Error: camera %d was not calibrated\n", c);
return false;
}
} }
printf("Camera %d calibration reprojection error = %g\n", c, sqrt(err/N));
if( c == 1 ) if( c == 1 )
cameraMatrix1 = cameraMatrix, distCoeffs1 = distCoeffs; cameraMatrix1 = cameraMatrix, distCoeffs1 = distCoeffs;
@ -89,12 +92,14 @@ static bool run3Calibration( vector<vector<Point2f> > imagePoints1,
imgpt.clear(); imgpt.clear();
imgpt_right.clear(); imgpt_right.clear();
int N = 0;
for( i = 0; i < (int)std::min(imagePoints1.size(), imgpt0.size()); i++ ) for( i = 0; i < (int)std::min(imagePoints1.size(), imgpt0.size()); i++ )
if( !imagePoints1.empty() && !imgpt0[i].empty() ) if( !imagePoints1.empty() && !imgpt0[i].empty() )
{ {
imgpt.push_back(imagePoints1[i]); imgpt.push_back(imagePoints1[i]);
imgpt_right.push_back(imgpt0[i]); imgpt_right.push_back(imgpt0[i]);
N += (int)imgpt0[i].size();
} }
if( imgpt.size() < 3 ) if( imgpt.size() < 3 )
@ -107,10 +112,12 @@ static bool run3Calibration( vector<vector<Point2f> > imagePoints1,
Mat cameraMatrix = c == 2 ? cameraMatrix2 : cameraMatrix3; Mat cameraMatrix = c == 2 ? cameraMatrix2 : cameraMatrix3;
Mat distCoeffs = c == 2 ? distCoeffs2 : distCoeffs3; Mat distCoeffs = c == 2 ? distCoeffs2 : distCoeffs3;
Mat R, T, E, F; Mat R, T, E, F;
stereoCalibrate(objpt, imgpt, imgpt_right, cameraMatrix1, distCoeffs1, cameraMatrix, distCoeffs, double err = stereoCalibrate(objpt, imgpt, imgpt_right, cameraMatrix1, distCoeffs1,
imageSize, R, T, E, F, cameraMatrix, distCoeffs,
TermCriteria(TermCriteria::COUNT, 30, 0), imageSize, R, T, E, F,
(c == 3 ? CV_CALIB_FIX_INTRINSIC : 0) | CV_CALIB_FIX_K3); TermCriteria(TermCriteria::COUNT, 30, 0),
CV_CALIB_FIX_INTRINSIC);
printf("Pair (1,%d) calibration reprojection error = %g\n", c, sqrt(err/(N*2)));
if( c == 2 ) if( c == 2 )
{ {
cameraMatrix2 = cameraMatrix; cameraMatrix2 = cameraMatrix;