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added 3-camera rectification and 8-coeff distortion model

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This commit is contained in:
Vadim Pisarevsky
2010-09-07 15:38:48 +00:00
parent 6960e1544d
commit 31dbefc865
5 changed files with 605 additions and 64 deletions
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17
modules/calib3d/include/opencv2/calib3d/calib3d.hpp
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@@ -220,6 +220,9 @@ CVAPI(void) cvDrawChessboardCorners( CvArr* image, CvSize pattern_size,
#define CV_CALIB_FIX_K1 32
#define CV_CALIB_FIX_K2 64
#define CV_CALIB_FIX_K3 128
#define CV_CALIB_FIX_K4 2048
#define CV_CALIB_FIX_K5 4096
#define CV_CALIB_FIX_K6 8192
/* Finds intrinsic and extrinsic camera parameters
from a few views of known calibration pattern */
@@ -544,6 +547,9 @@ enum
CALIB_FIX_K1 = 32,
CALIB_FIX_K2 = 64,
CALIB_FIX_K3 = 128,
CALIB_FIX_K4 = 2048,
CALIB_FIX_K5 = 4096,
CALIB_FIX_K6 = 8192,
// only for stereo
CALIB_FIX_INTRINSIC = 256,
CALIB_SAME_FOCAL_LENGTH = 512,
@@ -605,6 +611,17 @@ CV_EXPORTS bool stereoRectifyUncalibrated( const Mat& points1,
Mat& H1, Mat& H2,
double threshold=5 );
//! computes the rectification transformations for 3-head camera, where the heads are on the same line.
CV_EXPORTS float rectify3( const Mat& cameraMatrix1, const Mat& distCoeffs1,
const Mat& cameraMatrix2, const Mat& distCoeffs2,
const Mat& cameraMatrix3, const Mat& distCoeffs3,
const vector<vector<Point2f> >& imgpt1,
const vector<vector<Point2f> >& imgpt3,
Size imageSize, const Mat& R12, const Mat& T12, const Mat& R13, const Mat& T13,
Mat& R1, Mat& R2, Mat& R3, Mat& P1, Mat& P2, Mat& P3, Mat& Q,
double alpha, Size newImgSize,
Rect* roi1, Rect* roi2, int flags );
//! returns the optimal new camera matrix
CV_EXPORTS Mat getOptimalNewCameraMatrix( const Mat& cameraMatrix, const Mat& distCoeffs,
Size imageSize, double alpha, Size newImgSize=Size(),