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some more fixes in rectify3 and 3calibration (corrected disparity ratio etc.)

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This commit is contained in:
Vadim Pisarevsky
2010-10-01 09:48:56 +00:00
parent 18ce63ffdb
commit 46988ca633
2 changed files with 18 additions and 2 deletions
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4
modules/calib3d/src/calibration.cpp
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@@ -3533,6 +3533,8 @@ static void adjust3rdMatrix(const vector<vector<Point2f> >& imgpt1_0,
P3.at<double>(1,1) *= a;
P3.at<double>(0,2) = P3.at<double>(0,2)*a;
P3.at<double>(1,2) = P3.at<double>(1,2)*a + b;
P3.at<double>(0,3) *= a;
P3.at<double>(1,3) *= a;
}
}
@@ -3587,6 +3589,8 @@ float cv::rectify3( const Mat& cameraMatrix1, const Mat& distCoeffs1,
P2.copyTo(P3);
Mat t = P3.col(3);
t13.copyTo(t);
P3.at<double>(0,3) *= P3.at<double>(0,0);
P3.at<double>(1,3) *= P3.at<double>(1,1);
if( !imgpt1.empty() && imgpt3.empty() )
adjust3rdMatrix(imgpt1, imgpt3, cameraMatrix1, distCoeffs1, cameraMatrix3, distCoeffs3, R1, R3, P1, P3);