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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>(1,1) *= a;
P3.at<double>(0,2) = P3.at<double>(0,2)*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>(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); P2.copyTo(P3);
Mat t = P3.col(3); Mat t = P3.col(3);
t13.copyTo(t); 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() ) if( !imgpt1.empty() && imgpt3.empty() )
adjust3rdMatrix(imgpt1, imgpt3, cameraMatrix1, distCoeffs1, cameraMatrix3, distCoeffs3, R1, R3, P1, P3); adjust3rdMatrix(imgpt1, imgpt3, cameraMatrix1, distCoeffs1, cameraMatrix3, distCoeffs3, R1, R3, P1, P3);

16
samples/cpp/3calibration.cpp
View File

@ -301,12 +301,11 @@ int main( int argc, char** argv )
fs << "imageWidth" << imageSize.width; fs << "imageWidth" << imageSize.width;
fs << "imageHeight" << imageSize.height; fs << "imageHeight" << imageSize.height;
fs.release();
Mat Q; Mat Q;
// step 3: find rectification transforms // step 3: find rectification transforms
rectify3(cameraMatrix[0], distCoeffs[0], cameraMatrix[1], double ratio = rectify3(cameraMatrix[0], distCoeffs[0], cameraMatrix[1],
distCoeffs[1], cameraMatrix[2], distCoeffs[2], distCoeffs[1], cameraMatrix[2], distCoeffs[2],
imgpt[0], imgpt[2], imgpt[0], imgpt[2],
imageSize, R12, T12, R13, T13, imageSize, R12, T12, R13, T13,
@ -314,6 +313,19 @@ int main( int argc, char** argv )
imageSize, 0, 0, CV_CALIB_ZERO_DISPARITY); imageSize, 0, 0, CV_CALIB_ZERO_DISPARITY);
Mat map1[3], map2[3]; Mat map1[3], map2[3];
fs << "R1" << R[0];
fs << "R2" << R[1];
fs << "R3" << R[2];
fs << "P1" << P[0];
fs << "P2" << P[1];
fs << "P3" << P[2];
fs << "disparityRatio" << ratio;
fs.release();
printf("Disparity ratio = %g\n", ratio);
for( k = 0; k < 3; k++ ) for( k = 0; k < 3; k++ )
initUndistortRectifyMap(cameraMatrix[k], distCoeffs[k], R[k], P[k], imageSize, CV_16SC2, map1[k], map2[k]); initUndistortRectifyMap(cameraMatrix[k], distCoeffs[k], R[k], P[k], imageSize, CV_16SC2, map1[k], map2[k]);