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Merge pull request #5351 from paroj:calibout

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This commit is contained in:
Vadim Pisarevsky 2015-12-11 16:21:06 +00:00
commit 5cdf0e3e89
1 changed files with 48 additions and 29 deletions
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77
modules/calib3d/src/calibration.cpp
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@ -1253,7 +1253,7 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
CV_Error( CV_StsUnsupportedFormat, CV_Error( CV_StsUnsupportedFormat,
"the array of point counters must be 1-dimensional integer vector" ); "the array of point counters must be 1-dimensional integer vector" );
//when the thin prism model is used the distortion coefficients matrix must have 12 parameters //when the thin prism model is used the distortion coefficients matrix must have 12 parameters
if((flags & CV_CALIB_THIN_PRISM_MODEL) && (distCoeffs->cols*distCoeffs->rows != 12)) if((flags & CALIB_THIN_PRISM_MODEL) && (distCoeffs->cols*distCoeffs->rows != 12))
CV_Error( CV_StsBadArg, "Thin prism model must have 12 parameters in the distortion matrix" ); CV_Error( CV_StsBadArg, "Thin prism model must have 12 parameters in the distortion matrix" );
nimages = npoints->rows*npoints->cols; nimages = npoints->rows*npoints->cols;
@ -1331,14 +1331,14 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
if( distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) < 8 ) if( distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) < 8 )
{ {
if( distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) < 5 ) if( distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) < 5 )
flags |= CV_CALIB_FIX_K3; flags |= CALIB_FIX_K3;
flags |= CV_CALIB_FIX_K4 | CV_CALIB_FIX_K5 | CV_CALIB_FIX_K6; flags |= CALIB_FIX_K4 | CALIB_FIX_K5 | CALIB_FIX_K6;
} }
const double minValidAspectRatio = 0.01; const double minValidAspectRatio = 0.01;
const double maxValidAspectRatio = 100.0; const double maxValidAspectRatio = 100.0;
// 1. initialize intrinsic parameters & LM solver // 1. initialize intrinsic parameters & LM solver
if( flags & CV_CALIB_USE_INTRINSIC_GUESS ) if( flags & CALIB_USE_INTRINSIC_GUESS )
{ {
cvConvert( cameraMatrix, &matA ); cvConvert( cameraMatrix, &matA );
if( A(0, 0) <= 0 || A(1, 1) <= 0 ) if( A(0, 0) <= 0 || A(1, 1) <= 0 )
@ -1355,7 +1355,7 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
A(0, 1) = A(1, 0) = A(2, 0) = A(2, 1) = 0.; A(0, 1) = A(1, 0) = A(2, 0) = A(2, 1) = 0.;
A(2, 2) = 1.; A(2, 2) = 1.;
if( flags & CV_CALIB_FIX_ASPECT_RATIO ) if( flags & CALIB_FIX_ASPECT_RATIO )
{ {
aspectRatio = A(0, 0)/A(1, 1); aspectRatio = A(0, 0)/A(1, 1);
@ -1375,7 +1375,7 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
for( i = 0; i < total; i++ ) for( i = 0; i < total; i++ )
matM.at<Point3d>(i).z = 0.; matM.at<Point3d>(i).z = 0.;
if( flags & CV_CALIB_FIX_ASPECT_RATIO ) if( flags & CALIB_FIX_ASPECT_RATIO )
{ {
aspectRatio = cvmGet(cameraMatrix,0,0); aspectRatio = cvmGet(cameraMatrix,0,0);
aspectRatio /= cvmGet(cameraMatrix,1,1); aspectRatio /= cvmGet(cameraMatrix,1,1);
@ -1409,8 +1409,8 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
param[6] = param[7] = 0; param[6] = param[7] = 0;
mask[6] = mask[7] = 0; mask[6] = mask[7] = 0;
} }
if( !(flags & CV_CALIB_RATIONAL_MODEL) ) if( !(flags & CALIB_RATIONAL_MODEL) )
flags |= CV_CALIB_FIX_K4 + CV_CALIB_FIX_K5 + CV_CALIB_FIX_K6; flags |= CALIB_FIX_K4 + CALIB_FIX_K5 + CALIB_FIX_K6;
if( !(flags & CV_CALIB_THIN_PRISM_MODEL)) if( !(flags & CV_CALIB_THIN_PRISM_MODEL))
flags |= CALIB_FIX_S1_S2_S3_S4; flags |= CALIB_FIX_S1_S2_S3_S4;
@ -1454,7 +1454,7 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
bool proceed = solver.updateAlt( _param, _JtJ, _JtErr, _errNorm ); bool proceed = solver.updateAlt( _param, _JtJ, _JtErr, _errNorm );
double *param = solver.param->data.db, *pparam = solver.prevParam->data.db; double *param = solver.param->data.db, *pparam = solver.prevParam->data.db;
if( flags & CV_CALIB_FIX_ASPECT_RATIO ) if( flags & CALIB_FIX_ASPECT_RATIO )
{ {
param[0] = param[1]*aspectRatio; param[0] = param[1]*aspectRatio;
pparam[0] = pparam[1]*aspectRatio; pparam[0] = pparam[1]*aspectRatio;
@ -1490,9 +1490,9 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
if( solver.state == CvLevMarq::CALC_J ) if( solver.state == CvLevMarq::CALC_J )
{ {
cvProjectPoints2( &_Mi, &_ri, &_ti, &matA, &_k, &_mp, &_dpdr, &_dpdt, cvProjectPoints2( &_Mi, &_ri, &_ti, &matA, &_k, &_mp, &_dpdr, &_dpdt,
(flags & CV_CALIB_FIX_FOCAL_LENGTH) ? 0 : &_dpdf, (flags & CALIB_FIX_FOCAL_LENGTH) ? 0 : &_dpdf,
(flags & CV_CALIB_FIX_PRINCIPAL_POINT) ? 0 : &_dpdc, &_dpdk, (flags & CALIB_FIX_PRINCIPAL_POINT) ? 0 : &_dpdc, &_dpdk,
(flags & CV_CALIB_FIX_ASPECT_RATIO) ? aspectRatio : 0); (flags & CALIB_FIX_ASPECT_RATIO) ? aspectRatio : 0);
} }
else else
cvProjectPoints2( &_Mi, &_ri, &_ti, &matA, &_k, &_mp ); cvProjectPoints2( &_Mi, &_ri, &_ti, &matA, &_k, &_mp );
@ -3222,10 +3222,33 @@ double cv::calibrateCamera( InputArrayOfArrays _objectPoints,
if( !(flags & CALIB_RATIONAL_MODEL) &&(!(flags & CALIB_THIN_PRISM_MODEL))) if( !(flags & CALIB_RATIONAL_MODEL) &&(!(flags & CALIB_THIN_PRISM_MODEL)))
distCoeffs = distCoeffs.rows == 1 ? distCoeffs.colRange(0, 5) : distCoeffs.rowRange(0, 5); distCoeffs = distCoeffs.rows == 1 ? distCoeffs.colRange(0, 5) : distCoeffs.rowRange(0, 5);
int i; int nimages = int(_objectPoints.total());
size_t nimages = _objectPoints.total();
CV_Assert( nimages > 0 ); CV_Assert( nimages > 0 );
Mat objPt, imgPt, npoints, rvecM((int)nimages, 3, CV_64FC1), tvecM((int)nimages, 3, CV_64FC1); Mat objPt, imgPt, npoints, rvecM, tvecM;
bool rvecs_needed = _rvecs.needed(), tvecs_needed = _tvecs.needed();
bool rvecs_mat_vec = _rvecs.isMatVector();
bool tvecs_mat_vec = _tvecs.isMatVector();
if( rvecs_needed ) {
_rvecs.create(nimages, 1, CV_64FC3);
if(rvecs_mat_vec)
rvecM.create(nimages, 3, CV_64F);
else
rvecM = _rvecs.getMat();
}
if( tvecs_needed ) {
_tvecs.create(nimages, 1, CV_64FC3);
if(tvecs_mat_vec)
tvecM.create(nimages, 3, CV_64F);
else
tvecM = _tvecs.getMat();
}
collectCalibrationData( _objectPoints, _imagePoints, noArray(), collectCalibrationData( _objectPoints, _imagePoints, noArray(),
objPt, imgPt, 0, npoints ); objPt, imgPt, 0, npoints );
CvMat c_objPt = objPt, c_imgPt = imgPt, c_npoints = npoints; CvMat c_objPt = objPt, c_imgPt = imgPt, c_npoints = npoints;
@ -3233,31 +3256,27 @@ double cv::calibrateCamera( InputArrayOfArrays _objectPoints,
CvMat c_rvecM = rvecM, c_tvecM = tvecM; CvMat c_rvecM = rvecM, c_tvecM = tvecM;
double reprojErr = cvCalibrateCamera2(&c_objPt, &c_imgPt, &c_npoints, imageSize, double reprojErr = cvCalibrateCamera2(&c_objPt, &c_imgPt, &c_npoints, imageSize,
&c_cameraMatrix, &c_distCoeffs, &c_rvecM, &c_cameraMatrix, &c_distCoeffs,
&c_tvecM, flags, criteria ); rvecs_needed ? &c_rvecM : NULL,
tvecs_needed ? &c_tvecM : NULL, flags, criteria );
bool rvecs_needed = _rvecs.needed(), tvecs_needed = _tvecs.needed(); // overly complicated and inefficient rvec/ tvec handling to support vector<Mat>
for(int i = 0; i < nimages; i++ )
if( rvecs_needed )
_rvecs.create((int)nimages, 1, CV_64FC3);
if( tvecs_needed )
_tvecs.create((int)nimages, 1, CV_64FC3);
for( i = 0; i < (int)nimages; i++ )
{ {
if( rvecs_needed ) if( rvecs_needed && rvecs_mat_vec)
{ {
_rvecs.create(3, 1, CV_64F, i, true); _rvecs.create(3, 1, CV_64F, i, true);
Mat rv = _rvecs.getMat(i); Mat rv = _rvecs.getMat(i);
memcpy(rv.ptr(), rvecM.ptr<double>(i), 3*sizeof(double)); memcpy(rv.ptr(), rvecM.ptr(i), 3*sizeof(double));
} }
if( tvecs_needed ) if( tvecs_needed && tvecs_mat_vec)
{ {
_tvecs.create(3, 1, CV_64F, i, true); _tvecs.create(3, 1, CV_64F, i, true);
Mat tv = _tvecs.getMat(i); Mat tv = _tvecs.getMat(i);
memcpy(tv.ptr(), tvecM.ptr<double>(i), 3*sizeof(double)); memcpy(tv.ptr(), tvecM.ptr(i), 3*sizeof(double));
} }
} }
cameraMatrix.copyTo(_cameraMatrix); cameraMatrix.copyTo(_cameraMatrix);
distCoeffs.copyTo(_distCoeffs); distCoeffs.copyTo(_distCoeffs);