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Merge pull request #2002 from abak:stereo_calibrate

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Roman Donchenko 2014-02-05 17:47:26 +04:00 committed by OpenCV Buildbot
commit 721d0145e0
7 changed files with 18 additions and 18 deletions
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6
modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
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@ -1261,11 +1261,11 @@ stereoCalibrate
------------------- -------------------
Calibrates the stereo camera. Calibrates the stereo camera.
.. ocv:function:: double stereoCalibrate( InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputOutputArray cameraMatrix1, InputOutputArray distCoeffs1, InputOutputArray cameraMatrix2, InputOutputArray distCoeffs2, Size imageSize, OutputArray R, OutputArray T, OutputArray E, OutputArray F, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 1e-6), int flags=CALIB_FIX_INTRINSIC ) .. ocv:function:: double stereoCalibrate( InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputOutputArray cameraMatrix1, InputOutputArray distCoeffs1, InputOutputArray cameraMatrix2, InputOutputArray distCoeffs2, Size imageSize, OutputArray R, OutputArray T, OutputArray E, OutputArray F, int flags=CALIB_FIX_INTRINSIC ,TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 1e-6))
.. ocv:pyfunction:: cv2.stereoCalibrate(objectPoints, imagePoints1, imagePoints2, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, imageSize[, R[, T[, E[, F[, criteria[, flags]]]]]]) -> retval, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, R, T, E, F .. ocv:pyfunction:: cv2.stereoCalibrate(objectPoints, imagePoints1, imagePoints2, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, imageSize[, R[, T[, E[, F[, flags[, criteria]]]]]]) -> retval, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, R, T, E, F
.. ocv:cfunction:: double cvStereoCalibrate( const CvMat* object_points, const CvMat* image_points1, const CvMat* image_points2, const CvMat* npoints, CvMat* camera_matrix1, CvMat* dist_coeffs1, CvMat* camera_matrix2, CvMat* dist_coeffs2, CvSize image_size, CvMat* R, CvMat* T, CvMat* E=0, CvMat* F=0, CvTermCriteria term_crit=cvTermCriteria( CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6), int flags=CV_CALIB_FIX_INTRINSIC ) .. ocv:cfunction:: double cvStereoCalibrate( const CvMat* object_points, const CvMat* image_points1, const CvMat* image_points2, const CvMat* npoints, CvMat* camera_matrix1, CvMat* dist_coeffs1, CvMat* camera_matrix2, CvMat* dist_coeffs2, CvSize image_size, CvMat* R, CvMat* T, CvMat* E=0, CvMat* F=0, int flags=CV_CALIB_FIX_INTRINSIC, CvTermCriteria term_crit=cvTermCriteria( CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6) )
:param objectPoints: Vector of vectors of the calibration pattern points. :param objectPoints: Vector of vectors of the calibration pattern points.

4
modules/calib3d/include/opencv2/calib3d.hpp
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@ -203,8 +203,8 @@ CV_EXPORTS_W double stereoCalibrate( InputArrayOfArrays objectPoints,
InputOutputArray cameraMatrix1, InputOutputArray distCoeffs1, InputOutputArray cameraMatrix1, InputOutputArray distCoeffs1,
InputOutputArray cameraMatrix2, InputOutputArray distCoeffs2, InputOutputArray cameraMatrix2, InputOutputArray distCoeffs2,
Size imageSize, OutputArray R,OutputArray T, OutputArray E, OutputArray F, Size imageSize, OutputArray R,OutputArray T, OutputArray E, OutputArray F,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 1e-6), int flags = CALIB_FIX_INTRINSIC,
int flags = CALIB_FIX_INTRINSIC ); TermCriteria criteria = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 1e-6) );
//! computes the rectification transformation for a stereo camera from its intrinsic and extrinsic parameters //! computes the rectification transformation for a stereo camera from its intrinsic and extrinsic parameters

4
modules/calib3d/include/opencv2/calib3d/calib3d_c.h
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@ -276,9 +276,9 @@ CVAPI(double) cvStereoCalibrate( const CvMat* object_points, const CvMat* image_
CvMat* camera_matrix2, CvMat* dist_coeffs2, CvMat* camera_matrix2, CvMat* dist_coeffs2,
CvSize image_size, CvMat* R, CvMat* T, CvSize image_size, CvMat* R, CvMat* T,
CvMat* E CV_DEFAULT(0), CvMat* F CV_DEFAULT(0), CvMat* E CV_DEFAULT(0), CvMat* F CV_DEFAULT(0),
int flags CV_DEFAULT(CV_CALIB_FIX_INTRINSIC),
CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria( CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6)), CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6)) );
int flags CV_DEFAULT(CV_CALIB_FIX_INTRINSIC));
#define CV_CALIB_ZERO_DISPARITY 1024 #define CV_CALIB_ZERO_DISPARITY 1024

10
modules/calib3d/src/calibration.cpp
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@ -1635,8 +1635,8 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
CvMat* _cameraMatrix2, CvMat* _distCoeffs2, CvMat* _cameraMatrix2, CvMat* _distCoeffs2,
CvSize imageSize, CvMat* matR, CvMat* matT, CvSize imageSize, CvMat* matR, CvMat* matT,
CvMat* matE, CvMat* matF, CvMat* matE, CvMat* matF,
CvTermCriteria termCrit, int flags,
int flags ) CvTermCriteria termCrit )
{ {
const int NINTRINSIC = 16; const int NINTRINSIC = 16;
Ptr<CvMat> npoints, err, J_LR, Je, Ji, imagePoints[2], objectPoints, RT0; Ptr<CvMat> npoints, err, J_LR, Je, Ji, imagePoints[2], objectPoints, RT0;
@ -3278,8 +3278,8 @@ double cv::stereoCalibrate( InputArrayOfArrays _objectPoints,
InputOutputArray _cameraMatrix1, InputOutputArray _distCoeffs1, InputOutputArray _cameraMatrix1, InputOutputArray _distCoeffs1,
InputOutputArray _cameraMatrix2, InputOutputArray _distCoeffs2, InputOutputArray _cameraMatrix2, InputOutputArray _distCoeffs2,
Size imageSize, OutputArray _Rmat, OutputArray _Tmat, Size imageSize, OutputArray _Rmat, OutputArray _Tmat,
OutputArray _Emat, OutputArray _Fmat, TermCriteria criteria, OutputArray _Emat, OutputArray _Fmat, int flags ,
int flags ) TermCriteria criteria)
{ {
int rtype = CV_64F; int rtype = CV_64F;
Mat cameraMatrix1 = _cameraMatrix1.getMat(); Mat cameraMatrix1 = _cameraMatrix1.getMat();
@ -3322,7 +3322,7 @@ double cv::stereoCalibrate( InputArrayOfArrays _objectPoints,
double err = cvStereoCalibrate(&c_objPt, &c_imgPt, &c_imgPt2, &c_npoints, &c_cameraMatrix1, double err = cvStereoCalibrate(&c_objPt, &c_imgPt, &c_imgPt2, &c_npoints, &c_cameraMatrix1,
&c_distCoeffs1, &c_cameraMatrix2, &c_distCoeffs2, imageSize, &c_distCoeffs1, &c_cameraMatrix2, &c_distCoeffs2, imageSize,
&c_matR, &c_matT, p_matE, p_matF, criteria, flags ); &c_matR, &c_matT, p_matE, p_matF, flags, criteria );
cameraMatrix1.copyTo(_cameraMatrix1); cameraMatrix1.copyTo(_cameraMatrix1);
cameraMatrix2.copyTo(_cameraMatrix2); cameraMatrix2.copyTo(_cameraMatrix2);

4
modules/calib3d/test/test_cameracalibration.cpp
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@ -1733,7 +1733,7 @@ double CV_StereoCalibrationTest_C::calibrateStereoCamera( const vector<vector<Po
return cvStereoCalibrate(&_objPt, &_imgPt, &_imgPt2, &_npoints, &_cameraMatrix1, return cvStereoCalibrate(&_objPt, &_imgPt, &_imgPt2, &_npoints, &_cameraMatrix1,
&_distCoeffs1, &_cameraMatrix2, &_distCoeffs2, imageSize, &_distCoeffs1, &_cameraMatrix2, &_distCoeffs2, imageSize,
&matR, &matT, &matE, &matF, criteria, flags ); &matR, &matT, &matE, &matF, flags, criteria );
} }
void CV_StereoCalibrationTest_C::rectify( const Mat& cameraMatrix1, const Mat& distCoeffs1, void CV_StereoCalibrationTest_C::rectify( const Mat& cameraMatrix1, const Mat& distCoeffs1,
@ -1830,7 +1830,7 @@ double CV_StereoCalibrationTest_CPP::calibrateStereoCamera( const vector<vector<
{ {
return stereoCalibrate( objectPoints, imagePoints1, imagePoints2, return stereoCalibrate( objectPoints, imagePoints1, imagePoints2,
cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2,
imageSize, R, T, E, F, criteria, flags ); imageSize, R, T, E, F, flags, criteria );
} }
void CV_StereoCalibrationTest_CPP::rectify( const Mat& cameraMatrix1, const Mat& distCoeffs1, void CV_StereoCalibrationTest_CPP::rectify( const Mat& cameraMatrix1, const Mat& distCoeffs1,

4
samples/cpp/3calibration.cpp
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@ -137,8 +137,8 @@ static bool run3Calibration( vector<vector<Point2f> > imagePoints1,
double err = stereoCalibrate(objpt, imgpt, imgpt_right, cameraMatrix1, distCoeffs1, double err = stereoCalibrate(objpt, imgpt, imgpt_right, cameraMatrix1, distCoeffs1,
cameraMatrix, distCoeffs, cameraMatrix, distCoeffs,
imageSize, R, T, E, F, imageSize, R, T, E, F,
TermCriteria(TermCriteria::COUNT, 30, 0), CALIB_FIX_INTRINSIC,
CALIB_FIX_INTRINSIC); TermCriteria(TermCriteria::COUNT, 30, 0));
printf("Pair (1,%d) calibration reprojection error = %g\n", c, sqrt(err/(N*2))); printf("Pair (1,%d) calibration reprojection error = %g\n", c, sqrt(err/(N*2)));
if( c == 2 ) if( c == 2 )
{ {

4
samples/cpp/stereo_calib.cpp
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@ -172,12 +172,12 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
cameraMatrix[0], distCoeffs[0], cameraMatrix[0], distCoeffs[0],
cameraMatrix[1], distCoeffs[1], cameraMatrix[1], distCoeffs[1],
imageSize, R, T, E, F, imageSize, R, T, E, F,
TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, 1e-5),
CALIB_FIX_ASPECT_RATIO + CALIB_FIX_ASPECT_RATIO +
CALIB_ZERO_TANGENT_DIST + CALIB_ZERO_TANGENT_DIST +
CALIB_SAME_FOCAL_LENGTH + CALIB_SAME_FOCAL_LENGTH +
CALIB_RATIONAL_MODEL + CALIB_RATIONAL_MODEL +
CALIB_FIX_K3 + CALIB_FIX_K4 + CALIB_FIX_K5); CALIB_FIX_K3 + CALIB_FIX_K4 + CALIB_FIX_K5,
TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, 1e-5) );
cout << "done with RMS error=" << rms << endl; cout << "done with RMS error=" << rms << endl;
// CALIBRATION QUALITY CHECK // CALIBRATION QUALITY CHECK