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Boring changes - calib3d.

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This commit is contained in:
Roman Donchenko
2013-08-13 17:03:56 +04:00
parent 711fb6bd92
commit bd70a033fc
12 changed files with 96 additions and 95 deletions
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78
modules/calib3d/src/calibration.cpp
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@@ -568,7 +568,7 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
(objectPoints->rows == count && CV_MAT_CN(objectPoints->type)*objectPoints->cols == 3) ||
(objectPoints->rows == 3 && CV_MAT_CN(objectPoints->type) == 1 && objectPoints->cols == count)))
{
matM = cvCreateMat( objectPoints->rows, objectPoints->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(objectPoints->type)) );
matM.reset(cvCreateMat( objectPoints->rows, objectPoints->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(objectPoints->type)) ));
cvConvert(objectPoints, matM);
}
else
@@ -584,7 +584,7 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
(imagePoints->rows == count && CV_MAT_CN(imagePoints->type)*imagePoints->cols == 2) ||
(imagePoints->rows == 2 && CV_MAT_CN(imagePoints->type) == 1 && imagePoints->cols == count)))
{
_m = cvCreateMat( imagePoints->rows, imagePoints->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(imagePoints->type)) );
_m.reset(cvCreateMat( imagePoints->rows, imagePoints->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(imagePoints->type)) ));
cvConvert(imagePoints, _m);
}
else
@@ -664,10 +664,10 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
if( CV_MAT_TYPE(dpdr->type) == CV_64FC1 )
{
_dpdr = cvCloneMat(dpdr);
_dpdr.reset(cvCloneMat(dpdr));
}
else
_dpdr = cvCreateMat( 2*count, 3, CV_64FC1 );
_dpdr.reset(cvCreateMat( 2*count, 3, CV_64FC1 ));
dpdr_p = _dpdr->data.db;
dpdr_step = _dpdr->step/sizeof(dpdr_p[0]);
}
@@ -682,10 +682,10 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
if( CV_MAT_TYPE(dpdt->type) == CV_64FC1 )
{
_dpdt = cvCloneMat(dpdt);
_dpdt.reset(cvCloneMat(dpdt));
}
else
_dpdt = cvCreateMat( 2*count, 3, CV_64FC1 );
_dpdt.reset(cvCreateMat( 2*count, 3, CV_64FC1 ));
dpdt_p = _dpdt->data.db;
dpdt_step = _dpdt->step/sizeof(dpdt_p[0]);
}
@@ -699,10 +699,10 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
if( CV_MAT_TYPE(dpdf->type) == CV_64FC1 )
{
_dpdf = cvCloneMat(dpdf);
_dpdf.reset(cvCloneMat(dpdf));
}
else
_dpdf = cvCreateMat( 2*count, 2, CV_64FC1 );
_dpdf.reset(cvCreateMat( 2*count, 2, CV_64FC1 ));
dpdf_p = _dpdf->data.db;
dpdf_step = _dpdf->step/sizeof(dpdf_p[0]);
}
@@ -716,10 +716,10 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
if( CV_MAT_TYPE(dpdc->type) == CV_64FC1 )
{
_dpdc = cvCloneMat(dpdc);
_dpdc.reset(cvCloneMat(dpdc));
}
else
_dpdc = cvCreateMat( 2*count, 2, CV_64FC1 );
_dpdc.reset(cvCreateMat( 2*count, 2, CV_64FC1 ));
dpdc_p = _dpdc->data.db;
dpdc_step = _dpdc->step/sizeof(dpdc_p[0]);
}
@@ -736,10 +736,10 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
if( CV_MAT_TYPE(dpdk->type) == CV_64FC1 )
{
_dpdk = cvCloneMat(dpdk);
_dpdk.reset(cvCloneMat(dpdk));
}
else
_dpdk = cvCreateMat( dpdk->rows, dpdk->cols, CV_64FC1 );
_dpdk.reset(cvCreateMat( dpdk->rows, dpdk->cols, CV_64FC1 ));
dpdk_p = _dpdk->data.db;
dpdk_step = _dpdk->step/sizeof(dpdk_p[0]);
}
@@ -950,8 +950,8 @@ CV_IMPL void cvFindExtrinsicCameraParams2( const CvMat* objectPoints,
CV_IS_MAT(A) && CV_IS_MAT(rvec) && CV_IS_MAT(tvec) );
count = MAX(objectPoints->cols, objectPoints->rows);
matM = cvCreateMat( 1, count, CV_64FC3 );
_m = cvCreateMat( 1, count, CV_64FC2 );
matM.reset(cvCreateMat( 1, count, CV_64FC3 ));
_m.reset(cvCreateMat( 1, count, CV_64FC2 ));
cvConvertPointsHomogeneous( objectPoints, matM );
cvConvertPointsHomogeneous( imagePoints, _m );
@@ -963,8 +963,8 @@ CV_IMPL void cvFindExtrinsicCameraParams2( const CvMat* objectPoints,
CV_Assert( (CV_MAT_DEPTH(tvec->type) == CV_64F || CV_MAT_DEPTH(tvec->type) == CV_32F) &&
(tvec->rows == 1 || tvec->cols == 1) && tvec->rows*tvec->cols*CV_MAT_CN(tvec->type) == 3 );
_mn = cvCreateMat( 1, count, CV_64FC2 );
_Mxy = cvCreateMat( 1, count, CV_64FC2 );
_mn.reset(cvCreateMat( 1, count, CV_64FC2 ));
_Mxy.reset(cvCreateMat( 1, count, CV_64FC2 ));
// normalize image points
// (unapply the intrinsic matrix transformation and distortion)
@@ -1055,7 +1055,7 @@ CV_IMPL void cvFindExtrinsicCameraParams2( const CvMat* objectPoints,
CvPoint3D64f* M = (CvPoint3D64f*)matM->data.db;
CvPoint2D64f* mn = (CvPoint2D64f*)_mn->data.db;
matL = cvCreateMat( 2*count, 12, CV_64F );
matL.reset(cvCreateMat( 2*count, 12, CV_64F ));
L = matL->data.db;
for( i = 0; i < count; i++, L += 24 )
@@ -1162,11 +1162,11 @@ CV_IMPL void cvInitIntrinsicParams2D( const CvMat* objectPoints,
if( objectPoints->rows != 1 || imagePoints->rows != 1 )
CV_Error( CV_StsBadSize, "object points and image points must be a single-row matrices" );
matA = cvCreateMat( 2*nimages, 2, CV_64F );
_b = cvCreateMat( 2*nimages, 1, CV_64F );
matA.reset(cvCreateMat( 2*nimages, 2, CV_64F ));
_b.reset(cvCreateMat( 2*nimages, 1, CV_64F ));
a[2] = (imageSize.width - 1)*0.5;
a[5] = (imageSize.height - 1)*0.5;
_allH = cvCreateMat( nimages, 9, CV_64F );
_allH.reset(cvCreateMat( nimages, 9, CV_64F ));
// extract vanishing points in order to obtain initial value for the focal length
for( i = 0, pos = 0; i < nimages; i++, pos += ni )
@@ -1310,16 +1310,16 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
total += ni;
}
matM = cvCreateMat( 1, total, CV_64FC3 );
_m = cvCreateMat( 1, total, CV_64FC2 );
matM.reset(cvCreateMat( 1, total, CV_64FC3 ));
_m.reset(cvCreateMat( 1, total, CV_64FC2 ));
cvConvertPointsHomogeneous( objectPoints, matM );
cvConvertPointsHomogeneous( imagePoints, _m );
nparams = NINTRINSIC + nimages*6;
_Ji = cvCreateMat( maxPoints*2, NINTRINSIC, CV_64FC1 );
_Je = cvCreateMat( maxPoints*2, 6, CV_64FC1 );
_err = cvCreateMat( maxPoints*2, 1, CV_64FC1 );
_Ji.reset(cvCreateMat( maxPoints*2, NINTRINSIC, CV_64FC1 ));
_Je.reset(cvCreateMat( maxPoints*2, 6, CV_64FC1 ));
_err.reset(cvCreateMat( maxPoints*2, 1, CV_64FC1 ));
cvZero( _Ji );
_k = cvMat( distCoeffs->rows, distCoeffs->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(distCoeffs->type)), k);
@@ -1662,7 +1662,7 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
CV_MAT_TYPE(_npoints->type) == CV_32SC1 );
nimages = _npoints->cols + _npoints->rows - 1;
npoints = cvCreateMat( _npoints->rows, _npoints->cols, _npoints->type );
npoints.reset(cvCreateMat( _npoints->rows, _npoints->cols, _npoints->type ));
cvCopy( _npoints, npoints );
for( i = 0, pointsTotal = 0; i < nimages; i++ )
@@ -1671,8 +1671,8 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
pointsTotal += npoints->data.i[i];
}
objectPoints = cvCreateMat( _objectPoints->rows, _objectPoints->cols,
CV_64FC(CV_MAT_CN(_objectPoints->type)));
objectPoints.reset(cvCreateMat( _objectPoints->rows, _objectPoints->cols,
CV_64FC(CV_MAT_CN(_objectPoints->type))));
cvConvert( _objectPoints, objectPoints );
cvReshape( objectPoints, objectPoints, 3, 1 );
@@ -1691,7 +1691,7 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
K[k] = cvMat(3,3,CV_64F,A[k]);
Dist[k] = cvMat(1,8,CV_64F,dk[k]);
imagePoints[k] = cvCreateMat( points->rows, points->cols, CV_64FC(CV_MAT_CN(points->type)));
imagePoints[k].reset(cvCreateMat( points->rows, points->cols, CV_64FC(CV_MAT_CN(points->type))));
cvConvert( points, imagePoints[k] );
cvReshape( imagePoints[k], imagePoints[k], 2, 1 );
@@ -1729,10 +1729,10 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
recomputeIntrinsics = (flags & CV_CALIB_FIX_INTRINSIC) == 0;
err = cvCreateMat( maxPoints*2, 1, CV_64F );
Je = cvCreateMat( maxPoints*2, 6, CV_64F );
J_LR = cvCreateMat( maxPoints*2, 6, CV_64F );
Ji = cvCreateMat( maxPoints*2, NINTRINSIC, CV_64F );
err.reset(cvCreateMat( maxPoints*2, 1, CV_64F ));
Je.reset(cvCreateMat( maxPoints*2, 6, CV_64F ));
J_LR.reset(cvCreateMat( maxPoints*2, 6, CV_64F ));
Ji.reset(cvCreateMat( maxPoints*2, NINTRINSIC, CV_64F ));
cvZero( Ji );
// we optimize for the inter-camera R(3),t(3), then, optionally,
@@ -1740,7 +1740,7 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
nparams = 6*(nimages+1) + (recomputeIntrinsics ? NINTRINSIC*2 : 0);
// storage for initial [om(R){i}|t{i}] (in order to compute the median for each component)
RT0 = cvCreateMat( 6, nimages, CV_64F );
RT0.reset(cvCreateMat( 6, nimages, CV_64F ));
solver.init( nparams, 0, termCrit );
if( recomputeIntrinsics )
@@ -2080,7 +2080,7 @@ icvGetRectangles( const CvMat* cameraMatrix, const CvMat* distCoeffs,
{
const int N = 9;
int x, y, k;
cv::Ptr<CvMat> _pts = cvCreateMat(1, N*N, CV_32FC2);
cv::Ptr<CvMat> _pts(cvCreateMat(1, N*N, CV_32FC2));
CvPoint2D32f* pts = (CvPoint2D32f*)(_pts->data.ptr);
for( y = k = 0; y < N; y++ )
@@ -2439,10 +2439,10 @@ CV_IMPL int cvStereoRectifyUncalibrated(
npoints = _points1->rows * _points1->cols * CV_MAT_CN(_points1->type) / 2;
_m1 = cvCreateMat( _points1->rows, _points1->cols, CV_64FC(CV_MAT_CN(_points1->type)) );
_m2 = cvCreateMat( _points2->rows, _points2->cols, CV_64FC(CV_MAT_CN(_points2->type)) );
_lines1 = cvCreateMat( 1, npoints, CV_64FC3 );
_lines2 = cvCreateMat( 1, npoints, CV_64FC3 );
_m1.reset(cvCreateMat( _points1->rows, _points1->cols, CV_64FC(CV_MAT_CN(_points1->type)) ));
_m2.reset(cvCreateMat( _points2->rows, _points2->cols, CV_64FC(CV_MAT_CN(_points2->type)) ));
_lines1.reset(cvCreateMat( 1, npoints, CV_64FC3 ));
_lines2.reset(cvCreateMat( 1, npoints, CV_64FC3 ));
cvConvert( F0, &F );