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modify signature of stereoCalibrate for consistency

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This commit is contained in:
Adrien BAK 2013-12-17 14:53:44 +09:00
parent 11071dd241
commit c5c3fd4443
6 changed files with 15 additions and 15 deletions
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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 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 );
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

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,
CvSize image_size, CvMat* R, CvMat* T,
CvMat* E CV_DEFAULT(0), CvMat* F CV_DEFAULT(0),
int flags CV_DEFAULT(CV_CALIB_FIX_INTRINSIC),
CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6)),
int flags CV_DEFAULT(CV_CALIB_FIX_INTRINSIC));
CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6)) );
#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,
CvSize imageSize, CvMat* matR, CvMat* matT,
CvMat* matE, CvMat* matF,
CvTermCriteria termCrit,
int flags )
int flags,
CvTermCriteria termCrit )
{
const int NINTRINSIC = 16;
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 _cameraMatrix2, InputOutputArray _distCoeffs2,
Size imageSize, OutputArray _Rmat, OutputArray _Tmat,
OutputArray _Emat, OutputArray _Fmat, TermCriteria criteria,
int flags )
OutputArray _Emat, OutputArray _Fmat, int flags ,
TermCriteria criteria)
{
int rtype = CV_64F;
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,
&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);
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,
&_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,
@ -1830,7 +1830,7 @@ double CV_StereoCalibrationTest_CPP::calibrateStereoCamera( const vector<vector<
{
return stereoCalibrate( objectPoints, imagePoints1, imagePoints2,
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,

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,
cameraMatrix, distCoeffs,
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)));
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[1], distCoeffs[1],
imageSize, R, T, E, F,
TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, 1e-5),
CALIB_FIX_ASPECT_RATIO +
CALIB_ZERO_TANGENT_DIST +
CALIB_SAME_FOCAL_LENGTH +
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;
// CALIBRATION QUALITY CHECK