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Fix in fisheye calibrate function: #5389

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This commit is contained in:
Elena Shipunova 2015-09-23 13:15:40 +03:00
parent 134a3f165d
commit e539a9632d
1 changed files with 36 additions and 2 deletions
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38
modules/calib3d/src/fisheye.cpp
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@ -794,8 +794,42 @@ double cv::fisheye::calibrate(InputArrayOfArrays objectPoints, InputArrayOfArray
if (K.needed()) cv::Mat(_K).convertTo(K, K.empty() ? CV_64FC1 : K.type());
if (D.needed()) cv::Mat(finalParam.k).convertTo(D, D.empty() ? CV_64FC1 : D.type());
if (rvecs.needed()) cv::Mat(omc).convertTo(rvecs, rvecs.empty() ? CV_64FC3 : rvecs.type());
if (tvecs.needed()) cv::Mat(Tc).convertTo(tvecs, tvecs.empty() ? CV_64FC3 : tvecs.type());
if (rvecs.needed())
{
if( rvecs.kind() == _InputArray::STD_VECTOR_MAT )
{
rvecs.create((int)objectPoints.total(), 1, CV_64FC3);
for( int i = 0; i < (int)objectPoints.total(); i++ )
{
rvecs.create(3, 1, CV_64F, i, true);
Mat rv = rvecs.getMat(i);
*rv.ptr<Vec3d>(0) = omc[i];
}
}
else
{
cv::Mat(omc).convertTo(rvecs, rvecs.fixedType() ? rvecs.type() : CV_64FC3);
}
}
if (tvecs.needed())
{
if( tvecs.kind() == _InputArray::STD_VECTOR_MAT )
{
tvecs.create((int)objectPoints.total(), 1, CV_64FC3);
for( int i = 0; i < (int)objectPoints.total(); i++ )
{
tvecs.create(3, 1, CV_64F, i, true);
Mat tv = tvecs.getMat(i);
*tv.ptr<Vec3d>(0) = Tc[i];
}
}
else
{
cv::Mat(Tc).convertTo(tvecs, tvecs.fixedType() ? tvecs.type() : CV_64FC3);
}
}
return rms;
}