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Move C API of opencv_calib3d to separate file

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This commit is contained in:
Andrey Kamaev
2013-04-11 19:27:54 +04:00
parent 199a35a105
commit e5a33723fc
70 changed files with 836 additions and 792 deletions
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20
samples/cpp/3calibration.cpp
View File

@@ -81,14 +81,14 @@ static bool run3Calibration( vector<vector<Point2f> > imagePoints1,
objpt.resize(imgpt.size(),objpt[0]);
Mat cameraMatrix = Mat::eye(3, 3, CV_64F);
if( flags & CV_CALIB_FIX_ASPECT_RATIO )
if( flags & CALIB_FIX_ASPECT_RATIO )
cameraMatrix.at<double>(0,0) = aspectRatio;
Mat distCoeffs = Mat::zeros(5, 1, CV_64F);
double err = calibrateCamera(objpt, imgpt, imageSize, cameraMatrix,
distCoeffs, rvecs, tvecs,
flags|CV_CALIB_FIX_K3/*|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5|CV_CALIB_FIX_K6*/);
flags|CALIB_FIX_K3/*|CALIB_FIX_K4|CALIB_FIX_K5|CALIB_FIX_K6*/);
bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);
if(!ok)
{
@@ -138,7 +138,7 @@ static bool run3Calibration( vector<vector<Point2f> > imagePoints1,
cameraMatrix, distCoeffs,
imageSize, R, T, E, F,
TermCriteria(TermCriteria::COUNT, 30, 0),
CV_CALIB_FIX_INTRINSIC);
CALIB_FIX_INTRINSIC);
printf("Pair (1,%d) calibration reprojection error = %g\n", c, sqrt(err/(N*2)));
if( c == 2 )
{
@@ -212,15 +212,15 @@ int main( int argc, char** argv )
{
if( sscanf( argv[++i], "%f", &aspectRatio ) != 1 || aspectRatio <= 0 )
return printf("Invalid aspect ratio\n" ), -1;
flags |= CV_CALIB_FIX_ASPECT_RATIO;
flags |= CALIB_FIX_ASPECT_RATIO;
}
else if( strcmp( s, "-zt" ) == 0 )
{
flags |= CV_CALIB_ZERO_TANGENT_DIST;
flags |= CALIB_ZERO_TANGENT_DIST;
}
else if( strcmp( s, "-p" ) == 0 )
{
flags |= CV_CALIB_FIX_PRINCIPAL_POINT;
flags |= CALIB_FIX_PRINCIPAL_POINT;
}
else if( strcmp( s, "-o" ) == 0 )
{
@@ -272,7 +272,7 @@ int main( int argc, char** argv )
vector<Point2f> ptvec;
imageSize = view.size();
cvtColor(view, viewGray, COLOR_BGR2GRAY);
bool found = findChessboardCorners( view, boardSize, ptvec, CV_CALIB_CB_ADAPTIVE_THRESH );
bool found = findChessboardCorners( view, boardSize, ptvec, CALIB_CB_ADAPTIVE_THRESH );
drawChessboardCorners( view, boardSize, Mat(ptvec), found );
if( found )
@@ -291,13 +291,13 @@ int main( int argc, char** argv )
printf("Running calibration ...\n");
run3Calibration(imgpt[0], imgpt[1], imgpt[2], imageSize,
boardSize, squareSize, aspectRatio, flags|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5,
boardSize, squareSize, aspectRatio, flags|CALIB_FIX_K4|CALIB_FIX_K5,
cameraMatrix[0], distCoeffs[0],
cameraMatrix[1], distCoeffs[1],
cameraMatrix[2], distCoeffs[2],
R12, T12, R13, T13);
fs.open(outputFilename, CV_STORAGE_WRITE);
fs.open(outputFilename, FileStorage::WRITE);
fs << "cameraMatrix1" << cameraMatrix[0];
fs << "cameraMatrix2" << cameraMatrix[1];
@@ -323,7 +323,7 @@ int main( int argc, char** argv )
imgpt[0], imgpt[2],
imageSize, R12, T12, R13, T13,
R[0], R[1], R[2], P[0], P[1], P[2], Q, -1.,
imageSize, 0, 0, CV_CALIB_ZERO_DISPARITY);
imageSize, 0, 0, CALIB_ZERO_DISPARITY);
Mat map1[3], map2[3];
fs << "R1" << R[0];

4
samples/cpp/build3dmodel.cpp
View File

@@ -360,7 +360,7 @@ static void triangulatePoint_test(void)
pts[0] = imgpt1[i]; pts[1] = imgpt2[i];
objptt[i] = triangulatePoint(pts, Rv, tv, cameraMatrix);
}
double err = norm(Mat(objpt), Mat(objptt), CV_C);
double err = norm(Mat(objpt), Mat(objptt), NORM_INF);
CV_Assert(err < 1e-1);
}
@@ -694,7 +694,7 @@ static void build3dmodel( const Ptr<FeatureDetector>& detector,
projectPoints(Mat(model.points), Rs[i], ts[i], cameraMatrix, Mat(), imagePoints);
for( int k = 0; k < (int)imagePoints.size(); k++ )
circle(img, imagePoints[k], 2, Scalar(0,255,0), -1, CV_AA, 0);
circle(img, imagePoints[k], 2, Scalar(0,255,0), -1, LINE_AA, 0);
imshow("Test", img);
int c = waitKey();

34
samples/cpp/calibration.cpp
View File

@@ -96,7 +96,7 @@ static double computeReprojectionErrors(
{
projectPoints(Mat(objectPoints[i]), rvecs[i], tvecs[i],
cameraMatrix, distCoeffs, imagePoints2);
err = norm(Mat(imagePoints[i]), Mat(imagePoints2), CV_L2);
err = norm(Mat(imagePoints[i]), Mat(imagePoints2), NORM_L2);
int n = (int)objectPoints[i].size();
perViewErrors[i] = (float)std::sqrt(err*err/n);
totalErr += err*err;
@@ -128,7 +128,7 @@ static void calcChessboardCorners(Size boardSize, float squareSize, vector<Point
break;
default:
CV_Error(CV_StsBadArg, "Unknown pattern type\n");
CV_Error(Error::StsBadArg, "Unknown pattern type\n");
}
}
@@ -141,7 +141,7 @@ static bool runCalibration( vector<vector<Point2f> > imagePoints,
double& totalAvgErr)
{
cameraMatrix = Mat::eye(3, 3, CV_64F);
if( flags & CV_CALIB_FIX_ASPECT_RATIO )
if( flags & CALIB_FIX_ASPECT_RATIO )
cameraMatrix.at<double>(0,0) = aspectRatio;
distCoeffs = Mat::zeros(8, 1, CV_64F);
@@ -152,8 +152,8 @@ static bool runCalibration( vector<vector<Point2f> > imagePoints,
objectPoints.resize(imagePoints.size(),objectPoints[0]);
double rms = calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix,
distCoeffs, rvecs, tvecs, flags|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);
///*|CV_CALIB_FIX_K3*/|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);
distCoeffs, rvecs, tvecs, flags|CALIB_FIX_K4|CALIB_FIX_K5);
///*|CALIB_FIX_K3*/|CALIB_FIX_K4|CALIB_FIX_K5);
printf("RMS error reported by calibrateCamera: %g\n", rms);
bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);
@@ -192,17 +192,17 @@ static void saveCameraParams( const string& filename,
fs << "board_height" << boardSize.height;
fs << "square_size" << squareSize;
if( flags & CV_CALIB_FIX_ASPECT_RATIO )
if( flags & CALIB_FIX_ASPECT_RATIO )
fs << "aspectRatio" << aspectRatio;
if( flags != 0 )
{
sprintf( buf, "flags: %s%s%s%s",
flags & CV_CALIB_USE_INTRINSIC_GUESS ? "+use_intrinsic_guess" : "",
flags & CV_CALIB_FIX_ASPECT_RATIO ? "+fix_aspectRatio" : "",
flags & CV_CALIB_FIX_PRINCIPAL_POINT ? "+fix_principal_point" : "",
flags & CV_CALIB_ZERO_TANGENT_DIST ? "+zero_tangent_dist" : "" );
cvWriteComment( *fs, buf, 0 );
flags & CALIB_USE_INTRINSIC_GUESS ? "+use_intrinsic_guess" : "",
flags & CALIB_FIX_ASPECT_RATIO ? "+fix_aspectRatio" : "",
flags & CALIB_FIX_PRINCIPAL_POINT ? "+fix_principal_point" : "",
flags & CALIB_ZERO_TANGENT_DIST ? "+zero_tangent_dist" : "" );
//cvWriteComment( *fs, buf, 0 );
}
fs << "flags" << flags;
@@ -229,7 +229,7 @@ static void saveCameraParams( const string& filename,
r = rvecs[i].t();
t = tvecs[i].t();
}
cvWriteComment( *fs, "a set of 6-tuples (rotation vector + translation vector) for each view", 0 );
//cvWriteComment( *fs, "a set of 6-tuples (rotation vector + translation vector) for each view", 0 );
fs << "extrinsic_parameters" << bigmat;
}
@@ -361,7 +361,7 @@ int main( int argc, char** argv )
{
if( sscanf( argv[++i], "%f", &aspectRatio ) != 1 || aspectRatio <= 0 )
return printf("Invalid aspect ratio\n" ), -1;
flags |= CV_CALIB_FIX_ASPECT_RATIO;
flags |= CALIB_FIX_ASPECT_RATIO;
}
else if( strcmp( s, "-d" ) == 0 )
{
@@ -378,11 +378,11 @@ int main( int argc, char** argv )
}
else if( strcmp( s, "-zt" ) == 0 )
{
flags |= CV_CALIB_ZERO_TANGENT_DIST;
flags |= CALIB_ZERO_TANGENT_DIST;
}
else if( strcmp( s, "-p" ) == 0 )
{
flags |= CV_CALIB_FIX_PRINCIPAL_POINT;
flags |= CALIB_FIX_PRINCIPAL_POINT;
}
else if( strcmp( s, "-v" ) == 0 )
{
@@ -469,7 +469,7 @@ int main( int argc, char** argv )
{
case CHESSBOARD:
found = findChessboardCorners( view, boardSize, pointbuf,
CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FAST_CHECK | CV_CALIB_CB_NORMALIZE_IMAGE);
CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_FAST_CHECK | CALIB_CB_NORMALIZE_IMAGE);
break;
case CIRCLES_GRID:
found = findCirclesGrid( view, boardSize, pointbuf );
@@ -483,7 +483,7 @@ int main( int argc, char** argv )
// improve the found corners' coordinate accuracy
if( pattern == CHESSBOARD && found) cornerSubPix( viewGray, pointbuf, Size(11,11),
Size(-1,-1), TermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 ));
Size(-1,-1), TermCriteria( TermCriteria::EPS+TermCriteria::COUNT, 30, 0.1 ));
if( mode == CAPTURING && found &&
(!capture.isOpened() || clock() - prevTimestamp > delay*1e-3*CLOCKS_PER_SEC) )

8
samples/cpp/calibration_artificial.cpp
View File

@@ -259,15 +259,15 @@ Mat cv::ChessBoardGenerator::generageChessBoard(const Mat& bg, const Mat& camMat
if (rendererResolutionMultiplier == 1)
{
result = bg.clone();
drawContours(result, whole_contour, -1, Scalar::all(255), CV_FILLED, CV_AA);
drawContours(result, squares_black, -1, Scalar::all(0), CV_FILLED, CV_AA);
drawContours(result, whole_contour, -1, Scalar::all(255), FILLED, LINE_AA);
drawContours(result, squares_black, -1, Scalar::all(0), FILLED, LINE_AA);
}
else
{
Mat tmp;
resize(bg, tmp, bg.size() * rendererResolutionMultiplier);
drawContours(tmp, whole_contour, -1, Scalar::all(255), CV_FILLED, CV_AA);
drawContours(tmp, squares_black, -1, Scalar::all(0), CV_FILLED, CV_AA);
drawContours(tmp, whole_contour, -1, Scalar::all(255), FILLED, LINE_AA);
drawContours(tmp, squares_black, -1, Scalar::all(0), FILLED, LINE_AA);
resize(tmp, result, bg.size(), 0, 0, INTER_AREA);
}
return result;

12
samples/cpp/descriptor_extractor_matcher.cpp
View File

@@ -45,7 +45,7 @@ static int getMatcherFilterType( const string& str )
return NONE_FILTER;
if( str == "CrossCheckFilter" )
return CROSS_CHECK_FILTER;
CV_Error(CV_StsBadArg, "Invalid filter name");
CV_Error(Error::StsBadArg, "Invalid filter name");
return -1;
}
@@ -109,12 +109,12 @@ static void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective,
Ptr<DescriptorMatcher>& descriptorMatcher, int matcherFilter, bool eval,
double ransacReprojThreshold, RNG& rng )
{
assert( !img1.empty() );
CV_Assert( !img1.empty() );
Mat H12;
if( isWarpPerspective )
warpPerspectiveRand(img1, img2, H12, rng );
else
assert( !img2.empty()/* && img2.cols==img1.cols && img2.rows==img1.rows*/ );
CV_Assert( !img2.empty()/* && img2.cols==img1.cols && img2.rows==img1.rows*/ );
cout << endl << "< Extracting keypoints from second image..." << endl;
vector<KeyPoint> keypoints2;
@@ -189,7 +189,7 @@ static void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective,
cout << "< Computing homography (RANSAC)..." << endl;
vector<Point2f> points1; KeyPoint::convert(keypoints1, points1, queryIdxs);
vector<Point2f> points2; KeyPoint::convert(keypoints2, points2, trainIdxs);
H12 = findHomography( Mat(points1), Mat(points2), CV_RANSAC, ransacReprojThreshold );
H12 = findHomography( Mat(points1), Mat(points2), RANSAC, ransacReprojThreshold );
cout << ">" << endl;
}
@@ -208,7 +208,7 @@ static void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective,
matchesMask[i1] = 1;
}
// draw inliers
drawMatches( img1, keypoints1, img2, keypoints2, filteredMatches, drawImg, CV_RGB(0, 255, 0), CV_RGB(0, 0, 255), matchesMask
drawMatches( img1, keypoints1, img2, keypoints2, filteredMatches, drawImg, Scalar(0, 255, 0), Scalar(0, 0, 255), matchesMask
#if DRAW_RICH_KEYPOINTS_MODE
, DrawMatchesFlags::DRAW_RICH_KEYPOINTS
#endif
@@ -218,7 +218,7 @@ static void doIteration( const Mat& img1, Mat& img2, bool isWarpPerspective,
// draw outliers
for( size_t i1 = 0; i1 < matchesMask.size(); i1++ )
matchesMask[i1] = !matchesMask[i1];
drawMatches( img1, keypoints1, img2, keypoints2, filteredMatches, drawImg, CV_RGB(0, 0, 255), CV_RGB(255, 0, 0), matchesMask,
drawMatches( img1, keypoints1, img2, keypoints2, filteredMatches, drawImg, Scalar(0, 0, 255), Scalar(255, 0, 0), matchesMask,
DrawMatchesFlags::DRAW_OVER_OUTIMG | DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );
#endif

2
samples/cpp/generic_descriptor_match.cpp
View File

@@ -80,7 +80,7 @@ Mat DrawCorrespondences(const Mat& img1, const vector<KeyPoint>& features1, cons
for (size_t i = 0; i < features1.size(); i++)
{
circle(img_corr, features1[i].pt, 3, CV_RGB(255, 0, 0));
circle(img_corr, features1[i].pt, 3, Scalar(255, 0, 0));
}
for (size_t i = 0; i < features2.size(); i++)

18
samples/cpp/select3dobj.cpp
View File

@@ -148,25 +148,25 @@ static Rect extract3DBox(const Mat& frame, Mat& shownFrame, Mat& selectedObjFram
if( shownFrame.data )
{
if( nobjpt == 1 )
circle(shownFrame, imgpt[0], 3, Scalar(0,255,0), -1, CV_AA);
circle(shownFrame, imgpt[0], 3, Scalar(0,255,0), -1, LINE_AA);
else if( nobjpt == 2 )
{
circle(shownFrame, imgpt[0], 3, Scalar(0,255,0), -1, CV_AA);
circle(shownFrame, imgpt[1], 3, Scalar(0,255,0), -1, CV_AA);
line(shownFrame, imgpt[0], imgpt[1], Scalar(0,255,0), 3, CV_AA);
circle(shownFrame, imgpt[0], 3, Scalar(0,255,0), -1, LINE_AA);
circle(shownFrame, imgpt[1], 3, Scalar(0,255,0), -1, LINE_AA);
line(shownFrame, imgpt[0], imgpt[1], Scalar(0,255,0), 3, LINE_AA);
}
else if( nobjpt == 3 )
for( int i = 0; i < 4; i++ )
{
circle(shownFrame, imgpt[i], 3, Scalar(0,255,0), -1, CV_AA);
line(shownFrame, imgpt[i], imgpt[(i+1)%4], Scalar(0,255,0), 3, CV_AA);
circle(shownFrame, imgpt[i], 3, Scalar(0,255,0), -1, LINE_AA);
line(shownFrame, imgpt[i], imgpt[(i+1)%4], Scalar(0,255,0), 3, LINE_AA);
}
else
for( int i = 0; i < 8; i++ )
{
circle(shownFrame, imgpt[i], 3, Scalar(0,255,0), -1, CV_AA);
line(shownFrame, imgpt[i], imgpt[(i+1)%4 + (i/4)*4], Scalar(0,255,0), 3, CV_AA);
line(shownFrame, imgpt[i], imgpt[i%4], Scalar(0,255,0), 3, CV_AA);
circle(shownFrame, imgpt[i], 3, Scalar(0,255,0), -1, LINE_AA);
line(shownFrame, imgpt[i], imgpt[(i+1)%4 + (i/4)*4], Scalar(0,255,0), 3, LINE_AA);
line(shownFrame, imgpt[i], imgpt[i%4], Scalar(0,255,0), 3, LINE_AA);
}
}

20
samples/cpp/stereo_calib.cpp
View File

@@ -106,7 +106,7 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
else
resize(img, timg, Size(), scale, scale);
found = findChessboardCorners(timg, boardSize, corners,
CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_NORMALIZE_IMAGE);
CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_NORMALIZE_IMAGE);
if( found )
{
if( scale > 1 )
@@ -135,7 +135,7 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
if( !found )
break;
cornerSubPix(img, corners, Size(11,11), Size(-1,-1),
TermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,
TermCriteria(TermCriteria::COUNT+TermCriteria::EPS,
30, 0.01));
}
if( k == 2 )
@@ -175,12 +175,12 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
cameraMatrix[0], distCoeffs[0],
cameraMatrix[1], distCoeffs[1],
imageSize, R, T, E, F,
TermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 100, 1e-5),
CV_CALIB_FIX_ASPECT_RATIO +
CV_CALIB_ZERO_TANGENT_DIST +
CV_CALIB_SAME_FOCAL_LENGTH +
CV_CALIB_RATIONAL_MODEL +
CV_CALIB_FIX_K3 + CV_CALIB_FIX_K4 + CV_CALIB_FIX_K5);
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);
cout << "done with RMS error=" << rms << endl;
// CALIBRATION QUALITY CHECK
@@ -214,7 +214,7 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
cout << "average reprojection err = " << err/npoints << endl;
// save intrinsic parameters
FileStorage fs("intrinsics.yml", CV_STORAGE_WRITE);
FileStorage fs("intrinsics.yml", FileStorage::WRITE);
if( fs.isOpened() )
{
fs << "M1" << cameraMatrix[0] << "D1" << distCoeffs[0] <<
@@ -232,7 +232,7 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
imageSize, R, T, R1, R2, P1, P2, Q,
CALIB_ZERO_DISPARITY, 1, imageSize, &validRoi[0], &validRoi[1]);
fs.open("extrinsics.yml", CV_STORAGE_WRITE);
fs.open("extrinsics.yml", FileStorage::WRITE);
if( fs.isOpened() )
{
fs << "R" << R << "T" << T << "R1" << R1 << "R2" << R2 << "P1" << P1 << "P2" << P2 << "Q" << Q;

32
samples/cpp/tutorial_code/calib3d/camera_calibration/camera_calibration.cpp
View File

@@ -24,7 +24,7 @@ class Settings
public:
Settings() : goodInput(false) {}
enum Pattern { NOT_EXISTING, CHESSBOARD, CIRCLES_GRID, ASYMMETRIC_CIRCLES_GRID };
enum InputType {INVALID, CAMERA, VIDEO_FILE, IMAGE_LIST};
enum InputType { INVALID, CAMERA, VIDEO_FILE, IMAGE_LIST };
void write(FileStorage& fs) const //Write serialization for this class
{
@@ -120,9 +120,9 @@ public:
}
flag = 0;
if(calibFixPrincipalPoint) flag |= CV_CALIB_FIX_PRINCIPAL_POINT;
if(calibZeroTangentDist) flag |= CV_CALIB_ZERO_TANGENT_DIST;
if(aspectRatio) flag |= CV_CALIB_FIX_ASPECT_RATIO;
if(calibFixPrincipalPoint) flag |= CALIB_FIX_PRINCIPAL_POINT;
if(calibZeroTangentDist) flag |= CALIB_ZERO_TANGENT_DIST;
if(aspectRatio) flag |= CALIB_FIX_ASPECT_RATIO;
calibrationPattern = NOT_EXISTING;
@@ -272,7 +272,7 @@ int main(int argc, char* argv[])
{
case Settings::CHESSBOARD:
found = findChessboardCorners( view, s.boardSize, pointBuf,
CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FAST_CHECK | CV_CALIB_CB_NORMALIZE_IMAGE);
CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_FAST_CHECK | CALIB_CB_NORMALIZE_IMAGE);
break;
case Settings::CIRCLES_GRID:
found = findCirclesGrid( view, s.boardSize, pointBuf );
@@ -293,7 +293,7 @@ int main(int argc, char* argv[])
Mat viewGray;
cvtColor(view, viewGray, COLOR_BGR2GRAY);
cornerSubPix( viewGray, pointBuf, Size(11,11),
Size(-1,-1), TermCriteria( CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1 ));
Size(-1,-1), TermCriteria( TermCriteria::EPS+TermCriteria::COUNT, 30, 0.1 ));
}
if( mode == CAPTURING && // For camera only take new samples after delay time
@@ -392,7 +392,7 @@ static double computeReprojectionErrors( const vector<vector<Point3f> >& objectP
{
projectPoints( Mat(objectPoints[i]), rvecs[i], tvecs[i], cameraMatrix,
distCoeffs, imagePoints2);
err = norm(Mat(imagePoints[i]), Mat(imagePoints2), CV_L2);
err = norm(Mat(imagePoints[i]), Mat(imagePoints2), NORM_L2);
int n = (int)objectPoints[i].size();
perViewErrors[i] = (float) std::sqrt(err*err/n);
@@ -433,7 +433,7 @@ static bool runCalibration( Settings& s, Size& imageSize, Mat& cameraMatrix, Mat
{
cameraMatrix = Mat::eye(3, 3, CV_64F);
if( s.flag & CV_CALIB_FIX_ASPECT_RATIO )
if( s.flag & CALIB_FIX_ASPECT_RATIO )
cameraMatrix.at<double>(0,0) = 1.0;
distCoeffs = Mat::zeros(8, 1, CV_64F);
@@ -445,7 +445,7 @@ static bool runCalibration( Settings& s, Size& imageSize, Mat& cameraMatrix, Mat
//Find intrinsic and extrinsic camera parameters
double rms = calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix,
distCoeffs, rvecs, tvecs, s.flag|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);
distCoeffs, rvecs, tvecs, s.flag|CALIB_FIX_K4|CALIB_FIX_K5);
cout << "Re-projection error reported by calibrateCamera: "<< rms << endl;
@@ -481,17 +481,17 @@ static void saveCameraParams( Settings& s, Size& imageSize, Mat& cameraMatrix, M
fs << "board_Height" << s.boardSize.height;
fs << "square_Size" << s.squareSize;
if( s.flag & CV_CALIB_FIX_ASPECT_RATIO )
if( s.flag & CALIB_FIX_ASPECT_RATIO )
fs << "FixAspectRatio" << s.aspectRatio;
if( s.flag )
{
sprintf( buf, "flags: %s%s%s%s",
s.flag & CV_CALIB_USE_INTRINSIC_GUESS ? " +use_intrinsic_guess" : "",
s.flag & CV_CALIB_FIX_ASPECT_RATIO ? " +fix_aspectRatio" : "",
s.flag & CV_CALIB_FIX_PRINCIPAL_POINT ? " +fix_principal_point" : "",
s.flag & CV_CALIB_ZERO_TANGENT_DIST ? " +zero_tangent_dist" : "" );
cvWriteComment( *fs, buf, 0 );
s.flag & CALIB_USE_INTRINSIC_GUESS ? " +use_intrinsic_guess" : "",
s.flag & CALIB_FIX_ASPECT_RATIO ? " +fix_aspectRatio" : "",
s.flag & CALIB_FIX_PRINCIPAL_POINT ? " +fix_principal_point" : "",
s.flag & CALIB_ZERO_TANGENT_DIST ? " +zero_tangent_dist" : "" );
//cvWriteComment( *fs, buf, 0 );
}
@@ -519,7 +519,7 @@ static void saveCameraParams( Settings& s, Size& imageSize, Mat& cameraMatrix, M
r = rvecs[i].t();
t = tvecs[i].t();
}
cvWriteComment( *fs, "a set of 6-tuples (rotation vector + translation vector) for each view", 0 );
//cvWriteComment( *fs, "a set of 6-tuples (rotation vector + translation vector) for each view", 0 );
fs << "Extrinsic_Parameters" << bigmat;
}

6
samples/cpp/tutorial_code/features2D/SURF_Homography.cpp
View File

@@ -92,12 +92,12 @@ int main( int argc, char** argv )
scene.push_back( keypoints_scene[ good_matches[i].trainIdx ].pt );
}
Mat H = findHomography( obj, scene, CV_RANSAC );
Mat H = findHomography( obj, scene, RANSAC );
//-- Get the corners from the image_1 ( the object to be "detected" )
std::vector<Point2f> obj_corners(4);
obj_corners[0] = cvPoint(0,0); obj_corners[1] = cvPoint( img_object.cols, 0 );
obj_corners[2] = cvPoint( img_object.cols, img_object.rows ); obj_corners[3] = cvPoint( 0, img_object.rows );
obj_corners[0] = Point(0,0); obj_corners[1] = Point( img_object.cols, 0 );
obj_corners[2] = Point( img_object.cols, img_object.rows ); obj_corners[3] = Point( 0, img_object.rows );
std::vector<Point2f> scene_corners(4);
perspectiveTransform( obj_corners, scene_corners, H);