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Merge remote-tracking branch 'refs/remotes/upstream/master'

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This commit is contained in:
Olexa Bilaniuk
2015-02-18 21:04:39 -05:00
parent 86b6cab7fa 6ff2f395e6
commit f148f23382
26 changed files with 186 additions and 93 deletions
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4
modules/calib3d/src/circlesgrid.cpp
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@@ -66,7 +66,7 @@ void drawPoints(const std::vector<Point2f> &points, Mat &outImage, int radius =
}
#endif
void CirclesGridClusterFinder::hierarchicalClustering(const std::vector<Point2f> points, const Size &patternSz, std::vector<Point2f> &patternPoints)
void CirclesGridClusterFinder::hierarchicalClustering(const std::vector<Point2f> &points, const Size &patternSz, std::vector<Point2f> &patternPoints)
{
#ifdef HAVE_TEGRA_OPTIMIZATION
if(tegra::hierarchicalClustering(points, patternSz, patternPoints))
@@ -135,7 +135,7 @@ void CirclesGridClusterFinder::hierarchicalClustering(const std::vector<Point2f>
}
}
void CirclesGridClusterFinder::findGrid(const std::vector<cv::Point2f> points, cv::Size _patternSize, std::vector<Point2f>& centers)
void CirclesGridClusterFinder::findGrid(const std::vector<cv::Point2f> &points, cv::Size _patternSize, std::vector<Point2f>& centers)
{
patternSize = _patternSize;
centers.clear();

4
modules/calib3d/src/circlesgrid.hpp
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@@ -62,10 +62,10 @@ public:
squareSize = 1.0f;
maxRectifiedDistance = (float)(squareSize / 2.0);
}
void findGrid(const std::vector<cv::Point2f> points, cv::Size patternSize, std::vector<cv::Point2f>& centers);
void findGrid(const std::vector<cv::Point2f> &points, cv::Size patternSize, std::vector<cv::Point2f>& centers);
//cluster 2d points by geometric coordinates
void hierarchicalClustering(const std::vector<cv::Point2f> points, const cv::Size &patternSize, std::vector<cv::Point2f> &patternPoints);
void hierarchicalClustering(const std::vector<cv::Point2f> &points, const cv::Size &patternSize, std::vector<cv::Point2f> &patternPoints);
private:
void findCorners(const std::vector<cv::Point2f> &hull2f, std::vector<cv::Point2f> &corners);
void findOutsideCorners(const std::vector<cv::Point2f> &corners, std::vector<cv::Point2f> &outsideCorners);

10
modules/calib3d/src/fisheye.cpp
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@@ -872,8 +872,8 @@ double cv::fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayO
if ((flags & CALIB_FIX_INTRINSIC))
{
internal::CalibrateExtrinsics(objectPoints, imagePoints1, intrinsicLeft, check_cond, thresh_cond, rvecs1, tvecs1);
internal::CalibrateExtrinsics(objectPoints, imagePoints2, intrinsicRight, check_cond, thresh_cond, rvecs2, tvecs2);
cv::internal::CalibrateExtrinsics(objectPoints, imagePoints1, intrinsicLeft, check_cond, thresh_cond, rvecs1, tvecs1);
cv::internal::CalibrateExtrinsics(objectPoints, imagePoints2, intrinsicRight, check_cond, thresh_cond, rvecs2, tvecs2);
}
intrinsicLeft.isEstimate[0] = flags & CALIB_FIX_INTRINSIC ? 0 : 1;
@@ -918,8 +918,8 @@ double cv::fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayO
om_ref.reshape(3, 1).copyTo(om_list.col(image_idx));
T_ref.reshape(3, 1).copyTo(T_list.col(image_idx));
}
cv::Vec3d omcur = internal::median3d(om_list);
cv::Vec3d Tcur = internal::median3d(T_list);
cv::Vec3d omcur = cv::internal::median3d(om_list);
cv::Vec3d Tcur = cv::internal::median3d(T_list);
cv::Mat J = cv::Mat::zeros(4 * n_points * n_images, 18 + 6 * (n_images + 1), CV_64FC1),
e = cv::Mat::zeros(4 * n_points * n_images, 1, CV_64FC1), Jkk, ekk;
@@ -961,7 +961,7 @@ double cv::fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayO
jacobians.col(14).copyTo(Jkk.col(4).rowRange(0, 2 * n_points));
//right camera jacobian
internal::compose_motion(rvec, tvec, omcur, Tcur, omr, Tr, domrdomckk, domrdTckk, domrdom, domrdT, dTrdomckk, dTrdTckk, dTrdom, dTrdT);
cv::internal::compose_motion(rvec, tvec, omcur, Tcur, omr, Tr, domrdomckk, domrdTckk, domrdom, domrdT, dTrdomckk, dTrdTckk, dTrdom, dTrdT);
rvec = cv::Mat(rvecs2[image_idx]);
tvec = cv::Mat(tvecs2[image_idx]);