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Merge pull request #19690 from hedgepigdaniel:fix/calibration_fisheye

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* fix(samples/camera_calibration): set new camera matrix for fisheye

* fix(camera_calibration): ignore inapplicable flags for fisheye
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Daniel Playfair Cal 2021-03-10 02:09:08 +11:00 committed by GitHub
parent 6c9be1bc1d
commit 65b51e1538
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1 changed files with 8 additions and 3 deletions
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11
samples/cpp/tutorial_code/calib3d/camera_calibration/camera_calibration.cpp
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@ -391,7 +391,12 @@ int main(int argc, char* argv[])
{ {
Mat temp = view.clone(); Mat temp = view.clone();
if (s.useFisheye) if (s.useFisheye)
cv::fisheye::undistortImage(temp, view, cameraMatrix, distCoeffs); {
Mat newCamMat;
fisheye::estimateNewCameraMatrixForUndistortRectify(cameraMatrix, distCoeffs, imageSize,
Matx33d::eye(), newCamMat, 1);
cv::fisheye::undistortImage(temp, view, cameraMatrix, distCoeffs, newCamMat);
}
else else
undistort(temp, view, cameraMatrix, distCoeffs); undistort(temp, view, cameraMatrix, distCoeffs);
} }
@ -519,7 +524,7 @@ static bool runCalibration( Settings& s, Size& imageSize, Mat& cameraMatrix, Mat
{ {
//! [fixed_aspect] //! [fixed_aspect]
cameraMatrix = Mat::eye(3, 3, CV_64F); cameraMatrix = Mat::eye(3, 3, CV_64F);
if( s.flag & CALIB_FIX_ASPECT_RATIO ) if( !s.useFisheye && s.flag & CALIB_FIX_ASPECT_RATIO )
cameraMatrix.at<double>(0,0) = s.aspectRatio; cameraMatrix.at<double>(0,0) = s.aspectRatio;
//! [fixed_aspect] //! [fixed_aspect]
if (s.useFisheye) { if (s.useFisheye) {
@ -586,7 +591,7 @@ static void saveCameraParams( Settings& s, Size& imageSize, Mat& cameraMatrix, M
fs << "board_height" << s.boardSize.height; fs << "board_height" << s.boardSize.height;
fs << "square_size" << s.squareSize; fs << "square_size" << s.squareSize;
if( s.flag & CALIB_FIX_ASPECT_RATIO ) if( !s.useFisheye && s.flag & CALIB_FIX_ASPECT_RATIO )
fs << "fix_aspect_ratio" << s.aspectRatio; fs << "fix_aspect_ratio" << s.aspectRatio;
if (s.flag) if (s.flag)