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The prism distortion coefficients are added for the stereo calibration.

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look4pritam 2013-09-12 15:17:11 +05:30
parent 4fe8e377ed
commit 7fd7bbc9f1
1 changed files with 18 additions and 3 deletions
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21
modules/calib3d/src/calibration.cpp
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@ -1638,12 +1638,12 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
CvTermCriteria termCrit, CvTermCriteria termCrit,
int flags ) int flags )
{ {
const int NINTRINSIC = 12; const int NINTRINSIC = 16;
Ptr<CvMat> npoints, err, J_LR, Je, Ji, imagePoints[2], objectPoints, RT0; Ptr<CvMat> npoints, err, J_LR, Je, Ji, imagePoints[2], objectPoints, RT0;
CvLevMarq solver; CvLevMarq solver;
double reprojErr = 0; double reprojErr = 0;
double A[2][9], dk[2][8]={{0,0,0,0,0,0,0,0},{0,0,0,0,0,0,0,0}}, rlr[9]; double A[2][9], dk[2][12]={{0,0,0,0,0,0,0,0,0,0,0,0},{0,0,0,0,0,0,0,0,0,0,0,0}}, rlr[9];
CvMat K[2], Dist[2], om_LR, T_LR; CvMat K[2], Dist[2], om_LR, T_LR;
CvMat R_LR = cvMat(3, 3, CV_64F, rlr); CvMat R_LR = cvMat(3, 3, CV_64F, rlr);
int i, k, p, ni = 0, ofs, nimages, pointsTotal, maxPoints = 0; int i, k, p, ni = 0, ofs, nimages, pointsTotal, maxPoints = 0;
@ -1689,7 +1689,7 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
(_imagePoints1->rows == 1 && _imagePoints1->cols == pointsTotal && cn == 2)) ); (_imagePoints1->rows == 1 && _imagePoints1->cols == pointsTotal && cn == 2)) );
K[k] = cvMat(3,3,CV_64F,A[k]); K[k] = cvMat(3,3,CV_64F,A[k]);
Dist[k] = cvMat(1,8,CV_64F,dk[k]); Dist[k] = cvMat(1,12,CV_64F,dk[k]);
imagePoints[k].reset(cvCreateMat( points->rows, points->cols, CV_64FC(CV_MAT_CN(points->type)))); imagePoints[k].reset(cvCreateMat( points->rows, points->cols, CV_64FC(CV_MAT_CN(points->type))));
cvConvert( points, imagePoints[k] ); cvConvert( points, imagePoints[k] );
@ -1768,6 +1768,13 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
imask[10] = imask[NINTRINSIC+10] = 0; imask[10] = imask[NINTRINSIC+10] = 0;
if( flags & CV_CALIB_FIX_K6 ) if( flags & CV_CALIB_FIX_K6 )
imask[11] = imask[NINTRINSIC+11] = 0; imask[11] = imask[NINTRINSIC+11] = 0;
if( flags & CV_CALIB_FIX_S1_S2_S3_S4 )
{
imask[12] = imask[NINTRINSIC+12] = 0;
imask[13] = imask[NINTRINSIC+13] = 0;
imask[14] = imask[NINTRINSIC+14] = 0;
imask[15] = imask[NINTRINSIC+15] = 0;
}
} }
/* /*
@ -1842,6 +1849,10 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
iparam[4] = dk[k][0]; iparam[5] = dk[k][1]; iparam[6] = dk[k][2]; iparam[4] = dk[k][0]; iparam[5] = dk[k][1]; iparam[6] = dk[k][2];
iparam[7] = dk[k][3]; iparam[8] = dk[k][4]; iparam[9] = dk[k][5]; iparam[7] = dk[k][3]; iparam[8] = dk[k][4]; iparam[9] = dk[k][5];
iparam[10] = dk[k][6]; iparam[11] = dk[k][7]; iparam[10] = dk[k][6]; iparam[11] = dk[k][7];
iparam[12] = dk[k][8];
iparam[13] = dk[k][9];
iparam[14] = dk[k][10];
iparam[15] = dk[k][11];
} }
om_LR = cvMat(3, 1, CV_64F, solver.param->data.db); om_LR = cvMat(3, 1, CV_64F, solver.param->data.db);
@ -1908,6 +1919,10 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
dk[k][5] = iparam[k*NINTRINSIC+9]; dk[k][5] = iparam[k*NINTRINSIC+9];
dk[k][6] = iparam[k*NINTRINSIC+10]; dk[k][6] = iparam[k*NINTRINSIC+10];
dk[k][7] = iparam[k*NINTRINSIC+11]; dk[k][7] = iparam[k*NINTRINSIC+11];
dk[k][8] = iparam[k*NINTRINSIC+12];
dk[k][9] = iparam[k*NINTRINSIC+13];
dk[k][10] = iparam[k*NINTRINSIC+14];
dk[k][11] = iparam[k*NINTRINSIC+15];
} }
} }