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Unify Pinhole and Fisheye camera calibration flags.

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This commit is contained in:
Alexander Smorkalov 2023-07-14 11:33:25 +03:00
parent cea26341a5
commit 8595066afc
3 changed files with 105 additions and 100 deletions
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121
modules/calib/include/opencv2/calib.hpp
View File

@ -419,32 +419,37 @@ enum { CALIB_CB_SYMMETRIC_GRID = 1,
CALIB_CB_CLUSTERING = 4 CALIB_CB_CLUSTERING = 4
}; };
enum { CALIB_NINTRINSIC = 18, #define CALIB_NINTRINSIC 18 //!< Maximal size of camera internal parameters (initrinsics) vector
CALIB_USE_INTRINSIC_GUESS = 0x00001,
CALIB_FIX_ASPECT_RATIO = 0x00002, enum { CALIB_USE_INTRINSIC_GUESS = 0x00001, //!< Use user provided intrinsics as initial point for optimization.
CALIB_FIX_PRINCIPAL_POINT = 0x00004, CALIB_FIX_ASPECT_RATIO = 0x00002, //!< Use with CALIB_USE_INTRINSIC_GUESS. The ratio fx/fy stays the same as in the input cameraMatrix.
CALIB_ZERO_TANGENT_DIST = 0x00008, CALIB_FIX_PRINCIPAL_POINT = 0x00004, //!< The principal point (cx, cy) stays the same as in the input camera matrix. Image center is used as principal point, if CALIB_USE_INTRINSIC_GUESS is not set.
CALIB_FIX_FOCAL_LENGTH = 0x00010, CALIB_ZERO_TANGENT_DIST = 0x00008, //!< For pinhole model only. Tangential distortion coefficients \f$(p_1, p_2)\f$ are set to zeros and stay zero.
CALIB_FIX_K1 = 0x00020, CALIB_FIX_FOCAL_LENGTH = 0x00010, //!< Use with CALIB_USE_INTRINSIC_GUESS. The focal length (fx, fy) stays the same as in the input cameraMatrix.
CALIB_FIX_K2 = 0x00040, CALIB_FIX_K1 = 0x00020, //!< The corresponding distortion coefficient is not changed during the optimization. 0 value is used, if CALIB_USE_INTRINSIC_GUESS is not set.
CALIB_FIX_K3 = 0x00080, CALIB_FIX_K2 = 0x00040, //!< The corresponding distortion coefficient is not changed during the optimization. 0 value is used, if CALIB_USE_INTRINSIC_GUESS is not set.
CALIB_FIX_K4 = 0x00800, CALIB_FIX_K3 = 0x00080, //!< The corresponding distortion coefficient is not changed during the optimization. 0 value is used, if CALIB_USE_INTRINSIC_GUESS is not set.
CALIB_FIX_K5 = 0x01000, CALIB_FIX_K4 = 0x00800, //!< The corresponding distortion coefficient is not changed during the optimization. 0 value is used, if CALIB_USE_INTRINSIC_GUESS is not set.
CALIB_FIX_K6 = 0x02000, CALIB_FIX_K5 = 0x01000, //!< For pinhole model only. The corresponding distortion coefficient is not changed during the optimization. 0 value is used, if CALIB_USE_INTRINSIC_GUESS is not set.
CALIB_RATIONAL_MODEL = 0x04000, CALIB_FIX_K6 = 0x02000, //!< For pinhole model only. The corresponding distortion coefficient is not changed during the optimization. 0 value is used, if CALIB_USE_INTRINSIC_GUESS is not set.
CALIB_THIN_PRISM_MODEL = 0x08000, CALIB_RATIONAL_MODEL = 0x04000, //!< For pinhole model only. Use rational distortion model with coefficients k4..k6.
CALIB_FIX_S1_S2_S3_S4 = 0x10000, CALIB_THIN_PRISM_MODEL = 0x08000, //!< For pinhole model only. Use thin prism distortion model with coefficients s1..s4.
CALIB_TILTED_MODEL = 0x40000, CALIB_FIX_S1_S2_S3_S4 = 0x10000, //!< For pinhole model only. The thin prism distortion coefficients are not changed during the optimization. 0 value is used, if CALIB_USE_INTRINSIC_GUESS is not set.
CALIB_FIX_TAUX_TAUY = 0x80000, CALIB_TILTED_MODEL = 0x40000, //!< For pinhole model only. Coefficients tauX and tauY are enabled in camera matrix.
CALIB_USE_QR = 0x100000, //!< use QR instead of SVD decomposition for solving. Faster but potentially less precise CALIB_FIX_TAUX_TAUY = 0x80000, //!< For pinhole model only. The tauX and tauY coefficients are not changed during the optimization. 0 value is used, if CALIB_USE_INTRINSIC_GUESS is not set.
CALIB_FIX_TANGENT_DIST = 0x200000, CALIB_USE_QR = 0x100000, //!< Use QR instead of SVD decomposition for solving. Faster but potentially less precise
CALIB_FIX_TANGENT_DIST = 0x200000, //!< For pinhole model only. Tangential distortion coefficients (p1,p2) are set to zeros and stay zero.
// only for stereo // only for stereo
CALIB_FIX_INTRINSIC = 0x00100, CALIB_FIX_INTRINSIC = 0x00100, //!< For stereo and milti-camera calibration only. Do not optimize cameras intrinsics
CALIB_SAME_FOCAL_LENGTH = 0x00200, CALIB_SAME_FOCAL_LENGTH = 0x00200, //!< For stereo calibration only. Use the same focal length for cameras in pair.
// for stereo rectification // for stereo rectification
CALIB_ZERO_DISPARITY = 0x00400, CALIB_ZERO_DISPARITY = 0x00400, //!< For @ref stereoRectify only. See the function description for more details.
CALIB_USE_LU = (1 << 17), //!< use LU instead of SVD decomposition for solving. much faster but potentially less precise CALIB_USE_LU = (1 << 17), //!< use LU instead of SVD decomposition for solving. much faster but potentially less precise
CALIB_USE_EXTRINSIC_GUESS = (1 << 22) //!< for stereoCalibrate CALIB_USE_EXTRINSIC_GUESS = (1 << 22), //!< For stereo calibration only. Use user provided extrinsics (R, T) as initial point for optimization
// fisheye only flags
CALIB_RECOMPUTE_EXTRINSIC = (1 << 23), //!< For fisheye model only. Recompute board position on each calibration iteration
CALIB_CHECK_COND = (1 << 24), //!< For fisheye model only. Check SVD decomposition quality for each frame during extrinsics estimation
CALIB_FIX_SKEW = (1 << 25) //!< For fisheye model only. Skew coefficient (alpha) is set to zero and stay zero.
}; };
enum HandEyeCalibrationMethod enum HandEyeCalibrationMethod
@ -759,7 +764,7 @@ a change of basis from object coordinate space to camera coordinate space. Due t
tuple is equivalent to the position of the calibration pattern with respect to the camera coordinate tuple is equivalent to the position of the calibration pattern with respect to the camera coordinate
space. space.
@param tvecs Output vector of translation vectors estimated for each pattern view, see parameter @param tvecs Output vector of translation vectors estimated for each pattern view, see parameter
describtion above. description above.
@param stdDeviationsIntrinsics Output vector of standard deviations estimated for intrinsic @param stdDeviationsIntrinsics Output vector of standard deviations estimated for intrinsic
parameters. Order of deviations values: parameters. Order of deviations values:
\f$(f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3, \f$(f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3,
@ -1466,20 +1471,20 @@ namespace fisheye
//! @addtogroup calib3d_fisheye //! @addtogroup calib3d_fisheye
//! @{ //! @{
enum{ // For backward compatibility only!
CALIB_USE_INTRINSIC_GUESS = 1 << 0, // Use unified Pinhole and Fisheye model calibration flags
CALIB_RECOMPUTE_EXTRINSIC = 1 << 1, using cv::CALIB_USE_INTRINSIC_GUESS;
CALIB_CHECK_COND = 1 << 2, using cv::CALIB_RECOMPUTE_EXTRINSIC;
CALIB_FIX_SKEW = 1 << 3, using cv::CALIB_CHECK_COND;
CALIB_FIX_K1 = 1 << 4, using cv::CALIB_FIX_SKEW;
CALIB_FIX_K2 = 1 << 5, using cv::CALIB_FIX_K1;
CALIB_FIX_K3 = 1 << 6, using cv::CALIB_FIX_K2;
CALIB_FIX_K4 = 1 << 7, using cv::CALIB_FIX_K3;
CALIB_FIX_INTRINSIC = 1 << 8, using cv::CALIB_FIX_K4;
CALIB_FIX_PRINCIPAL_POINT = 1 << 9, using cv::CALIB_FIX_INTRINSIC;
CALIB_ZERO_DISPARITY = 1 << 10, using cv::CALIB_FIX_PRINCIPAL_POINT;
CALIB_FIX_FOCAL_LENGTH = 1 << 11 using cv::CALIB_ZERO_DISPARITY;
}; using cv::CALIB_FIX_FOCAL_LENGTH;
/** @brief Projects points using fisheye model /** @brief Projects points using fisheye model
@ -1613,7 +1618,7 @@ objectPoints[i].size() for each i.
@param image_size Size of the image used only to initialize the camera intrinsic matrix. @param image_size Size of the image used only to initialize the camera intrinsic matrix.
@param K Output 3x3 floating-point camera intrinsic matrix @param K Output 3x3 floating-point camera intrinsic matrix
\f$\cameramatrix{A}\f$ . If \f$\cameramatrix{A}\f$ . If
@ref fisheye::CALIB_USE_INTRINSIC_GUESS is specified, some or all of fx, fy, cx, cy must be @ref CALIB_USE_INTRINSIC_GUESS is specified, some or all of fx, fy, cx, cy must be
initialized before calling the function. initialized before calling the function.
@param D Output vector of distortion coefficients \f$\distcoeffsfisheye\f$. @param D Output vector of distortion coefficients \f$\distcoeffsfisheye\f$.
@param rvecs Output vector of rotation vectors (see Rodrigues ) estimated for each pattern view. @param rvecs Output vector of rotation vectors (see Rodrigues ) estimated for each pattern view.
@ -1623,19 +1628,19 @@ space (in which object points are specified) to the world coordinate space, that
position of the calibration pattern in the k-th pattern view (k=0.. *M* -1). position of the calibration pattern in the k-th pattern view (k=0.. *M* -1).
@param tvecs Output vector of translation vectors estimated for each pattern view. @param tvecs Output vector of translation vectors estimated for each pattern view.
@param flags Different flags that may be zero or a combination of the following values: @param flags Different flags that may be zero or a combination of the following values:
- @ref fisheye::CALIB_USE_INTRINSIC_GUESS cameraMatrix contains valid initial values of - @ref CALIB_USE_INTRINSIC_GUESS cameraMatrix contains valid initial values of
fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image
center ( imageSize is used), and focal distances are computed in a least-squares fashion. center ( imageSize is used), and focal distances are computed in a least-squares fashion.
- @ref fisheye::CALIB_RECOMPUTE_EXTRINSIC Extrinsic will be recomputed after each iteration - @ref CALIB_RECOMPUTE_EXTRINSIC Extrinsic will be recomputed after each iteration
of intrinsic optimization. of intrinsic optimization.
- @ref fisheye::CALIB_CHECK_COND The functions will check validity of condition number. - @ref CALIB_CHECK_COND The functions will check validity of condition number.
- @ref fisheye::CALIB_FIX_SKEW Skew coefficient (alpha) is set to zero and stay zero. - @ref CALIB_FIX_SKEW Skew coefficient (alpha) is set to zero and stay zero.
- @ref fisheye::CALIB_FIX_K1,..., @ref fisheye::CALIB_FIX_K4 Selected distortion coefficients - @ref CALIB_FIX_K1,..., @ref CALIB_FIX_K4 Selected distortion coefficients
are set to zeros and stay zero. are set to zeros and stay zero.
- @ref fisheye::CALIB_FIX_PRINCIPAL_POINT The principal point is not changed during the global - @ref CALIB_FIX_PRINCIPAL_POINT The principal point is not changed during the global
optimization. It stays at the center or at a different location specified when @ref fisheye::CALIB_USE_INTRINSIC_GUESS is set too. optimization. It stays at the center or at a different location specified when @ref CALIB_USE_INTRINSIC_GUESS is set too.
- @ref fisheye::CALIB_FIX_FOCAL_LENGTH The focal length is not changed during the global - @ref CALIB_FIX_FOCAL_LENGTH The focal length is not changed during the global
optimization. It is the \f$max(width,height)/\pi\f$ or the provided \f$f_x\f$, \f$f_y\f$ when @ref fisheye::CALIB_USE_INTRINSIC_GUESS is set too. optimization. It is the \f$max(width,height)/\pi\f$ or the provided \f$f_x\f$, \f$f_y\f$ when @ref CALIB_USE_INTRINSIC_GUESS is set too.
@param criteria Termination criteria for the iterative optimization algorithm. @param criteria Termination criteria for the iterative optimization algorithm.
*/ */
CV_EXPORTS_W double calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, const Size& image_size, CV_EXPORTS_W double calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, const Size& image_size,
@ -1659,7 +1664,7 @@ camera.
@param P2 Output 3x4 projection matrix in the new (rectified) coordinate systems for the second @param P2 Output 3x4 projection matrix in the new (rectified) coordinate systems for the second
camera. camera.
@param Q Output \f$4 \times 4\f$ disparity-to-depth mapping matrix (see reprojectImageTo3D ). @param Q Output \f$4 \times 4\f$ disparity-to-depth mapping matrix (see reprojectImageTo3D ).
@param flags Operation flags that may be zero or @ref fisheye::CALIB_ZERO_DISPARITY . If the flag is set, @param flags Operation flags that may be zero or @ref CALIB_ZERO_DISPARITY . If the flag is set,
the function makes the principal points of each camera have the same pixel coordinates in the the function makes the principal points of each camera have the same pixel coordinates in the
rectified views. And if the flag is not set, the function may still shift the images in the rectified views. And if the flag is not set, the function may still shift the images in the
horizontal or vertical direction (depending on the orientation of epipolar lines) to maximize the horizontal or vertical direction (depending on the orientation of epipolar lines) to maximize the
@ -1685,7 +1690,7 @@ observed by the first camera.
observed by the second camera. observed by the second camera.
@param K1 Input/output first camera intrinsic matrix: @param K1 Input/output first camera intrinsic matrix:
\f$\vecthreethree{f_x^{(j)}}{0}{c_x^{(j)}}{0}{f_y^{(j)}}{c_y^{(j)}}{0}{0}{1}\f$ , \f$j = 0,\, 1\f$ . If \f$\vecthreethree{f_x^{(j)}}{0}{c_x^{(j)}}{0}{f_y^{(j)}}{c_y^{(j)}}{0}{0}{1}\f$ , \f$j = 0,\, 1\f$ . If
any of @ref fisheye::CALIB_USE_INTRINSIC_GUESS , @ref fisheye::CALIB_FIX_INTRINSIC are specified, any of @ref CALIB_USE_INTRINSIC_GUESS , @ref CALIB_FIX_INTRINSIC are specified,
some or all of the matrix components must be initialized. some or all of the matrix components must be initialized.
@param D1 Input/output vector of distortion coefficients \f$\distcoeffsfisheye\f$ of 4 elements. @param D1 Input/output vector of distortion coefficients \f$\distcoeffsfisheye\f$ of 4 elements.
@param K2 Input/output second camera intrinsic matrix. The parameter is similar to K1 . @param K2 Input/output second camera intrinsic matrix. The parameter is similar to K1 .
@ -1704,28 +1709,28 @@ to camera coordinate space of the first camera of the stereo pair.
@param tvecs Output vector of translation vectors estimated for each pattern view, see parameter description @param tvecs Output vector of translation vectors estimated for each pattern view, see parameter description
of previous output parameter ( rvecs ). of previous output parameter ( rvecs ).
@param flags Different flags that may be zero or a combination of the following values: @param flags Different flags that may be zero or a combination of the following values:
- @ref fisheye::CALIB_FIX_INTRINSIC Fix K1, K2? and D1, D2? so that only R, T matrices - @ref CALIB_FIX_INTRINSIC Fix K1, K2? and D1, D2? so that only R, T matrices
are estimated. are estimated.
- @ref fisheye::CALIB_USE_INTRINSIC_GUESS K1, K2 contains valid initial values of - @ref CALIB_USE_INTRINSIC_GUESS K1, K2 contains valid initial values of
fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image
center (imageSize is used), and focal distances are computed in a least-squares fashion. center (imageSize is used), and focal distances are computed in a least-squares fashion.
- @ref fisheye::CALIB_RECOMPUTE_EXTRINSIC Extrinsic will be recomputed after each iteration - @ref CALIB_RECOMPUTE_EXTRINSIC Extrinsic will be recomputed after each iteration
of intrinsic optimization. of intrinsic optimization.
- @ref fisheye::CALIB_CHECK_COND The functions will check validity of condition number. - @ref CALIB_CHECK_COND The functions will check validity of condition number.
- @ref fisheye::CALIB_FIX_SKEW Skew coefficient (alpha) is set to zero and stay zero. - @ref CALIB_FIX_SKEW Skew coefficient (alpha) is set to zero and stay zero.
- @ref fisheye::CALIB_FIX_K1,..., @ref fisheye::CALIB_FIX_K4 Selected distortion coefficients are set to zeros and stay - @ref CALIB_FIX_K1,..., @ref CALIB_FIX_K4 Selected distortion coefficients are set to zeros and stay
zero. zero.
@param criteria Termination criteria for the iterative optimization algorithm. @param criteria Termination criteria for the iterative optimization algorithm.
*/ */
CV_EXPORTS_W double stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, CV_EXPORTS_W double stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize, InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize,
OutputArray R, OutputArray T, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags = fisheye::CALIB_FIX_INTRINSIC, OutputArray R, OutputArray T, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags = CALIB_FIX_INTRINSIC,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON)); TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON));
/// @overload /// @overload
CV_EXPORTS_W double stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, CV_EXPORTS_W double stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize, InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize,
OutputArray R, OutputArray T, int flags = fisheye::CALIB_FIX_INTRINSIC, OutputArray R, OutputArray T, int flags = CALIB_FIX_INTRINSIC,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON)); TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON));
//! @} calib3d_fisheye //! @} calib3d_fisheye

60
modules/calib/test/test_fisheye.cpp
View File

@ -427,9 +427,9 @@ TEST_F(fisheyeTest, Calibration)
fs_object.release(); fs_object.release();
int flag = 0; int flag = 0;
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC; flag |= cv::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::fisheye::CALIB_CHECK_COND; flag |= cv::CALIB_CHECK_COND;
flag |= cv::fisheye::CALIB_FIX_SKEW; flag |= cv::CALIB_FIX_SKEW;
cv::Matx33d theK; cv::Matx33d theK;
cv::Vec4d theD; cv::Vec4d theD;
@ -462,11 +462,11 @@ TEST_F(fisheyeTest, CalibrationWithFixedFocalLength)
fs_object.release(); fs_object.release();
int flag = 0; int flag = 0;
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC; flag |= cv::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::fisheye::CALIB_CHECK_COND; flag |= cv::CALIB_CHECK_COND;
flag |= cv::fisheye::CALIB_FIX_SKEW; flag |= cv::CALIB_FIX_SKEW;
flag |= cv::fisheye::CALIB_FIX_FOCAL_LENGTH; flag |= cv::CALIB_FIX_FOCAL_LENGTH;
flag |= cv::fisheye::CALIB_USE_INTRINSIC_GUESS; flag |= cv::CALIB_USE_INTRINSIC_GUESS;
cv::Matx33d theK = this->K; cv::Matx33d theK = this->K;
const cv::Matx33d newK( const cv::Matx33d newK(
@ -570,9 +570,9 @@ TEST_F(fisheyeTest, EstimateUncertainties)
fs_object.release(); fs_object.release();
int flag = 0; int flag = 0;
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC; flag |= cv::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::fisheye::CALIB_CHECK_COND; flag |= cv::CALIB_CHECK_COND;
flag |= cv::fisheye::CALIB_FIX_SKEW; flag |= cv::CALIB_FIX_SKEW;
cv::Matx33d theK; cv::Matx33d theK;
cv::Vec4d theD; cv::Vec4d theD;
@ -609,8 +609,8 @@ TEST_F(fisheyeTest, stereoRectify)
{ {
// For consistency purposes // For consistency purposes
CV_StaticAssert( CV_StaticAssert(
static_cast<int>(cv::CALIB_ZERO_DISPARITY) == static_cast<int>(cv::fisheye::CALIB_ZERO_DISPARITY), static_cast<int>(cv::CALIB_ZERO_DISPARITY) == static_cast<int>(cv::CALIB_ZERO_DISPARITY),
"For the purpose of continuity the following should be true: cv::CALIB_ZERO_DISPARITY == cv::fisheye::CALIB_ZERO_DISPARITY" "For the purpose of continuity the following should be true: cv::CALIB_ZERO_DISPARITY == cv::CALIB_ZERO_DISPARITY"
); );
const std::string folder = combine(datasets_repository_path, "calib-3_stereo_from_JY"); const std::string folder = combine(datasets_repository_path, "calib-3_stereo_from_JY");
@ -625,7 +625,7 @@ TEST_F(fisheyeTest, stereoRectify)
double balance = 0.0, fov_scale = 1.1; double balance = 0.0, fov_scale = 1.1;
cv::Mat R1, R2, P1, P2, Q; cv::Mat R1, R2, P1, P2, Q;
cv::fisheye::stereoRectify(K1, D1, K2, D2, calibration_size, theR, theT, R1, R2, P1, P2, Q, cv::fisheye::stereoRectify(K1, D1, K2, D2, calibration_size, theR, theT, R1, R2, P1, P2, Q,
cv::fisheye::CALIB_ZERO_DISPARITY, requested_size, balance, fov_scale); cv::CALIB_ZERO_DISPARITY, requested_size, balance, fov_scale);
// Collected with these CMake flags: -DWITH_IPP=OFF -DCV_ENABLE_INTRINSICS=OFF -DCV_DISABLE_OPTIMIZATION=ON -DCMAKE_BUILD_TYPE=Debug // Collected with these CMake flags: -DWITH_IPP=OFF -DCV_ENABLE_INTRINSICS=OFF -DCV_DISABLE_OPTIMIZATION=ON -DCMAKE_BUILD_TYPE=Debug
cv::Matx33d R1_ref( cv::Matx33d R1_ref(
@ -745,9 +745,9 @@ TEST_F(fisheyeTest, stereoCalibrate)
cv::Vec4d D1, D2; cv::Vec4d D1, D2;
int flag = 0; int flag = 0;
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC; flag |= cv::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::fisheye::CALIB_CHECK_COND; flag |= cv::CALIB_CHECK_COND;
flag |= cv::fisheye::CALIB_FIX_SKEW; flag |= cv::CALIB_FIX_SKEW;
cv::fisheye::stereoCalibrate(objectPoints, leftPoints, rightPoints, cv::fisheye::stereoCalibrate(objectPoints, leftPoints, rightPoints,
K1, D1, K2, D2, imageSize, theR, theT, flag, K1, D1, K2, D2, imageSize, theR, theT, flag,
@ -811,10 +811,10 @@ TEST_F(fisheyeTest, stereoCalibrateFixIntrinsic)
cv::Vec3d theT; cv::Vec3d theT;
int flag = 0; int flag = 0;
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC; flag |= cv::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::fisheye::CALIB_CHECK_COND; flag |= cv::CALIB_CHECK_COND;
flag |= cv::fisheye::CALIB_FIX_SKEW; flag |= cv::CALIB_FIX_SKEW;
flag |= cv::fisheye::CALIB_FIX_INTRINSIC; flag |= cv::CALIB_FIX_INTRINSIC;
cv::Matx33d K1 (561.195925927249, 0, 621.282400272412, cv::Matx33d K1 (561.195925927249, 0, 621.282400272412,
0, 562.849402029712, 380.555455380889, 0, 562.849402029712, 380.555455380889,
@ -875,9 +875,9 @@ TEST_F(fisheyeTest, CalibrationWithDifferentPointsNumber)
cv::Vec4d theD; cv::Vec4d theD;
int flag = 0; int flag = 0;
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC; flag |= cv::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::fisheye::CALIB_USE_INTRINSIC_GUESS; flag |= cv::CALIB_USE_INTRINSIC_GUESS;
flag |= cv::fisheye::CALIB_FIX_SKEW; flag |= cv::CALIB_FIX_SKEW;
cv::fisheye::calibrate(objectPoints, imagePoints, cv::Size(100, 100), theK, theD, cv::fisheye::calibrate(objectPoints, imagePoints, cv::Size(100, 100), theK, theD,
cv::noArray(), cv::noArray(), flag, cv::TermCriteria(3, 20, 1e-6)); cv::noArray(), cv::noArray(), flag, cv::TermCriteria(3, 20, 1e-6));
@ -919,9 +919,9 @@ TEST_F(fisheyeTest, stereoCalibrateWithPerViewTransformations)
std::vector<cv::Mat> rvecs, tvecs; std::vector<cv::Mat> rvecs, tvecs;
int flag = 0; int flag = 0;
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC; flag |= cv::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::fisheye::CALIB_CHECK_COND; flag |= cv::CALIB_CHECK_COND;
flag |= cv::fisheye::CALIB_FIX_SKEW; flag |= cv::CALIB_FIX_SKEW;
double rmsErrorStereoCalib = cv::fisheye::stereoCalibrate(objectPoints, leftPoints, rightPoints, double rmsErrorStereoCalib = cv::fisheye::stereoCalibrate(objectPoints, leftPoints, rightPoints,
K1, D1, K2, D2, imageSize, theR, theT, rvecs, tvecs, flag, K1, D1, K2, D2, imageSize, theR, theT, rvecs, tvecs, flag,
@ -1078,9 +1078,9 @@ TEST_F(fisheyeTest, multiview_calibration)
std::vector<cv::Mat> Rs, Ts, Ks, distortions, rvecs0, tvecs0; std::vector<cv::Mat> Rs, Ts, Ks, distortions, rvecs0, tvecs0;
std::vector<bool> is_fisheye(2, true); std::vector<bool> is_fisheye(2, true);
int flag = 0; int flag = 0;
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC; flag |= cv::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::fisheye::CALIB_CHECK_COND; flag |= cv::CALIB_CHECK_COND;
flag |= cv::fisheye::CALIB_FIX_SKEW; flag |= cv::CALIB_FIX_SKEW;
std::vector<int> all_flags(2, flag); std::vector<int> all_flags(2, flag);

24
samples/cpp/tutorial_code/calib3d/camera_calibration/camera_calibration.cpp
View File

@ -145,12 +145,12 @@ public:
if (useFisheye) { if (useFisheye) {
// the fisheye model has its own enum, so overwrite the flags // the fisheye model has its own enum, so overwrite the flags
flag = fisheye::CALIB_FIX_SKEW | fisheye::CALIB_RECOMPUTE_EXTRINSIC; flag = CALIB_FIX_SKEW | CALIB_RECOMPUTE_EXTRINSIC;
if(fixK1) flag |= fisheye::CALIB_FIX_K1; if(fixK1) flag |= CALIB_FIX_K1;
if(fixK2) flag |= fisheye::CALIB_FIX_K2; if(fixK2) flag |= CALIB_FIX_K2;
if(fixK3) flag |= fisheye::CALIB_FIX_K3; if(fixK3) flag |= CALIB_FIX_K3;
if(fixK4) flag |= fisheye::CALIB_FIX_K4; if(fixK4) flag |= CALIB_FIX_K4;
if (calibFixPrincipalPoint) flag |= fisheye::CALIB_FIX_PRINCIPAL_POINT; if (calibFixPrincipalPoint) flag |= CALIB_FIX_PRINCIPAL_POINT;
} }
calibrationPattern = NOT_EXISTING; calibrationPattern = NOT_EXISTING;
@ -728,12 +728,12 @@ static void saveCameraParams( Settings& s, Size& imageSize, Mat& cameraMatrix, M
if (s.useFisheye) if (s.useFisheye)
{ {
flagsStringStream << "flags:" flagsStringStream << "flags:"
<< (s.flag & fisheye::CALIB_FIX_SKEW ? " +fix_skew" : "") << (s.flag & CALIB_FIX_SKEW ? " +fix_skew" : "")
<< (s.flag & fisheye::CALIB_FIX_K1 ? " +fix_k1" : "") << (s.flag & CALIB_FIX_K1 ? " +fix_k1" : "")
<< (s.flag & fisheye::CALIB_FIX_K2 ? " +fix_k2" : "") << (s.flag & CALIB_FIX_K2 ? " +fix_k2" : "")
<< (s.flag & fisheye::CALIB_FIX_K3 ? " +fix_k3" : "") << (s.flag & CALIB_FIX_K3 ? " +fix_k3" : "")
<< (s.flag & fisheye::CALIB_FIX_K4 ? " +fix_k4" : "") << (s.flag & CALIB_FIX_K4 ? " +fix_k4" : "")
<< (s.flag & fisheye::CALIB_RECOMPUTE_EXTRINSIC ? " +recompute_extrinsic" : ""); << (s.flag & CALIB_RECOMPUTE_EXTRINSIC ? " +recompute_extrinsic" : "");
} }
else else
{ {