diff --git a/modules/calib/src/calibration.cpp b/modules/calib/src/calibration.cpp index caf557ae7d..eee4a7db10 100644 --- a/modules/calib/src/calibration.cpp +++ b/modules/calib/src/calibration.cpp @@ -661,22 +661,14 @@ static double calibrateCameraInternal( const Mat& objectPoints, //////////////////////////////// Stereo Calibration /////////////////////////////////// -static int dbCmp( const void* _a, const void* _b ) -{ - double a = *(const double*)_a; - double b = *(const double*)_b; - - return (a > b) - (a < b); -} - static double stereoCalibrateImpl( const Mat& _objectPoints, const Mat& _imagePoints1, const Mat& _imagePoints2, const Mat& _npoints, Mat& _cameraMatrix1, Mat& _distCoeffs1, Mat& _cameraMatrix2, Mat& _distCoeffs2, - Size imageSize, Mat* matR, Mat* matT, - Mat* matE, Mat* matF, - Mat* perViewErr, int flags, + Size imageSize, Mat matR, Mat matT, + Mat matE, Mat matF, + Mat perViewErr, int flags, TermCriteria termCrit ) { const int NINTRINSIC = 18; @@ -725,11 +717,12 @@ static double stereoCalibrateImpl( imagePoints[k] = imagePoints[k].reshape(2, 1); if( flags & (CALIB_FIX_INTRINSIC|CALIB_USE_INTRINSIC_GUESS| - CALIB_FIX_ASPECT_RATIO|CALIB_FIX_FOCAL_LENGTH) ) + CALIB_FIX_ASPECT_RATIO|CALIB_FIX_FOCAL_LENGTH) ) cameraMatrix.convertTo(A[k], CV_64F); if( flags & (CALIB_FIX_INTRINSIC|CALIB_USE_INTRINSIC_GUESS| - CALIB_FIX_K1|CALIB_FIX_K2|CALIB_FIX_K3|CALIB_FIX_K4|CALIB_FIX_K5|CALIB_FIX_K6|CALIB_FIX_TANGENT_DIST) ) + CALIB_FIX_K1|CALIB_FIX_K2|CALIB_FIX_K3|CALIB_FIX_K4|CALIB_FIX_K5|CALIB_FIX_K6| + CALIB_FIX_TANGENT_DIST) ) { Mat tdist( distCoeffs.size(), CV_MAKETYPE(CV_64F, distCoeffs.channels()), dk[k] ); distCoeffs.convertTo(tdist, CV_64F); @@ -741,8 +734,6 @@ static double stereoCalibrateImpl( calibrateCameraInternal(objectPoints, imagePoints[k], _npoints, imageSize, 0, matA, Dist[k], 0, 0, 0, 0, 0, flags, termCrit); - //std::cout << "K(" << k << "): " << A[k] << "\n"; - //std::cout << "Dist(" << k << "): " << Dist[k] << "\n"; } } @@ -762,13 +753,12 @@ static double stereoCalibrateImpl( recomputeIntrinsics = (flags & CALIB_FIX_INTRINSIC) == 0; - Mat err( maxPoints*2, 1, CV_64F ); - Mat Je( maxPoints*2, 6, CV_64F ); - Mat J_LR( maxPoints*2, 6, CV_64F ); - Mat Ji( maxPoints*2, NINTRINSIC, CV_64F, Scalar(0) ); - // we optimize for the inter-camera R(3),t(3), then, optionally, // for intrinisic parameters of each camera ((fx,fy,cx,cy,k1,k2,p1,p2) ~ 8 parameters). + // Param mapping is: + // - from 0 next 6: stereo pair Rt, from 6+i*6 next 6: Rt for each ith camera of nimages, + // - from 6*(nimages+1) next NINTRINSICS: intrinsics for 1st camera: fx, fy, cx, cy, 14 x dist + // - next NINTRINSICS: the same for for 2nd camera nparams = 6*(nimages+1) + (recomputeIntrinsics ? NINTRINSIC*2 : 0); std::vector mask(nparams, (uchar)1); @@ -819,8 +809,7 @@ static double stereoCalibrateImpl( } // storage for initial [om(R){i}|t{i}] (in order to compute the median for each component) - Mat RT0(6, nimages, CV_64F); - double* RT0data = RT0.ptr(); + std::vector rtsort(nimages*6); /* Compute initial estimate of pose For each image, compute: @@ -836,19 +825,19 @@ static double stereoCalibrateImpl( for(int i = 0; i < nimages; i++ ) { int ni = _npoints.at(i); - Mat objpt_i(1, ni, CV_64FC3, objectPoints.ptr() + pos*3); + Mat objpt_i = objectPoints(Range::all(), Range(pos, pos + ni)); Matx33d R[2]; Vec3d rv, T[2]; for(int k = 0; k < 2; k++ ) { - Mat imgpt_ik = Mat(1, ni, CV_64FC2, imagePoints[k].ptr() + pos*2); + Mat imgpt_ik = imagePoints[k](Range::all(), Range(pos, pos + ni)); solvePnP(objpt_i, imgpt_ik, A[k], Dist[k], rv, T[k], false, SOLVEPNP_ITERATIVE ); Rodrigues(rv, R[k]); if( k == 0 ) { // save initial om_left and T_left - param[(i+1)*6] = rv[0]; + param[(i+1)*6 + 0] = rv[0]; param[(i+1)*6 + 1] = rv[1]; param[(i+1)*6 + 2] = rv[2]; param[(i+1)*6 + 3] = T[0][0]; @@ -861,12 +850,12 @@ static double stereoCalibrateImpl( Rodrigues(R[0], rv); - RT0data[i] = rv[0]; - RT0data[i + nimages] = rv[1]; - RT0data[i + nimages*2] = rv[2]; - RT0data[i + nimages*3] = T[1][0]; - RT0data[i + nimages*4] = T[1][1]; - RT0data[i + nimages*5] = T[1][2]; + rtsort[i + nimages*0] = rv[0]; + rtsort[i + nimages*1] = rv[1]; + rtsort[i + nimages*2] = rv[2]; + rtsort[i + nimages*3] = T[1][0]; + rtsort[i + nimages*4] = T[1][1]; + rtsort[i + nimages*5] = T[1][2]; pos += ni; } @@ -874,12 +863,12 @@ static double stereoCalibrateImpl( if(flags & CALIB_USE_EXTRINSIC_GUESS) { Vec3d R, T; - matT->convertTo(T, CV_64F); + matT.convertTo(T, CV_64F); - if( matR->rows == 3 && matR->cols == 3 ) - Rodrigues(*matR, R); + if( matR.rows == 3 && matR.cols == 3 ) + Rodrigues(matR, R); else - matR->convertTo(R, CV_64F); + matR.convertTo(R, CV_64F); param[0] = R[0]; param[1] = R[1]; @@ -893,29 +882,35 @@ static double stereoCalibrateImpl( // find the medians and save the first 6 parameters for(int i = 0; i < 6; i++ ) { - double* rti = RT0data + i*nimages; - qsort( rti, nimages, sizeof(*rti), dbCmp ); - param[i] = nimages % 2 != 0 ? rti[nimages/2] : (rti[nimages/2 - 1] + rti[nimages/2])*0.5; + size_t idx = i*nimages; + std::nth_element(rtsort.begin() + idx, + rtsort.begin() + idx + nimages/2, + rtsort.begin() + idx + nimages); + double h = rtsort[idx + nimages/2]; + param[i] = (nimages % 2 == 0) ? (h + rtsort[idx + nimages/2 - 1]) * 0.5 : h; } } if( recomputeIntrinsics ) + { for(int k = 0; k < 2; k++ ) { size_t idx = (nimages+1)*6 + k*NINTRINSIC; if( flags & CALIB_ZERO_TANGENT_DIST ) dk[k][2] = dk[k][3] = 0; param[idx + 0] = A[k](0, 0); param[idx + 1] = A[k](1, 1); param[idx + 2] = A[k](0, 2); param[idx + 3] = A[k](1, 2); - param[idx + 4] = dk[k][0]; param[idx + 5] = dk[k][1]; param[idx + 6] = dk[k][2]; - param[idx + 7] = dk[k][3]; param[idx + 8] = dk[k][4]; param[idx + 9] = dk[k][5]; - param[idx + 10] = dk[k][6]; param[idx + 11] = dk[k][7]; - param[idx + 12] = dk[k][8]; - param[idx + 13] = dk[k][9]; - param[idx + 14] = dk[k][10]; - param[idx + 15] = dk[k][11]; - param[idx + 16] = dk[k][12]; - param[idx + 17] = dk[k][13]; + for (int i = 0; i < 14; i++) + { + param[idx + 4 + i] = dk[k][i]; + } } + } + + // Preallocated place for callback calculations + Mat errBuf( maxPoints*2, 1, CV_64F ); + Mat JeBuf( maxPoints*2, 6, CV_64F ); + Mat J_LRBuf( maxPoints*2, 6, CV_64F ); + Mat JiBuf( maxPoints*2, NINTRINSIC, CV_64F, Scalar(0) ); auto lmcallback = [&](InputOutputArray _param, OutputArray JtErr_, OutputArray JtJ_, double& errnorm) { @@ -943,9 +938,11 @@ static double stereoCalibrateImpl( } for(int k = 0; k < 2; k++ ) { - A[k] = Matx33d(param_m(idx + k*NINTRINSIC+0), 0, param_m(idx + k*NINTRINSIC+2), - 0, param_m(idx + k*NINTRINSIC+1), param_m(idx + k*NINTRINSIC+3), - 0, 0, 1); + double fx = param_m(idx + k*NINTRINSIC+0), fy = param_m(idx + k*NINTRINSIC+1); + double cx = param_m(idx + k*NINTRINSIC+2), cy = param_m(idx + k*NINTRINSIC+3); + A[k] = Matx33d(fx, 0, cx, + 0, fy, cy, + 0, 0, 1); for(int j = 0; j < 14; j++) dk[k][j] = param_m(idx + k*NINTRINSIC+4+j); } @@ -966,8 +963,11 @@ static double stereoCalibrateImpl( else composeRT( om[0], T[0], om_LR, T_LR, om[1], T[1] ); - Mat objpt_i(1, ni, CV_64FC3, objectPoints.ptr() + ptPos*3); - err.resize(ni*2); Je.resize(ni*2); J_LR.resize(ni*2); Ji.resize(ni*2); + Mat objpt_i = objectPoints(Range::all(), Range(ptPos, ptPos + ni)); + Mat err = errBuf (Range(0, ni*2), Range::all()); + Mat Je = JeBuf (Range(0, ni*2), Range::all()); + Mat J_LR = J_LRBuf(Range(0, ni*2), Range::all()); + Mat Ji = JiBuf (Range(0, ni*2), Range::all()); Mat tmpImagePoints = err.reshape(2, 1); Mat dpdf = Ji.colRange(0, 2); @@ -978,7 +978,7 @@ static double stereoCalibrateImpl( for(int k = 0; k < 2; k++ ) { - Mat imgpt_ik(1, ni, CV_64FC2, imagePoints[k].ptr() + ptPos*2); + Mat imgpt_ik = imagePoints[k](Range::all(), Range(ptPos, ptPos + ni)); if( JtJ_.needed() || JtErr_.needed() ) projectPoints(objpt_i, om[k], T[k], A[k], Dist[k], @@ -1001,23 +1001,35 @@ static double stereoCalibrateImpl( // convert de3/{dr3,dt3} => de3{dr1,dt1} & de3{dr2,dt2} for(int p = 0; p < ni*2; p++ ) { - Mat de3dr3( 1, 3, CV_64F, Je.ptr(p)); - Mat de3dt3( 1, 3, CV_64F, de3dr3.ptr() + 3 ); - Mat de3dr2( 1, 3, CV_64F, J_LR.ptr(p) ); - Mat de3dt2( 1, 3, CV_64F, de3dr2.ptr() + 3 ); - double _de3dr1[3], _de3dt1[3]; - Mat de3dr1( 1, 3, CV_64F, _de3dr1 ); - Mat de3dt1( 1, 3, CV_64F, _de3dt1 ); + Matx13d de3dr3, de3dt3, de3dr2, de3dt2, de3dr1, de3dt1; + for(int j = 0; j < 3; j++) + de3dr3(j) = Je.at(p, j); - gemm(de3dr3, dr3dr1, 1, noArray(), 0, de3dr1); - gemm(de3dt3, dt3dt1, 1, noArray(), 0, de3dt1); + for(int j = 0; j < 3; j++) + de3dt3(j) = Je.at(p, 3+j); - gemm(de3dr3, dr3dr2, 1, noArray(), 0, de3dr2); - gemm(de3dt3, dt3dr2, 1, de3dr2, 1, de3dr2); - gemm(de3dt3, dt3dt2, 1, noArray(), 0, de3dt2); + for(int j = 0; j < 3; j++) + de3dr2(j) = J_LR.at(p, j); - de3dr1.copyTo(de3dr3); - de3dt1.copyTo(de3dt3); + for(int j = 0; j < 3; j++) + de3dt2(j) = J_LR.at(p, 3+j); + + de3dr1 = de3dr3 * dr3dr1; + de3dt1 = de3dt3 * dt3dt1; + de3dr2 = de3dr3 * dr3dr2 + de3dt3 * dt3dr2; + de3dt2 = de3dt3 * dt3dt2; + + for(int j = 0; j < 3; j++) + Je.at(p, j) = de3dr1(j); + + for(int j = 0; j < 3; j++) + Je.at(p, 3+j) = de3dt1(j); + + for(int j = 0; j < 3; j++) + J_LR.at(p, j) = de3dr2(j); + + for(int j = 0; j < 3; j++) + J_LR.at(p, 3+j) = de3dt2(j); } JtJ(Rect(0, 0, 6, 6)) += J_LR.t()*J_LR; @@ -1041,8 +1053,8 @@ static double stereoCalibrateImpl( } double viewErr = norm(err, NORM_L2SQR); - if(perViewErr) - perViewErr->at(i, k) = std::sqrt(viewErr/ni); + if(!perViewErr.empty()) + perViewErr.at(i, k) = std::sqrt(viewErr/ni); reprojErr += viewErr; } @@ -1071,11 +1083,11 @@ static double stereoCalibrateImpl( Vec3d T_LR(param[3], param[4], param[5]); Matx33d R_LR; Rodrigues( om_LR, R_LR ); - if( matR->rows == 1 || matR->cols == 1 ) - om_LR.convertTo(*matR, matR->depth()); + if( matR.rows == 1 || matR.cols == 1 ) + om_LR.convertTo(matR, matR.depth()); else - R_LR.convertTo(*matR, matR->depth()); - T_LR.convertTo(*matT, matT->depth()); + R_LR.convertTo(matR, matR.depth()); + T_LR.convertTo(matT, matT.depth()); if( recomputeIntrinsics ) { @@ -1092,19 +1104,19 @@ static double stereoCalibrateImpl( } } - if( matE || matF ) + if( !matE.empty() || !matF.empty() ) { Matx33d Tx(0, -T_LR[2], T_LR[1], T_LR[2], 0, -T_LR[0], - -T_LR[1], T_LR[0], 0); + -T_LR[1], T_LR[0], 0); Matx33d E = Tx*R_LR; - if (matE) - E.convertTo(*matE, matE->depth()); - if( matF ) + if( !matE.empty() ) + E.convertTo(matE, matE.depth()); + if( !matF.empty()) { Matx33d iA0 = A[0].inv(), iA1 = A[1].inv(); - Matx33d F = iA1.t()*E*iA0; - F.convertTo(*matF, matF->depth(), fabs(F(2,2)) > 0 ? 1./F(2,2) : 1.); + Matx33d F = iA1.t() * E * iA0; + F.convertTo(matF, matF.depth(), fabs(F(2,2)) > 0 ? 1./F(2,2) : 1.); } } @@ -1581,8 +1593,8 @@ double stereoCalibrate( InputArrayOfArrays _objectPoints, double err = stereoCalibrateImpl(objPt, imgPt, imgPt2, npoints, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, imageSize, - &matR, &matT, E_needed ? &matE : NULL, F_needed ? &matF : NULL, - errors_needed ? &matErr : NULL, flags, criteria); + matR, matT, matE, matF, + matErr, flags, criteria); cameraMatrix1.copyTo(_cameraMatrix1); cameraMatrix2.copyTo(_cameraMatrix2); distCoeffs1.copyTo(_distCoeffs1);