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Merge pull request #6454 from paroj:fisheye_py

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This commit is contained in:
Vadim Pisarevsky 2016-04-25 12:54:44 +00:00
commit 8cfddcfeb7
1 changed files with 29 additions and 16 deletions
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45
modules/calib3d/src/fisheye.cpp
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@ -794,13 +794,22 @@ double cv::fisheye::calibrate(InputArrayOfArrays objectPoints, InputArrayOfArray
if (K.needed()) cv::Mat(_K).convertTo(K, K.empty() ? CV_64FC1 : K.type());
if (D.needed()) cv::Mat(finalParam.k).convertTo(D, D.empty() ? CV_64FC1 : D.type());
if (rvecs.kind()==_InputArray::STD_VECTOR_MAT)
if (rvecs.isMatVector())
{
int i;
for( i = 0; i < (int)objectPoints.total(); i++ )
int N = (int)objectPoints.total();
if(rvecs.empty())
rvecs.create(N, 1, CV_64FC3);
if(tvecs.empty())
tvecs.create(N, 1, CV_64FC3);
for(int i = 0; i < N; i++ )
{
rvecs.getMat(i)=omc[i];
tvecs.getMat(i)=Tc[i];
rvecs.create(3, 1, CV_64F, i, true);
tvecs.create(3, 1, CV_64F, i, true);
memcpy(rvecs.getMat(i).ptr(), omc[i].val, sizeof(Vec3d));
memcpy(tvecs.getMat(i).ptr(), Tc[i].val, sizeof(Vec3d));
}
}
else
@ -1295,12 +1304,12 @@ cv::Mat cv::internal::NormalizePixels(const Mat& imagePoints, const IntrinsicPar
CV_Assert(!imagePoints.empty() && imagePoints.type() == CV_64FC2);
Mat distorted((int)imagePoints.total(), 1, CV_64FC2), undistorted;
const Vec2d* ptr = imagePoints.ptr<Vec2d>(0);
Vec2d* ptr_d = distorted.ptr<Vec2d>(0);
const Vec2d* ptr = imagePoints.ptr<Vec2d>();
Vec2d* ptr_d = distorted.ptr<Vec2d>();
for (size_t i = 0; i < imagePoints.total(); ++i)
{
ptr_d[i] = (ptr[i] - param.c).mul(Vec2d(1.0 / param.f[0], 1.0 / param.f[1]));
ptr_d[i][0] = ptr_d[i][0] - param.alpha * ptr_d[i][1];
ptr_d[i][0] -= param.alpha * ptr_d[i][1];
}
cv::fisheye::undistortPoints(distorted, undistorted, Matx33d::eye(), param.k);
return undistorted;
@ -1308,12 +1317,11 @@ cv::Mat cv::internal::NormalizePixels(const Mat& imagePoints, const IntrinsicPar
void cv::internal::InitExtrinsics(const Mat& _imagePoints, const Mat& _objectPoints, const IntrinsicParams& param, Mat& omckk, Mat& Tckk)
{
CV_Assert(!_objectPoints.empty() && _objectPoints.type() == CV_64FC3);
CV_Assert(!_imagePoints.empty() && _imagePoints.type() == CV_64FC2);
Mat imagePointsNormalized = NormalizePixels(_imagePoints.t(), param).reshape(1).t();
Mat objectPoints = Mat(_objectPoints.t()).reshape(1).t();
Mat imagePointsNormalized = NormalizePixels(_imagePoints, param).reshape(1).t();
Mat objectPoints = _objectPoints.reshape(1).t();
Mat objectPointsMean, covObjectPoints;
Mat Rckk;
int Np = imagePointsNormalized.cols;
@ -1366,9 +1374,12 @@ void cv::internal::CalibrateExtrinsics(InputArrayOfArrays objectPoints, InputArr
objectPoints.getMat(image_idx).convertTo(object, CV_64FC3);
imagePoints.getMat (image_idx).convertTo(image, CV_64FC2);
InitExtrinsics(image, object, param, omckk, Tckk);
bool imT = image.rows < image.cols;
bool obT = object.rows < object.cols;
ComputeExtrinsicRefine(image, object, omckk, Tckk, JJ_kk, maxIter, param, thresh_cond);
InitExtrinsics(imT ? image.t() : image, obT ? object.t() : object, param, omckk, Tckk);
ComputeExtrinsicRefine(!imT ? image.t() : image, !obT ? object.t() : object, omckk, Tckk, JJ_kk, maxIter, param, thresh_cond);
if (check_cond)
{
SVD svd(JJ_kk, SVD::NO_UV);
@ -1379,7 +1390,6 @@ void cv::internal::CalibrateExtrinsics(InputArrayOfArrays objectPoints, InputArr
}
}
void cv::internal::ComputeJacobians(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints,
const IntrinsicParams& param, InputArray omc, InputArray Tc,
const int& check_cond, const double& thresh_cond, Mat& JJ2, Mat& ex3)
@ -1401,12 +1411,13 @@ void cv::internal::ComputeJacobians(InputArrayOfArrays objectPoints, InputArrayO
objectPoints.getMat(image_idx).convertTo(object, CV_64FC3);
imagePoints.getMat (image_idx).convertTo(image, CV_64FC2);
bool imT = image.rows < image.cols;
Mat om(omc.getMat().col(image_idx)), T(Tc.getMat().col(image_idx));
std::vector<Point2d> x;
Mat jacobians;
projectPoints(object, x, om, T, param, jacobians);
Mat exkk = image.t() - Mat(x);
Mat exkk = (imT ? image.t() : image) - Mat(x);
Mat A(jacobians.rows, 9, CV_64FC1);
jacobians.colRange(0, 4).copyTo(A.colRange(0, 4));
@ -1460,11 +1471,13 @@ void cv::internal::EstimateUncertainties(InputArrayOfArrays objectPoints, InputA
objectPoints.getMat(image_idx).convertTo(object, CV_64FC3);
imagePoints.getMat (image_idx).convertTo(image, CV_64FC2);
bool imT = image.rows < image.cols;
Mat om(omc.getMat().col(image_idx)), T(Tc.getMat().col(image_idx));
std::vector<Point2d> x;
projectPoints(object, x, om, T, params, noArray());
Mat ex_ = image.t() - Mat(x);
Mat ex_ = (imT ? image.t() : image) - Mat(x);
ex_.copyTo(ex.rowRange(ex_.rows * image_idx, ex_.rows * (image_idx + 1)));
}