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sourin 2016-08-10 14:38:32 +05:30
parent d06bdd5bf6
commit 99374598b3
1 changed files with 4 additions and 7 deletions
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11
modules/calib3d/src/calibration.cpp
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@ -52,7 +52,6 @@
that is (in a large extent) based on the paper: that is (in a large extent) based on the paper:
Z. Zhang. "A flexible new technique for camera calibration". Z. Zhang. "A flexible new technique for camera calibration".
IEEE Transactions on Pattern Analysis and Machine Intelligence, 22(11):1330-1334, 2000. IEEE Transactions on Pattern Analysis and Machine Intelligence, 22(11):1330-1334, 2000.
The 1st initial port was done by Valery Mosyagin. The 1st initial port was done by Valery Mosyagin.
*/ */
@ -896,9 +895,9 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
double dicdist2_dt = -icdist2*icdist2*(k[5]*dr2dt + 2*k[6]*r2*dr2dt + 3*k[7]*r4*dr2dt); double dicdist2_dt = -icdist2*icdist2*(k[5]*dr2dt + 2*k[6]*r2*dr2dt + 3*k[7]*r4*dr2dt);
double da1dt = 2*(x*dydt[j] + y*dxdt[j]); double da1dt = 2*(x*dydt[j] + y*dxdt[j]);
double dmxdt = (dxdt[j]*cdist*icdist2 + x*dcdist_dt*icdist2 + x*cdist*dicdist2_dt + double dmxdt = (dxdt[j]*cdist*icdist2 + x*dcdist_dt*icdist2 + x*cdist*dicdist2_dt +
k[2]*da1dt + k[3]*(dr2dt + 2*x*dxdt[j]) + k[8]*dr2dt + 2*r2*k[9]*dr2dt); k[2]*da1dt + k[3]*(dr2dt + 4*x*dxdt[j]) + k[8]*dr2dt + 2*r2*k[9]*dr2dt);
double dmydt = (dydt[j]*cdist*icdist2 + y*dcdist_dt*icdist2 + y*cdist*dicdist2_dt + double dmydt = (dydt[j]*cdist*icdist2 + y*dcdist_dt*icdist2 + y*cdist*dicdist2_dt +
k[2]*(dr2dt + 2*y*dydt[j]) + k[3]*da1dt + k[10]*dr2dt + 2*r2*k[11]*dr2dt); k[2]*(dr2dt + 4*y*dydt[j]) + k[3]*da1dt + k[10]*dr2dt + 2*r2*k[11]*dr2dt);
dXdYd = dMatTilt*Vec2d(dmxdt, dmydt); dXdYd = dMatTilt*Vec2d(dmxdt, dmydt);
dpdt_p[j] = fx*dXdYd(0); dpdt_p[j] = fx*dXdYd(0);
dpdt_p[dpdt_step+j] = fy*dXdYd(1); dpdt_p[dpdt_step+j] = fy*dXdYd(1);
@ -935,9 +934,9 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
double dicdist2_dr = -icdist2*icdist2*(k[5] + 2*k[6]*r2 + 3*k[7]*r4)*dr2dr; double dicdist2_dr = -icdist2*icdist2*(k[5] + 2*k[6]*r2 + 3*k[7]*r4)*dr2dr;
double da1dr = 2*(x*dydr + y*dxdr); double da1dr = 2*(x*dydr + y*dxdr);
double dmxdr = (dxdr*cdist*icdist2 + x*dcdist_dr*icdist2 + x*cdist*dicdist2_dr + double dmxdr = (dxdr*cdist*icdist2 + x*dcdist_dr*icdist2 + x*cdist*dicdist2_dr +
k[2]*da1dr + k[3]*(dr2dr + 2*x*dxdr) + (k[8] + 2*r2*k[9])*dr2dr); k[2]*da1dr + k[3]*(dr2dr + 4*x*dxdr) + (k[8] + 2*r2*k[9])*dr2dr);
double dmydr = (dydr*cdist*icdist2 + y*dcdist_dr*icdist2 + y*cdist*dicdist2_dr + double dmydr = (dydr*cdist*icdist2 + y*dcdist_dr*icdist2 + y*cdist*dicdist2_dr +
k[2]*(dr2dr + 2*y*dydr) + k[3]*da1dr + (k[10] + 2*r2*k[11])*dr2dr); k[2]*(dr2dr + 4*y*dydr) + k[3]*da1dr + (k[10] + 2*r2*k[11])*dr2dr);
dXdYd = dMatTilt*Vec2d(dmxdr, dmydr); dXdYd = dMatTilt*Vec2d(dmxdr, dmydr);
dpdr_p[j] = fx*dXdYd(0); dpdr_p[j] = fx*dXdYd(0);
dpdr_p[dpdr_step+j] = fy*dXdYd(1); dpdr_p[dpdr_step+j] = fy*dXdYd(1);
@ -1945,14 +1944,12 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
/* /*
Compute initial estimate of pose Compute initial estimate of pose
For each image, compute: For each image, compute:
R(om) is the rotation matrix of om R(om) is the rotation matrix of om
om(R) is the rotation vector of R om(R) is the rotation vector of R
R_ref = R(om_right) * R(om_left)' R_ref = R(om_right) * R(om_left)'
T_ref_list = [T_ref_list; T_right - R_ref * T_left] T_ref_list = [T_ref_list; T_right - R_ref * T_left]
om_ref_list = {om_ref_list; om(R_ref)] om_ref_list = {om_ref_list; om(R_ref)]
om = median(om_ref_list) om = median(om_ref_list)
T = median(T_ref_list) T = median(T_ref_list)
*/ */