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fisheye: add CALIB_FIX_PRINCIPAL_POINT

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This commit is contained in:
Pavel Rojtberg 2016-04-26 12:15:53 +02:00
parent 6e5e5d87df
commit c1b90a1c22
2 changed files with 16 additions and 13 deletions
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25
modules/calib3d/include/opencv2/calib3d.hpp
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@ -1756,15 +1756,16 @@ namespace fisheye
//! @{
enum{
CALIB_USE_INTRINSIC_GUESS = 1,
CALIB_RECOMPUTE_EXTRINSIC = 2,
CALIB_CHECK_COND = 4,
CALIB_FIX_SKEW = 8,
CALIB_FIX_K1 = 16,
CALIB_FIX_K2 = 32,
CALIB_FIX_K3 = 64,
CALIB_FIX_K4 = 128,
CALIB_FIX_INTRINSIC = 256
CALIB_USE_INTRINSIC_GUESS = 1 << 0,
CALIB_RECOMPUTE_EXTRINSIC = 1 << 1,
CALIB_CHECK_COND = 1 << 2,
CALIB_FIX_SKEW = 1 << 3,
CALIB_FIX_K1 = 1 << 4,
CALIB_FIX_K2 = 1 << 5,
CALIB_FIX_K3 = 1 << 6,
CALIB_FIX_K4 = 1 << 7,
CALIB_FIX_INTRINSIC = 1 << 8,
CALIB_FIX_PRINCIPAL_POINT = 1 << 9
};
/** @brief Projects points using fisheye model
@ -1914,8 +1915,10 @@ namespace fisheye
of intrinsic optimization.
- **fisheye::CALIB_CHECK_COND** The functions will check validity of condition number.
- **fisheye::CALIB_FIX_SKEW** Skew coefficient (alpha) is set to zero and stay zero.
- **fisheye::CALIB_FIX_K1..4** Selected distortion coefficients are set to zeros and stay
zero.
- **fisheye::CALIB_FIX_K1..fisheye::CALIB_FIX_K4** Selected distortion coefficients
are set to zeros and stay zero.
- **fisheye::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 CALIB_USE_INTRINSIC_GUESS is set too.
@param criteria Termination criteria for the iterative optimization algorithm.
*/
CV_EXPORTS_W double calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, const Size& image_size,

4
modules/calib3d/src/fisheye.cpp
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@ -709,8 +709,8 @@ double cv::fisheye::calibrate(InputArrayOfArrays objectPoints, InputArrayOfArray
finalParam.isEstimate[0] = 1;
finalParam.isEstimate[1] = 1;
finalParam.isEstimate[2] = 1;
finalParam.isEstimate[3] = 1;
finalParam.isEstimate[2] = flags & CALIB_FIX_PRINCIPAL_POINT ? 0 : 1;
finalParam.isEstimate[3] = flags & CALIB_FIX_PRINCIPAL_POINT ? 0 : 1;
finalParam.isEstimate[4] = flags & CALIB_FIX_SKEW ? 0 : 1;
finalParam.isEstimate[5] = flags & CALIB_FIX_K1 ? 0 : 1;
finalParam.isEstimate[6] = flags & CALIB_FIX_K2 ? 0 : 1;