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Merge pull request #19539 from asmorkalov:as/calib_fix_focal_length

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* Added CALIB_FIX_FOCAL_LENGTH to fisheye calibration #13450

Sometimes you want to calibrate just the principal point of a camera, or just the distortion coefficients. In this case, you can pass the CALIB_FIX_FOCAL_LENGTH flag to keep Fx and Fy

* Added test for CALIB_FIX_FOCAL_LENGTH option in fisheye callinration.
This commit is contained in:
Alexander Smorkalov 2021-03-03 17:06:59 +03:00 committed by GitHub
parent be24659c03
commit e2ca50f1cb
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3 changed files with 59 additions and 8 deletions
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5
modules/calib3d/include/opencv2/calib3d.hpp
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@ -3773,7 +3773,8 @@ namespace fisheye
CALIB_FIX_K4 = 1 << 7,
CALIB_FIX_INTRINSIC = 1 << 8,
CALIB_FIX_PRINCIPAL_POINT = 1 << 9,
CALIB_ZERO_DISPARITY = 1 << 10
CALIB_ZERO_DISPARITY = 1 << 10,
CALIB_FIX_FOCAL_LENGTH = 1 << 11
};
/** @brief Projects points using fisheye model
@ -3927,6 +3928,8 @@ namespace fisheye
are set to zeros and stay zero.
- @ref 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 @ref fisheye::CALIB_USE_INTRINSIC_GUESS is set too.
- @ref fisheye::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.
@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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@ -754,8 +754,8 @@ double cv::fisheye::calibrate(InputArrayOfArrays objectPoints, InputArrayOfArray
IntrinsicParams currentParam;
IntrinsicParams errors;
finalParam.isEstimate[0] = 1;
finalParam.isEstimate[1] = 1;
finalParam.isEstimate[0] = flags & CALIB_FIX_FOCAL_LENGTH ? 0 : 1;
finalParam.isEstimate[1] = flags & CALIB_FIX_FOCAL_LENGTH ? 0 : 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;

58
modules/calib3d/test/test_fisheye.cpp
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@ -345,7 +345,7 @@ TEST_F(fisheyeTest, Calibration)
std::vector<std::vector<cv::Point2d> > imagePoints(n_images);
std::vector<std::vector<cv::Point3d> > objectPoints(n_images);
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");
cv::FileStorage fs_left(combine(folder, "left.xml"), cv::FileStorage::READ);
CV_Assert(fs_left.isOpened());
for(int i = 0; i < n_images; ++i)
@ -373,6 +373,53 @@ TEST_F(fisheyeTest, Calibration)
EXPECT_MAT_NEAR(theD, this->D, 1e-10);
}
TEST_F(fisheyeTest, CalibrationWithFixedFocalLength)
{
const int n_images = 34;
std::vector<std::vector<cv::Point2d> > imagePoints(n_images);
std::vector<std::vector<cv::Point3d> > objectPoints(n_images);
const std::string folder =combine(datasets_repository_path, "calib-3_stereo_from_JY");
cv::FileStorage fs_left(combine(folder, "left.xml"), cv::FileStorage::READ);
CV_Assert(fs_left.isOpened());
for(int i = 0; i < n_images; ++i)
fs_left[cv::format("image_%d", i )] >> imagePoints[i];
fs_left.release();
cv::FileStorage fs_object(combine(folder, "object.xml"), cv::FileStorage::READ);
CV_Assert(fs_object.isOpened());
for(int i = 0; i < n_images; ++i)
fs_object[cv::format("image_%d", i )] >> objectPoints[i];
fs_object.release();
int flag = 0;
flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC;
flag |= cv::fisheye::CALIB_CHECK_COND;
flag |= cv::fisheye::CALIB_FIX_SKEW;
flag |= cv::fisheye::CALIB_FIX_FOCAL_LENGTH;
flag |= cv::fisheye::CALIB_USE_INTRINSIC_GUESS;
cv::Matx33d theK = this->K;
const cv::Matx33d newK(
558.478088, 0.000000, 620.458461,
0.000000, 560.506767, 381.939362,
0.000000, 0.000000, 1.000000);
cv::Vec4d theD;
const cv::Vec4d newD(-0.001461, -0.003298, 0.006057, -0.003742);
cv::fisheye::calibrate(objectPoints, imagePoints, imageSize, theK, theD,
cv::noArray(), cv::noArray(), flag, cv::TermCriteria(3, 20, 1e-6));
// ensure that CALIB_FIX_FOCAL_LENGTH works and focal lenght has not changed
EXPECT_EQ(theK(0,0), K(0,0));
EXPECT_EQ(theK(1,1), K(1,1));
EXPECT_MAT_NEAR(theK, newK, 1e-6);
EXPECT_MAT_NEAR(theD, newD, 1e-6);
}
TEST_F(fisheyeTest, Homography)
{
const int n_images = 1;
@ -380,7 +427,7 @@ TEST_F(fisheyeTest, Homography)
std::vector<std::vector<cv::Point2d> > imagePoints(n_images);
std::vector<std::vector<cv::Point3d> > objectPoints(n_images);
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");
cv::FileStorage fs_left(combine(folder, "left.xml"), cv::FileStorage::READ);
CV_Assert(fs_left.isOpened());
for(int i = 0; i < n_images; ++i)
@ -498,7 +545,7 @@ TEST_F(fisheyeTest, stereoRectify)
"For the purpose of continuity the following should be true: cv::CALIB_ZERO_DISPARITY == cv::fisheye::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");
cv::Size calibration_size = this->imageSize, requested_size = calibration_size;
cv::Matx33d K1 = this->K, K2 = K1;
@ -599,7 +646,7 @@ TEST_F(fisheyeTest, stereoCalibrate)
{
const int n_images = 34;
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");
std::vector<std::vector<cv::Point2d> > leftPoints(n_images);
std::vector<std::vector<cv::Point2d> > rightPoints(n_images);
@ -666,7 +713,7 @@ TEST_F(fisheyeTest, stereoCalibrateFixIntrinsic)
{
const int n_images = 34;
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");
std::vector<std::vector<cv::Point2d> > leftPoints(n_images);
std::vector<std::vector<cv::Point2d> > rightPoints(n_images);
@ -822,6 +869,7 @@ const cv::Matx33d fisheyeTest::K(558.478087865323, 0, 620.45851536
const cv::Vec4d fisheyeTest::D(-0.0014613319981768, -0.00329861110580401, 0.00605760088590183, -0.00374209380722371);
const cv::Matx33d fisheyeTest::R ( 9.9756700084424932e-01, 6.9698277640183867e-02, 1.4929569991321144e-03,
-6.9711825162322980e-02, 9.9748249845531767e-01, 1.2997180766418455e-02,
-5.8331736398316541e-04,-1.3069635393884985e-02, 9.9991441852366736e-01);