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calibrateCamera: only allocate and compute rvecs, tvecs when needed

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also replace C defines with C++ enums
pull/5351/head
Pavel Rojtberg 9 years ago committed by Pavel Rojtberg
parent 8e67f0ba84
commit 205775ed52
1 changed files with 34 additions and 27 deletions
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  1. 61
      modules/calib3d/src/calibration.cpp

61
modules/calib3d/src/calibration.cpp
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@ -1254,7 +1254,7 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
CV_Error( CV_StsUnsupportedFormat,
"the array of point counters must be 1-dimensional integer vector" );
//when the thin prism model is used the distortion coefficients matrix must have 12 parameters
if((flags & CV_CALIB_THIN_PRISM_MODEL) && (distCoeffs->cols*distCoeffs->rows != 12))
if((flags & CALIB_THIN_PRISM_MODEL) && (distCoeffs->cols*distCoeffs->rows != 12))
CV_Error( CV_StsBadArg, "Thin prism model must have 12 parameters in the distortion matrix" );
nimages = npoints->rows*npoints->cols;
@ -1332,14 +1332,14 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
if( distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) < 8 )
{
if( distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) < 5 )
flags |= CV_CALIB_FIX_K3;
flags |= CV_CALIB_FIX_K4 | CV_CALIB_FIX_K5 | CV_CALIB_FIX_K6;
flags |= CALIB_FIX_K3;
flags |= CALIB_FIX_K4 | CALIB_FIX_K5 | CALIB_FIX_K6;
}
const double minValidAspectRatio = 0.01;
const double maxValidAspectRatio = 100.0;
// 1. initialize intrinsic parameters & LM solver
if( flags & CV_CALIB_USE_INTRINSIC_GUESS )
if( flags & CALIB_USE_INTRINSIC_GUESS )
{
cvConvert( cameraMatrix, &matA );
if( A(0, 0) <= 0 || A(1, 1) <= 0 )
@ -1356,7 +1356,7 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
A(0, 1) = A(1, 0) = A(2, 0) = A(2, 1) = 0.;
A(2, 2) = 1.;
if( flags & CV_CALIB_FIX_ASPECT_RATIO )
if( flags & CALIB_FIX_ASPECT_RATIO )
{
aspectRatio = A(0, 0)/A(1, 1);
@ -1376,7 +1376,7 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
for( i = 0; i < total; i++ )
matM.at<Point3d>(i).z = 0.;
if( flags & CV_CALIB_FIX_ASPECT_RATIO )
if( flags & CALIB_FIX_ASPECT_RATIO )
{
aspectRatio = cvmGet(cameraMatrix,0,0);
aspectRatio /= cvmGet(cameraMatrix,1,1);
@ -1406,8 +1406,8 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
param[6] = param[7] = 0;
mask[6] = mask[7] = 0;
}
if( !(flags & CV_CALIB_RATIONAL_MODEL) )
flags |= CV_CALIB_FIX_K4 + CV_CALIB_FIX_K5 + CV_CALIB_FIX_K6;
if( !(flags & CALIB_RATIONAL_MODEL) )
flags |= CALIB_FIX_K4 + CALIB_FIX_K5 + CALIB_FIX_K6;
if( !(flags & CV_CALIB_THIN_PRISM_MODEL))
flags |= CALIB_FIX_S1_S2_S3_S4;
@ -1451,7 +1451,7 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
bool proceed = solver.updateAlt( _param, _JtJ, _JtErr, _errNorm );
double *param = solver.param->data.db, *pparam = solver.prevParam->data.db;
if( flags & CV_CALIB_FIX_ASPECT_RATIO )
if( flags & CALIB_FIX_ASPECT_RATIO )
{
param[0] = param[1]*aspectRatio;
pparam[0] = pparam[1]*aspectRatio;
@ -1487,9 +1487,9 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
if( solver.state == CvLevMarq::CALC_J )
{
cvProjectPoints2( &_Mi, &_ri, &_ti, &matA, &_k, &_mp, &_dpdr, &_dpdt,
(flags & CV_CALIB_FIX_FOCAL_LENGTH) ? 0 : &_dpdf,
(flags & CV_CALIB_FIX_PRINCIPAL_POINT) ? 0 : &_dpdc, &_dpdk,
(flags & CV_CALIB_FIX_ASPECT_RATIO) ? aspectRatio : 0);
(flags & CALIB_FIX_FOCAL_LENGTH) ? 0 : &_dpdf,
(flags & CALIB_FIX_PRINCIPAL_POINT) ? 0 : &_dpdc, &_dpdk,
(flags & CALIB_FIX_ASPECT_RATIO) ? aspectRatio : 0);
}
else
cvProjectPoints2( &_Mi, &_ri, &_ti, &matA, &_k, &_mp );
@ -3215,10 +3215,22 @@ double cv::calibrateCamera( InputArrayOfArrays _objectPoints,
if( !(flags & CALIB_RATIONAL_MODEL) &&(!(flags & CALIB_THIN_PRISM_MODEL)))
distCoeffs = distCoeffs.rows == 1 ? distCoeffs.colRange(0, 5) : distCoeffs.rowRange(0, 5);
int i;
size_t nimages = _objectPoints.total();
int nimages = int(_objectPoints.total());
CV_Assert( nimages > 0 );
Mat objPt, imgPt, npoints, rvecM((int)nimages, 3, CV_64FC1), tvecM((int)nimages, 3, CV_64FC1);
Mat objPt, imgPt, npoints, rvecM, tvecM;
bool rvecs_needed = _rvecs.needed(), tvecs_needed = _tvecs.needed();
if( rvecs_needed ) {
_rvecs.create(nimages, 1, CV_64FC3);
rvecM.create(nimages, 3, CV_64F);
}
if( tvecs_needed ) {
_tvecs.create(nimages, 1, CV_64FC3);
tvecM.create(nimages, 3, CV_64F);
}
collectCalibrationData( _objectPoints, _imagePoints, noArray(),
objPt, imgPt, 0, npoints );
CvMat c_objPt = objPt, c_imgPt = imgPt, c_npoints = npoints;
@ -3226,31 +3238,26 @@ double cv::calibrateCamera( InputArrayOfArrays _objectPoints,
CvMat c_rvecM = rvecM, c_tvecM = tvecM;
double reprojErr = cvCalibrateCamera2(&c_objPt, &c_imgPt, &c_npoints, imageSize,
&c_cameraMatrix, &c_distCoeffs, &c_rvecM,
&c_tvecM, flags, criteria );
&c_cameraMatrix, &c_distCoeffs,
rvecs_needed ? &c_rvecM : NULL,
tvecs_needed ? &c_tvecM : NULL, flags, criteria );
bool rvecs_needed = _rvecs.needed(), tvecs_needed = _tvecs.needed();
if( rvecs_needed )
_rvecs.create((int)nimages, 1, CV_64FC3);
if( tvecs_needed )
_tvecs.create((int)nimages, 1, CV_64FC3);
for( i = 0; i < (int)nimages; i++ )
for(int i = 0; i < nimages; i++ )
{
if( rvecs_needed )
{
_rvecs.create(3, 1, CV_64F, i, true);
Mat rv = _rvecs.getMat(i);
memcpy(rv.ptr(), rvecM.ptr<double>(i), 3*sizeof(double));
memcpy(rv.ptr(), rvecM.ptr(i), 3*sizeof(double));
}
if( tvecs_needed )
{
_tvecs.create(3, 1, CV_64F, i, true);
Mat tv = _tvecs.getMat(i);
memcpy(tv.ptr(), tvecM.ptr<double>(i), 3*sizeof(double));
memcpy(tv.ptr(), tvecM.ptr(i), 3*sizeof(double));
}
}
cameraMatrix.copyTo(_cameraMatrix);
distCoeffs.copyTo(_distCoeffs);

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