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Merge pull request #8864 from sovrasov:calib_flags_update

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pull/8946/merge
Alexander Alekhin 8 years ago
parent 594652cac1 c0e456dee2
commit 43b03b6517
2 changed files with 43 additions and 38 deletions
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  1. 1
      modules/calib3d/include/opencv2/calib3d.hpp
  2. 80
      modules/calib3d/src/calibration.cpp

1
modules/calib3d/include/opencv2/calib3d.hpp
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@ -268,6 +268,7 @@ enum { CALIB_USE_INTRINSIC_GUESS = 0x00001,
CALIB_TILTED_MODEL = 0x40000,
CALIB_FIX_TAUX_TAUY = 0x80000,
CALIB_USE_QR = 0x100000, //!< use QR instead of SVD decomposition for solving. Faster but potentially less precise
CALIB_FIX_TANGENT_DIST = 0x200000,
// only for stereo
CALIB_FIX_INTRINSIC = 0x00100,
CALIB_SAME_FOCAL_LENGTH = 0x00200,

80
modules/calib3d/src/calibration.cpp
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@ -1319,7 +1319,7 @@ static double cvCalibrateCamera2Internal( const CvMat* objectPoints,
(npoints->rows != 1 && npoints->cols != 1) )
CV_Error( CV_StsUnsupportedFormat,
"the array of point counters must be 1-dimensional integer vector" );
if(flags & CV_CALIB_TILTED_MODEL)
if(flags & CALIB_TILTED_MODEL)
{
//when the tilted sensor model is used the distortion coefficients matrix must have 14 parameters
if (distCoeffs->cols*distCoeffs->rows != 14)
@ -1328,7 +1328,7 @@ static double cvCalibrateCamera2Internal( const CvMat* objectPoints,
else
{
//when the thin prism model is used the distortion coefficients matrix must have 12 parameters
if(flags & CV_CALIB_THIN_PRISM_MODEL)
if(flags & CALIB_THIN_PRISM_MODEL)
if (distCoeffs->cols*distCoeffs->rows != 12)
CV_Error( CV_StsBadArg, "Thin prism model must have 12 parameters in the distortion matrix" );
}
@ -1498,24 +1498,28 @@ static double cvCalibrateCamera2Internal( const CvMat* objectPoints,
if(flags & CALIB_FIX_ASPECT_RATIO)
mask[0] = 0;
if( flags & CV_CALIB_FIX_FOCAL_LENGTH )
if( flags & CALIB_FIX_FOCAL_LENGTH )
mask[0] = mask[1] = 0;
if( flags & CV_CALIB_FIX_PRINCIPAL_POINT )
if( flags & CALIB_FIX_PRINCIPAL_POINT )
mask[2] = mask[3] = 0;
if( flags & CV_CALIB_ZERO_TANGENT_DIST )
if( flags & CALIB_ZERO_TANGENT_DIST )
{
param[6] = param[7] = 0;
mask[6] = mask[7] = 0;
}
if( !(flags & CALIB_RATIONAL_MODEL) )
flags |= CALIB_FIX_K4 + CALIB_FIX_K5 + CALIB_FIX_K6;
if( !(flags & CV_CALIB_THIN_PRISM_MODEL))
if( !(flags & CALIB_THIN_PRISM_MODEL))
flags |= CALIB_FIX_S1_S2_S3_S4;
if( !(flags & CV_CALIB_TILTED_MODEL))
if( !(flags & CALIB_TILTED_MODEL))
flags |= CALIB_FIX_TAUX_TAUY;
mask[ 4] = !(flags & CALIB_FIX_K1);
mask[ 5] = !(flags & CALIB_FIX_K2);
if( flags & CALIB_FIX_TANGENT_DIST )
{
mask[6] = mask[7] = 1;
}
mask[ 8] = !(flags & CALIB_FIX_K3);
mask[ 9] = !(flags & CALIB_FIX_K4);
mask[10] = !(flags & CALIB_FIX_K5);
@ -1817,39 +1821,39 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
cvConvert( points, imagePoints[k] );
cvReshape( imagePoints[k], imagePoints[k], 2, 1 );
if( flags & (CV_CALIB_FIX_INTRINSIC|CV_CALIB_USE_INTRINSIC_GUESS|
CV_CALIB_FIX_ASPECT_RATIO|CV_CALIB_FIX_FOCAL_LENGTH) )
if( flags & (CALIB_FIX_INTRINSIC|CALIB_USE_INTRINSIC_GUESS|
CALIB_FIX_ASPECT_RATIO|CALIB_FIX_FOCAL_LENGTH) )
cvConvert( cameraMatrix, &K[k] );
if( flags & (CV_CALIB_FIX_INTRINSIC|CV_CALIB_USE_INTRINSIC_GUESS|
CV_CALIB_FIX_K1|CV_CALIB_FIX_K2|CV_CALIB_FIX_K3|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5|CV_CALIB_FIX_K6) )
if( flags & (CALIB_FIX_INTRINSIC|CALIB_USE_INTRINSIC_GUESS|
CALIB_FIX_K1|CALIB_FIX_K2|CALIB_FIX_K3|CALIB_FIX_K4|CALIB_FIX_K5|CALIB_FIX_K6) )
{
CvMat tdist = cvMat( distCoeffs->rows, distCoeffs->cols,
CV_MAKETYPE(CV_64F,CV_MAT_CN(distCoeffs->type)), Dist[k].data.db );
cvConvert( distCoeffs, &tdist );
}
if( !(flags & (CV_CALIB_FIX_INTRINSIC|CV_CALIB_USE_INTRINSIC_GUESS)))
if( !(flags & (CALIB_FIX_INTRINSIC|CALIB_USE_INTRINSIC_GUESS)))
{
cvCalibrateCamera2( objectPoints, imagePoints[k],
npoints, imageSize, &K[k], &Dist[k], NULL, NULL, flags );
}
}
if( flags & CV_CALIB_SAME_FOCAL_LENGTH )
if( flags & CALIB_SAME_FOCAL_LENGTH )
{
static const int avg_idx[] = { 0, 4, 2, 5, -1 };
for( k = 0; avg_idx[k] >= 0; k++ )
A[0][avg_idx[k]] = A[1][avg_idx[k]] = (A[0][avg_idx[k]] + A[1][avg_idx[k]])*0.5;
}
if( flags & CV_CALIB_FIX_ASPECT_RATIO )
if( flags & CALIB_FIX_ASPECT_RATIO )
{
for( k = 0; k < 2; k++ )
aspectRatio[k] = A[k][0]/A[k][4];
}
recomputeIntrinsics = (flags & CV_CALIB_FIX_INTRINSIC) == 0;
recomputeIntrinsics = (flags & CALIB_FIX_INTRINSIC) == 0;
err.reset(cvCreateMat( maxPoints*2, 1, CV_64F ));
Je.reset(cvCreateMat( maxPoints*2, 6, CV_64F ));
@ -1873,40 +1877,40 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
if( recomputeIntrinsics )
{
uchar* imask = solver.mask->data.ptr + nparams - NINTRINSIC*2;
if( !(flags & CV_CALIB_RATIONAL_MODEL) )
flags |= CV_CALIB_FIX_K4 | CV_CALIB_FIX_K5 | CV_CALIB_FIX_K6;
if( !(flags & CV_CALIB_THIN_PRISM_MODEL) )
flags |= CV_CALIB_FIX_S1_S2_S3_S4;
if( !(flags & CV_CALIB_TILTED_MODEL) )
flags |= CV_CALIB_FIX_TAUX_TAUY;
if( flags & CV_CALIB_FIX_ASPECT_RATIO )
if( !(flags & CALIB_RATIONAL_MODEL) )
flags |= CALIB_FIX_K4 | CALIB_FIX_K5 | CALIB_FIX_K6;
if( !(flags & CALIB_THIN_PRISM_MODEL) )
flags |= CALIB_FIX_S1_S2_S3_S4;
if( !(flags & CALIB_TILTED_MODEL) )
flags |= CALIB_FIX_TAUX_TAUY;
if( flags & CALIB_FIX_ASPECT_RATIO )
imask[0] = imask[NINTRINSIC] = 0;
if( flags & CV_CALIB_FIX_FOCAL_LENGTH )
if( flags & CALIB_FIX_FOCAL_LENGTH )
imask[0] = imask[1] = imask[NINTRINSIC] = imask[NINTRINSIC+1] = 0;
if( flags & CV_CALIB_FIX_PRINCIPAL_POINT )
if( flags & CALIB_FIX_PRINCIPAL_POINT )
imask[2] = imask[3] = imask[NINTRINSIC+2] = imask[NINTRINSIC+3] = 0;
if( flags & CV_CALIB_ZERO_TANGENT_DIST )
if( flags & CALIB_ZERO_TANGENT_DIST )
imask[6] = imask[7] = imask[NINTRINSIC+6] = imask[NINTRINSIC+7] = 0;
if( flags & CV_CALIB_FIX_K1 )
if( flags & CALIB_FIX_K1 )
imask[4] = imask[NINTRINSIC+4] = 0;
if( flags & CV_CALIB_FIX_K2 )
if( flags & CALIB_FIX_K2 )
imask[5] = imask[NINTRINSIC+5] = 0;
if( flags & CV_CALIB_FIX_K3 )
if( flags & CALIB_FIX_K3 )
imask[8] = imask[NINTRINSIC+8] = 0;
if( flags & CV_CALIB_FIX_K4 )
if( flags & CALIB_FIX_K4 )
imask[9] = imask[NINTRINSIC+9] = 0;
if( flags & CV_CALIB_FIX_K5 )
if( flags & CALIB_FIX_K5 )
imask[10] = imask[NINTRINSIC+10] = 0;
if( flags & CV_CALIB_FIX_K6 )
if( flags & CALIB_FIX_K6 )
imask[11] = imask[NINTRINSIC+11] = 0;
if( flags & CV_CALIB_FIX_S1_S2_S3_S4 )
if( flags & CALIB_FIX_S1_S2_S3_S4 )
{
imask[12] = imask[NINTRINSIC+12] = 0;
imask[13] = imask[NINTRINSIC+13] = 0;
imask[14] = imask[NINTRINSIC+14] = 0;
imask[15] = imask[NINTRINSIC+15] = 0;
}
if( flags & CV_CALIB_FIX_TAUX_TAUY )
if( flags & CALIB_FIX_TAUX_TAUY )
{
imask[16] = imask[NINTRINSIC+16] = 0;
imask[17] = imask[NINTRINSIC+17] = 0;
@ -1977,7 +1981,7 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
for( k = 0; k < 2; k++ )
{
double* iparam = solver.param->data.db + (nimages+1)*6 + k*NINTRINSIC;
if( flags & CV_CALIB_ZERO_TANGENT_DIST )
if( flags & CALIB_ZERO_TANGENT_DIST )
dk[k][2] = dk[k][3] = 0;
iparam[0] = A[k][0]; iparam[1] = A[k][4]; iparam[2] = A[k][2]; iparam[3] = A[k][5];
iparam[4] = dk[k][0]; iparam[5] = dk[k][1]; iparam[6] = dk[k][2];
@ -2027,14 +2031,14 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
dpdf = &dpdf_hdr;
dpdc = &dpdc_hdr;
dpdk = &dpdk_hdr;
if( flags & CV_CALIB_SAME_FOCAL_LENGTH )
if( flags & CALIB_SAME_FOCAL_LENGTH )
{
iparam[NINTRINSIC] = iparam[0];
iparam[NINTRINSIC+1] = iparam[1];
ipparam[NINTRINSIC] = ipparam[0];
ipparam[NINTRINSIC+1] = ipparam[1];
}
if( flags & CV_CALIB_FIX_ASPECT_RATIO )
if( flags & CALIB_FIX_ASPECT_RATIO )
{
iparam[0] = iparam[1]*aspectRatio[0];
iparam[NINTRINSIC] = iparam[NINTRINSIC+1]*aspectRatio[1];
@ -2096,7 +2100,7 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
if( JtJ || JtErr )
cvProjectPoints2( &objpt_i, &om[k], &T[k], &K[k], &Dist[k],
&tmpimagePoints, dpdrot, dpdt, dpdf, dpdc, dpdk,
(flags & CV_CALIB_FIX_ASPECT_RATIO) ? aspectRatio[k] : 0);
(flags & CALIB_FIX_ASPECT_RATIO) ? aspectRatio[k] : 0);
else
cvProjectPoints2( &objpt_i, &om[k], &T[k], &K[k], &Dist[k], &tmpimagePoints );
cvSub( &tmpimagePoints, &imgpt_i[k], &tmpimagePoints );
@ -2372,7 +2376,7 @@ void cvStereoRectify( const CvMat* _cameraMatrix1, const CvMat* _cameraMatrix2,
// For simplicity, set the principal points for both cameras to be the average
// of the two principal points (either one of or both x- and y- coordinates)
if( flags & CV_CALIB_ZERO_DISPARITY )
if( flags & CALIB_ZERO_DISPARITY )
{
cc_new[0].x = cc_new[1].x = (cc_new[0].x + cc_new[1].x)*0.5;
cc_new[0].y = cc_new[1].y = (cc_new[0].y + cc_new[1].y)*0.5;

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