Chiebot-Mirror
/
opencv
mirror of https://github.com/opencv/opencv.git
8
0
Fork 0
Code Issues Projects Releases Wiki Activity

backport C++ 3d/calibration_base.cpp:5.x to calib3d/calibration_base.cpp:4.x (#26414)

Browse Source 
* Add vanilla calibration_base from 5.x

This is from 55105719dd

* Have the C implementation use the new C++ one.
pull/26435/head
Vincent Rabaud 3 weeks ago committed by GitHub
parent 5817b562b3
commit 6873bdee70
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
6 changed files with 1698 additions and 1957 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 65
      modules/calib3d/src/calib3d_c_api.h
  2. 1924
      modules/calib3d/src/calibration.cpp
  3. 1644
      modules/calib3d/src/calibration_base.cpp
  4. 1
      modules/calib3d/src/checkchessboard.cpp
  5. 13
      modules/calib3d/src/precomp.hpp
  6. 8
      modules/calib3d/src/solvepnp.cpp

65
modules/calib3d/src/calib3d_c_api.h
Unescape View File

@ -111,23 +111,6 @@ void cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2,
void cvCorrectMatches(CvMat* F, CvMat* points1, CvMat* points2,
CvMat* new_points1, CvMat* new_points2);
/* Computes the optimal new camera matrix according to the free scaling parameter alpha:
alpha=0 - only valid pixels will be retained in the undistorted image
alpha=1 - all the source image pixels will be retained in the undistorted image
*/
void cvGetOptimalNewCameraMatrix( const CvMat* camera_matrix,
const CvMat* dist_coeffs,
CvSize image_size, double alpha,
CvMat* new_camera_matrix,
CvSize new_imag_size CV_DEFAULT(cvSize(0,0)),
CvRect* valid_pixel_ROI CV_DEFAULT(0),
int center_principal_point CV_DEFAULT(0));
/* Converts rotation vector to rotation matrix or vice versa */
int cvRodrigues2( const CvMat* src, CvMat* dst,
CvMat* jacobian CV_DEFAULT(0) );
/* Finds perspective transformation between the object plane and image (view) plane */
int cvFindHomography( const CvMat* src_points,
const CvMat* dst_points,
@ -138,54 +121,6 @@ int cvFindHomography( const CvMat* src_points,
int maxIters CV_DEFAULT(2000),
double confidence CV_DEFAULT(0.995));
/* Computes RQ decomposition for 3x3 matrices */
void cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
CvMat *matrixQx CV_DEFAULT(NULL),
CvMat *matrixQy CV_DEFAULT(NULL),
CvMat *matrixQz CV_DEFAULT(NULL),
CvPoint3D64f *eulerAngles CV_DEFAULT(NULL));
/* Computes projection matrix decomposition */
void cvDecomposeProjectionMatrix( const CvMat *projMatr, CvMat *calibMatr,
CvMat *rotMatr, CvMat *posVect,
CvMat *rotMatrX CV_DEFAULT(NULL),
CvMat *rotMatrY CV_DEFAULT(NULL),
CvMat *rotMatrZ CV_DEFAULT(NULL),
CvPoint3D64f *eulerAngles CV_DEFAULT(NULL));
/* Computes d(AB)/dA and d(AB)/dB */
void cvCalcMatMulDeriv( const CvMat* A, const CvMat* B, CvMat* dABdA, CvMat* dABdB );
/* Computes r3 = rodrigues(rodrigues(r2)*rodrigues(r1)),
t3 = rodrigues(r2)*t1 + t2 and the respective derivatives */
void cvComposeRT( const CvMat* _rvec1, const CvMat* _tvec1,
const CvMat* _rvec2, const CvMat* _tvec2,
CvMat* _rvec3, CvMat* _tvec3,
CvMat* dr3dr1 CV_DEFAULT(0), CvMat* dr3dt1 CV_DEFAULT(0),
CvMat* dr3dr2 CV_DEFAULT(0), CvMat* dr3dt2 CV_DEFAULT(0),
CvMat* dt3dr1 CV_DEFAULT(0), CvMat* dt3dt1 CV_DEFAULT(0),
CvMat* dt3dr2 CV_DEFAULT(0), CvMat* dt3dt2 CV_DEFAULT(0) );
/* Projects object points to the view plane using
the specified extrinsic and intrinsic camera parameters */
void cvProjectPoints2( const CvMat* object_points, const CvMat* rotation_vector,
const CvMat* translation_vector, const CvMat* camera_matrix,
const CvMat* distortion_coeffs, CvMat* image_points,
CvMat* dpdrot CV_DEFAULT(NULL), CvMat* dpdt CV_DEFAULT(NULL),
CvMat* dpdf CV_DEFAULT(NULL), CvMat* dpdc CV_DEFAULT(NULL),
CvMat* dpddist CV_DEFAULT(NULL),
double aspect_ratio CV_DEFAULT(0));
/* Finds extrinsic camera parameters from
a few known corresponding point pairs and intrinsic parameters */
void cvFindExtrinsicCameraParams2( const CvMat* object_points,
const CvMat* image_points,
const CvMat* camera_matrix,
const CvMat* distortion_coeffs,
CvMat* rotation_vector,
CvMat* translation_vector,
int use_extrinsic_guess CV_DEFAULT(0) );
/* Computes initial estimate of the intrinsic camera parameters
in case of planar calibration target (e.g. chessboard) */
void cvInitIntrinsicParams2D( const CvMat* object_points,

1924
modules/calib3d/src/calibration.cpp
View File

File diff suppressed because it is too large Load Diff

1644
modules/calib3d/src/calibration_base.cpp
View File

File diff suppressed because it is too large Load Diff

1
modules/calib3d/src/checkchessboard.cpp
Unescape View File

@ -40,7 +40,6 @@
//M*/
#include "precomp.hpp"
#include "opencv2/imgproc/imgproc_c.h"
#include "calib3d_c_api.h"
#include <vector>

13
modules/calib3d/src/precomp.hpp
Unescape View File

@ -137,6 +137,19 @@ static inline bool haveCollinearPoints( const Mat& m, int count )
return false;
}
void findExtrinsicCameraParams2( const Mat& objectPoints,
const Mat& imagePoints, const Mat& A,
const Mat& distCoeffs, Mat& rvec, Mat& tvec,
int useExtrinsicGuess );
void projectPoints( InputArray objectPoints,
InputArray rvec, InputArray tvec,
InputArray cameraMatrix, InputArray distCoeffs,
OutputArray imagePoints, OutputArray dpdr,
OutputArray dpdt, OutputArray dpdf=noArray(),
OutputArray dpdc=noArray(), OutputArray dpdk=noArray(),
OutputArray dpdo=noArray(), double aspectRatio=0.);
} // namespace cv
int checkChessboardBinary(const cv::Mat & img, const cv::Size & size);

8
modules/calib3d/src/solvepnp.cpp
Unescape View File

@ -48,7 +48,6 @@
#include "ap3p.h"
#include "ippe.hpp"
#include "sqpnp.hpp"
#include "calib3d_c_api.h"
#include "usac.hpp"
@ -892,12 +891,7 @@ int solvePnPGeneric( InputArray _opoints, InputArray _ipoints,
tvec.create(3, 1, CV_64FC1);
}
CvMat c_objectPoints = cvMat(opoints), c_imagePoints = cvMat(ipoints);
CvMat c_cameraMatrix = cvMat(cameraMatrix), c_distCoeffs = cvMat(distCoeffs);
CvMat c_rvec = cvMat(rvec), c_tvec = cvMat(tvec);
cvFindExtrinsicCameraParams2(&c_objectPoints, &c_imagePoints, &c_cameraMatrix,
(c_distCoeffs.rows && c_distCoeffs.cols) ? &c_distCoeffs : 0,
&c_rvec, &c_tvec, useExtrinsicGuess );
findExtrinsicCameraParams2(opoints, ipoints, cameraMatrix, distCoeffs, rvec, tvec, useExtrinsicGuess);
vec_rvecs.push_back(rvec);
vec_tvecs.push_back(tvec);

Write Preview
Loading…
Cancel
Save