Extended stereoCalibrate function for fisheye model to return per view rotation and translation vectors between the calibration object coordinate space and the coordinate space of the first camera of the stereo pair. Added overloaded versions of the function for downward compatibility.

modules/calib3d/include/opencv2/calib3d.hpp

@@ -3995,6 +3995,15 @@ optimization. It is the \f$max(width,height)/\pi\f$ or the provided \f$f_x\f$, \
     @param imageSize Size of the image used only to initialize camera intrinsic matrix.
     @param R Output rotation matrix between the 1st and the 2nd camera coordinate systems.
     @param T Output translation vector between the coordinate systems of the cameras.
+    @param rvecs Output vector of rotation vectors ( @ref Rodrigues ) estimated for each pattern view in the
+    coordinate system of the first camera of the stereo pair (e.g. std::vector<cv::Mat>). More in detail, each
+    i-th rotation vector together with the corresponding i-th translation vector (see the next output parameter
+    description) brings the calibration pattern from the object coordinate space (in which object points are
+    specified) to the camera coordinate space of the first camera of the stereo pair. In more technical terms,
+    the tuple of the i-th rotation and translation vector performs a change of basis from object coordinate space
+    to camera coordinate space of the first camera of the stereo pair.
+    @param tvecs Output vector of translation vectors estimated for each pattern view, see parameter description
+    of previous output parameter ( rvecs ).
     @param flags Different flags that may be zero or a combination of the following values:
     -    @ref fisheye::CALIB_FIX_INTRINSIC  Fix K1, K2? and D1, D2? so that only R, T matrices
     are estimated.
@@ -4009,6 +4018,12 @@ optimization. It is the \f$max(width,height)/\pi\f$ or the provided \f$f_x\f$, \
     zero.
     @param criteria Termination criteria for the iterative optimization algorithm.
      */
+    CV_EXPORTS_W double stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
+                                  InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize,
+                                  OutputArray R, OutputArray T, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags = fisheye::CALIB_FIX_INTRINSIC,
+                                  TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON));
+
+    /// @overload
     CV_EXPORTS_W double stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
                                   InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize,
                                   OutputArray R, OutputArray T, int flags = fisheye::CALIB_FIX_INTRINSIC,

modules/calib3d/src/fisheye.cpp

@@ -885,6 +885,13 @@ double cv::fisheye::calibrate(InputArrayOfArrays objectPoints, InputArrayOfArray
 double cv::fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
                                     InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize,
                                     OutputArray R, OutputArray T, int flags, TermCriteria criteria)
+{
+    return cv::fisheye::stereoCalibrate(objectPoints, imagePoints1, imagePoints2, K1, D1, K2, D2, imageSize, R, T, noArray(), noArray(), flags, criteria);
+}
+
+double cv::fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
+                                    InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize,
+                                    OutputArray R, OutputArray T, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags, TermCriteria criteria)
 {
     CV_INSTRUMENT_REGION();
 
@@ -1116,6 +1123,27 @@ double cv::fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayO
     if (D2.needed()) cv::Mat(intrinsicRight.k).convertTo(D2, D2.empty() ? CV_64FC1 : D2.type());
     if (R.needed()) _R.convertTo(R, R.empty() ? CV_64FC1 : R.type());
     if (T.needed()) cv::Mat(Tcur).convertTo(T, T.empty() ? CV_64FC1 : T.type());
+    if (rvecs.isMatVector())
+    {
+        if(rvecs.empty())
+            rvecs.create(n_images, 1, CV_64FC3);
+
+        if(tvecs.empty())
+            tvecs.create(n_images, 1, CV_64FC3);
+
+        for(int i = 0; i < n_images; i++ )
+        {
+            rvecs.create(3, 1, CV_64F, i, true);
+            tvecs.create(3, 1, CV_64F, i, true);
+            memcpy(rvecs.getMat(i).ptr(), rvecs1[i].val, sizeof(Vec3d));
+            memcpy(tvecs.getMat(i).ptr(), tvecs1[i].val, sizeof(Vec3d));
+        }
+    }
+    else
+    {
+        if (rvecs.needed()) cv::Mat(rvecs1).convertTo(rvecs, rvecs.empty() ? CV_64FC3 : rvecs.type());
+        if (tvecs.needed()) cv::Mat(tvecs1).convertTo(tvecs, tvecs.empty() ? CV_64FC3 : tvecs.type());
+    }
 
     return rms;
 }