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Fisheye calibration methods available now in python

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pull/3589/head
Josep Bosch 10 years ago
parent 28833421ae
commit 75c99d65a5
2 changed files with 24 additions and 12 deletions
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  1. 20
      modules/calib3d/include/opencv2/calib3d.hpp
  2. 16
      modules/calib3d/src/fisheye.cpp

20
modules/calib3d/include/opencv2/calib3d.hpp
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@ -1651,7 +1651,7 @@ namespace fisheye
InputArray K, InputArray D, double alpha = 0, OutputArray jacobian = noArray());
/** @overload */
CV_EXPORTS void projectPoints(InputArray objectPoints, OutputArray imagePoints, InputArray rvec, InputArray tvec,
CV_EXPORTS_W void projectPoints(InputArray objectPoints, OutputArray imagePoints, InputArray rvec, InputArray tvec,
InputArray K, InputArray D, double alpha = 0, OutputArray jacobian = noArray());
/** @brief Distorts 2D points using fisheye model.
@ -1663,7 +1663,7 @@ namespace fisheye
@param alpha The skew coefficient.
@param distorted Output array of image points, 1xN/Nx1 2-channel, or vector\<Point2f\> .
*/
CV_EXPORTS void distortPoints(InputArray undistorted, OutputArray distorted, InputArray K, InputArray D, double alpha = 0);
CV_EXPORTS_W void distortPoints(InputArray undistorted, OutputArray distorted, InputArray K, InputArray D, double alpha = 0);
/** @brief Undistorts 2D points using fisheye model
@ -1676,7 +1676,7 @@ namespace fisheye
@param P New camera matrix (3x3) or new projection matrix (3x4)
@param undistorted Output array of image points, 1xN/Nx1 2-channel, or vector\<Point2f\> .
*/
CV_EXPORTS void undistortPoints(InputArray distorted, OutputArray undistorted,
CV_EXPORTS_W void undistortPoints(InputArray distorted, OutputArray undistorted,
InputArray K, InputArray D, InputArray R = noArray(), InputArray P = noArray());
/** @brief Computes undistortion and rectification maps for image transform by cv::remap(). If D is empty zero
@ -1693,7 +1693,7 @@ namespace fisheye
@param map1 The first output map.
@param map2 The second output map.
*/
CV_EXPORTS void initUndistortRectifyMap(InputArray K, InputArray D, InputArray R, InputArray P,
CV_EXPORTS_W void initUndistortRectifyMap(InputArray K, InputArray D, InputArray R, InputArray P,
const cv::Size& size, int m1type, OutputArray map1, OutputArray map2);
/** @brief Transforms an image to compensate for fisheye lens distortion.
@ -1724,7 +1724,7 @@ namespace fisheye
![image](pics/fisheye_undistorted.jpg)
*/
CV_EXPORTS void undistortImage(InputArray distorted, OutputArray undistorted,
CV_EXPORTS_W void undistortImage(InputArray distorted, OutputArray undistorted,
InputArray K, InputArray D, InputArray Knew = cv::noArray(), const Size& new_size = Size());
/** @brief Estimates new camera matrix for undistortion or rectification.
@ -1740,7 +1740,7 @@ namespace fisheye
@param new_size
@param fov_scale Divisor for new focal length.
*/
CV_EXPORTS void estimateNewCameraMatrixForUndistortRectify(InputArray K, InputArray D, const Size &image_size, InputArray R,
CV_EXPORTS_W void estimateNewCameraMatrixForUndistortRectify(InputArray K, InputArray D, const Size &image_size, InputArray R,
OutputArray P, double balance = 0.0, const Size& new_size = Size(), double fov_scale = 1.0);
/** @brief Performs camera calibaration
@ -1774,7 +1774,7 @@ namespace fisheye
zero.
@param criteria Termination criteria for the iterative optimization algorithm.
*/
CV_EXPORTS double calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, const Size& image_size,
CV_EXPORTS_W double calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, const Size& image_size,
InputOutputArray K, InputOutputArray D, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags = 0,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON));
@ -1808,7 +1808,7 @@ namespace fisheye
length. Balance is in range of [0, 1].
@param fov_scale Divisor for new focal length.
*/
CV_EXPORTS void stereoRectify(InputArray K1, InputArray D1, InputArray K2, InputArray D2, const Size &imageSize, InputArray R, InputArray tvec,
CV_EXPORTS_W void stereoRectify(InputArray K1, InputArray D1, InputArray K2, InputArray D2, const Size &imageSize, InputArray R, InputArray tvec,
OutputArray R1, OutputArray R2, OutputArray P1, OutputArray P2, OutputArray Q, int flags, const Size &newImageSize = Size(),
double balance = 0.0, double fov_scale = 1.0);
@ -1844,9 +1844,9 @@ namespace fisheye
zero.
@param criteria Termination criteria for the iterative optimization algorithm.
*/
CV_EXPORTS double stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
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 = CALIB_FIX_INTRINSIC,
OutputArray R, OutputArray T, int flags = fisheye::CALIB_FIX_INTRINSIC,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON));
//! @} calib3d_fisheye

16
modules/calib3d/src/fisheye.cpp
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@ -794,8 +794,20 @@ double cv::fisheye::calibrate(InputArrayOfArrays objectPoints, InputArrayOfArray
if (K.needed()) cv::Mat(_K).convertTo(K, K.empty() ? CV_64FC1 : K.type());
if (D.needed()) cv::Mat(finalParam.k).convertTo(D, D.empty() ? CV_64FC1 : D.type());
if (rvecs.needed()) cv::Mat(omc).convertTo(rvecs, rvecs.empty() ? CV_64FC3 : rvecs.type());
if (tvecs.needed()) cv::Mat(Tc).convertTo(tvecs, tvecs.empty() ? CV_64FC3 : tvecs.type());
if (rvecs.kind()==_InputArray::STD_VECTOR_MAT)
{
int i;
for( i = 0; i < (int)objectPoints.total(); i++ )
{
rvecs.getMat(i)=omc[i];
tvecs.getMat(i)=Tc[i];
}
}
else
{
if (rvecs.needed()) cv::Mat(omc).convertTo(rvecs, rvecs.empty() ? CV_64FC3 : rvecs.type());
if (tvecs.needed()) cv::Mat(Tc).convertTo(tvecs, tvecs.empty() ? CV_64FC3 : tvecs.type());
}
return rms;
}

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