From 562c15cbe9463ed4ce4042846cdcffad0f11bb9c Mon Sep 17 00:00:00 2001
From: Jeff McBride <mcbridejc@gmail.com>
Date: Tue, 12 Apr 2016 01:43:41 +0000
Subject: [PATCH] Don't assume all images have the same number of calibration
points
Cast to (int) to avoid warnings
Add test for different points number case in fisheye calibration function
---
modules/calib3d/src/fisheye.cpp | 12 ++++++--
modules/calib3d/test/test_fisheye.cpp | 42 +++++++++++++++++++++++++++
2 files changed, 51 insertions(+), 3 deletions(-)
diff --git a/modules/calib3d/src/fisheye.cpp b/modules/calib3d/src/fisheye.cpp
index 80722f2e98..45fe230db9 100644
--- a/modules/calib3d/src/fisheye.cpp
+++ b/modules/calib3d/src/fisheye.cpp
@@ -1463,8 +1463,13 @@ void cv::internal::EstimateUncertainties(InputArrayOfArrays objectPoints, InputA
CV_Assert(!omc.empty() && omc.type() == CV_64FC3);
CV_Assert(!Tc.empty() && Tc.type() == CV_64FC3);
- Mat ex((int)(objectPoints.getMat(0).total() * objectPoints.total()), 1, CV_64FC2);
-
+ int total_ex = 0;
+ for (int image_idx = 0; image_idx < (int)objectPoints.total(); ++image_idx)
+ {
+ total_ex += (int)objectPoints.getMat(image_idx).total();
+ }
+ Mat ex(total_ex, 1, CV_64FC2);
+ int insert_idx = 0;
for (int image_idx = 0; image_idx < (int)objectPoints.total(); ++image_idx)
{
Mat image, object;
@@ -1478,7 +1483,8 @@ void cv::internal::EstimateUncertainties(InputArrayOfArrays objectPoints, InputA
std::vector<Point2d> x;
projectPoints(object, x, om, T, params, noArray());
Mat ex_ = (imT ? image.t() : image) - Mat(x);
- ex_.copyTo(ex.rowRange(ex_.rows * image_idx, ex_.rows * (image_idx + 1)));
+ ex_.copyTo(ex.rowRange(insert_idx, insert_idx + ex_.rows));
+ insert_idx += ex_.rows;
}
meanStdDev(ex, noArray(), std_err);
diff --git a/modules/calib3d/test/test_fisheye.cpp b/modules/calib3d/test/test_fisheye.cpp
index 006f378912..9ad8c64d91 100644
--- a/modules/calib3d/test/test_fisheye.cpp
+++ b/modules/calib3d/test/test_fisheye.cpp
@@ -570,6 +570,48 @@ TEST_F(fisheyeTest, stereoCalibrateFixIntrinsic)
EXPECT_MAT_NEAR(theT, T_correct, 1e-10);
}
+TEST_F(fisheyeTest, CalibrationWithDifferentPointsNumber)
+{
+ const int n_images = 2;
+
+ std::vector<std::vector<cv::Point2d> > imagePoints(n_images);
+ std::vector<std::vector<cv::Point3d> > objectPoints(n_images);
+
+ std::vector<cv::Point2d> imgPoints1(10);
+ std::vector<cv::Point2d> imgPoints2(15);
+
+ std::vector<cv::Point3d> objectPoints1(imgPoints1.size());
+ std::vector<cv::Point3d> objectPoints2(imgPoints2.size());
+
+ for (size_t i = 0; i < imgPoints1.size(); i++)
+ {
+ imgPoints1[i] = cv::Point2d((double)i, (double)i);
+ objectPoints1[i] = cv::Point3d((double)i, (double)i, 10.0);
+ }
+
+ for (size_t i = 0; i < imgPoints2.size(); i++)
+ {
+ imgPoints2[i] = cv::Point2d(i + 0.5, i + 0.5);
+ objectPoints2[i] = cv::Point3d(i + 0.5, i + 0.5, 10.0);
+ }
+
+ imagePoints[0] = imgPoints1;
+ imagePoints[1] = imgPoints2;
+ objectPoints[0] = objectPoints1;
+ objectPoints[1] = objectPoints2;
+
+ cv::Matx33d theK = cv::Matx33d::eye();
+ cv::Vec4d theD;
+
+ int flag = 0;
+ flag |= cv::fisheye::CALIB_RECOMPUTE_EXTRINSIC;
+ flag |= cv::fisheye::CALIB_USE_INTRINSIC_GUESS;
+ flag |= cv::fisheye::CALIB_FIX_SKEW;
+
+ cv::fisheye::calibrate(objectPoints, imagePoints, cv::Size(100, 100), theK, theD,
+ cv::noArray(), cv::noArray(), flag, cv::TermCriteria(3, 20, 1e-6));
+}
+
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/// fisheyeTest::