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@ -1363,7 +1363,7 @@ CV_IMPL void cvInitIntrinsicParams2D( const CvMat* objectPoints, |
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{ |
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Ptr<CvMat> matA, _b, _allH, _allK; |
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int i, j, pos, nimages, total, ni = 0; |
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int i, j, pos, nimages, ni = 0; |
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double a[9] = { 0, 0, 0, 0, 0, 0, 0, 0, 1 }; |
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double H[9], f[2]; |
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CvMat _a = cvMat( 3, 3, CV_64F, a ); |
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@ -1389,8 +1389,6 @@ CV_IMPL void cvInitIntrinsicParams2D( const CvMat* objectPoints, |
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a[5] = (imageSize.height - 1)*0.5; |
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_allH = cvCreateMat( nimages, 9, CV_64F ); |
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total = cvRound(cvSum(npoints).val[0]); |
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// extract vanishing points in order to obtain initial value for the focal length
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for( i = 0, pos = 0; i < nimages; i++, pos += ni ) |
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{ |
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@ -2136,7 +2134,7 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1 |
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for( k = 0; k < 2; k++ ) |
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{ |
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double maxErr, l2err; |
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double l2err; |
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imgpt_i[k] = cvMat(1, ni, CV_64FC2, imagePoints[k]->data.db + ofs*2); |
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if( JtJ || JtErr ) |
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@ -2148,7 +2146,6 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1 |
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cvSub( &tmpimagePoints, &imgpt_i[k], &tmpimagePoints ); |
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l2err = cvNorm( &tmpimagePoints, 0, CV_L2 ); |
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maxErr = cvNorm( &tmpimagePoints, 0, CV_C ); |
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if( JtJ || JtErr ) |
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{ |
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