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Merge pull request #23150 from savuor:port5_stereo_calib_per_obj

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### Changes

* Port of #22519 to 5.x
* Distortion coefficients were not copied properly, fixed
* Minor coding style chages

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [x] The feature is well documented and sample code can be built with the project CMake
This commit is contained in:
Rostislav Vasilikhin
2023-02-02 14:44:28 +01:00
committed by GitHub
parent 29dc07b1f3
commit 23dec329b4
5 changed files with 271 additions and 118 deletions
Download Patch File Download Diff File Expand all files Collapse all files
modules/calib/src/fisheye.cpp
+34 -4
View File
@@ -887,6 +887,15 @@ 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();
@@ -1102,12 +1111,12 @@ double cv::fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayO
rms = sqrt(rms);
_K1 = Matx33d(intrinsicLeft.f[0], intrinsicLeft.f[0] * intrinsicLeft.alpha, intrinsicLeft.c[0],
0, intrinsicLeft.f[1], intrinsicLeft.c[1],
0, 0, 1);
0, intrinsicLeft.f[1], intrinsicLeft.c[1],
0, 0, 1);
_K2 = Matx33d(intrinsicRight.f[0], intrinsicRight.f[0] * intrinsicRight.alpha, intrinsicRight.c[0],
0, intrinsicRight.f[1], intrinsicRight.c[1],
0, 0, 1);
0, intrinsicRight.f[1], intrinsicRight.c[1],
0, 0, 1);
Mat _R;
Rodrigues(omcur, _R);
@@ -1118,6 +1127,27 @@ double cv::fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayO
if (D2.needed()) 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()) 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);
rvecs1[i].copyTo(rvecs.getMat(i));
tvecs1[i].copyTo(tvecs.getMat(i));
}
}
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;
}