potok/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2026-07-31 00:03:03 +04:00
Code Packages Releases Wiki Activity

Added option to initialize pairs with stereo and fixed related bugs.

Browse Source
This commit is contained in:
Alexander Smorkalov
2025-09-17 13:12:53 +03:00
parent 5185dfbaee
commit 96c2365d5f
2 changed files with 28 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
modules/calib/src/multiview_calibration.cpp
+8 -4
View File
@@ -370,12 +370,16 @@ static void pairwiseStereoCalibration (const std::vector<std::pair<int,int>> &pa
T = -R * Ts_prior[c1] + Ts_prior[c2];
}
// stereoCalibrate tries to overwrite distortion coefficients
Mat dist1 = distortions[c1].clone();
Mat dist2 = distortions[c2].clone();
// image size does not matter since intrinsics are used
if (are_fisheye_cams) {
extrinsic_flags |= CALIB_FIX_INTRINSIC;
fisheye::stereoCalibrate(grid_points, image_points1, image_points2,
Ks[c1], distortions[c1],
Ks[c2], distortions[c2],
Ks[c1], dist1,
Ks[c2], dist2,
Size(), R, T,
extrinsic_flags, criteria);
} else {
@@ -386,8 +390,8 @@ static void pairwiseStereoCalibration (const std::vector<std::pair<int,int>> &pa
extrinsic_flags |= CALIB_THIN_PRISM_MODEL;
stereoCalibrate(grid_points, image_points1, image_points2,
Ks[c1], distortions[c1],
Ks[c2], distortions[c2],
Ks[c1], dist1,
Ks[c2], dist2,
Size(), R, T, noArray(), noArray(), noArray(),
extrinsic_flags, criteria);
}