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Moved irrelevant tests and functions from calib module to 3d.

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This commit is contained in:
Alexander Smorkalov
2026-04-14 13:26:35 +03:00
parent 66e994d839
commit 99fc573913
6 changed files with 1464 additions and 1047 deletions
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modules/3d/include/opencv2/3d.hpp
+26
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@@ -2412,6 +2412,32 @@ float initWideAngleProjMap(InputArray cameraMatrix, InputArray distCoeffs,
m1type, map1, map2, (UndistortTypes)projType, alpha);
}
/** @brief Computes useful camera characteristics from the camera intrinsic matrix.
*
* @param cameraMatrix Input camera intrinsic matrix that can be estimated by #calibrateCamera or
* #stereoCalibrate .
* @param imageSize Input image size in pixels.
* @param apertureWidth Physical width in mm of the sensor.
* @param apertureHeight Physical height in mm of the sensor.
* @param fovx Output field of view in degrees along the horizontal sensor axis.
* @param fovy Output field of view in degrees along the vertical sensor axis.
* @param focalLength Focal length of the lens in mm.
* @param principalPoint Principal point in mm.
* @param aspectRatio \f$f_y/f_x\f$
*
* The function computes various useful camera characteristics from the previously estimated camera
* matrix.
*
* @note
* Do keep in mind that the unity measure 'mm' stands for whatever unit of measure one chooses for
* the chessboard pitch (it can thus be any value).
*/
CV_EXPORTS_W void calibrationMatrixValues( InputArray cameraMatrix, Size imageSize,
double apertureWidth, double apertureHeight,
CV_OUT double& fovx, CV_OUT double& fovy,
CV_OUT double& focalLength, CV_OUT Point2d& principalPoint,
CV_OUT double& aspectRatio );
/** @brief Returns the default new camera matrix.
The function returns the camera matrix that is either an exact copy of the input cameraMatrix (when
modules/3d/src/undistort.dispatch.cpp
+40
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@@ -66,6 +66,46 @@ Mat getDefaultNewCameraMatrix( InputArray _cameraMatrix, Size imgsize,
return newCameraMatrix;
}
void calibrationMatrixValues( InputArray _cameraMatrix, Size imageSize,
double apertureWidth, double apertureHeight,
double& fovx, double& fovy, double& focalLength,
Point2d& principalPoint, double& aspectRatio )
{
CV_INSTRUMENT_REGION();
if(_cameraMatrix.size() != Size(3, 3))
CV_Error(cv::Error::StsUnmatchedSizes, "Size of cameraMatrix must be 3x3!");
Matx33d A;
_cameraMatrix.getMat().convertTo(A, CV_64F);
CV_DbgAssert(imageSize.width != 0 && imageSize.height != 0 && A(0, 0) != 0.0 && A(1, 1) != 0.0);
/* Calculate pixel aspect ratio. */
aspectRatio = A(1, 1) / A(0, 0);
/* Calculate number of pixel per realworld unit. */
double mx, my;
if(apertureWidth != 0.0 && apertureHeight != 0.0) {
mx = imageSize.width / apertureWidth;
my = imageSize.height / apertureHeight;
} else {
mx = 1.0;
my = aspectRatio;
}
/* Calculate fovx and fovy. */
fovx = atan2(A(0, 2), A(0, 0)) + atan2(imageSize.width - A(0, 2), A(0, 0));
fovy = atan2(A(1, 2), A(1, 1)) + atan2(imageSize.height - A(1, 2), A(1, 1));
fovx *= 180.0 / CV_PI;
fovy *= 180.0 / CV_PI;
/* Calculate focal length. */
focalLength = A(0, 0) / mx;
/* Calculate principle point. */
principalPoint = Point2d(A(0, 2) / mx, A(1, 2) / my);
}
static Ptr<ParallelLoopBody> getInitUndistortRectifyMapComputer(Size _size, Mat &_map1, Mat &_map2, int _m1type,
const double* _ir, Matx33d &_matTilt,
double _u0, double _v0, double _fx, double _fy,
modules/3d/test/test_cameras.cpp
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modules/calib/include/opencv2/calib.hpp
-26
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@@ -1051,32 +1051,6 @@ CV_EXPORTS_W double calibrateCameraRO( InputArrayOfArrays objectPoints,
int flags = 0, TermCriteria criteria = TermCriteria(
TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON) );
/** @brief Computes useful camera characteristics from the camera intrinsic matrix.
@param cameraMatrix Input camera intrinsic matrix that can be estimated by #calibrateCamera or
#stereoCalibrate .
@param imageSize Input image size in pixels.
@param apertureWidth Physical width in mm of the sensor.
@param apertureHeight Physical height in mm of the sensor.
@param fovx Output field of view in degrees along the horizontal sensor axis.
@param fovy Output field of view in degrees along the vertical sensor axis.
@param focalLength Focal length of the lens in mm.
@param principalPoint Principal point in mm.
@param aspectRatio \f$f_y/f_x\f$
The function computes various useful camera characteristics from the previously estimated camera
matrix.
@note
Do keep in mind that the unity measure 'mm' stands for whatever unit of measure one chooses for
the chessboard pitch (it can thus be any value).
*/
CV_EXPORTS_W void calibrationMatrixValues( InputArray cameraMatrix, Size imageSize,
double apertureWidth, double apertureHeight,
CV_OUT double& fovx, CV_OUT double& fovy,
CV_OUT double& focalLength, CV_OUT Point2d& principalPoint,
CV_OUT double& aspectRatio );
/** @brief Calibrates a stereo camera set up. This function finds the intrinsic parameters
for each of the two cameras and the extrinsic parameters between the two cameras.
modules/calib/src/calibration.cpp
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@@ -3014,47 +3014,6 @@ double calibrateCameraRO(InputArrayOfArrays _objectPoints,
return reprojErr;
}
void calibrationMatrixValues( InputArray _cameraMatrix, Size imageSize,
double apertureWidth, double apertureHeight,
double& fovx, double& fovy, double& focalLength,
Point2d& principalPoint, double& aspectRatio )
{
CV_INSTRUMENT_REGION();
if(_cameraMatrix.size() != Size(3, 3))
CV_Error(cv::Error::StsUnmatchedSizes, "Size of cameraMatrix must be 3x3!");
Matx33d A;
_cameraMatrix.getMat().convertTo(A, CV_64F);
CV_DbgAssert(imageSize.width != 0 && imageSize.height != 0 && A(0, 0) != 0.0 && A(1, 1) != 0.0);
/* Calculate pixel aspect ratio. */
aspectRatio = A(1, 1) / A(0, 0);
/* Calculate number of pixel per realworld unit. */
double mx, my;
if(apertureWidth != 0.0 && apertureHeight != 0.0) {
mx = imageSize.width / apertureWidth;
my = imageSize.height / apertureHeight;
} else {
mx = 1.0;
my = aspectRatio;
}
/* Calculate fovx and fovy. */
fovx = atan2(A(0, 2), A(0, 0)) + atan2(imageSize.width - A(0, 2), A(0, 0));
fovy = atan2(A(1, 2), A(1, 1)) + atan2(imageSize.height - A(1, 2), A(1, 1));
fovx *= 180.0 / CV_PI;
fovy *= 180.0 / CV_PI;
/* Calculate focal length. */
focalLength = A(0, 0) / mx;
/* Calculate principle point. */
principalPoint = Point2d(A(0, 2) / mx, A(1, 2) / my);
}
double stereoCalibrate( InputArrayOfArrays _objectPoints,
InputArrayOfArrays _imagePoints1,
InputArrayOfArrays _imagePoints2,
modules/calib/test/test_cameracalibration.cpp
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