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Merge remote-tracking branch 'origin/3.4' into merge-3.4

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This commit is contained in:
Alexander Smorkalov
2023-04-20 16:44:22 +03:00
parent 4c06a721ef fd8b346c3e
commit e4a29d93fe
26 changed files with 336 additions and 227 deletions
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modules/calib3d/src/calibration.cpp
+16 -16
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@@ -2517,28 +2517,28 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
static void
icvGetRectangles( const CvMat* cameraMatrix, const CvMat* distCoeffs,
const CvMat* R, const CvMat* newCameraMatrix, CvSize imgSize,
cv::Rect_<float>& inner, cv::Rect_<float>& outer )
cv::Rect_<double>& inner, cv::Rect_<double>& outer )
{
const int N = 9;
int x, y, k;
cv::Ptr<CvMat> _pts(cvCreateMat(1, N*N, CV_32FC2));
CvPoint2D32f* pts = (CvPoint2D32f*)(_pts->data.ptr);
cv::Ptr<CvMat> _pts(cvCreateMat(1, N*N, CV_64FC2));
CvPoint2D64f* pts = (CvPoint2D64f*)(_pts->data.ptr);
for( y = k = 0; y < N; y++ )
for( x = 0; x < N; x++ )
pts[k++] = cvPoint2D32f((float)x*imgSize.width/(N-1),
(float)y*imgSize.height/(N-1));
pts[k++] = cvPoint2D64f((double)x*(imgSize.width-1)/(N-1),
(double)y*(imgSize.height-1)/(N-1));
cvUndistortPoints(_pts, _pts, cameraMatrix, distCoeffs, R, newCameraMatrix);
float iX0=-FLT_MAX, iX1=FLT_MAX, iY0=-FLT_MAX, iY1=FLT_MAX;
float oX0=FLT_MAX, oX1=-FLT_MAX, oY0=FLT_MAX, oY1=-FLT_MAX;
double iX0=-FLT_MAX, iX1=FLT_MAX, iY0=-FLT_MAX, iY1=FLT_MAX;
double oX0=FLT_MAX, oX1=-FLT_MAX, oY0=FLT_MAX, oY1=-FLT_MAX;
// find the inscribed rectangle.
// the code will likely not work with extreme rotation matrices (R) (>45%)
for( y = k = 0; y < N; y++ )
for( x = 0; x < N; x++ )
{
CvPoint2D32f p = pts[k++];
CvPoint2D64f p = pts[k++];
oX0 = MIN(oX0, p.x);
oX1 = MAX(oX1, p.x);
oY0 = MIN(oY0, p.y);
@@ -2553,8 +2553,8 @@ icvGetRectangles( const CvMat* cameraMatrix, const CvMat* distCoeffs,
if( y == N-1 )
iY1 = MIN(iY1, p.y);
}
inner = cv::Rect_<float>(iX0, iY0, iX1-iX0, iY1-iY0);
outer = cv::Rect_<float>(oX0, oY0, oX1-oX0, oY1-oY0);
inner = cv::Rect_<double>(iX0, iY0, iX1-iX0, iY1-iY0);
outer = cv::Rect_<double>(oX0, oY0, oX1-oX0, oY1-oY0);
}
@@ -2567,7 +2567,7 @@ void cvStereoRectify( const CvMat* _cameraMatrix1, const CvMat* _cameraMatrix2,
{
double _om[3], _t[3] = {0}, _uu[3]={0,0,0}, _r_r[3][3], _pp[3][4];
double _ww[3], _wr[3][3], _z[3] = {0,0,0}, _ri[3][3];
cv::Rect_<float> inner1, inner2, outer1, outer2;
cv::Rect_<double> inner1, inner2, outer1, outer2;
CvMat om = cvMat(3, 1, CV_64F, _om);
CvMat t = cvMat(3, 1, CV_64F, _t);
@@ -2774,7 +2774,7 @@ void cvGetOptimalNewCameraMatrix( const CvMat* cameraMatrix, const CvMat* distCo
CvMat* newCameraMatrix, CvSize newImgSize,
CvRect* validPixROI, int centerPrincipalPoint )
{
cv::Rect_<float> inner, outer;
cv::Rect_<double> inner, outer;
newImgSize = newImgSize.width*newImgSize.height != 0 ? newImgSize : imgSize;
double M[3][3];
@@ -2804,10 +2804,10 @@ void cvGetOptimalNewCameraMatrix( const CvMat* cameraMatrix, const CvMat* distCo
if( validPixROI )
{
inner = cv::Rect_<float>((float)((inner.x - cx0)*s + cx),
(float)((inner.y - cy0)*s + cy),
(float)(inner.width*s),
(float)(inner.height*s));
inner = cv::Rect_<double>((double)((inner.x - cx0)*s + cx),
(double)((inner.y - cy0)*s + cy),
(double)(inner.width*s),
(double)(inner.height*s));
cv::Rect r(cvCeil(inner.x), cvCeil(inner.y), cvFloor(inner.width), cvFloor(inner.height));
r &= cv::Rect(0, 0, newImgSize.width, newImgSize.height);
*validPixROI = cvRect(r);