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Merge branch 4.x

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This commit is contained in:
Alexander Alekhin
2021-04-09 10:30:38 +00:00
parent 263de1f86e bfb10d74eb
commit fc628014bb
1114 changed files with 64039 additions and 14611 deletions
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samples/cpp/tutorial_code/calib3d/camera_calibration/camera_calibration.cpp
+9 -4
View File
@@ -419,7 +419,12 @@ int main(int argc, char* argv[])
{
Mat temp = view.clone();
if (s.useFisheye)
cv::fisheye::undistortImage(temp, view, cameraMatrix, distCoeffs);
{
Mat newCamMat;
fisheye::estimateNewCameraMatrixForUndistortRectify(cameraMatrix, distCoeffs, imageSize,
Matx33d::eye(), newCamMat, 1);
cv::fisheye::undistortImage(temp, view, cameraMatrix, distCoeffs, newCamMat);
}
else
undistort(temp, view, cameraMatrix, distCoeffs);
}
@@ -445,7 +450,7 @@ int main(int argc, char* argv[])
// -----------------------Show the undistorted image for the image list ------------------------
//! [show_results]
if( s.inputType == Settings::IMAGE_LIST && s.showUndistorsed )
if( s.inputType == Settings::IMAGE_LIST && s.showUndistorsed && !cameraMatrix.empty())
{
Mat view, rview, map1, map2;
@@ -548,7 +553,7 @@ static bool runCalibration( Settings& s, Size& imageSize, Mat& cameraMatrix, Mat
{
//! [fixed_aspect]
cameraMatrix = Mat::eye(3, 3, CV_64F);
if( s.flag & CALIB_FIX_ASPECT_RATIO )
if( !s.useFisheye && s.flag & CALIB_FIX_ASPECT_RATIO )
cameraMatrix.at<double>(0,0) = s.aspectRatio;
//! [fixed_aspect]
if (s.useFisheye) {
@@ -631,7 +636,7 @@ static void saveCameraParams( Settings& s, Size& imageSize, Mat& cameraMatrix, M
fs << "board_height" << s.boardSize.height;
fs << "square_size" << s.squareSize;
if( s.flag & CALIB_FIX_ASPECT_RATIO )
if( !s.useFisheye && s.flag & CALIB_FIX_ASPECT_RATIO )
fs << "fix_aspect_ratio" << s.aspectRatio;
if (s.flag)