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体验新版 GitCode,发现更多精彩内容 >>
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48aa1234
编写于
8月 16, 2016
作者:
M
Maksim Shabunin
浏览文件
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差异文件
Merge pull request #7082 from souch55:Fixmerge
上级
84d71fae
99374598
变更
1
显示空白变更内容
内联
并排
Showing
1 changed file
with
4 addition
and
7 deletion
+4
-7
modules/calib3d/src/calibration.cpp
modules/calib3d/src/calibration.cpp
+4
-7
未找到文件。
modules/calib3d/src/calibration.cpp
浏览文件 @
48aa1234
...
...
@@ -52,7 +52,6 @@
that is (in a large extent) based on the paper:
Z. Zhang. "A flexible new technique for camera calibration".
IEEE Transactions on Pattern Analysis and Machine Intelligence, 22(11):1330-1334, 2000.
The 1st initial port was done by Valery Mosyagin.
*/
...
...
@@ -896,9 +895,9 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
double
dicdist2_dt
=
-
icdist2
*
icdist2
*
(
k
[
5
]
*
dr2dt
+
2
*
k
[
6
]
*
r2
*
dr2dt
+
3
*
k
[
7
]
*
r4
*
dr2dt
);
double
da1dt
=
2
*
(
x
*
dydt
[
j
]
+
y
*
dxdt
[
j
]);
double
dmxdt
=
(
dxdt
[
j
]
*
cdist
*
icdist2
+
x
*
dcdist_dt
*
icdist2
+
x
*
cdist
*
dicdist2_dt
+
k
[
2
]
*
da1dt
+
k
[
3
]
*
(
dr2dt
+
2
*
x
*
dxdt
[
j
])
+
k
[
8
]
*
dr2dt
+
2
*
r2
*
k
[
9
]
*
dr2dt
);
k
[
2
]
*
da1dt
+
k
[
3
]
*
(
dr2dt
+
4
*
x
*
dxdt
[
j
])
+
k
[
8
]
*
dr2dt
+
2
*
r2
*
k
[
9
]
*
dr2dt
);
double
dmydt
=
(
dydt
[
j
]
*
cdist
*
icdist2
+
y
*
dcdist_dt
*
icdist2
+
y
*
cdist
*
dicdist2_dt
+
k
[
2
]
*
(
dr2dt
+
2
*
y
*
dydt
[
j
])
+
k
[
3
]
*
da1dt
+
k
[
10
]
*
dr2dt
+
2
*
r2
*
k
[
11
]
*
dr2dt
);
k
[
2
]
*
(
dr2dt
+
4
*
y
*
dydt
[
j
])
+
k
[
3
]
*
da1dt
+
k
[
10
]
*
dr2dt
+
2
*
r2
*
k
[
11
]
*
dr2dt
);
dXdYd
=
dMatTilt
*
Vec2d
(
dmxdt
,
dmydt
);
dpdt_p
[
j
]
=
fx
*
dXdYd
(
0
);
dpdt_p
[
dpdt_step
+
j
]
=
fy
*
dXdYd
(
1
);
...
...
@@ -935,9 +934,9 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
double
dicdist2_dr
=
-
icdist2
*
icdist2
*
(
k
[
5
]
+
2
*
k
[
6
]
*
r2
+
3
*
k
[
7
]
*
r4
)
*
dr2dr
;
double
da1dr
=
2
*
(
x
*
dydr
+
y
*
dxdr
);
double
dmxdr
=
(
dxdr
*
cdist
*
icdist2
+
x
*
dcdist_dr
*
icdist2
+
x
*
cdist
*
dicdist2_dr
+
k
[
2
]
*
da1dr
+
k
[
3
]
*
(
dr2dr
+
2
*
x
*
dxdr
)
+
(
k
[
8
]
+
2
*
r2
*
k
[
9
])
*
dr2dr
);
k
[
2
]
*
da1dr
+
k
[
3
]
*
(
dr2dr
+
4
*
x
*
dxdr
)
+
(
k
[
8
]
+
2
*
r2
*
k
[
9
])
*
dr2dr
);
double
dmydr
=
(
dydr
*
cdist
*
icdist2
+
y
*
dcdist_dr
*
icdist2
+
y
*
cdist
*
dicdist2_dr
+
k
[
2
]
*
(
dr2dr
+
2
*
y
*
dydr
)
+
k
[
3
]
*
da1dr
+
(
k
[
10
]
+
2
*
r2
*
k
[
11
])
*
dr2dr
);
k
[
2
]
*
(
dr2dr
+
4
*
y
*
dydr
)
+
k
[
3
]
*
da1dr
+
(
k
[
10
]
+
2
*
r2
*
k
[
11
])
*
dr2dr
);
dXdYd
=
dMatTilt
*
Vec2d
(
dmxdr
,
dmydr
);
dpdr_p
[
j
]
=
fx
*
dXdYd
(
0
);
dpdr_p
[
dpdr_step
+
j
]
=
fy
*
dXdYd
(
1
);
...
...
@@ -1911,14 +1910,12 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
/*
Compute initial estimate of pose
For each image, compute:
R(om) is the rotation matrix of om
om(R) is the rotation vector of R
R_ref = R(om_right) * R(om_left)'
T_ref_list = [T_ref_list; T_right - R_ref * T_left]
om_ref_list = {om_ref_list; om(R_ref)]
om = median(om_ref_list)
T = median(T_ref_list)
*/
...
...
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