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提交 76d03fcc 编写于 作者: A alegarda
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Added Thin Prism Distortion Model 

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上级 262fc929
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Showing with 71 addition and 30 deletion
modules/calib3d/include/opencv2/calib3d/calib3d.hpp
浏览文件 @ 76d03fcc
......@@ -234,6 +234,9 @@ CVAPI(void) cvDrawChessboardCorners( CvArr* image, CvSize pattern_size,
#define CV_CALIB_FIX_K5 4096
#define CV_CALIB_FIX_K6 8192
#define CV_CALIB_RATIONAL_MODEL 16384
#define CV_CALIB_THIN_PRISM_MODEL 32768
#define CV_CALIB_FIX_S1_S2_S3_S4 65536
/* Finds intrinsic and extrinsic camera parameters
from a few views of known calibration pattern */
......@@ -534,6 +537,8 @@ enum
CALIB_FIX_K5 = CV_CALIB_FIX_K5,
CALIB_FIX_K6 = CV_CALIB_FIX_K6,
CALIB_RATIONAL_MODEL = CV_CALIB_RATIONAL_MODEL,
CALIB_THIN_PRISM_MODEL = CV_CALIB_THIN_PRISM_MODEL,
CALIB_FIX_S1_S2_S3_S4=CV_CALIB_FIX_S1_S2_S3_S4,
// only for stereo
CALIB_FIX_INTRINSIC = CV_CALIB_FIX_INTRINSIC,
CALIB_SAME_FOCAL_LENGTH = CV_CALIB_SAME_FOCAL_LENGTH,
......
modules/calib3d/src/calibration.cpp
浏览文件 @ 76d03fcc
......@@ -762,7 +762,7 @@ CV_IMPL int cvRodrigues2( const CvMat* src, CvMat* dst, CvMat* jacobian )
}
static const char* cvDistCoeffErr = "Distortion coefficients must be 1x4, 4x1, 1x5, 5x1, 1x8 or 8x1 floating-point vector";
static const char* cvDistCoeffErr = "Distortion coefficients must be 1x4, 4x1, 1x5, 5x1, 1x8, 8x1, 1x12 or 12x1 floating-point vector";
CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
const CvMat* r_vec,
......@@ -781,7 +781,7 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
int calc_derivatives;
const CvPoint3D64f* M;
CvPoint2D64f* m;
double r[3], R[9], dRdr[27], t[3], a[9], k[8] = {0,0,0,0,0,0,0,0}, fx, fy, cx, cy;
double r[3], R[9], dRdr[27], t[3], a[9], k[12] = {0,0,0,0,0,0,0,0,0,0,0,0}, fx, fy, cx, cy;
CvMat _r, _t, _a = cvMat( 3, 3, CV_64F, a ), _k;
CvMat matR = cvMat( 3, 3, CV_64F, R ), _dRdr = cvMat( 3, 9, CV_64F, dRdr );
double *dpdr_p = 0, *dpdt_p = 0, *dpdk_p = 0, *dpdf_p = 0, *dpdc_p = 0;
......@@ -884,7 +884,8 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
(distCoeffs->rows != 1 && distCoeffs->cols != 1) ||
(distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 4 &&
distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 5 &&
distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 8) )
distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 8 &&
distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 12) )
CV_Error( CV_StsBadArg, cvDistCoeffErr );
_k = cvMat( distCoeffs->rows, distCoeffs->cols,
......@@ -966,8 +967,8 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
{
if( !CV_IS_MAT(dpdk) ||
(CV_MAT_TYPE(dpdk->type) != CV_32FC1 && CV_MAT_TYPE(dpdk->type) != CV_64FC1) ||
dpdk->rows != count*2 || (dpdk->cols != 8 && dpdk->cols != 5 && dpdk->cols != 4 && dpdk->cols != 2) )
CV_Error( CV_StsBadArg, "dp/df must be 2Nx8, 2Nx5, 2Nx4 or 2Nx2 floating-point matrix" );
dpdk->rows != count*2 || (dpdk->cols != 12 && dpdk->cols != 8 && dpdk->cols != 5 && dpdk->cols != 4 && dpdk->cols != 2) )
CV_Error( CV_StsBadArg, "dp/df must be 2Nx12, 2Nx8, 2Nx5, 2Nx4 or 2Nx2 floating-point matrix" );
if( !distCoeffs )
CV_Error( CV_StsNullPtr, "distCoeffs is NULL while dpdk is not" );
......@@ -1004,8 +1005,8 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
a3 = r2 + 2*y*y;
cdist = 1 + k[0]*r2 + k[1]*r4 + k[4]*r6;
icdist2 = 1./(1 + k[5]*r2 + k[6]*r4 + k[7]*r6);
xd = x*cdist*icdist2 + k[2]*a1 + k[3]*a2;
yd = y*cdist*icdist2 + k[2]*a3 + k[3]*a1;
xd = x*cdist*icdist2 + k[2]*a1 + k[3]*a2 + k[8]*r2+k[9]*r4;
yd = y*cdist*icdist2 + k[2]*a3 + k[3]*a1 + k[10]*r2+k[11]*r4;
m[i].x = xd*fx + cx;
m[i].y = yd*fy + cy;
......@@ -1063,6 +1064,18 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
dpdk_p[7] = fx*x*icdist2*cdist*(-icdist2)*icdist2*r6;
dpdk_p[dpdk_step+7] = fy*y*cdist*(-icdist2)*icdist2*r6;
}
if( _dpdk->cols > 8 )
{
dpdk_p[8] = fx*r2; //s1
dpdk_p[9] = fx*r4; //s2
dpdk_p[10] = 0;//s3
dpdk_p[11] = 0;//s4
dpdk_p[dpdk_step+8] = 0; //s1
dpdk_p[dpdk_step+9] = 0; //s2
dpdk_p[dpdk_step+10] = fy*r2; //s3
dpdk_p[dpdk_step+11] = fy*r4; //s4
}
}
}
dpdk_p += dpdk_step*2;
......@@ -1078,9 +1091,9 @@ 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 = fx*(dxdt[j]*cdist*icdist2 + x*dcdist_dt*icdist2 + x*cdist*dicdist2_dt +
k[2]*da1dt + k[3]*(dr2dt + 2*x*dxdt[j]));
k[2]*da1dt + k[3]*(dr2dt + 2*x*dxdt[j])+k[8]*dr2dt+2*r2*k[9]*dr2dt);
double dmydt = fy*(dydt[j]*cdist*icdist2 + y*dcdist_dt*icdist2 + y*cdist*dicdist2_dt +
k[2]*(dr2dt + 2*y*dydt[j]) + k[3]*da1dt);
k[2]*(dr2dt + 2*y*dydt[j]) + k[3]*da1dt+k[10]*dr2dt+2*r2*k[11]*dr2dt);
dpdt_p[j] = dmxdt;
dpdt_p[dpdt_step+j] = dmydt;
}
......@@ -1116,9 +1129,9 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
double dicdist2_dr = -icdist2*icdist2*(k[5]*dr2dr + 2*k[6]*r2*dr2dr + 3*k[7]*r4*dr2dr);
double da1dr = 2*(x*dydr + y*dxdr);
double dmxdr = fx*(dxdr*cdist*icdist2 + x*dcdist_dr*icdist2 + x*cdist*dicdist2_dr +
k[2]*da1dr + k[3]*(dr2dr + 2*x*dxdr));
k[2]*da1dr + k[3]*(dr2dr + 2*x*dxdr)+(k[8]*dr2dr+2*r2*k[9]*dr2dr));
double dmydr = fy*(dydr*cdist*icdist2 + y*dcdist_dr*icdist2 + y*cdist*dicdist2_dr +
k[2]*(dr2dr + 2*y*dydr) + k[3]*da1dr);
k[2]*(dr2dr + 2*y*dydr) + k[3]*da1dr+(k[10]*dr2dr+2*r2*k[11]*dr2dr));
dpdr_p[j] = dmxdr;
dpdr_p[dpdr_step+j] = dmydr;
}
......@@ -1458,12 +1471,12 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
CvSize imageSize, CvMat* cameraMatrix, CvMat* distCoeffs,
CvMat* rvecs, CvMat* tvecs, int flags, CvTermCriteria termCrit )
{
const int NINTRINSIC = 12;
const int NINTRINSIC = 16;
Ptr<CvMat> matM, _m, _Ji, _Je, _err;
CvLevMarq solver;
double reprojErr = 0;
double A[9], k[8] = {0,0,0,0,0,0,0,0};
double A[9], k[12] = {0,0,0,0,0,0,0,0,0,0,0,0};
CvMat matA = cvMat(3, 3, CV_64F, A), _k;
int i, nimages, maxPoints = 0, ni = 0, pos, total = 0, nparams, npstep, cn;
double aspectRatio = 0.;
......@@ -1480,7 +1493,10 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
(npoints->rows != 1 && npoints->cols != 1) )
CV_Error( CV_StsUnsupportedFormat,
"the array of point counters must be 1-dimensional integer vector" );
//when the thin prism model is used the distortion coefficients matrix must have 12 parameters
if((flags & CV_CALIB_THIN_PRISM_MODEL) && (distCoeffs->cols*distCoeffs->rows != 12))
CV_Error( CV_StsBadArg, "Thin prism model must have 12 parameters in the distortion matrix" );
nimages = npoints->rows*npoints->cols;
npstep = npoints->rows == 1 ? 1 : npoints->step/CV_ELEM_SIZE(npoints->type);
......@@ -1517,7 +1533,8 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
(distCoeffs->cols != 1 && distCoeffs->rows != 1) ||
(distCoeffs->cols*distCoeffs->rows != 4 &&
distCoeffs->cols*distCoeffs->rows != 5 &&
distCoeffs->cols*distCoeffs->rows != 8) )
distCoeffs->cols*distCoeffs->rows != 8 &&
distCoeffs->cols*distCoeffs->rows != 12) )
CV_Error( CV_StsBadArg, cvDistCoeffErr );
for( i = 0; i < nimages; i++ )
......@@ -1613,6 +1630,7 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
param[0] = A[0]; param[1] = A[4]; param[2] = A[2]; param[3] = A[5];
param[4] = k[0]; param[5] = k[1]; param[6] = k[2]; param[7] = k[3];
param[8] = k[4]; param[9] = k[5]; param[10] = k[6]; param[11] = k[7];
param[12] = k[8]; param[13] = k[9]; param[14] = k[10]; param[15] = k[11];
if( flags & CV_CALIB_FIX_FOCAL_LENGTH )
mask[0] = mask[1] = 0;
......@@ -1637,6 +1655,16 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
mask[10] = 0;
if( flags & CV_CALIB_FIX_K6 )
mask[11] = 0;
if(!(flags & CV_CALIB_THIN_PRISM_MODEL))
flags |= CALIB_FIX_S1_S2_S3_S4;
if(flags & CALIB_FIX_S1_S2_S3_S4)
{
mask[12] = 0;
mask[13] = 0;
mask[14] = 0;
mask[15] = 0;
}
}
// 2. initialize extrinsic parameters
......@@ -1672,6 +1700,7 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
A[0] = param[0]; A[4] = param[1]; A[2] = param[2]; A[5] = param[3];
k[0] = param[4]; k[1] = param[5]; k[2] = param[6]; k[3] = param[7];
k[4] = param[8]; k[5] = param[9]; k[6] = param[10]; k[7] = param[11];
k[8] = param[12];k[9] = param[13];k[10] = param[14];k[11] = param[15];
if( !proceed )
break;
......@@ -3222,7 +3251,8 @@ static Mat prepareDistCoeffs(Mat& distCoeffs0, int rtype)
distCoeffs0.size() == Size(1, 8) ||
distCoeffs0.size() == Size(4, 1) ||
distCoeffs0.size() == Size(5, 1) ||
distCoeffs0.size() == Size(8, 1) )
distCoeffs0.size() == Size(8, 1) ||
distCoeffs0.size() == Size(12, 1) )
{
Mat dstCoeffs(distCoeffs, Rect(0, 0, distCoeffs0.cols, distCoeffs0.rows));
distCoeffs0.convertTo(dstCoeffs, rtype);
......@@ -3407,7 +3437,7 @@ double cv::calibrateCamera( InputArrayOfArrays _objectPoints,
cameraMatrix = prepareCameraMatrix(cameraMatrix, rtype);
Mat distCoeffs = _distCoeffs.getMat();
distCoeffs = prepareDistCoeffs(distCoeffs, rtype);
if( !(flags & CALIB_RATIONAL_MODEL) )
if( !(flags & CALIB_RATIONAL_MODEL) &&(!(flags & CALIB_THIN_PRISM_MODEL)))
distCoeffs = distCoeffs.rows == 1 ? distCoeffs.colRange(0, 5) : distCoeffs.rowRange(0, 5);
int i;
......@@ -3483,7 +3513,7 @@ double cv::stereoCalibrate( InputArrayOfArrays _objectPoints,
distCoeffs1 = prepareDistCoeffs(distCoeffs1, rtype);
distCoeffs2 = prepareDistCoeffs(distCoeffs2, rtype);
if( !(flags & CALIB_RATIONAL_MODEL) )
if( !(flags & CALIB_RATIONAL_MODEL) &&(!(flags & CALIB_THIN_PRISM_MODEL)))
{
distCoeffs1 = distCoeffs1.rows == 1 ? distCoeffs1.colRange(0, 5) : distCoeffs1.rowRange(0, 5);
distCoeffs2 = distCoeffs2.rows == 1 ? distCoeffs2.colRange(0, 5) : distCoeffs2.rowRange(0, 5);
......
modules/imgproc/src/undistort.cpp
浏览文件 @ 76d03fcc
......@@ -94,7 +94,7 @@ void cv::initUndistortRectifyMap( InputArray _cameraMatrix, InputArray _distCoef
distCoeffs = Mat_<double>(distCoeffs);
else
{
distCoeffs.create(8, 1, CV_64F);
distCoeffs.create(12, 1, CV_64F);
distCoeffs = 0.;
}
......@@ -108,7 +108,8 @@ void cv::initUndistortRectifyMap( InputArray _cameraMatrix, InputArray _distCoef
CV_Assert( distCoeffs.size() == Size(1, 4) || distCoeffs.size() == Size(4, 1) ||
distCoeffs.size() == Size(1, 5) || distCoeffs.size() == Size(5, 1) ||
distCoeffs.size() == Size(1, 8) || distCoeffs.size() == Size(8, 1));
distCoeffs.size() == Size(1, 8) || distCoeffs.size() == Size(8, 1) ||
distCoeffs.size() == Size(1, 12) || distCoeffs.size() == Size(12, 1);
if( distCoeffs.rows != 1 && !distCoeffs.isContinuous() )
distCoeffs = distCoeffs.t();
......@@ -121,6 +122,10 @@ void cv::initUndistortRectifyMap( InputArray _cameraMatrix, InputArray _distCoef
double k4 = distCoeffs.cols + distCoeffs.rows - 1 >= 8 ? ((double*)distCoeffs.data)[5] : 0.;
double k5 = distCoeffs.cols + distCoeffs.rows - 1 >= 8 ? ((double*)distCoeffs.data)[6] : 0.;
double k6 = distCoeffs.cols + distCoeffs.rows - 1 >= 8 ? ((double*)distCoeffs.data)[7] : 0.;
double s1 = distCoeffs.cols + distCoeffs.rows - 1 >= 12 ? ((double*)distCoeffs.data)[8] : 0.;
double s2 = distCoeffs.cols + distCoeffs.rows - 1 >= 12 ? ((double*)distCoeffs.data)[9] : 0.;
double s3 = distCoeffs.cols + distCoeffs.rows - 1 >= 12 ? ((double*)distCoeffs.data)[10] : 0.;
double s4 = distCoeffs.cols + distCoeffs.rows - 1 >= 12 ? ((double*)distCoeffs.data)[11] : 0.;
for( int i = 0; i < size.height; i++ )
{
......@@ -136,8 +141,8 @@ void cv::initUndistortRectifyMap( InputArray _cameraMatrix, InputArray _distCoef
double x2 = x*x, y2 = y*y;
double r2 = x2 + y2, _2xy = 2*x*y;
double kr = (1 + ((k3*r2 + k2)*r2 + k1)*r2)/(1 + ((k6*r2 + k5)*r2 + k4)*r2);
double u = fx*(x*kr + p1*_2xy + p2*(r2 + 2*x2)) + u0;
double v = fy*(y*kr + p1*(r2 + 2*y2) + p2*_2xy) + v0;
double u = fx*(x*kr + p1*_2xy + p2*(r2 + 2*x2) + s1*r2+s2*r2*r2) + u0;
double v = fy*(y*kr + p1*(r2 + 2*y2) + p2*_2xy + s3*r2+s4*r2*r2) + v0;
if( m1type == CV_16SC2 )
{
int iu = saturate_cast<int>(u*INTER_TAB_SIZE);
......@@ -260,7 +265,7 @@ void cvUndistortPoints( const CvMat* _src, CvMat* _dst, const CvMat* _cameraMatr
const CvMat* _distCoeffs,
const CvMat* matR, const CvMat* matP )
{
double A[3][3], RR[3][3], k[8]={0,0,0,0,0,0,0,0}, fx, fy, ifx, ify, cx, cy;
double A[3][3], RR[3][3], k[12]={0,0,0,0,0,0,0,0,0,0,0}, fx, fy, ifx, ify, cx, cy;
CvMat matA=cvMat(3, 3, CV_64F, A), _Dk;
CvMat _RR=cvMat(3, 3, CV_64F, RR);
const CvPoint2D32f* srcf;
......@@ -289,7 +294,8 @@ void cvUndistortPoints( const CvMat* _src, CvMat* _dst, const CvMat* _cameraMatr
(_distCoeffs->rows == 1 || _distCoeffs->cols == 1) &&
(_distCoeffs->rows*_distCoeffs->cols == 4 ||
_distCoeffs->rows*_distCoeffs->cols == 5 ||
_distCoeffs->rows*_distCoeffs->cols == 8));
_distCoeffs->rows*_distCoeffs->cols == 8 ||
_distCoeffs->rows*_distCoeffs->cols == 12));
_Dk = cvMat( _distCoeffs->rows, _distCoeffs->cols,
CV_MAKETYPE(CV_64F,CV_MAT_CN(_distCoeffs->type)), k);
......@@ -355,8 +361,8 @@ void cvUndistortPoints( const CvMat* _src, CvMat* _dst, const CvMat* _cameraMatr
{
double r2 = x*x + y*y;
double icdist = (1 + ((k[7]*r2 + k[6])*r2 + k[5])*r2)/(1 + ((k[4]*r2 + k[1])*r2 + k[0])*r2);
double deltaX = 2*k[2]*x*y + k[3]*(r2 + 2*x*x);
double deltaY = k[2]*(r2 + 2*y*y) + 2*k[3]*x*y;
double deltaX = 2*k[2]*x*y + k[3]*(r2 + 2*x*x)+ k[8]*r2+k[9]*r2*r2;
double deltaY = k[2]*(r2 + 2*y*y) + 2*k[3]*x*y+ k[10]*r2+k[11]*r2*r2;
x = (x0 - deltaX)*icdist;
y = (y0 - deltaY)*icdist;
}
......@@ -493,7 +499,7 @@ float cv::initWideAngleProjMap( InputArray _cameraMatrix0, InputArray _distCoeff
OutputArray _map1, OutputArray _map2, int projType, double _alpha )
{
Mat cameraMatrix0 = _cameraMatrix0.getMat(), distCoeffs0 = _distCoeffs0.getMat();
double k[8] = {0,0,0,0,0,0,0,0}, M[9]={0,0,0,0,0,0,0,0,0};
double k[12] = {0,0,0,0,0,0,0,0,0,0,0}, M[9]={0,0,0,0,0,0,0,0,0};
Mat distCoeffs(distCoeffs0.rows, distCoeffs0.cols, CV_MAKETYPE(CV_64F,distCoeffs0.channels()), k);
Mat cameraMatrix(3,3,CV_64F,M);
Point2f scenter((float)cameraMatrix.at<double>(0,2), (float)cameraMatrix.at<double>(1,2));
......@@ -531,7 +537,7 @@ float cv::initWideAngleProjMap( InputArray _cameraMatrix0, InputArray _distCoeff
dcenter.y = (dsize.height - 1)*0.5f;
Mat mapxy(dsize, CV_32FC2);
double k1 = k[0], k2 = k[1], k3 = k[2], p1 = k[3], p2 = k[4], k4 = k[5], k5 = k[6], k6 = k[7];
double k1 = k[0], k2 = k[1], k3 = k[2], p1 = k[3], p2 = k[4], k4 = k[5], k5 = k[6], k6 = k[7], s1 = k[8], s2 = k[9], s3 = k[10], s4 = k[11];
double fx = cameraMatrix.at<double>(0,0), fy = cameraMatrix.at<double>(1,1), cx = scenter.x, cy = scenter.y;
for( int y = 0; y < dsize.height; y++ )
......@@ -549,8 +555,8 @@ float cv::initWideAngleProjMap( InputArray _cameraMatrix0, InputArray _distCoeff
double x2 = q.x*q.x, y2 = q.y*q.y;
double r2 = x2 + y2, _2xy = 2*q.x*q.y;
double kr = 1 + ((k3*r2 + k2)*r2 + k1)*r2/(1 + ((k6*r2 + k5)*r2 + k4)*r2);
double u = fx*(q.x*kr + p1*_2xy + p2*(r2 + 2*x2)) + cx;
double v = fy*(q.y*kr + p1*(r2 + 2*y2) + p2*_2xy) + cy;
double u = fx*(q.x*kr + p1*_2xy + p2*(r2 + 2*x2) + s1*r2+ s2*r2*r2) + cx;
double v = fy*(q.y*kr + p1*(r2 + 2*y2) + p2*_2xy + s3*r2+ s4*r2*r2) + cy;
mxy[x] = Point2f((float)u, (float)v);
}
......
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