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体验新版 GitCode,发现更多精彩内容 >>
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c5c3fd44
编写于
12月 17, 2013
作者:
A
Adrien BAK
浏览文件
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浏览文件
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电子邮件补丁
差异文件
modify signature of stereoCalibrate for consistency
上级
11071dd2
变更
6
隐藏空白更改
内联
并排
Showing
6 changed file
with
15 addition
and
15 deletion
+15
-15
modules/calib3d/include/opencv2/calib3d.hpp
modules/calib3d/include/opencv2/calib3d.hpp
+2
-2
modules/calib3d/include/opencv2/calib3d/calib3d_c.h
modules/calib3d/include/opencv2/calib3d/calib3d_c.h
+2
-2
modules/calib3d/src/calibration.cpp
modules/calib3d/src/calibration.cpp
+5
-5
modules/calib3d/test/test_cameracalibration.cpp
modules/calib3d/test/test_cameracalibration.cpp
+2
-2
samples/cpp/3calibration.cpp
samples/cpp/3calibration.cpp
+2
-2
samples/cpp/stereo_calib.cpp
samples/cpp/stereo_calib.cpp
+2
-2
未找到文件。
modules/calib3d/include/opencv2/calib3d.hpp
浏览文件 @
c5c3fd44
...
...
@@ -203,8 +203,8 @@ CV_EXPORTS_W double stereoCalibrate( InputArrayOfArrays objectPoints,
InputOutputArray
cameraMatrix1
,
InputOutputArray
distCoeffs1
,
InputOutputArray
cameraMatrix2
,
InputOutputArray
distCoeffs2
,
Size
imageSize
,
OutputArray
R
,
OutputArray
T
,
OutputArray
E
,
OutputArray
F
,
TermCriteria
criteria
=
TermCriteria
(
TermCriteria
::
COUNT
+
TermCriteria
::
EPS
,
30
,
1e-6
)
,
int
flags
=
CALIB_FIX_INTRINSIC
);
int
flags
=
CALIB_FIX_INTRINSIC
,
TermCriteria
criteria
=
TermCriteria
(
TermCriteria
::
COUNT
+
TermCriteria
::
EPS
,
30
,
1e-6
)
);
//! computes the rectification transformation for a stereo camera from its intrinsic and extrinsic parameters
...
...
modules/calib3d/include/opencv2/calib3d/calib3d_c.h
浏览文件 @
c5c3fd44
...
...
@@ -276,9 +276,9 @@ CVAPI(double) cvStereoCalibrate( const CvMat* object_points, const CvMat* image_
CvMat
*
camera_matrix2
,
CvMat
*
dist_coeffs2
,
CvSize
image_size
,
CvMat
*
R
,
CvMat
*
T
,
CvMat
*
E
CV_DEFAULT
(
0
),
CvMat
*
F
CV_DEFAULT
(
0
),
int
flags
CV_DEFAULT
(
CV_CALIB_FIX_INTRINSIC
),
CvTermCriteria
term_crit
CV_DEFAULT
(
cvTermCriteria
(
CV_TERMCRIT_ITER
+
CV_TERMCRIT_EPS
,
30
,
1e-6
)),
int
flags
CV_DEFAULT
(
CV_CALIB_FIX_INTRINSIC
));
CV_TERMCRIT_ITER
+
CV_TERMCRIT_EPS
,
30
,
1e-6
))
);
#define CV_CALIB_ZERO_DISPARITY 1024
...
...
modules/calib3d/src/calibration.cpp
浏览文件 @
c5c3fd44
...
...
@@ -1635,8 +1635,8 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
CvMat
*
_cameraMatrix2
,
CvMat
*
_distCoeffs2
,
CvSize
imageSize
,
CvMat
*
matR
,
CvMat
*
matT
,
CvMat
*
matE
,
CvMat
*
matF
,
CvTermCriteria
termCrit
,
int
flags
)
int
flags
,
CvTermCriteria
termCrit
)
{
const
int
NINTRINSIC
=
16
;
Ptr
<
CvMat
>
npoints
,
err
,
J_LR
,
Je
,
Ji
,
imagePoints
[
2
],
objectPoints
,
RT0
;
...
...
@@ -3278,8 +3278,8 @@ double cv::stereoCalibrate( InputArrayOfArrays _objectPoints,
InputOutputArray
_cameraMatrix1
,
InputOutputArray
_distCoeffs1
,
InputOutputArray
_cameraMatrix2
,
InputOutputArray
_distCoeffs2
,
Size
imageSize
,
OutputArray
_Rmat
,
OutputArray
_Tmat
,
OutputArray
_Emat
,
OutputArray
_Fmat
,
TermCriteria
criteria
,
int
flags
)
OutputArray
_Emat
,
OutputArray
_Fmat
,
int
flags
,
TermCriteria
criteria
)
{
int
rtype
=
CV_64F
;
Mat
cameraMatrix1
=
_cameraMatrix1
.
getMat
();
...
...
@@ -3322,7 +3322,7 @@ double cv::stereoCalibrate( InputArrayOfArrays _objectPoints,
double
err
=
cvStereoCalibrate
(
&
c_objPt
,
&
c_imgPt
,
&
c_imgPt2
,
&
c_npoints
,
&
c_cameraMatrix1
,
&
c_distCoeffs1
,
&
c_cameraMatrix2
,
&
c_distCoeffs2
,
imageSize
,
&
c_matR
,
&
c_matT
,
p_matE
,
p_matF
,
criteria
,
flags
);
&
c_matR
,
&
c_matT
,
p_matE
,
p_matF
,
flags
,
criteria
);
cameraMatrix1
.
copyTo
(
_cameraMatrix1
);
cameraMatrix2
.
copyTo
(
_cameraMatrix2
);
...
...
modules/calib3d/test/test_cameracalibration.cpp
浏览文件 @
c5c3fd44
...
...
@@ -1733,7 +1733,7 @@ double CV_StereoCalibrationTest_C::calibrateStereoCamera( const vector<vector<Po
return
cvStereoCalibrate
(
&
_objPt
,
&
_imgPt
,
&
_imgPt2
,
&
_npoints
,
&
_cameraMatrix1
,
&
_distCoeffs1
,
&
_cameraMatrix2
,
&
_distCoeffs2
,
imageSize
,
&
matR
,
&
matT
,
&
matE
,
&
matF
,
criteria
,
flags
);
&
matR
,
&
matT
,
&
matE
,
&
matF
,
flags
,
criteria
);
}
void
CV_StereoCalibrationTest_C
::
rectify
(
const
Mat
&
cameraMatrix1
,
const
Mat
&
distCoeffs1
,
...
...
@@ -1830,7 +1830,7 @@ double CV_StereoCalibrationTest_CPP::calibrateStereoCamera( const vector<vector<
{
return
stereoCalibrate
(
objectPoints
,
imagePoints1
,
imagePoints2
,
cameraMatrix1
,
distCoeffs1
,
cameraMatrix2
,
distCoeffs2
,
imageSize
,
R
,
T
,
E
,
F
,
criteria
,
flags
);
imageSize
,
R
,
T
,
E
,
F
,
flags
,
criteria
);
}
void
CV_StereoCalibrationTest_CPP
::
rectify
(
const
Mat
&
cameraMatrix1
,
const
Mat
&
distCoeffs1
,
...
...
samples/cpp/3calibration.cpp
浏览文件 @
c5c3fd44
...
...
@@ -137,8 +137,8 @@ static bool run3Calibration( vector<vector<Point2f> > imagePoints1,
double
err
=
stereoCalibrate
(
objpt
,
imgpt
,
imgpt_right
,
cameraMatrix1
,
distCoeffs1
,
cameraMatrix
,
distCoeffs
,
imageSize
,
R
,
T
,
E
,
F
,
TermCriteria
(
TermCriteria
::
COUNT
,
30
,
0
)
,
CALIB_FIX_INTRINSIC
);
CALIB_FIX_INTRINSIC
,
TermCriteria
(
TermCriteria
::
COUNT
,
30
,
0
)
);
printf
(
"Pair (1,%d) calibration reprojection error = %g
\n
"
,
c
,
sqrt
(
err
/
(
N
*
2
)));
if
(
c
==
2
)
{
...
...
samples/cpp/stereo_calib.cpp
浏览文件 @
c5c3fd44
...
...
@@ -172,12 +172,12 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
cameraMatrix
[
0
],
distCoeffs
[
0
],
cameraMatrix
[
1
],
distCoeffs
[
1
],
imageSize
,
R
,
T
,
E
,
F
,
TermCriteria
(
TermCriteria
::
COUNT
+
TermCriteria
::
EPS
,
100
,
1e-5
),
CALIB_FIX_ASPECT_RATIO
+
CALIB_ZERO_TANGENT_DIST
+
CALIB_SAME_FOCAL_LENGTH
+
CALIB_RATIONAL_MODEL
+
CALIB_FIX_K3
+
CALIB_FIX_K4
+
CALIB_FIX_K5
);
CALIB_FIX_K3
+
CALIB_FIX_K4
+
CALIB_FIX_K5
,
TermCriteria
(
TermCriteria
::
COUNT
+
TermCriteria
::
EPS
,
100
,
1e-5
)
);
cout
<<
"done with RMS error="
<<
rms
<<
endl
;
// CALIBRATION QUALITY CHECK
...
...
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