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Extended stereoCalibrate function for fisheye model to return per view rotation and translation vectors between the calibration object coordinate space and the coordinate space of the first camera of the stereo pair. Added overloaded versions of the function for downward compatibility.

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Stefan Spiss
2022-09-07 17:11:12 +02:00
parent 8ae03fcd6e
commit 6fb465cb4e
2 changed files with 43 additions and 0 deletions
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modules/calib3d/src/fisheye.cpp
+28
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@@ -885,6 +885,13 @@ double cv::fisheye::calibrate(InputArrayOfArrays objectPoints, InputArrayOfArray
double cv::fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize,
OutputArray R, OutputArray T, int flags, TermCriteria criteria)
{
return cv::fisheye::stereoCalibrate(objectPoints, imagePoints1, imagePoints2, K1, D1, K2, D2, imageSize, R, T, noArray(), noArray(), flags, criteria);
}
double cv::fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize,
OutputArray R, OutputArray T, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags, TermCriteria criteria)
{
CV_INSTRUMENT_REGION();
@@ -1116,6 +1123,27 @@ double cv::fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayO
if (D2.needed()) cv::Mat(intrinsicRight.k).convertTo(D2, D2.empty() ? CV_64FC1 : D2.type());
if (R.needed()) _R.convertTo(R, R.empty() ? CV_64FC1 : R.type());
if (T.needed()) cv::Mat(Tcur).convertTo(T, T.empty() ? CV_64FC1 : T.type());
if (rvecs.isMatVector())
{
if(rvecs.empty())
rvecs.create(n_images, 1, CV_64FC3);
if(tvecs.empty())
tvecs.create(n_images, 1, CV_64FC3);
for(int i = 0; i < n_images; i++ )
{
rvecs.create(3, 1, CV_64F, i, true);
tvecs.create(3, 1, CV_64F, i, true);
memcpy(rvecs.getMat(i).ptr(), rvecs1[i].val, sizeof(Vec3d));
memcpy(tvecs.getMat(i).ptr(), tvecs1[i].val, sizeof(Vec3d));
}
}
else
{
if (rvecs.needed()) cv::Mat(rvecs1).convertTo(rvecs, rvecs.empty() ? CV_64FC3 : rvecs.type());
if (tvecs.needed()) cv::Mat(tvecs1).convertTo(tvecs, tvecs.empty() ? CV_64FC3 : tvecs.type());
}
return rms;
}