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Merge pull request #9467 from sovrasov:stereo_calib_fix_td

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Alexander Alekhin 2017-08-25 14:32:57 +00:00
commit 8ffa29473f
3 changed files with 4 additions and 3 deletions
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1
modules/calib3d/include/opencv2/calib3d/calib3d_c.h
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@ -245,6 +245,7 @@ CVAPI(void) cvDrawChessboardCorners( CvArr* image, CvSize pattern_size,
#define CV_CALIB_FIX_S1_S2_S3_S4 65536
#define CV_CALIB_TILTED_MODEL 262144
#define CV_CALIB_FIX_TAUX_TAUY 524288
#define CV_CALIB_FIX_TANGENT_DIST 2097152
#define CV_CALIB_NINTRINSIC 18

4
modules/calib3d/src/calibration.cpp
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@ -1826,7 +1826,7 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
cvConvert( cameraMatrix, &K[k] );
if( flags & (CALIB_FIX_INTRINSIC|CALIB_USE_INTRINSIC_GUESS|
CALIB_FIX_K1|CALIB_FIX_K2|CALIB_FIX_K3|CALIB_FIX_K4|CALIB_FIX_K5|CALIB_FIX_K6) )
CALIB_FIX_K1|CALIB_FIX_K2|CALIB_FIX_K3|CALIB_FIX_K4|CALIB_FIX_K5|CALIB_FIX_K6|CALIB_FIX_TANGENT_DIST) )
{
CvMat tdist = cvMat( distCoeffs->rows, distCoeffs->cols,
CV_MAKETYPE(CV_64F,CV_MAT_CN(distCoeffs->type)), Dist[k].data.db );
@ -1888,7 +1888,7 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
imask[0] = imask[1] = imask[NINTRINSIC] = imask[NINTRINSIC+1] = 0;
if( flags & CALIB_FIX_PRINCIPAL_POINT )
imask[2] = imask[3] = imask[NINTRINSIC+2] = imask[NINTRINSIC+3] = 0;
if( flags & CALIB_ZERO_TANGENT_DIST )
if( flags & (CALIB_ZERO_TANGENT_DIST|CALIB_FIX_TANGENT_DIST) )
imask[6] = imask[7] = imask[NINTRINSIC+6] = imask[NINTRINSIC+7] = 0;
if( flags & CALIB_FIX_K1 )
imask[4] = imask[NINTRINSIC+4] = 0;

2
modules/calib3d/src/solvepnp.cpp
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@ -137,7 +137,7 @@ bool solvePnP( InputArray _opoints, InputArray _ipoints,
CvMat c_cameraMatrix = cameraMatrix, c_distCoeffs = distCoeffs;
CvMat c_rvec = rvec, c_tvec = tvec;
cvFindExtrinsicCameraParams2(&c_objectPoints, &c_imagePoints, &c_cameraMatrix,
c_distCoeffs.rows*c_distCoeffs.cols ? &c_distCoeffs : 0,
(c_distCoeffs.rows && c_distCoeffs.cols) ? &c_distCoeffs : 0,
&c_rvec, &c_tvec, useExtrinsicGuess );
result = true;
}