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Commit23dec32

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Merge pull request#23150 from savuor:port5_stereo_calib_per_obj
### Changes* Port of#22519 to 5.x* Distortion coefficients were not copied properly, fixed* Minor coding style chages### Pull Request Readiness ChecklistSee details athttps://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request- [x] I agree to contribute to the project under Apache 2 License.- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV- [x] The PR is proposed to the proper branch- [x] There is a reference to the original bug report and related work- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name.- [x] The feature is well documented and sample code can be built with the project CMake
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‎modules/calib/include/opencv2/calib.hpp‎

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@@ -994,6 +994,15 @@ second camera coordinate system.
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@param T Output translation vector, see description above.
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@param E Output essential matrix.
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@param F Output fundamental matrix.
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@param rvecs Output vector of rotation vectors ( @ref Rodrigues ) estimated for each pattern view in the
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coordinate system of the first camera of the stereo pair (e.g. std::vector<cv::Mat>). More in detail, each
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i-th rotation vector together with the corresponding i-th translation vector (see the next output parameter
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description) brings the calibration pattern from the object coordinate space (in which object points are
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specified) to the camera coordinate space of the first camera of the stereo pair. In more technical terms,
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the tuple of the i-th rotation and translation vector performs a change of basis from object coordinate space
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to camera coordinate space of the first camera of the stereo pair.
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@param tvecs Output vector of translation vectors estimated for each pattern view, see parameter description
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of previous output parameter ( rvecs ).
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@param perViewErrors Output vector of the RMS re-projection error estimated for each pattern view.
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@param flags Different flags that may be zero or a combination of the following values:
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- @ref CALIB_FIX_INTRINSIC Fix cameraMatrix? and distCoeffs? so that only R, T, E, and F
@@ -1091,6 +1100,7 @@ CV_EXPORTS_AS(stereoCalibrateExtended) double stereoCalibrate( InputArrayOfArray
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InputOutputArray cameraMatrix1, InputOutputArray distCoeffs1,
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InputOutputArray cameraMatrix2, InputOutputArray distCoeffs2,
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Size imageSize, InputOutputArray R, InputOutputArray T, OutputArray E, OutputArray F,
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OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
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OutputArray perViewErrors,int flags = CALIB_FIX_INTRINSIC,
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TermCriteria criteria = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS,100,1e-6) );
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@@ -1103,6 +1113,14 @@ CV_EXPORTS_W double stereoCalibrate( InputArrayOfArrays objectPoints,
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int flags = CALIB_FIX_INTRINSIC,
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TermCriteria criteria = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS,100,1e-6) );
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/// @overload
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CV_EXPORTS_WdoublestereoCalibrate( InputArrayOfArrays objectPoints,
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InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
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InputOutputArray cameraMatrix1, InputOutputArray distCoeffs1,
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InputOutputArray cameraMatrix2, InputOutputArray distCoeffs2,
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Size imageSize, InputOutputArray R, InputOutputArray T, OutputArray E, OutputArray F,
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OutputArray perViewErrors,int flags = CALIB_FIX_INTRINSIC,
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TermCriteria criteria = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS,30,1e-6) );
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/** @brief Computes Hand-Eye calibration: \f$_{}^{g}\textrm{T}_c\f$
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@@ -1635,6 +1653,15 @@ similar to D1 .
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@param imageSize Size of the image used only to initialize camera intrinsic matrix.
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@param R Output rotation matrix between the 1st and the 2nd camera coordinate systems.
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@param T Output translation vector between the coordinate systems of the cameras.
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@param rvecs Output vector of rotation vectors ( @ref Rodrigues ) estimated for each pattern view in the
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coordinate system of the first camera of the stereo pair (e.g. std::vector<cv::Mat>). More in detail, each
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i-th rotation vector together with the corresponding i-th translation vector (see the next output parameter
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description) brings the calibration pattern from the object coordinate space (in which object points are
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specified) to the camera coordinate space of the first camera of the stereo pair. In more technical terms,
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the tuple of the i-th rotation and translation vector performs a change of basis from object coordinate space
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to camera coordinate space of the first camera of the stereo pair.
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@param tvecs Output vector of translation vectors estimated for each pattern view, see parameter description
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of previous output parameter ( rvecs ).
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@param flags Different flags that may be zero or a combination of the following values:
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- @ref fisheye::CALIB_FIX_INTRINSIC Fix K1, K2? and D1, D2? so that only R, T matrices
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are estimated.
@@ -1650,9 +1677,15 @@ zero.
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@param criteria Termination criteria for the iterative optimization algorithm.
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*/
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CV_EXPORTS_WdoublestereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
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InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize,
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OutputArray R, OutputArray T,int flags = fisheye::CALIB_FIX_INTRINSIC,
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TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS,100, DBL_EPSILON));
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InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize,
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OutputArray R, OutputArray T, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,int flags = fisheye::CALIB_FIX_INTRINSIC,
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TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS,100, DBL_EPSILON));
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/// @overload
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CV_EXPORTS_WdoublestereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
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InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize,
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OutputArray R, OutputArray T,int flags = fisheye::CALIB_FIX_INTRINSIC,
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TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS,100, DBL_EPSILON));
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//! @} calib3d_fisheye
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}//end namespace fisheye

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