diff --git a/components/rgbd-sources/src/calibrate.cpp b/components/rgbd-sources/src/calibrate.cpp
index 35b2988a2bd5f87f024a3c5ad0d0bdda92c60d9c..c5a96c862b2c35a3f1d97ac2fdad94c800c5b955 100644
--- a/components/rgbd-sources/src/calibrate.cpp
+++ b/components/rgbd-sources/src/calibrate.cpp
@@ -521,52 +521,52 @@ static double computeReprojectionErrors(
const vector<Mat>& rvecs, const vector<Mat>& tvecs,
const Mat& cameraMatrix , const Mat& distCoeffs,
vector<float>& perViewErrors, bool fisheye) {
- vector<Point2f> imagePoints2;
- size_t totalPoints = 0;
- double totalErr = 0;
- perViewErrors.resize(objectPoints.size());
-
- for (size_t i = 0; i < objectPoints.size(); ++i) {
- if (fisheye) {
- cv::fisheye::projectPoints(objectPoints[i], imagePoints2, rvecs[i],
- tvecs[i], cameraMatrix, distCoeffs);
- } else {
- projectPoints(objectPoints[i], rvecs[i], tvecs[i], cameraMatrix,
- distCoeffs, imagePoints2);
- }
- double err = norm(imagePoints[i], imagePoints2, NORM_L2);
-
- size_t n = objectPoints[i].size();
- perViewErrors[i] = static_cast<float>(std::sqrt(err*err/n));
- totalErr += err*err;
- totalPoints += n;
- }
+ vector<Point2f> imagePoints2;
+ size_t totalPoints = 0;
+ double totalErr = 0;
+ perViewErrors.resize(objectPoints.size());
+
+ for (size_t i = 0; i < objectPoints.size(); ++i) {
+ if (fisheye) {
+ cv::fisheye::projectPoints(objectPoints[i], imagePoints2, rvecs[i],
+ tvecs[i], cameraMatrix, distCoeffs);
+ } else {
+ projectPoints(objectPoints[i], rvecs[i], tvecs[i], cameraMatrix,
+ distCoeffs, imagePoints2);
+ }
+ double err = norm(imagePoints[i], imagePoints2, NORM_L2);
- return std::sqrt(totalErr/totalPoints);
+ size_t n = objectPoints[i].size();
+ perViewErrors[i] = static_cast<float>(std::sqrt(err*err/n));
+ totalErr += err*err;
+ totalPoints += n;
+ }
+
+ return std::sqrt(totalErr/totalPoints);
}
//! [compute_errors]
//! [board_corners]
static void calcBoardCornerPositions(Size boardSize, float squareSize,
vector<Point3f>& corners, Calibrate::Settings::Pattern patternType) {
- corners.clear();
-
- switch (patternType) {
- case Calibrate::Settings::CHESSBOARD:
- case Calibrate::Settings::CIRCLES_GRID:
- for (int i = 0; i < boardSize.height; ++i)
- for (int j = 0; j < boardSize.width; ++j)
- corners.push_back(Point3f(j*squareSize, i*squareSize, 0));
- break;
-
- case Calibrate::Settings::ASYMMETRIC_CIRCLES_GRID:
- for (int i = 0; i < boardSize.height; i++)
- for (int j = 0; j < boardSize.width; j++)
- corners.push_back(Point3f((2*j + i % 2)*squareSize,
- i*squareSize, 0));
- break;
- default:
- break;
- }
+ corners.clear();
+
+ switch (patternType) {
+ case Calibrate::Settings::CHESSBOARD:
+ case Calibrate::Settings::CIRCLES_GRID:
+ for (int i = 0; i < boardSize.height; ++i)
+ for (int j = 0; j < boardSize.width; ++j)
+ corners.push_back(Point3f(j*squareSize, i*squareSize, 0));
+ break;
+
+ case Calibrate::Settings::ASYMMETRIC_CIRCLES_GRID:
+ for (int i = 0; i < boardSize.height; i++)
+ for (int j = 0; j < boardSize.width; j++)
+ corners.push_back(Point3f((2*j + i % 2)*squareSize,
+ i*squareSize, 0));
+ break;
+ default:
+ break;
+ }
}
//! [board_corners]
static bool _runCalibration(const Calibrate::Settings& s, Size& imageSize,
@@ -574,55 +574,55 @@ static bool _runCalibration(const Calibrate::Settings& s, Size& imageSize,
vector<vector<Point2f> > imagePoints, vector<Mat>& rvecs,
vector<Mat>& tvecs, vector<float>& reprojErrs, double& totalAvgErr,
vector<Point3f>& newObjPoints, float grid_width, bool release_object) {
- cameraMatrix = Mat::eye(3, 3, CV_64F);
- if (s.flag & CALIB_FIX_ASPECT_RATIO)
- cameraMatrix.at<double>(0, 0) = s.aspectRatio;
+ cameraMatrix = Mat::eye(3, 3, CV_64F);
+ if (s.flag & CALIB_FIX_ASPECT_RATIO)
+ cameraMatrix.at<double>(0, 0) = s.aspectRatio;
- if (s.useFisheye) {
- distCoeffs = Mat::zeros(4, 1, CV_64F);
- } else {
- distCoeffs = Mat::zeros(8, 1, CV_64F);
- }
+ if (s.useFisheye) {
+ distCoeffs = Mat::zeros(4, 1, CV_64F);
+ } else {
+ distCoeffs = Mat::zeros(8, 1, CV_64F);
+ }
- vector<vector<Point3f> > objectPoints(1);
- calcBoardCornerPositions(s.boardSize, s.squareSize, objectPoints[0],
- Calibrate::Settings::CHESSBOARD);
- objectPoints[0][s.boardSize.width - 1].x = objectPoints[0][0].x +
- grid_width;
- newObjPoints = objectPoints[0];
-
- objectPoints.resize(imagePoints.size(), objectPoints[0]);
-
- // Find intrinsic and extrinsic camera parameters
- double rms;
-
- if (s.useFisheye) {
- Mat _rvecs, _tvecs;
- rms = cv::fisheye::calibrate(objectPoints, imagePoints, imageSize,
- cameraMatrix, distCoeffs, _rvecs, _tvecs, s.flag);
-
- rvecs.reserve(_rvecs.rows);
- tvecs.reserve(_tvecs.rows);
- for (int i = 0; i < static_cast<int>(objectPoints.size()); i++) {
- rvecs.push_back(_rvecs.row(i));
- tvecs.push_back(_tvecs.row(i));
- }
- } else {
- rms = calibrateCamera(objectPoints, imagePoints, imageSize,
- cameraMatrix, distCoeffs, rvecs, tvecs,
- s.flag | CALIB_USE_LU);
- }
+ vector<vector<Point3f> > objectPoints(1);
+ calcBoardCornerPositions(s.boardSize, s.squareSize, objectPoints[0],
+ Calibrate::Settings::CHESSBOARD);
+ objectPoints[0][s.boardSize.width - 1].x = objectPoints[0][0].x +
+ grid_width;
+ newObjPoints = objectPoints[0];
+
+ objectPoints.resize(imagePoints.size(), objectPoints[0]);
+
+ // Find intrinsic and extrinsic camera parameters
+ double rms;
+
+ if (s.useFisheye) {
+ Mat _rvecs, _tvecs;
+ rms = cv::fisheye::calibrate(objectPoints, imagePoints, imageSize,
+ cameraMatrix, distCoeffs, _rvecs, _tvecs, s.flag);
- LOG(INFO) << "Re-projection error reported by calibrateCamera: "<< rms;
+ rvecs.reserve(_rvecs.rows);
+ tvecs.reserve(_tvecs.rows);
+ for (int i = 0; i < static_cast<int>(objectPoints.size()); i++) {
+ rvecs.push_back(_rvecs.row(i));
+ tvecs.push_back(_tvecs.row(i));
+ }
+ } else {
+ rms = calibrateCamera(objectPoints, imagePoints, imageSize,
+ cameraMatrix, distCoeffs, rvecs, tvecs,
+ s.flag | CALIB_USE_LU);
+ }
- bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);
+ LOG(INFO) << "Re-projection error reported by calibrateCamera: "<< rms;
- objectPoints.clear();
- objectPoints.resize(imagePoints.size(), newObjPoints);
- totalAvgErr = computeReprojectionErrors(objectPoints, imagePoints, rvecs,
- tvecs, cameraMatrix, distCoeffs, reprojErrs, s.useFisheye);
+ bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);
- return ok;
+ objectPoints.clear();
+ objectPoints.resize(imagePoints.size(), newObjPoints);
+ totalAvgErr = computeReprojectionErrors(objectPoints, imagePoints, rvecs,
+ tvecs, cameraMatrix, distCoeffs, reprojErrs, s.useFisheye);
+
+ return ok;
}
//! [run_and_save]
@@ -630,17 +630,17 @@ bool runCalibration(const Calibrate::Settings& s, Size imageSize,
Mat& cameraMatrix, Mat& distCoeffs,
vector<vector<Point2f> > imagePoints, float grid_width,
bool release_object) {
- vector<Mat> rvecs, tvecs;
- vector<float> reprojErrs;
- double totalAvgErr = 0;
- vector<Point3f> newObjPoints;
-
- bool ok = _runCalibration(s, imageSize, cameraMatrix, distCoeffs,
- imagePoints, rvecs, tvecs, reprojErrs, totalAvgErr, newObjPoints,
- grid_width, release_object);
- LOG(INFO) << (ok ? "Calibration succeeded" : "Calibration failed")
- << ". avg re projection error = " << totalAvgErr;
-
- return ok;
+ vector<Mat> rvecs, tvecs;
+ vector<float> reprojErrs;
+ double totalAvgErr = 0;
+ vector<Point3f> newObjPoints;
+
+ bool ok = _runCalibration(s, imageSize, cameraMatrix, distCoeffs,
+ imagePoints, rvecs, tvecs, reprojErrs, totalAvgErr, newObjPoints,
+ grid_width, release_object);
+ LOG(INFO) << (ok ? "Calibration succeeded" : "Calibration failed")
+ << ". avg re projection error = " << totalAvgErr;
+
+ return ok;
}
-//! [run_and_save]
+//! [run_and_save]
\ No newline at end of file