From f93f1aa65bdff31aaf934368af7dfd6cc228d3b7 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Tue, 8 Oct 2019 11:04:20 +0300
Subject: [PATCH] bug: intrinsic parameters were not fixed
---
applications/calibration-multi/src/main.cpp | 21 ++++++++++++-------
.../calibration-multi/src/multicalibrate.cpp | 5 +++--
2 files changed, 16 insertions(+), 10 deletions(-)
diff --git a/applications/calibration-multi/src/main.cpp b/applications/calibration-multi/src/main.cpp
index bee370d4c..f8593f9c7 100644
--- a/applications/calibration-multi/src/main.cpp
+++ b/applications/calibration-multi/src/main.cpp
@@ -237,18 +237,10 @@ void calibrate( MultiCameraCalibrationNew &calib, vector<string> &uri_cameras,
Mat P1, P2, Q;
Mat R1, R2;
Mat R_c1c2, T_c1c2;
- LOG(INFO) << K1;
- LOG(INFO) << K2;
calculateTransform(R[c], t[c], R[c + 1], t[c + 1], R_c1c2, T_c1c2);
cv::stereoRectify(K1, D1, K2, D2, params.size, R_c1c2, T_c1c2, R1, R2, P1, P2, Q, 0, params.alpha);
- Mat rvec;
- cv::Rodrigues(R_c1c2, rvec);
- LOG(INFO) << "From camera " << c << " to " << c + 1;
- LOG(INFO) << "rotation: " << rvec.t();
- LOG(INFO) << "translation: " << T_c1c2.t();
-
// calculate extrinsics from rectified parameters
Mat _t = Mat(Size(1, 3), CV_64FC1, Scalar(0.0));
Rt_out[c] = getMat4x4(R[c], t[c]) * getMat4x4(R1, _t).inv();
@@ -270,6 +262,14 @@ void calibrate( MultiCameraCalibrationNew &calib, vector<string> &uri_cameras,
);
LOG(INFO) << "Saved: " << params.output_path + node_name + "-extrinsic.yml";
}
+ else
+ {
+ Mat rvec;
+ cv::Rodrigues(R_c1c2, rvec);
+ LOG(INFO) << "From camera " << c << " to " << c + 1;
+ LOG(INFO) << "rotation: " << rvec.t();
+ LOG(INFO) << "translation: " << T_c1c2.t();
+ }
if (params.save_intrinsic)
{
@@ -280,6 +280,11 @@ void calibrate( MultiCameraCalibrationNew &calib, vector<string> &uri_cameras,
);
LOG(INFO) << "Saved: " << params.output_path + node_name + "-intrinsic.yml";
}
+ else if (params.optimize_intrinsic)
+ {
+ LOG(INFO) << "K1:\n" << K1;
+ LOG(INFO) << "K2:\n" << K2;
+ }
}
// for visualization
diff --git a/applications/calibration-multi/src/multicalibrate.cpp b/applications/calibration-multi/src/multicalibrate.cpp
index 9d85d1af7..0030d03b2 100644
--- a/applications/calibration-multi/src/multicalibrate.cpp
+++ b/applications/calibration-multi/src/multicalibrate.cpp
@@ -90,8 +90,9 @@ MultiCameraCalibrationNew::MultiCameraCalibrationNew(
n_cameras_(n_cameras),
reference_camera_(reference_camera),
min_visible_points_(50),
- fix_intrinsics_(fix_intrinsics == 1 ? 5 : 0),
+ // NOTE: modified cvsba (intrinsics fixed in different order)
+ fix_intrinsics_(fix_intrinsics == 1 ? 2 : 5),
resolution_(resolution),
K_(n_cameras),
dist_coeffs_(n_cameras),
@@ -491,7 +492,7 @@ double MultiCameraCalibrationNew::calibratePair(size_t camera_from, size_t camer
// Bundle Adjustment
// vector<Point3d> points3d_triangulated;
// points3d_triangulated.insert(points3d_triangulated.begin(), points3d.begin(), points3d.end());
- LOG(INFO) << K1;
+
double err;
cvsba::Sba sba;
{
--
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