bug: intrinsic parameters were not fixed

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

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;
 	{