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feature/ceres

Merged Sebastian Hahta requested to merge feature/ceres into master
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@@ -60,7 +60,11 @@ void ftl::calibration::intrinsic(map<string, string> &opt) {
LOG(INFO) << "-----------------------------------";
int calibrate_flags = cv::CALIB_ZERO_TANGENT_DIST | cv::CALIB_FIX_S1_S2_S3_S4 | cv::CALIB_FIX_ASPECT_RATIO;
// assume no tangential and thin prism distortion and only estimate first
// three radial distortion coefficients
int calibrate_flags = cv::CALIB_FIX_K4 | cv::CALIB_FIX_K5 | cv::CALIB_FIX_K6 |
cv::CALIB_ZERO_TANGENT_DIST | cv::CALIB_FIX_S1_S2_S3_S4 | cv::CALIB_FIX_ASPECT_RATIO;
vector<Mat> camera_matrix(n_cameras), dist_coeffs(n_cameras);
@@ -210,17 +214,13 @@ void ftl::calibration::intrinsic(map<string, string> &opt) {
LOG(WARNING) << "Estimating only intrinsic parameters for camera " << std::to_string(c);
dist_coeffs[c] = Mat(Size(8, 1), CV_64FC1, cv::Scalar(0.0));
calibrate_flags |= cv::CALIB_FIX_K1 | cv::CALIB_FIX_K2 |
cv::CALIB_FIX_K3 | cv::CALIB_FIX_K4 |
cv::CALIB_FIX_K5;
calibrate_flags |= cv::CALIB_FIX_K1 | cv::CALIB_FIX_K2 | cv::CALIB_FIX_K3;
c--;
continue;
}
calib_ok = true;
calibrate_flags &= ~cv::CALIB_FIX_K1 & ~cv::CALIB_FIX_K2 &
~cv::CALIB_FIX_K3 & ~cv::CALIB_FIX_K4 &
~cv::CALIB_FIX_K5;
calibrate_flags &= ~cv::CALIB_FIX_K1 & ~cv::CALIB_FIX_K2 & ~cv::CALIB_FIX_K3;
double fovx, fovy, focal_length, aspect_ratio;
cv::Point2d principal_point;
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