Commit ec8221eb authored by Matvey Safroshkin's avatar Matvey Safroshkin
Browse files

update

parent 004d53ff
......@@ -66,7 +66,7 @@
#include <iostream>
#include <CharucoBoardCornerFinder.h>
#include <CharucoGridCornerDetecor.h>
#include "opencv2/core/core_c.h"
namespace cv {
namespace multicalib {
......@@ -199,7 +199,26 @@ namespace cv {
{
rms = cv::calibrateCamera(_objectPointsForEachCamera[camera], _imagePointsForEachCamera[camera],
image.size(), _cameraMatrix[camera], _distortCoeffs[camera], _omEachCamera[camera],
_tEachCamera[camera], _flags);
_tEachCamera[camera],
CALIB_FIX_K3 + CALIB_FIX_K4 + CALIB_FIX_K5 + CALIB_FIX_K6 +
CALIB_FIX_S1_S2_S3_S4 + CALIB_ZERO_TANGENT_DIST);
// CALIB_FIX_K3 set k3 to 0
// CALIB_FIX_K4 set k4 to 0
// CALIB_FIX_K5 set k5 to 0
// CALIB_FIX_K6 set k6 to 0
// CALIB_FIX_S1_S2_S3_S4 set s1 s2 s3 s4 to 0
// CALIB_ZERO_TANGENT_DIST set p1 and p2 to 0
// CALIB_RATIONAL_MODEL enables k3 k4 k5 k6
// CALIB_FIX_PRINCIPAL_POINT The principal point is not changed during the global optimization.
// CALIB_FIX_ASPECT_RATIO The functions considers only fy as a free parameter. The ratio fx/fy stays the same as in the input cameraMatrix .
//
//
idx = Mat(1, (int)_omEachCamera[camera].size(), CV_32S);
for (int i = 0; i < (int)idx.total(); ++i)
{
......
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