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Fixed build with opencv < 2.4.10 for missing fisheye model

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This commit is contained in:
matlabbe
2018-09-24 15:09:12 -04:00
parent c341648a44
commit b581a62c89
3 changed files with 42 additions and 19 deletions
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guilib/src/CalibrationDialog.cpp
+24 -19
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@@ -101,6 +101,9 @@ CalibrationDialog::CalibrationDialog(bool stereo, const QString & savingDirector
ui_->checkBox_switchImages->setChecked(switchImages);
ui_->checkBox_fisheye->setChecked(false);
ui_->checkBox_fisheye->setEnabled(false);
this->setStereoMode(stereo_);
}
@@ -707,7 +710,9 @@ void CalibrationDialog::calibrate()
UINFO("calibrate!");
//Find intrinsic and extrinsic camera parameters
double rms = 0.0;
#if CV_MAJOR_VERSION > 2 or (CV_MAJOR_VERSION == 2 and (CV_MINOR_VERSION >4 or (CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION >=10)))
bool fishEye = ui_->checkBox_fisheye->isChecked();
if(fishEye)
{
rms = cv::fisheye::calibrate(objectPoints,
@@ -718,13 +723,17 @@ void CalibrationDialog::calibrate()
rvecs,
tvecs);
}
rms = cv::calibrateCamera(objectPoints,
imagePoints_[id],
imageSize_[id],
K,
D,
rvecs,
tvecs);
else
#endif
{
rms = cv::calibrateCamera(objectPoints,
imagePoints_[id],
imageSize_[id],
K,
D,
rvecs,
tvecs);
}
UINFO("Re-projection error reported by calibrateCamera: %f", rms);
@@ -736,11 +745,13 @@ void CalibrationDialog::calibrate()
for( i = 0; i < (int)objectPoints.size(); ++i )
{
#if CV_MAJOR_VERSION > 2 or (CV_MAJOR_VERSION == 2 and (CV_MINOR_VERSION >4 or (CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION >=10)))
if(fishEye)
{
cv::fisheye::projectPoints( cv::Mat(objectPoints[i]), rvecs[i], tvecs[i], K, D, imagePoints2);
}
else
#endif
{
cv::projectPoints( cv::Mat(objectPoints[i]), rvecs[i], tvecs[i], K, D, imagePoints2);
}
@@ -760,6 +771,7 @@ void CalibrationDialog::calibrate()
P.at<double>(2,3) = 1;
K.copyTo(P.colRange(0,3).rowRange(0,3));
#if CV_MAJOR_VERSION > 2 or (CV_MAJOR_VERSION == 2 and (CV_MINOR_VERSION >4 or (CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION >=10)))
if(fishEye)
{
// Convert to unified distortion model (k1,k2,p1,p2,k3,k4)
@@ -768,7 +780,9 @@ void CalibrationDialog::calibrate()
newD.at<double>(0,1) = D.at<double>(0,1);
newD.at<double>(0,4) = D.at<double>(0,2);
newD.at<double>(0,5) = D.at<double>(0,3);
D = newD;
}
#endif
std::cout << "K = " << K << std::endl;
std::cout << "D = " << D << std::endl;
@@ -905,6 +919,7 @@ StereoCameraModel CalibrationDialog::stereoCalibration(const CameraModel & left,
objectPoints.resize(stereoImagePoints_[0].size(), objectPoints[0]);
double rms = 0.0;
#if CV_MAJOR_VERSION > 2 or (CV_MAJOR_VERSION == 2 and (CV_MINOR_VERSION >4 or (CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION >=10)))
bool fishEye = left.D_raw().cols == 6;
// calibrate extrinsic
if(fishEye)
@@ -920,7 +935,7 @@ StereoCameraModel CalibrationDialog::stereoCalibration(const CameraModel & left,
D_right.at<double>(0,1) = right.D_raw().at<double>(0,1);
D_right.at<double>(0,2) = right.D_raw().at<double>(0,4);
D_right.at<double>(0,3) = right.D_raw().at<double>(0,5);
#if CV_MAJOR_VERSION < 3
rms = cv::fisheye::stereoCalibrate(
objectPoints,
stereoImagePoints_[0],
@@ -930,19 +945,9 @@ StereoCameraModel CalibrationDialog::stereoCalibration(const CameraModel & left,
imageSize, R, T,
cv::CALIB_FIX_INTRINSIC,
cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, 1e-5));
#else
rms = cv::fisheye::stereoCalibrate(
objectPoints,
stereoImagePoints_[0],
stereoImagePoints_[1],
left.K_raw(), D_left,
right.K_raw(), D_right,
imageSize, R, T,
cv::CALIB_FIX_INTRINSIC,
cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, 1e-5));
#endif
}
else
#endif
{
#if CV_MAJOR_VERSION < 3
rms = cv::stereoCalibrate(