Merge pull request opencv#9467 from sovrasov:stereo_calib_fix_td

alalek · alalek · commit 8ffa29473ffe · 2017-08-25T14:32:57.000Z
diff --git a/modules/calib3d/include/opencv2/calib3d/calib3d_c.h b/modules/calib3d/include/opencv2/calib3d/calib3d_c.h
@@ -245,6 +245,7 @@ CVAPI(void) cvDrawChessboardCorners( CvArr* image, CvSize pattern_size,
 #define CV_CALIB_FIX_S1_S2_S3_S4  65536
 #define CV_CALIB_TILTED_MODEL  262144
 #define CV_CALIB_FIX_TAUX_TAUY  524288
+#define CV_CALIB_FIX_TANGENT_DIST 2097152
 
 #define CV_CALIB_NINTRINSIC 18
 
diff --git a/modules/calib3d/src/calibration.cpp b/modules/calib3d/src/calibration.cpp
@@ -1826,7 +1826,7 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
             cvConvert( cameraMatrix, &K[k] );
 
         if( flags & (CALIB_FIX_INTRINSIC|CALIB_USE_INTRINSIC_GUESS|
-            CALIB_FIX_K1|CALIB_FIX_K2|CALIB_FIX_K3|CALIB_FIX_K4|CALIB_FIX_K5|CALIB_FIX_K6) )
+            CALIB_FIX_K1|CALIB_FIX_K2|CALIB_FIX_K3|CALIB_FIX_K4|CALIB_FIX_K5|CALIB_FIX_K6|CALIB_FIX_TANGENT_DIST) )
         {
             CvMat tdist = cvMat( distCoeffs->rows, distCoeffs->cols,
                 CV_MAKETYPE(CV_64F,CV_MAT_CN(distCoeffs->type)), Dist[k].data.db );
@@ -1888,7 +1888,7 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
             imask[0] = imask[1] = imask[NINTRINSIC] = imask[NINTRINSIC+1] = 0;
         if( flags & CALIB_FIX_PRINCIPAL_POINT )
             imask[2] = imask[3] = imask[NINTRINSIC+2] = imask[NINTRINSIC+3] = 0;
-        if( flags & CALIB_ZERO_TANGENT_DIST )
+        if( flags & (CALIB_ZERO_TANGENT_DIST|CALIB_FIX_TANGENT_DIST) )
             imask[6] = imask[7] = imask[NINTRINSIC+6] = imask[NINTRINSIC+7] = 0;
         if( flags & CALIB_FIX_K1 )
             imask[4] = imask[NINTRINSIC+4] = 0;
diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
@@ -137,7 +137,7 @@ bool solvePnP( InputArray _opoints, InputArray _ipoints,
         CvMat c_cameraMatrix = cameraMatrix, c_distCoeffs = distCoeffs;
         CvMat c_rvec = rvec, c_tvec = tvec;
         cvFindExtrinsicCameraParams2(&c_objectPoints, &c_imagePoints, &c_cameraMatrix,
-                                     c_distCoeffs.rows*c_distCoeffs.cols ? &c_distCoeffs : 0,
+                                     (c_distCoeffs.rows && c_distCoeffs.cols) ? &c_distCoeffs : 0,
                                      &c_rvec, &c_tvec, useExtrinsicGuess );
         result = true;
     }

Original file line number	Diff line number	Diff line change
`@@ -137,7 +137,7 @@ bool solvePnP( InputArray _opoints, InputArray _ipoints,`
`137`	`137`	`CvMat c_cameraMatrix = cameraMatrix, c_distCoeffs = distCoeffs;`
`138`	`138`	`CvMat c_rvec = rvec, c_tvec = tvec;`
`139`	`139`	`cvFindExtrinsicCameraParams2(&c_objectPoints, &c_imagePoints, &c_cameraMatrix,`
`140`		`- c_distCoeffs.rows*c_distCoeffs.cols ? &c_distCoeffs : 0,`
	`140`	`+ (c_distCoeffs.rows && c_distCoeffs.cols) ? &c_distCoeffs : 0,`
`141`	`141`	`&c_rvec, &c_tvec, useExtrinsicGuess );`
`142`	`142`	`result = true;`
`143`	`143`	`}`