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t/calib: Play around with mono calibration a bit

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This commit is contained in:
Jakob Bornecrantz 2020-01-16 22:34:04 +00:00
parent 62013c142b
commit d1af0b7f15
1 changed files with 26 additions and 4 deletions
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30
src/xrt/auxiliary/tracking/t_calibration.cpp
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@ -553,6 +553,7 @@ process_stereo_samples(class Calibration &c, int cols, int rows)
flags);
} else {
// non-fisheye version
int flags = 0;
// Insists on 32-bit floats for object points and image points
rp_error = cv::stereoCalibrate(
@ -568,7 +569,7 @@ process_stereo_samples(class Calibration &c, int cols, int rows)
wrapped.camera_translation_mat, // T
wrapped.camera_essential_mat, // E
wrapped.camera_fundamental_mat, // F
0); // flags
flags); // flags
}
@ -681,6 +682,13 @@ process_view_samples(class Calibration &c,
new_intrinsics_mat.at<double>(0, 2) = (cols - 1) / 2.0;
new_intrinsics_mat.at<double>(1, 2) = (rows - 1) / 2.0;
} else {
int flags = 0;
// Go all out.
flags |= cv::CALIB_THIN_PRISM_MODEL;
flags |= cv::CALIB_RATIONAL_MODEL;
flags |= cv::CALIB_TILTED_MODEL;
rp_error = cv::calibrateCamera( //
c.state.board_models_f32, // objectPoints
view.measured_f32, // imagePoints
@ -688,7 +696,21 @@ process_view_samples(class Calibration &c,
intrinsics_mat, // cameraMatrix
distortion_mat, // distCoeffs
cv::noArray(), // rvecs
cv::noArray()); // tvecs
cv::noArray(), // tvecs
flags); // flags
// Currently see as much as possible of the original image.
float alpha = 1.0;
// Create the new camera matrix.
new_intrinsics_mat = cv::getOptimalNewCameraMatrix(
intrinsics_mat, // cameraMatrix
distortion_mat, // distCoeffs
image_size, // imageSize
alpha, // alpha
cv::Size(), // newImgSize
NULL, // validPixROI
false); // centerPrincipalPoint
}
P("CALIBRATION DONE RP ERROR %f", rp_error);
@ -697,8 +719,8 @@ process_view_samples(class Calibration &c,
std::cout << "image_size: " << image_size << "\n";
std::cout << "rp_error: " << rp_error << "\n";
std::cout << "intrinsics_mat:\n" << intrinsics_mat << "\n";
std::cout << "new_intrinsics_mat:\n" << new_intrinsics_mat << "\n";
if (c.use_fisheye) {
std::cout << "new_intrinsics_mat:\n" << new_intrinsics_mat << "\n";
std::cout << "distortion_fisheye_mat:\n" << distortion_fisheye_mat << "\n";
} else {
std::cout << "distortion_mat:\n" << distortion_mat << "\n";
@ -723,7 +745,7 @@ process_view_samples(class Calibration &c,
intrinsics_mat, // K
distortion_mat, // D
cv::noArray(), // R
intrinsics_mat, // P
new_intrinsics_mat, // P
image_size, // size
CV_32FC1, // m1type
view.map1, // map1