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SFM::reconstruct - decompose K matrix correctly

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Lubos
2018-10-07 12:44:13 +02:00
parent e996686254
commit 3fbe8bc678
3 changed files with 14 additions and 8 deletions
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12
modules/sfm/include/opencv2/sfm/simple_pipeline.hpp
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@@ -55,7 +55,8 @@ enum {
/** @brief Data structure describing the camera model and its parameters.
@param _distortion_model Type of camera model.
@param _focal_length focal length of the camera (in pixels).
@param _focal_length_x focal length of the camera (in pixels).
@param _focal_length_y focal length of the camera (in pixels).
@param _principal_point_x principal point of the camera in the x direction (in pixels).
@param _principal_point_y principal point of the camera in the y direction (in pixels).
@param _polynomial_k1 radial distortion parameter.
@@ -73,7 +74,8 @@ class CV_EXPORTS_W_SIMPLE libmv_CameraIntrinsicsOptions
public:
CV_WRAP
libmv_CameraIntrinsicsOptions(const int _distortion_model=0,
const double _focal_length=0,
const double _focal_length_x=0,
const double _focal_length_y=0,
const double _principal_point_x=0,
const double _principal_point_y=0,
const double _polynomial_k1=0,
@@ -84,7 +86,8 @@ public:
: distortion_model(_distortion_model),
image_width(2*_principal_point_x),
image_height(2*_principal_point_y),
focal_length(_focal_length),
focal_length_x(_focal_length_x),
focal_length_y(_focal_length_y),
principal_point_x(_principal_point_x),
principal_point_y(_principal_point_y),
polynomial_k1(_polynomial_k1),
@@ -103,7 +106,8 @@ public:
// Common settings of all distortion models.
CV_PROP_RW int distortion_model;
CV_PROP_RW int image_width, image_height;
CV_PROP_RW double focal_length;
CV_PROP_RW double focal_length_x;
CV_PROP_RW double focal_length_y;
CV_PROP_RW double principal_point_x, principal_point_y;
// Radial distortion model.

4
modules/sfm/src/libmv_capi.h
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@@ -203,8 +203,8 @@ static bool selectTwoKeyframesBasedOnGRICAndVariance(
static void libmv_cameraIntrinsicsFillFromOptions(
const libmv_CameraIntrinsicsOptions* camera_intrinsics_options,
CameraIntrinsics* camera_intrinsics) {
camera_intrinsics->SetFocalLength(camera_intrinsics_options->focal_length,
camera_intrinsics_options->focal_length);
camera_intrinsics->SetFocalLength(camera_intrinsics_options->focal_length_x,
camera_intrinsics_options->focal_length_y);
camera_intrinsics->SetPrincipalPoint(
camera_intrinsics_options->principal_point_x,

6
modules/sfm/src/reconstruct.cpp
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@@ -69,7 +69,8 @@ namespace sfm
// Camera data
Matx33d Ka = K.getMat();
const double focal_length = Ka(0,0);
const double focal_length_x = Ka(0,0);
const double focal_length_y = Ka(1,1);
const double principal_x = Ka(0,2), principal_y = Ka(1,2), k1 = 0, k2 = 0, k3 = 0;
// Set reconstruction options
@@ -77,7 +78,8 @@ namespace sfm
libmv_CameraIntrinsicsOptions camera_instrinsic_options =
libmv_CameraIntrinsicsOptions(SFM_DISTORTION_MODEL_POLYNOMIAL,
focal_length, principal_x, principal_y,
focal_length_x, focal_length_y,
principal_x, principal_y,
k1, k2, k3);
//-- Instantiate reconstruction pipeline