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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. /** @brief Data structure describing the camera model and its parameters.
@param _distortion_model Type of camera model. @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_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 _principal_point_y principal point of the camera in the y direction (in pixels).
@param _polynomial_k1 radial distortion parameter. @param _polynomial_k1 radial distortion parameter.
@@ -73,7 +74,8 @@ class CV_EXPORTS_W_SIMPLE libmv_CameraIntrinsicsOptions
public: public:
CV_WRAP CV_WRAP
libmv_CameraIntrinsicsOptions(const int _distortion_model=0, 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_x=0,
const double _principal_point_y=0, const double _principal_point_y=0,
const double _polynomial_k1=0, const double _polynomial_k1=0,
@@ -84,7 +86,8 @@ public:
: distortion_model(_distortion_model), : distortion_model(_distortion_model),
image_width(2*_principal_point_x), image_width(2*_principal_point_x),
image_height(2*_principal_point_y), 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_x(_principal_point_x),
principal_point_y(_principal_point_y), principal_point_y(_principal_point_y),
polynomial_k1(_polynomial_k1), polynomial_k1(_polynomial_k1),
@@ -103,7 +106,8 @@ public:
// Common settings of all distortion models. // Common settings of all distortion models.
CV_PROP_RW int distortion_model; CV_PROP_RW int distortion_model;
CV_PROP_RW int image_width, image_height; 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; CV_PROP_RW double principal_point_x, principal_point_y;
// Radial distortion model. // 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( static void libmv_cameraIntrinsicsFillFromOptions(
const libmv_CameraIntrinsicsOptions* camera_intrinsics_options, const libmv_CameraIntrinsicsOptions* camera_intrinsics_options,
CameraIntrinsics* camera_intrinsics) { CameraIntrinsics* camera_intrinsics) {
camera_intrinsics->SetFocalLength(camera_intrinsics_options->focal_length, camera_intrinsics->SetFocalLength(camera_intrinsics_options->focal_length_x,
camera_intrinsics_options->focal_length); camera_intrinsics_options->focal_length_y);
camera_intrinsics->SetPrincipalPoint( camera_intrinsics->SetPrincipalPoint(
camera_intrinsics_options->principal_point_x, camera_intrinsics_options->principal_point_x,

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