Merge pull request #2002 from abak:stereo_calibrate

modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst

@@ -1261,11 +1261,11 @@ stereoCalibrate
 -------------------
 Calibrates the stereo camera.
 
-.. ocv:function:: double stereoCalibrate( InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputOutputArray cameraMatrix1, InputOutputArray distCoeffs1, InputOutputArray cameraMatrix2, InputOutputArray distCoeffs2, Size imageSize, OutputArray R, OutputArray T, OutputArray E, OutputArray F, TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 1e-6), int flags=CALIB_FIX_INTRINSIC )
+.. ocv:function:: double stereoCalibrate( InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputOutputArray cameraMatrix1, InputOutputArray distCoeffs1, InputOutputArray cameraMatrix2, InputOutputArray distCoeffs2, Size imageSize, OutputArray R, OutputArray T, OutputArray E, OutputArray F, int flags=CALIB_FIX_INTRINSIC ,TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 1e-6))
 
-.. ocv:pyfunction:: cv2.stereoCalibrate(objectPoints, imagePoints1, imagePoints2, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, imageSize[, R[, T[, E[, F[, criteria[, flags]]]]]]) -> retval, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, R, T, E, F
+.. ocv:pyfunction:: cv2.stereoCalibrate(objectPoints, imagePoints1, imagePoints2, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, imageSize[, R[, T[, E[, F[, flags[, criteria]]]]]]) -> retval, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, R, T, E, F
 
-.. ocv:cfunction:: double cvStereoCalibrate( const CvMat* object_points, const CvMat* image_points1, const CvMat* image_points2, const CvMat* npoints, CvMat* camera_matrix1, CvMat* dist_coeffs1, CvMat* camera_matrix2, CvMat* dist_coeffs2, CvSize image_size, CvMat* R, CvMat* T, CvMat* E=0, CvMat* F=0, CvTermCriteria term_crit=cvTermCriteria( CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6), int flags=CV_CALIB_FIX_INTRINSIC )
+.. ocv:cfunction:: double cvStereoCalibrate( const CvMat* object_points, const CvMat* image_points1, const CvMat* image_points2, const CvMat* npoints, CvMat* camera_matrix1, CvMat* dist_coeffs1, CvMat* camera_matrix2, CvMat* dist_coeffs2, CvSize image_size, CvMat* R, CvMat* T, CvMat* E=0, CvMat* F=0, int flags=CV_CALIB_FIX_INTRINSIC, CvTermCriteria term_crit=cvTermCriteria( CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6) )
 
     :param objectPoints: Vector of vectors of the calibration pattern points.
 

modules/calib3d/include/opencv2/calib3d.hpp

@@ -203,8 +203,8 @@ CV_EXPORTS_W double stereoCalibrate( InputArrayOfArrays objectPoints,
                                      InputOutputArray cameraMatrix1, InputOutputArray distCoeffs1,
                                      InputOutputArray cameraMatrix2, InputOutputArray distCoeffs2,
                                      Size imageSize, OutputArray R,OutputArray T, OutputArray E, OutputArray F,
-                                     TermCriteria criteria = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 1e-6),
-                                     int flags = CALIB_FIX_INTRINSIC );
+                                     int flags = CALIB_FIX_INTRINSIC,
+                                     TermCriteria criteria = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 1e-6) );
 
 
 //! computes the rectification transformation for a stereo camera from its intrinsic and extrinsic parameters

modules/calib3d/include/opencv2/calib3d/calib3d_c.h

@@ -276,9 +276,9 @@ CVAPI(double) cvStereoCalibrate( const CvMat* object_points, const CvMat* image_
                                CvMat* camera_matrix2, CvMat* dist_coeffs2,
                                CvSize image_size, CvMat* R, CvMat* T,
                                CvMat* E CV_DEFAULT(0), CvMat* F CV_DEFAULT(0),
+                               int flags CV_DEFAULT(CV_CALIB_FIX_INTRINSIC),
                                CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
-                                   CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6)),
-                               int flags CV_DEFAULT(CV_CALIB_FIX_INTRINSIC));
+                                   CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6)) );
 
 #define CV_CALIB_ZERO_DISPARITY 1024
 

modules/calib3d/src/calibration.cpp

@@ -1635,8 +1635,8 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
                         CvMat* _cameraMatrix2, CvMat* _distCoeffs2,
                         CvSize imageSize, CvMat* matR, CvMat* matT,
                         CvMat* matE, CvMat* matF,
-                        CvTermCriteria termCrit,
-                        int flags )
+                        int flags,
+                        CvTermCriteria termCrit )
 {
     const int NINTRINSIC = 16;
     Ptr<CvMat> npoints, err, J_LR, Je, Ji, imagePoints[2], objectPoints, RT0;
@@ -3278,8 +3278,8 @@ double cv::stereoCalibrate( InputArrayOfArrays _objectPoints,
                           InputOutputArray _cameraMatrix1, InputOutputArray _distCoeffs1,
                           InputOutputArray _cameraMatrix2, InputOutputArray _distCoeffs2,
                           Size imageSize, OutputArray _Rmat, OutputArray _Tmat,
-                          OutputArray _Emat, OutputArray _Fmat, TermCriteria criteria,
-                          int flags )
+                          OutputArray _Emat, OutputArray _Fmat, int flags ,
+                          TermCriteria criteria)
 {
     int rtype = CV_64F;
     Mat cameraMatrix1 = _cameraMatrix1.getMat();
@@ -3322,7 +3322,7 @@ double cv::stereoCalibrate( InputArrayOfArrays _objectPoints,
 
     double err = cvStereoCalibrate(&c_objPt, &c_imgPt, &c_imgPt2, &c_npoints, &c_cameraMatrix1,
         &c_distCoeffs1, &c_cameraMatrix2, &c_distCoeffs2, imageSize,
-        &c_matR, &c_matT, p_matE, p_matF, criteria, flags );
+        &c_matR, &c_matT, p_matE, p_matF, flags, criteria );
 
     cameraMatrix1.copyTo(_cameraMatrix1);
     cameraMatrix2.copyTo(_cameraMatrix2);

modules/calib3d/test/test_cameracalibration.cpp

@@ -1733,7 +1733,7 @@ double CV_StereoCalibrationTest_C::calibrateStereoCamera( const vector<vector<Po
 
     return cvStereoCalibrate(&_objPt, &_imgPt, &_imgPt2, &_npoints, &_cameraMatrix1,
         &_distCoeffs1, &_cameraMatrix2, &_distCoeffs2, imageSize,
-        &matR, &matT, &matE, &matF, criteria, flags );
+        &matR, &matT, &matE, &matF, flags, criteria );
 }
 
 void CV_StereoCalibrationTest_C::rectify( const Mat& cameraMatrix1, const Mat& distCoeffs1,
@@ -1830,7 +1830,7 @@ double CV_StereoCalibrationTest_CPP::calibrateStereoCamera( const vector<vector<
 {
     return stereoCalibrate( objectPoints, imagePoints1, imagePoints2,
                     cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2,
-                    imageSize, R, T, E, F, criteria, flags );
+                    imageSize, R, T, E, F, flags, criteria );
 }
 
 void CV_StereoCalibrationTest_CPP::rectify( const Mat& cameraMatrix1, const Mat& distCoeffs1,

samples/cpp/3calibration.cpp

@@ -137,8 +137,8 @@ static bool run3Calibration( vector<vector<Point2f> > imagePoints1,
         double err = stereoCalibrate(objpt, imgpt, imgpt_right, cameraMatrix1, distCoeffs1,
                                      cameraMatrix, distCoeffs,
                                      imageSize, R, T, E, F,
-                                     TermCriteria(TermCriteria::COUNT, 30, 0),
-                                     CALIB_FIX_INTRINSIC);
+                                     CALIB_FIX_INTRINSIC,
+                                     TermCriteria(TermCriteria::COUNT, 30, 0));
         printf("Pair (1,%d) calibration reprojection error = %g\n", c, sqrt(err/(N*2)));
         if( c == 2 )
         {

samples/cpp/stereo_calib.cpp

@@ -172,12 +172,12 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
                     cameraMatrix[0], distCoeffs[0],
                     cameraMatrix[1], distCoeffs[1],
                     imageSize, R, T, E, F,
-                    TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, 1e-5),
                     CALIB_FIX_ASPECT_RATIO +
                     CALIB_ZERO_TANGENT_DIST +
                     CALIB_SAME_FOCAL_LENGTH +
                     CALIB_RATIONAL_MODEL +
-                    CALIB_FIX_K3 + CALIB_FIX_K4 + CALIB_FIX_K5);
+                    CALIB_FIX_K3 + CALIB_FIX_K4 + CALIB_FIX_K5,
+                    TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, 1e-5) );
     cout << "done with RMS error=" << rms << endl;
 
 // CALIBRATION QUALITY CHECK