added CV_CALIB_RATIONAL_MODEL for better backward compatibility

modules/calib3d/include/opencv2/calib3d/calib3d.hpp

@@ -223,6 +223,7 @@ CVAPI(void) cvDrawChessboardCorners( CvArr* image, CvSize pattern_size,
 #define CV_CALIB_FIX_K4  2048
 #define CV_CALIB_FIX_K5  4096
 #define CV_CALIB_FIX_K6  8192
+#define CV_CALIB_RATIONAL_MODEL 16384
 
 /* Finds intrinsic and extrinsic camera parameters
    from a few views of known calibration pattern */
@@ -542,17 +543,18 @@ enum
     CALIB_FIX_PRINCIPAL_POINT = 4,
     CALIB_ZERO_TANGENT_DIST = 8,
     CALIB_FIX_FOCAL_LENGTH = 16,
-    CALIB_FIX_K1 = 32,
-    CALIB_FIX_K2 = 64,
-    CALIB_FIX_K3 = 128,
-    CALIB_FIX_K4 = 2048,
-    CALIB_FIX_K5 = 4096,
-    CALIB_FIX_K6 = 8192,
+    CALIB_FIX_K1 = CV_CALIB_FIX_K1,
+    CALIB_FIX_K2 = CV_CALIB_FIX_K2,
+    CALIB_FIX_K3 = CV_CALIB_FIX_K3,
+    CALIB_FIX_K4 = CV_CALIB_FIX_K4,
+    CALIB_FIX_K5 = CV_CALIB_FIX_K5,
+    CALIB_FIX_K6 = CV_CALIB_FIX_K6,
+    CALIB_RATIONAL_MODEL = CV_CALIB_RATIONAL_MODEL,
     // only for stereo
-    CALIB_FIX_INTRINSIC = 256,
-    CALIB_SAME_FOCAL_LENGTH = 512,
+    CALIB_FIX_INTRINSIC = CV_CALIB_FIX_INTRINSIC,
+    CALIB_SAME_FOCAL_LENGTH = CV_CALIB_SAME_FOCAL_LENGTH,
     // for stereo rectification
-    CALIB_ZERO_DISPARITY = 1024
+    CALIB_ZERO_DISPARITY = CV_CALIB_ZERO_DISPARITY
 };
 
 //! finds intrinsic and extrinsic camera parameters from several fews of a known calibration pattern.

modules/calib3d/src/calibration.cpp

@@ -1596,6 +1596,8 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
         param[6] = param[7] = 0;
         mask[6] = mask[7] = 0;
     }
+    if( !(flags & CV_CALIB_RATIONAL_MODEL) )
+        flags |= CV_CALIB_FIX_K4 + CV_CALIB_FIX_K5 + CV_CALIB_FIX_K6;
     if( flags & CV_CALIB_FIX_K1 )
         mask[4] = 0;
     if( flags & CV_CALIB_FIX_K2 )
@@ -1928,6 +1930,8 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
     if( recomputeIntrinsics )
     {
         uchar* imask = solver.mask->data.ptr + nparams - NINTRINSIC*2;
+        if( !(flags & CV_CALIB_RATIONAL_MODEL) )
+            flags |= CV_CALIB_FIX_K4 | CV_CALIB_FIX_K5 | CV_CALIB_FIX_K6;
         if( flags & CV_CALIB_FIX_ASPECT_RATIO )
             imask[0] = imask[NINTRINSIC] = 0;
         if( flags & CV_CALIB_FIX_FOCAL_LENGTH )
@@ -3293,6 +3297,8 @@ double cv::calibrateCamera( const vector<vector<Point3f> >& objectPoints,
     int rtype = CV_64F;
     cameraMatrix = prepareCameraMatrix(cameraMatrix, rtype);
     distCoeffs = prepareDistCoeffs(distCoeffs, rtype);
+    if( !(flags & CALIB_RATIONAL_MODEL) )
+        distCoeffs = distCoeffs.rows == 1 ? distCoeffs.colRange(0, 5) : distCoeffs.rowRange(0, 5);
 
     size_t i, nimages = objectPoints.size();
     CV_Assert( nimages > 0 );
@@ -3341,6 +3347,13 @@ double cv::stereoCalibrate( const vector<vector<Point3f> >& objectPoints,
     cameraMatrix2 = prepareCameraMatrix(cameraMatrix2, rtype);
     distCoeffs1 = prepareDistCoeffs(distCoeffs1, rtype);
     distCoeffs2 = prepareDistCoeffs(distCoeffs2, rtype);
+    
+    if( !(flags & CALIB_RATIONAL_MODEL) )
+    {
+        distCoeffs1 = distCoeffs1.rows == 1 ? distCoeffs1.colRange(0, 5) : distCoeffs1.rowRange(0, 5);
+        distCoeffs2 = distCoeffs2.rows == 1 ? distCoeffs2.colRange(0, 5) : distCoeffs2.rowRange(0, 5);
+    }
+    
     R.create(3, 3, rtype);
     T.create(3, 1, rtype);
     E.create(3, 3, rtype);

samples/cpp/stereo_calib.cpp

@@ -160,8 +160,6 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
     Mat cameraMatrix[2], distCoeffs[2];
     cameraMatrix[0] = Mat::eye(3, 3, CV_64F);
     cameraMatrix[1] = Mat::eye(3, 3, CV_64F);
-    distCoeffs[0] = Mat::zeros(8, 1, CV_64F);
-    distCoeffs[1] = Mat::zeros(8, 1, CV_64F);
     Mat R, T, E, F;
     
     stereoCalibrate(objectPoints, imagePoints[0], imagePoints[1],
@@ -171,8 +169,7 @@ StereoCalib(const vector<string>& imagelist, Size boardSize, bool useCalibrated=
                     TermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 100, 1e-5),
                     CV_CALIB_FIX_ASPECT_RATIO +
                     CV_CALIB_ZERO_TANGENT_DIST +
-                    CV_CALIB_SAME_FOCAL_LENGTH +
-                    CV_CALIB_FIX_K3 + CV_CALIB_FIX_K4 + CV_CALIB_FIX_K5);
+                    CV_CALIB_SAME_FOCAL_LENGTH);
     cout << "done\n";
     
 // CALIBRATION QUALITY CHECK