bug fix

modules/ccalib/include/opencv2/omnidir.hpp

@@ -140,7 +140,7 @@ namespace omnidir
     @param R Rotation matrix between the input and output images. By default, it is identity matrix.
     */
     CV_EXPORTS_W void undistortImage(InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, InputArray xi, int flags,
-        InputArray Knew = cv::noArray(), const Size& new_size = Size(), InputArray R = Matx33d::eye());
+        InputArray Knew = cv::noArray(), const Size& new_size = Size(), InputArray R = Mat::eye(3, 3, CV_64F));
 
     /** @brief Perform omnidirectional camera calibration, the default depth of outputs is CV_64F.
 

modules/ccalib/src/multiCameraCalibration.cpp

@@ -146,11 +146,11 @@ void multiCameraCalibration::loadImages()
         std::string filename = file_list[i].substr(0, file_list[i].find('.'));
         int spritPosition1 = filename.rfind('/');
         int spritPosition2 = filename.rfind('\\');
-        if (spritPosition1!=std::string::npos)
+        if (spritPosition1!=(int)std::string::npos)
         {
             filename = filename.substr(spritPosition1+1, filename.size() - 1);
         }
-        else if(spritPosition2!= std::string::npos)
+        else if(spritPosition2!= (int)std::string::npos)
         {
             filename = filename.substr(spritPosition2+1, filename.size() - 1);
         }
@@ -176,10 +176,10 @@ void multiCameraCalibration::loadImages()
 
         // calibrate
         Mat idx;
-        double rms;
+        //double rms;
         if (_camType == PINHOLE)
         {
-            rms = cv::calibrateCamera(_objectPointsForEachCamera[camera], _imagePointsForEachCamera[camera],
+            cv::calibrateCamera(_objectPointsForEachCamera[camera], _imagePointsForEachCamera[camera],
                 image.size(), _cameraMatrix[camera], _distortCoeffs[camera], _omEachCamera[camera],
                 _tEachCamera[camera],_flags);
             idx = Mat(1, (int)_omEachCamera[camera].size(), CV_32S);
@@ -201,7 +201,7 @@ void multiCameraCalibration::loadImages()
         //}
         else if (_camType == OMNIDIRECTIONAL)
         {
-            rms = cv::omnidir::calibrate(_objectPointsForEachCamera[camera], _imagePointsForEachCamera[camera],
+            cv::omnidir::calibrate(_objectPointsForEachCamera[camera], _imagePointsForEachCamera[camera],
                 image.size(), _cameraMatrix[camera], _xi[camera], _distortCoeffs[camera], _omEachCamera[camera],
                 _tEachCamera[camera], _flags, TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 300, 1e-7),
                 idx);
@@ -277,8 +277,8 @@ void multiCameraCalibration::initialize()
     int nEdges = (int) _edgeList.size();
 
     // build graph
-    Mat G = Mat::zeros((int)this->_vertexList.size(), (int)this->_vertexList.size(), CV_32S);
-    for (int edgeIdx = 0; edgeIdx < (int)this->_edgeList.size(); ++edgeIdx)
+    Mat G = Mat::zeros(nVertices, nVertices, CV_32S);
+    for (int edgeIdx = 0; edgeIdx < nEdges; ++edgeIdx)
     {
         G.at<int>(this->_edgeList[edgeIdx].cameraVertex, this->_edgeList[edgeIdx].photoVertex) = edgeIdx + 1;
     }
@@ -334,7 +334,7 @@ double multiCameraCalibration::optimizeExtrinsics()
         tvec.reshape(1, 1).copyTo(extrinParam.colRange(offset+3, offset +6));
         offset += 6;
     }
-    double error_pre = computeProjectError(extrinParam);
+    //double error_pre = computeProjectError(extrinParam);
     // optimization
     const double alpha_smooth = 0.01;
     //const double thresh_cond = 1e6;
@@ -356,7 +356,7 @@ double multiCameraCalibration::optimizeExtrinsics()
 
         extrinParam = extrinParam + G.reshape(1, 1);
         change = norm(G) / norm(extrinParam);
-        double error = computeProjectError(extrinParam);
+        //double error = computeProjectError(extrinParam);
     }
 
     double error = computeProjectError(extrinParam);
@@ -461,10 +461,10 @@ void multiCameraCalibration::computePhotoCameraJacobian(const Mat& rvecPhoto, co
     {
         tvecTran.convertTo(tvecTran, CV_32F);
     }
-    float _xi;
+    float xif = 0.0f;
     if (_camType == OMNIDIRECTIONAL)
     {
-        _xi= xi.at<float>(0);
+        xif= xi.at<float>(0);
     }
 
     Mat imagePoints2, jacobian, dx_drvecCamera, dx_dtvecCamera, dx_drvecPhoto, dx_dtvecPhoto;
@@ -478,7 +478,7 @@ void multiCameraCalibration::computePhotoCameraJacobian(const Mat& rvecPhoto, co
     //}
     else if (_camType == OMNIDIRECTIONAL)
     {
-        cv::omnidir::projectPoints(objectPoints, imagePoints2, rvecTran, tvecTran, K, _xi, distort, jacobian);
+        cv::omnidir::projectPoints(objectPoints, imagePoints2, rvecTran, tvecTran, K, xif, distort, jacobian);
     }
     if (objectPoints.depth() == CV_32F)
     {
@@ -562,7 +562,7 @@ void multiCameraCalibration::findRowNonZero(const Mat& row, Mat& idx)
 double multiCameraCalibration::computeProjectError(Mat& parameters)
 {
     int nVertex = (int)_vertexList.size();
-    CV_Assert(parameters.total() == (nVertex-1) * 6 && parameters.depth() == CV_32F);
+    CV_Assert((int)parameters.total() == (nVertex-1) * 6 && parameters.depth() == CV_32F);
     int nEdge = (int)_edgeList.size();
 
     // recompute the transform between photos and cameras
@@ -756,7 +756,7 @@ void multiCameraCalibration::dAB(InputArray A, InputArray B, OutputArray dABdA,
 void multiCameraCalibration::vector2parameters(const Mat& parameters, std::vector<Vec3f>& rvecVertex, std::vector<Vec3f>& tvecVertexs)
 {
     int nVertex = (int)_vertexList.size();
-    CV_Assert(parameters.channels() == 1 && parameters.total() == 6*(nVertex - 1));
+    CV_Assert((int)parameters.channels() == 1 && (int)parameters.total() == 6*(nVertex - 1));
     CV_Assert(parameters.depth() == CV_32F);
     parameters.reshape(1, 1);
 

modules/ccalib/src/omnidir.cpp

@@ -253,7 +253,7 @@ void cv::omnidir::undistortPoints( InputArray distorted, OutputArray undistorted
     undistorted.create(distorted.size(), distorted.type());
 
     cv::Vec2d f, c;
-    double s;
+    double s = 0.0;
     if (K.depth() == CV_32F)
     {
         Matx33f camMat = K.getMat();
@@ -463,7 +463,7 @@ void cv::omnidir::initUndistortRectifyMap(InputArray K, InputArray D, InputArray
 
             for (int j = 0; j < size.width; ++j, theta+=iK(0,0), h+=iK(1,0))
             {
-                double _xt, _yt, _wt;
+                double _xt = 0.0, _yt = 0.0, _wt = 0.0;
                 if (flags == omnidir::RECTIFY_CYLINDRICAL)
                 {
                     //_xt = std::sin(theta);
@@ -483,9 +483,9 @@ void cv::omnidir::initUndistortRectifyMap(InputArray K, InputArray D, InputArray
                 {
                     double a = theta*theta + h*h + 4;
                     double b = -2*theta*theta - 2*h*h;
-                    double c = theta*theta + h*h -4;
+                    double c2 = theta*theta + h*h -4;
 
-                    _yt = (-b-std::sqrt(b*b - 4*a*c))/(2*a);
+                    _yt = (-b-std::sqrt(b*b - 4*a*c2))/(2*a);
                     _xt = theta*(1 - _yt) / 2;
                     _wt = h*(1 - _yt) / 2;
                 }
@@ -742,8 +742,6 @@ void cv::omnidir::internal::initializeCalibration(InputOutputArrayOfArrays patte
         cv::Mat(tFilter).convertTo(tAll, CV_64FC3);
     }
 
-    int depth1 = patternPoints.depth(), depth2 = imagePoints.depth();
-
     //patternPoints.create(Size(1, (int)patternPointsFilter.size()), CV_MAKETYPE(depth2,3), );
     //imagePoints.create(Size(1, (int)patternPointsFilter.size()), CV_MAKETYPE(depth2,2));
     //std::cout << patternPoints.total() << std::endl;
@@ -811,14 +809,6 @@ void cv::omnidir::internal::initializeStereoCalibration(InputOutputArrayOfArrays
         tAll1[i] = tAllTemp1[interIdx1.at<int>(i)];
         omAll2[i] = omAllTemp2[interIdx2.at<int>(i)];
         tAll2[i] = tAllTemp2[interIdx2.at<int>(i)];
-        /*objectPointsTemp1[interIdx1.at<int>(i)].copyTo(objectPoints.getMat(i));
-        imagePointsTemp1[interIdx1.at<int>(i)].copyTo(imagePoints1.getMat(i));
-        imagePointsTemp2[interIdx2.at<int>(i)].copyTo(imagePoints2.getMat(i));
-        omAll1[i] = omAllTemp1[interIdx1.at<int>(i)];
-        tAll1[i] = tAllTemp1[interIdx1.at<int>(i)];
-        omAll2[i] = omAllTemp2[interIdx2.at<int>(i)];
-        tAll2[i] = tAllTemp2[interIdx2.at<int>(i)];*/
-
     }
 
     // initialize R,T
@@ -999,12 +989,12 @@ void cv::omnidir::internal::computeJacobianStereo(InputArrayOfArrays objectPoint
     Matx14d D2(para[offset2+6], para[offset2+7], para[offset2+8], para[offset2+9]);
     double xi2 = para[offset2+5];
 
-    Mat om = parameters.getMat().colRange(0, 3);
-    Mat T = parameters.getMat().colRange(3, 6);
+    Mat om = parameters.getMat().reshape(1, 1).colRange(0, 3);
+    Mat T = parameters.getMat().reshape(1, 1).colRange(3, 6);
 
     for (int i = 0; i < n_img; i++)
     {
-        Mat objPointsi, imgPoints1i, imgPoints2i, om1, T1, om, T;
+        Mat objPointsi, imgPoints1i, imgPoints2i, om1, T1;
         //objPointsi = objectPoints.getMat(i);
         //imgPoints1i = imagePoints1.getMat(i);
         //imgPoints2i = imagePoints2.getMat(i);
@@ -1017,8 +1007,7 @@ void cv::omnidir::internal::computeJacobianStereo(InputArrayOfArrays objectPoint
 
         om1 = parameters.getMat().reshape(1, 1).colRange((1 + i) * 6, (1 + i) * 6 + 3);
         T1 = parameters.getMat().reshape(1, 1).colRange((1 + i) * 6 + 3, (i + 1) * 6 + 6);
-        om = parameters.getMat().reshape(1, 1).colRange(0, 3);
-        T = parameters.getMat().reshape(1, 1).colRange(3, 6);
+
 
         Mat imgProj1, imgProj2, jacobian1, jacobian2;
 
@@ -1253,11 +1242,11 @@ double cv::omnidir::calibrate(InputArray patternPoints, InputArray imagePoints,
         currentParam = finalParam.clone();
 
         cv::omnidir::internal::decodeParameters(currentParam, _K, _omAll, _tAll, _D, _xi);
-        double repr = internal::computeMeanReproErr(_patternPoints, _imagePoints, _K, _D, _xi, _omAll, _tAll);
+        //double repr = internal::computeMeanReproErr(_patternPoints, _imagePoints, _K, _D, _xi, _omAll, _tAll);
     }
     cv::omnidir::internal::decodeParameters(currentParam, _K, _omAll, _tAll, _D, _xi);
 
-    double repr = internal::computeMeanReproErr(_patternPoints, _imagePoints, _K, _D, _xi, _omAll, _tAll);
+    //double repr = internal::computeMeanReproErr(_patternPoints, _imagePoints, _K, _D, _xi, _omAll, _tAll);
 
     if (omAll.needed())
     {
@@ -1353,17 +1342,8 @@ double cv::omnidir::stereoCalibrate(InputOutputArrayOfArrays objectPoints, Input
 
     Matx33d _K1, _K2;
     Matx14d _D1, _D2;
-    int n = objectPoints.total();
-    int nPoints = objectPoints.getMat(0).total();
-
-    //if (!K1.empty()) K1.getMat().convertTo(_K1, CV_64FC1);
-    //if (!D1.empty()) D1.getMat().convertTo(_D1, CV_64FC1);
-    //if (!K2.empty()) K2.getMat().convertTo(_K2, CV_64FC1);
-    //if (!D2.empty()) D2.getMat().convertTo(_D2, CV_64FC1);
 
     double _xi1, _xi2;
-    //if(!xi1.empty()) _xi1 = xi1.getMat().at<double>(0);
-    //if(!xi2.empty()) _xi2 = xi1.getMat().at<double>(0);
 
     std::vector<Vec3d> _omL, _TL;
     Vec3d _om, _T;
@@ -1377,12 +1357,12 @@ double cv::omnidir::stereoCalibrate(InputOutputArrayOfArrays objectPoints, Input
         _idx.copyTo(idx.getMat());
     }
 
-    n = (int)_objectPoints.size();
+    int n = (int)_objectPoints.size();
     Mat finalParam(1, 10 + 6*n, CV_64F);
     Mat currentParam(1, 10 + 6*n, CV_64F);
 
-    double repr1 = internal::computeMeanReproErrStereo(_objectPoints, _imagePoints1, _imagePoints2, _K1, _K2, _D1, _D2, _xi1, _xi2, _om,
-        _T, _omL, _TL);
+    //double repr1 = internal::computeMeanReproErrStereo(_objectPoints, _imagePoints1, _imagePoints2, _K1, _K2, _D1, _D2, _xi1, _xi2, _om,
+    //    _T, _omL, _TL);
     cv::omnidir::internal::encodeParametersStereo(_K1, _K2, _om, _T, _omL, _TL, _D1, _D2, _xi1, _xi2, currentParam);
 
     // optimization
@@ -1410,13 +1390,13 @@ double cv::omnidir::stereoCalibrate(InputOutputArrayOfArrays objectPoints, Input
 
         currentParam = finalParam.clone();
         cv::omnidir::internal::decodeParametersStereo(currentParam, _K1, _K2, _om, _T, _omL, _TL, _D1, _D2, _xi1, _xi2);
-        double repr = internal::computeMeanReproErrStereo(_objectPoints, _imagePoints1, _imagePoints2, _K1, _K2, _D1, _D2, _xi1, _xi2, _om,
-            _T, _omL, _TL);
+        //double repr = internal::computeMeanReproErrStereo(_objectPoints, _imagePoints1, _imagePoints2, _K1, _K2, _D1, _D2, _xi1, _xi2, _om,
+        //    _T, _omL, _TL);
 
     }
     cv::omnidir::internal::decodeParametersStereo(finalParam, _K1, _K2, _om, _T, _omL, _TL, _D1, _D2, _xi1, _xi2);
-    double repr = internal::computeMeanReproErrStereo(_objectPoints, _imagePoints1, _imagePoints2, _K1, _K2, _D1, _D2, _xi1, _xi2, _om,
-        _T, _omL, _TL);
+    //double repr = internal::computeMeanReproErrStereo(_objectPoints, _imagePoints1, _imagePoints2, _K1, _K2, _D1, _D2, _xi1, _xi2, _om,
+    //    _T, _omL, _TL);
 
     if (K1.empty())
     {