+++ /dev/null
-/*M///////////////////////////////////////////////////////////////////////////////////////
-//
-// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
-//
-// By downloading, copying, installing or using the software you agree to this license.
-// If you do not agree to this license, do not download, install,
-// copy or use the software.
-//
-//
-// Intel License Agreement
-// For Open Source Computer Vision Library
-//
-// Copyright (C) 2000, Intel Corporation, all rights reserved.
-// Third party copyrights are property of their respective owners.
-//
-// Redistribution and use in source and binary forms, with or without modification,
-// are permitted provided that the following conditions are met:
-//
-// * Redistribution's of source code must retain the above copyright notice,
-// this list of conditions and the following disclaimer.
-//
-// * Redistribution's in binary form must reproduce the above copyright notice,
-// this list of conditions and the following disclaimer in the documentation
-// and/or other materials provided with the distribution.
-//
-// * The name of Intel Corporation may not be used to endorse or promote products
-// derived from this software without specific prior written permission.
-//
-// This software is provided by the copyright holders and contributors "as is" and
-// any express or implied warranties, including, but not limited to, the implied
-// warranties of merchantability and fitness for a particular purpose are disclaimed.
-// In no event shall the Intel Corporation or contributors be liable for any direct,
-// indirect, incidental, special, exemplary, or consequential damages
-// (including, but not limited to, procurement of substitute goods or services;
-// loss of use, data, or profits; or business interruption) however caused
-// and on any theory of liability, whether in contract, strict liability,
-// or tort (including negligence or otherwise) arising in any way out of
-// the use of this software, even if advised of the possibility of such damage.
-//
-//M*/
-
-#include "_cvaux.h"
-#include <stdio.h>
-
-#undef quad
-
-#if _MSC_VER >= 1200
-#pragma warning( disable: 4701 )
-#endif
-
-CvCalibFilter::CvCalibFilter()
-{
- /* etalon data */
- etalonType = CV_CALIB_ETALON_USER;
- etalonParamCount = 0;
- etalonParams = 0;
- etalonPointCount = 0;
- etalonPoints = 0;
-
- /* camera data */
- cameraCount = 1;
-
- memset( points, 0, sizeof(points));
- memset( undistMap, 0, sizeof(undistMap));
- undistImg = 0;
- memset( latestCounts, 0, sizeof(latestCounts));
- memset( latestPoints, 0, sizeof(latestPoints));
- memset( &stereo, 0, sizeof(stereo) );
- maxPoints = 0;
- framesTotal = 15;
- framesAccepted = 0;
- isCalibrated = false;
-
- imgSize = cvSize(0,0);
- grayImg = 0;
- tempImg = 0;
- storage = 0;
-
- memset( rectMap, 0, sizeof(rectMap));
-}
-
-
-CvCalibFilter::~CvCalibFilter()
-{
- SetCameraCount(0);
- cvFree( &etalonParams );
- cvFree( &etalonPoints );
- cvReleaseMat( &grayImg );
- cvReleaseMat( &tempImg );
- cvReleaseMat( &undistImg );
- cvReleaseMemStorage( &storage );
-}
-
-
-bool CvCalibFilter::SetEtalon( CvCalibEtalonType type, double* params,
- int pointCount, CvPoint2D32f* points )
-{
- int i, arrSize;
-
- Stop();
-
- for( i = 0; i < MAX_CAMERAS; i++ )
- cvFree( latestPoints + i );
-
- if( type == CV_CALIB_ETALON_USER || type != etalonType )
- {
- cvFree( &etalonParams );
- }
-
- etalonType = type;
-
- switch( etalonType )
- {
- case CV_CALIB_ETALON_CHESSBOARD:
- etalonParamCount = 3;
- if( !params || cvRound(params[0]) != params[0] || params[0] < 3 ||
- cvRound(params[1]) != params[1] || params[1] < 3 || params[2] <= 0 )
- {
- assert(0);
- return false;
- }
-
- pointCount = cvRound((params[0] - 1)*(params[1] - 1));
- break;
-
- case CV_CALIB_ETALON_USER:
- etalonParamCount = 0;
-
- if( !points || pointCount < 4 )
- {
- assert(0);
- return false;
- }
- break;
-
- default:
- assert(0);
- return false;
- }
-
- if( etalonParamCount > 0 )
- {
- arrSize = etalonParamCount * sizeof(etalonParams[0]);
- etalonParams = (double*)cvAlloc( arrSize );
- }
-
- arrSize = pointCount * sizeof(etalonPoints[0]);
-
- if( etalonPointCount != pointCount )
- {
- cvFree( &etalonPoints );
- etalonPointCount = pointCount;
- etalonPoints = (CvPoint2D32f*)cvAlloc( arrSize );
- }
-
- switch( etalonType )
- {
- case CV_CALIB_ETALON_CHESSBOARD:
- {
- int etalonWidth = cvRound( params[0] ) - 1;
- int etalonHeight = cvRound( params[1] ) - 1;
- int x, y, k = 0;
-
- etalonParams[0] = etalonWidth;
- etalonParams[1] = etalonHeight;
- etalonParams[2] = params[2];
-
- for( y = 0; y < etalonHeight; y++ )
- for( x = 0; x < etalonWidth; x++ )
- {
- etalonPoints[k++] = cvPoint2D32f( (etalonWidth - 1 - x)*params[2],
- y*params[2] );
- }
- }
- break;
-
- case CV_CALIB_ETALON_USER:
- memcpy( etalonParams, params, arrSize );
- memcpy( etalonPoints, points, arrSize );
- break;
-
- default:
- assert(0);
- return false;
- }
-
- return true;
-}
-
-
-CvCalibEtalonType
-CvCalibFilter::GetEtalon( int* paramCount, const double** params,
- int* pointCount, const CvPoint2D32f** points ) const
-{
- if( paramCount )
- *paramCount = etalonParamCount;
-
- if( params )
- *params = etalonParams;
-
- if( pointCount )
- *pointCount = etalonPointCount;
-
- if( points )
- *points = etalonPoints;
-
- return etalonType;
-}
-
-
-void CvCalibFilter::SetCameraCount( int count )
-{
- Stop();
-
- if( count != cameraCount )
- {
- for( int i = 0; i < cameraCount; i++ )
- {
- cvFree( points + i );
- cvFree( latestPoints + i );
- cvReleaseMat( &undistMap[i][0] );
- cvReleaseMat( &undistMap[i][1] );
- cvReleaseMat( &rectMap[i][0] );
- cvReleaseMat( &rectMap[i][1] );
- }
-
- memset( latestCounts, 0, sizeof(latestPoints) );
- maxPoints = 0;
- cameraCount = count;
- }
-}
-
-
-bool CvCalibFilter::SetFrames( int frames )
-{
- if( frames < 5 )
- {
- assert(0);
- return false;
- }
-
- framesTotal = frames;
- return true;
-}
-
-
-void CvCalibFilter::Stop( bool calibrate )
-{
- int i, j;
- isCalibrated = false;
-
- // deallocate undistortion maps
- for( i = 0; i < cameraCount; i++ )
- {
- cvReleaseMat( &undistMap[i][0] );
- cvReleaseMat( &undistMap[i][1] );
- cvReleaseMat( &rectMap[i][0] );
- cvReleaseMat( &rectMap[i][1] );
- }
-
- if( calibrate && framesAccepted > 0 )
- {
- int n = framesAccepted;
- CvPoint3D32f* buffer =
- (CvPoint3D32f*)cvAlloc( n * etalonPointCount * sizeof(buffer[0]));
- CvMat mat;
- float* rotMatr = (float*)cvAlloc( n * 9 * sizeof(rotMatr[0]));
- float* transVect = (float*)cvAlloc( n * 3 * sizeof(transVect[0]));
- int* counts = (int*)cvAlloc( n * sizeof(counts[0]));
-
- cvInitMatHeader( &mat, 1, sizeof(CvCamera)/sizeof(float), CV_32FC1, 0 );
- memset( cameraParams, 0, cameraCount * sizeof(cameraParams[0]));
-
- for( i = 0; i < framesAccepted; i++ )
- {
- counts[i] = etalonPointCount;
- for( j = 0; j < etalonPointCount; j++ )
- buffer[i * etalonPointCount + j] = cvPoint3D32f( etalonPoints[j].x,
- etalonPoints[j].y, 0 );
- }
-
- for( i = 0; i < cameraCount; i++ )
- {
- cvCalibrateCamera( framesAccepted, counts,
- imgSize, points[i], buffer,
- cameraParams[i].distortion,
- cameraParams[i].matrix,
- transVect, rotMatr, 0 );
-
- cameraParams[i].imgSize[0] = (float)imgSize.width;
- cameraParams[i].imgSize[1] = (float)imgSize.height;
-
-// cameraParams[i].focalLength[0] = cameraParams[i].matrix[0];
-// cameraParams[i].focalLength[1] = cameraParams[i].matrix[4];
-
-// cameraParams[i].principalPoint[0] = cameraParams[i].matrix[2];
-// cameraParams[i].principalPoint[1] = cameraParams[i].matrix[5];
-
- memcpy( cameraParams[i].rotMatr, rotMatr, 9 * sizeof(rotMatr[0]));
- memcpy( cameraParams[i].transVect, transVect, 3 * sizeof(transVect[0]));
-
- mat.data.ptr = (uchar*)(cameraParams + i);
-
- /* check resultant camera parameters: if there are some INF's or NAN's,
- stop and reset results */
- if( !cvCheckArr( &mat, CV_CHECK_RANGE | CV_CHECK_QUIET, -10000, 10000 ))
- break;
- }
-
-
-
- isCalibrated = i == cameraCount;
-
- {/* calibrate stereo cameras */
- if( cameraCount == 2 )
- {
- stereo.camera[0] = &cameraParams[0];
- stereo.camera[1] = &cameraParams[1];
-
- icvStereoCalibration( framesAccepted, counts,
- imgSize,
- points[0],points[1],
- buffer,
- &stereo);
-
- for( i = 0; i < 9; i++ )
- {
- stereo.fundMatr[i] = stereo.fundMatr[i];
- }
-
- }
-
- }
-
- cvFree( &buffer );
- cvFree( &counts );
- cvFree( &rotMatr );
- cvFree( &transVect );
- }
-
- framesAccepted = 0;
-}
-
-
-bool CvCalibFilter::FindEtalon( IplImage** imgs )
-{
- return FindEtalon( (CvMat**)imgs );
-}
-
-
-bool CvCalibFilter::FindEtalon( CvMat** mats )
-{
- bool result = true;
-
- if( !mats || etalonPointCount == 0 )
- {
- assert(0);
- result = false;
- }
-
- if( result )
- {
- int i, tempPointCount0 = etalonPointCount*2;
-
- for( i = 0; i < cameraCount; i++ )
- {
- if( !latestPoints[i] )
- latestPoints[i] = (CvPoint2D32f*)
- cvAlloc( tempPointCount0*2*sizeof(latestPoints[0]));
- }
-
- for( i = 0; i < cameraCount; i++ )
- {
- CvSize size;
- int tempPointCount = tempPointCount0;
- bool found = false;
-
- if( !CV_IS_MAT(mats[i]) && !CV_IS_IMAGE(mats[i]))
- {
- assert(0);
- break;
- }
-
- size = cvGetSize(mats[i]);
-
- if( size.width != imgSize.width || size.height != imgSize.height )
- {
- imgSize = size;
- }
-
- if( !grayImg || grayImg->width != imgSize.width ||
- grayImg->height != imgSize.height )
- {
- cvReleaseMat( &grayImg );
- cvReleaseMat( &tempImg );
- grayImg = cvCreateMat( imgSize.height, imgSize.width, CV_8UC1 );
- tempImg = cvCreateMat( imgSize.height, imgSize.width, CV_8UC1 );
- }
-
- if( !storage )
- storage = cvCreateMemStorage();
-
- switch( etalonType )
- {
- case CV_CALIB_ETALON_CHESSBOARD:
- if( CV_MAT_CN(cvGetElemType(mats[i])) == 1 )
- cvCopy( mats[i], grayImg );
- else
- cvCvtColor( mats[i], grayImg, CV_BGR2GRAY );
- found = cvFindChessBoardCornerGuesses( grayImg, tempImg, storage,
- cvSize( cvRound(etalonParams[0]),
- cvRound(etalonParams[1])),
- latestPoints[i], &tempPointCount ) != 0;
- if( found )
- cvFindCornerSubPix( grayImg, latestPoints[i], tempPointCount,
- cvSize(5,5), cvSize(-1,-1),
- cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,10,0.1));
- break;
- default:
- assert(0);
- result = false;
- break;
- }
-
- latestCounts[i] = found ? tempPointCount : -tempPointCount;
- result = result && found;
- }
- }
-
- if( storage )
- cvClearMemStorage( storage );
-
- return result;
-}
-
-
-bool CvCalibFilter::Push( const CvPoint2D32f** pts )
-{
- bool result = true;
- int i, newMaxPoints = etalonPointCount*(MAX(framesAccepted,framesTotal) + 1);
-
- isCalibrated = false;
-
- if( !pts )
- {
- for( i = 0; i < cameraCount; i++ )
- if( latestCounts[i] <= 0 )
- return false;
- pts = (const CvPoint2D32f**)latestPoints;
- }
-
- for( i = 0; i < cameraCount; i++ )
- {
- if( !pts[i] )
- {
- assert(0);
- break;
- }
-
- if( maxPoints < newMaxPoints )
- {
- CvPoint2D32f* prev = points[i];
- cvFree( points + i );
- points[i] = (CvPoint2D32f*)cvAlloc( newMaxPoints * sizeof(prev[0]));
- memcpy( points[i], prev, maxPoints * sizeof(prev[0]));
- }
-
- memcpy( points[i] + framesAccepted*etalonPointCount, pts[i],
- etalonPointCount*sizeof(points[0][0]));
- }
-
- if( maxPoints < newMaxPoints )
- maxPoints = newMaxPoints;
-
- result = i == cameraCount;
-
- if( ++framesAccepted >= framesTotal )
- Stop( true );
- return result;
-}
-
-
-bool CvCalibFilter::GetLatestPoints( int idx, CvPoint2D32f** pts,
- int* count, bool* found )
-{
- int n;
-
- if( (unsigned)idx >= (unsigned)cameraCount ||
- !pts || !count || !found )
- {
- assert(0);
- return false;
- }
-
- n = latestCounts[idx];
-
- *found = n > 0;
- *count = abs(n);
- *pts = latestPoints[idx];
-
- return true;
-}
-
-
-void CvCalibFilter::DrawPoints( IplImage** dst )
-{
- DrawPoints( (CvMat**)dst );
-}
-
-
-void CvCalibFilter::DrawPoints( CvMat** dstarr )
-{
- int i, j;
-
- if( !dstarr )
- {
- assert(0);
- return;
- }
-
- if( latestCounts )
- {
- for( i = 0; i < cameraCount; i++ )
- {
- if( dstarr[i] && latestCounts[i] )
- {
- CvMat dst_stub, *dst;
- int count = 0;
- bool found = false;
- CvPoint2D32f* pts = 0;
-
- GetLatestPoints( i, &pts, &count, &found );
-
- dst = cvGetMat( dstarr[i], &dst_stub );
-
- static const CvScalar line_colors[] =
- {
- {{0,0,255}},
- {{0,128,255}},
- {{0,200,200}},
- {{0,255,0}},
- {{200,200,0}},
- {{255,0,0}},
- {{255,0,255}}
- };
-
- const int colorCount = sizeof(line_colors)/sizeof(line_colors[0]);
- const int r = 4;
- CvScalar color = line_colors[0];
- CvPoint prev_pt = { 0, 0};
-
- for( j = 0; j < count; j++ )
- {
- CvPoint pt;
- pt.x = cvRound(pts[j].x);
- pt.y = cvRound(pts[j].y);
-
- if( found )
- {
- if( etalonType == CV_CALIB_ETALON_CHESSBOARD )
- color = line_colors[(j/cvRound(etalonParams[0]))%colorCount];
- else
- color = CV_RGB(0,255,0);
-
- if( j != 0 )
- cvLine( dst, prev_pt, pt, color, 1, CV_AA );
- }
-
- cvLine( dst, cvPoint( pt.x - r, pt.y - r ),
- cvPoint( pt.x + r, pt.y + r ), color, 1, CV_AA );
-
- cvLine( dst, cvPoint( pt.x - r, pt.y + r),
- cvPoint( pt.x + r, pt.y - r), color, 1, CV_AA );
-
- cvCircle( dst, pt, r+1, color, 1, CV_AA );
-
- prev_pt = pt;
- }
- }
- }
- }
-}
-
-
-/* Get total number of frames and already accepted pair of frames */
-int CvCalibFilter::GetFrameCount( int* total ) const
-{
- if( total )
- *total = framesTotal;
-
- return framesAccepted;
-}
-
-
-/* Get camera parameters for specified camera. If camera is not calibrated
- the function returns 0 */
-const CvCamera* CvCalibFilter::GetCameraParams( int idx ) const
-{
- if( (unsigned)idx >= (unsigned)cameraCount )
- {
- assert(0);
- return 0;
- }
-
- return isCalibrated ? cameraParams + idx : 0;
-}
-
-
-/* Get camera parameters for specified camera. If camera is not calibrated
- the function returns 0 */
-const CvStereoCamera* CvCalibFilter::GetStereoParams() const
-{
- if( !(isCalibrated && cameraCount == 2) )
- {
- assert(0);
- return 0;
- }
-
- return &stereo;
-}
-
-
-/* Sets camera parameters for all cameras */
-bool CvCalibFilter::SetCameraParams( CvCamera* params )
-{
- CvMat mat;
- int arrSize;
-
- Stop();
-
- if( !params )
- {
- assert(0);
- return false;
- }
-
- arrSize = cameraCount * sizeof(params[0]);
-
- cvInitMatHeader( &mat, 1, cameraCount * (arrSize/sizeof(float)),
- CV_32FC1, params );
- cvCheckArr( &mat, CV_CHECK_RANGE, -10000, 10000 );
-
- memcpy( cameraParams, params, arrSize );
- isCalibrated = true;
-
- return true;
-}
-
-
-bool CvCalibFilter::SaveCameraParams( const char* filename )
-{
- if( isCalibrated )
- {
- int i, j;
-
- FILE* f = fopen( filename, "w" );
-
- if( !f ) return false;
-
- fprintf( f, "%d\n\n", cameraCount );
-
- for( i = 0; i < cameraCount; i++ )
- {
- for( j = 0; j < (int)(sizeof(cameraParams[i])/sizeof(float)); j++ )
- {
- fprintf( f, "%15.10f ", ((float*)(cameraParams + i))[j] );
- }
- fprintf( f, "\n\n" );
- }
-
- /* Save stereo params */
-
- /* Save quad */
- for( i = 0; i < 2; i++ )
- {
- for( j = 0; j < 4; j++ )
- {
- fprintf(f, "%15.10f ", stereo.quad[i][j].x );
- fprintf(f, "%15.10f ", stereo.quad[i][j].y );
- }
- fprintf(f, "\n");
- }
-
- /* Save coeffs */
- for( i = 0; i < 2; i++ )
- {
- for( j = 0; j < 9; j++ )
- {
- fprintf(f, "%15.10lf ", stereo.coeffs[i][j/3][j%3] );
- }
- fprintf(f, "\n");
- }
-
-
- fclose(f);
- return true;
- }
-
- return true;
-}
-
-
-bool CvCalibFilter::LoadCameraParams( const char* filename )
-{
- int i, j;
- int d = 0;
- FILE* f = fopen( filename, "r" );
-
- isCalibrated = false;
-
- if( !f ) return false;
-
- if( fscanf( f, "%d", &d ) != 1 || d <= 0 || d > 10 )
- return false;
-
- SetCameraCount( d );
-
- for( i = 0; i < cameraCount; i++ )
- {
- for( j = 0; j < (int)(sizeof(cameraParams[i])/sizeof(float)); j++ )
- {
- fscanf( f, "%f", &((float*)(cameraParams + i))[j] );
- }
- }
-
-
- /* Load stereo params */
-
- /* load quad */
- for( i = 0; i < 2; i++ )
- {
- for( j = 0; j < 4; j++ )
- {
- fscanf(f, "%f ", &(stereo.quad[i][j].x) );
- fscanf(f, "%f ", &(stereo.quad[i][j].y) );
- }
- }
-
- /* Load coeffs */
- for( i = 0; i < 2; i++ )
- {
- for( j = 0; j < 9; j++ )
- {
- fscanf(f, "%lf ", &(stereo.coeffs[i][j/3][j%3]) );
- }
- }
-
-
-
-
- fclose(f);
-
- stereo.warpSize = cvSize( cvRound(cameraParams[0].imgSize[0]), cvRound(cameraParams[0].imgSize[1]));
-
- isCalibrated = true;
-
- return true;
-}
-
-
-bool CvCalibFilter::Rectify( IplImage** srcarr, IplImage** dstarr )
-{
- return Rectify( (CvMat**)srcarr, (CvMat**)dstarr );
-}
-
-bool CvCalibFilter::Rectify( CvMat** srcarr, CvMat** dstarr )
-{
- int i;
-
- if( !srcarr || !dstarr )
- {
- assert(0);
- return false;
- }
-
- if( isCalibrated && cameraCount == 2 )
- {
- for( i = 0; i < cameraCount; i++ )
- {
- if( srcarr[i] && dstarr[i] )
- {
- IplImage src_stub, *src;
- IplImage dst_stub, *dst;
-
- src = cvGetImage( srcarr[i], &src_stub );
- dst = cvGetImage( dstarr[i], &dst_stub );
-
- if( src->imageData == dst->imageData )
- {
- if( !undistImg ||
- undistImg->width != src->width ||
- undistImg->height != src->height ||
- CV_MAT_CN(undistImg->type) != src->nChannels )
- {
- cvReleaseMat( &undistImg );
- undistImg = cvCreateMat( src->height, src->width,
- CV_8U + (src->nChannels-1)*8 );
- }
- cvCopy( src, undistImg );
- src = cvGetImage( undistImg, &src_stub );
- }
-
- cvZero( dst );
-
- if( !rectMap[i][0] || rectMap[i][0]->width != src->width ||
- rectMap[i][0]->height != src->height )
- {
- cvReleaseMat( &rectMap[i][0] );
- cvReleaseMat( &rectMap[i][1] );
- rectMap[i][0] = cvCreateMat(stereo.warpSize.height,stereo.warpSize.width,CV_32FC1);
- rectMap[i][1] = cvCreateMat(stereo.warpSize.height,stereo.warpSize.width,CV_32FC1);
- cvComputePerspectiveMap(stereo.coeffs[i], rectMap[i][0], rectMap[i][1]);
- }
- cvRemap( src, dst, rectMap[i][0], rectMap[i][1] );
- }
- }
- }
- else
- {
- for( i = 0; i < cameraCount; i++ )
- {
- if( srcarr[i] != dstarr[i] )
- cvCopy( srcarr[i], dstarr[i] );
- }
- }
-
- return true;
-}
-
-bool CvCalibFilter::Undistort( IplImage** srcarr, IplImage** dstarr )
-{
- return Undistort( (CvMat**)srcarr, (CvMat**)dstarr );
-}
-
-
-bool CvCalibFilter::Undistort( CvMat** srcarr, CvMat** dstarr )
-{
- int i;
-
- if( !srcarr || !dstarr )
- {
- assert(0);
- return false;
- }
-
- if( isCalibrated )
- {
- for( i = 0; i < cameraCount; i++ )
- {
- if( srcarr[i] && dstarr[i] )
- {
- CvMat src_stub, *src;
- CvMat dst_stub, *dst;
-
- src = cvGetMat( srcarr[i], &src_stub );
- dst = cvGetMat( dstarr[i], &dst_stub );
-
- if( src->data.ptr == dst->data.ptr )
- {
- if( !undistImg || undistImg->width != src->width ||
- undistImg->height != src->height ||
- CV_ARE_TYPES_EQ( undistImg, src ))
- {
- cvReleaseMat( &undistImg );
- undistImg = cvCreateMat( src->height, src->width, src->type );
- }
-
- cvCopy( src, undistImg );
- src = undistImg;
- }
-
- #if 1
- {
- CvMat A = cvMat( 3, 3, CV_32FC1, cameraParams[i].matrix );
- CvMat k = cvMat( 1, 4, CV_32FC1, cameraParams[i].distortion );
-
- if( !undistMap[i][0] || undistMap[i][0]->width != src->width ||
- undistMap[i][0]->height != src->height )
- {
- cvReleaseMat( &undistMap[i][0] );
- cvReleaseMat( &undistMap[i][1] );
- undistMap[i][0] = cvCreateMat( src->height, src->width, CV_32FC1 );
- undistMap[i][1] = cvCreateMat( src->height, src->width, CV_32FC1 );
- cvInitUndistortMap( &A, &k, undistMap[i][0], undistMap[i][1] );
- }
-
- cvRemap( src, dst, undistMap[i][0], undistMap[i][1] );
- #else
- cvUndistort2( src, dst, &A, &k );
- #endif
- }
- }
- }
- }
- else
- {
- for( i = 0; i < cameraCount; i++ )
- {
- if( srcarr[i] != dstarr[i] )
- cvCopy( srcarr[i], dstarr[i] );
- }
- }
-
-
- return true;
-}
projects / opencv / blobdiff