From 7fd7bbc9f15dfc6fefdc3dc2888a7f2bbcdb11b5 Mon Sep 17 00:00:00 2001
From: look4pritam <pritam.shete@gmail.com>
Date: Thu, 12 Sep 2013 15:17:11 +0530
Subject: [PATCH] The prism distortion coefficients are added for the stereo
 calibration.

---
 modules/calib3d/src/calibration.cpp | 21 ++++++++++++++++++---
 1 file changed, 18 insertions(+), 3 deletions(-)

diff --git a/modules/calib3d/src/calibration.cpp b/modules/calib3d/src/calibration.cpp
index 132220d..5be2886 100644
--- a/modules/calib3d/src/calibration.cpp
+++ b/modules/calib3d/src/calibration.cpp
@@ -1638,12 +1638,12 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
                         CvTermCriteria termCrit,
                         int flags )
 {
-    const int NINTRINSIC = 12;
+    const int NINTRINSIC = 16;
     Ptr<CvMat> npoints, err, J_LR, Je, Ji, imagePoints[2], objectPoints, RT0;
     CvLevMarq solver;
     double reprojErr = 0;
 
-    double A[2][9], dk[2][8]={{0,0,0,0,0,0,0,0},{0,0,0,0,0,0,0,0}}, rlr[9];
+    double A[2][9], dk[2][12]={{0,0,0,0,0,0,0,0,0,0,0,0},{0,0,0,0,0,0,0,0,0,0,0,0}}, rlr[9];
     CvMat K[2], Dist[2], om_LR, T_LR;
     CvMat R_LR = cvMat(3, 3, CV_64F, rlr);
     int i, k, p, ni = 0, ofs, nimages, pointsTotal, maxPoints = 0;
@@ -1689,7 +1689,7 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
                 (_imagePoints1->rows == 1 && _imagePoints1->cols == pointsTotal && cn == 2)) );
 
         K[k] = cvMat(3,3,CV_64F,A[k]);
-        Dist[k] = cvMat(1,8,CV_64F,dk[k]);
+        Dist[k] = cvMat(1,12,CV_64F,dk[k]);
 
         imagePoints[k].reset(cvCreateMat( points->rows, points->cols, CV_64FC(CV_MAT_CN(points->type))));
         cvConvert( points, imagePoints[k] );
@@ -1768,6 +1768,13 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
             imask[10] = imask[NINTRINSIC+10] = 0;
         if( flags & CV_CALIB_FIX_K6 )
             imask[11] = imask[NINTRINSIC+11] = 0;
+        if( flags & CV_CALIB_FIX_S1_S2_S3_S4 )
+        {
+            imask[12] = imask[NINTRINSIC+12] = 0;
+            imask[13] = imask[NINTRINSIC+13] = 0;
+            imask[14] = imask[NINTRINSIC+14] = 0;
+            imask[15] = imask[NINTRINSIC+15] = 0;
+        }
     }
 
     /*
@@ -1842,6 +1849,10 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
             iparam[4] = dk[k][0]; iparam[5] = dk[k][1]; iparam[6] = dk[k][2];
             iparam[7] = dk[k][3]; iparam[8] = dk[k][4]; iparam[9] = dk[k][5];
             iparam[10] = dk[k][6]; iparam[11] = dk[k][7];
+            iparam[12] = dk[k][8];
+            iparam[13] = dk[k][9];
+            iparam[14] = dk[k][10];
+            iparam[15] = dk[k][11];
         }
 
     om_LR = cvMat(3, 1, CV_64F, solver.param->data.db);
@@ -1908,6 +1919,10 @@ double cvStereoCalibrate( const CvMat* _objectPoints, const CvMat* _imagePoints1
                 dk[k][5] = iparam[k*NINTRINSIC+9];
                 dk[k][6] = iparam[k*NINTRINSIC+10];
                 dk[k][7] = iparam[k*NINTRINSIC+11];
+                dk[k][8] = iparam[k*NINTRINSIC+12];
+                dk[k][9] = iparam[k*NINTRINSIC+13];
+                dk[k][10] = iparam[k*NINTRINSIC+14];
+                dk[k][11] = iparam[k*NINTRINSIC+15];
             }
         }
 
-- 
2.7.4