fixed vector size mismatch between matched and status vectors

camera_models/include/camodocal/calib/CameraCalibration.h

@@ -0,0 +1,81 @@
+#ifndef CAMERACALIBRATION_H
+#define CAMERACALIBRATION_H
+
+#include <opencv2/core/core.hpp>
+
+#include "camodocal/camera_models/Camera.h"
+
+namespace camodocal
+{
+
+class CameraCalibration
+{
+public:
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+    CameraCalibration();
+
+    CameraCalibration(Camera::ModelType modelType,
+                      const std::string& cameraName,
+                      const cv::Size& imageSize,
+                      const cv::Size& boardSize,
+                      float squareSize);
+
+    void clear(void);
+
+    void addChessboardData(const std::vector<cv::Point2f>& corners);
+
+    bool calibrate(void);
+
+    int sampleCount(void) const;
+    std::vector<std::vector<cv::Point2f> >& imagePoints(void);
+    const std::vector<std::vector<cv::Point2f> >& imagePoints(void) const;
+    std::vector<std::vector<cv::Point3f> >& scenePoints(void);
+    const std::vector<std::vector<cv::Point3f> >& scenePoints(void) const;
+    CameraPtr& camera(void);
+    const CameraConstPtr camera(void) const;
+
+    Eigen::Matrix2d& measurementCovariance(void);
+    const Eigen::Matrix2d& measurementCovariance(void) const;
+
+    cv::Mat& cameraPoses(void);
+    const cv::Mat& cameraPoses(void) const;
+
+    void drawResults(std::vector<cv::Mat>& images) const;
+
+    void writeParams(const std::string& filename) const;
+
+    bool writeChessboardData(const std::string& filename) const;
+    bool readChessboardData(const std::string& filename);
+
+    void setVerbose(bool verbose);
+
+private:
+    bool calibrateHelper(CameraPtr& camera,
+                         std::vector<cv::Mat>& rvecs, std::vector<cv::Mat>& tvecs) const;
+
+    void optimize(CameraPtr& camera,
+                  std::vector<cv::Mat>& rvecs, std::vector<cv::Mat>& tvecs) const;
+
+    template<typename T>
+    void readData(std::ifstream& ifs, T& data) const;
+
+    template<typename T>
+    void writeData(std::ofstream& ofs, T data) const;
+
+    cv::Size m_boardSize;
+    float m_squareSize;
+
+    CameraPtr m_camera;
+    cv::Mat m_cameraPoses;
+
+    std::vector<std::vector<cv::Point2f> > m_imagePoints;
+    std::vector<std::vector<cv::Point3f> > m_scenePoints;
+
+    Eigen::Matrix2d m_measurementCovariance;
+
+    bool m_verbose;
+};
+
+}
+
+#endif