Merge pull request #25943 from asmorkalov:as/fisheye_distrort_newk

Added fisheye::distortPoints with non-identity projection matrix

modules/calib3d/include/opencv2/calib3d.hpp

@@ -3835,10 +3835,25 @@ namespace fisheye
     @param distorted Output array of image points, 1xN/Nx1 2-channel, or vector\<Point2f\> .
 
     Note that the function assumes the camera intrinsic matrix of the undistorted points to be identity.
-    This means if you want to distort image points you have to multiply them with \f$K^{-1}\f$.
+    This means if you want to distort image points you have to multiply them with \f$K^{-1}\f$ or
+    use another function overload.
      */
     CV_EXPORTS_W void distortPoints(InputArray undistorted, OutputArray distorted, InputArray K, InputArray D, double alpha = 0);
 
+    /** @overload
+    Overload of distortPoints function to handle cases when undistorted points are got with non-identity
+    camera matrix, e.g. output of #estimateNewCameraMatrixForUndistortRectify.
+    @param undistorted Array of object points, 1xN/Nx1 2-channel (or vector\<Point2f\> ), where N is
+    the number of points in the view.
+    @param Kundistorted Camera intrinsic matrix used as new camera matrix for undistortion.
+    @param K Camera intrinsic matrix \f$cameramatrix{K}\f$.
+    @param D Input vector of distortion coefficients \f$\distcoeffsfisheye\f$.
+    @param alpha The skew coefficient.
+    @param distorted Output array of image points, 1xN/Nx1 2-channel, or vector\<Point2f\> .
+    @sa estimateNewCameraMatrixForUndistortRectify
+    */
+    CV_EXPORTS_W void distortPoints(InputArray undistorted, OutputArray distorted, InputArray Kundistorted, InputArray K, InputArray D, double alpha = 0);
+
     /** @brief Undistorts 2D points using fisheye model
 
     @param distorted Array of object points, 1xN/Nx1 2-channel (or vector\<Point2f\> ), where N is the

modules/calib3d/src/fisheye.cpp

@@ -315,6 +315,48 @@ void cv::fisheye::distortPoints(InputArray undistorted, OutputArray distorted, I
     }
 }
 
+void cv::fisheye::distortPoints(InputArray _undistorted, OutputArray distorted, InputArray Kundistorted, InputArray K, InputArray D, double alpha)
+{
+    CV_INSTRUMENT_REGION();
+
+    CV_Assert(_undistorted.type() == CV_32FC2 || _undistorted.type() == CV_64FC2);
+    CV_Assert(Kundistorted.size() == Size(3,3) && (Kundistorted.type() == CV_32F || Kundistorted.type() == CV_64F));
+
+    cv::Mat undistorted = _undistorted.getMat();
+    cv::Mat normalized(undistorted.size(), CV_64FC2);
+
+    Mat Knew = Kundistorted.getMat();
+
+    double cx, cy, fx, fy;
+    if (Knew.depth() == CV_32F)
+    {
+        fx = (double)Knew.at<float>(0, 0);
+        fy = (double)Knew.at<float>(1, 1);
+        cx = (double)Knew.at<float>(0, 2);
+        cy = (double)Knew.at<float>(1, 2);
+    }
+    else
+    {
+        fx = Knew.at<double>(0, 0);
+        fy = Knew.at<double>(1, 1);
+        cx = Knew.at<double>(0, 2);
+        cy = Knew.at<double>(1, 2);
+    }
+
+    size_t n = undistorted.total();
+    const Vec2f* Xf = undistorted.ptr<Vec2f>();
+    const Vec2d* Xd = undistorted.ptr<Vec2d>();
+    Vec2d* normXd = normalized.ptr<Vec2d>();
+    for (size_t i = 0; i < n; i++)
+    {
+        Vec2d p = undistorted.depth() == CV_32F ? (Vec2d)Xf[i] : Xd[i];
+        normXd[i][0] = (p[0] - cx) / fx;
+        normXd[i][1] = (p[1] - cy) / fy;
+    }
+
+    cv::fisheye::distortPoints(normalized, distorted, K, D, alpha);
+}
+
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////
 /// cv::fisheye::undistortPoints
 

modules/calib3d/test/test_fisheye.cpp

@@ -107,7 +107,6 @@ TEST_F(fisheyeTest, distortUndistortPoints)
     int height = imageSize.height;
 
     /* Create test points */
-    std::vector<cv::Point2d> points0Vector;
     cv::Mat principalPoints = (cv::Mat_<double>(5, 2) << K(0, 2), K(1, 2), // (cx, cy)
                                                                     /* Image corners */
                                                                     0, 0,
@@ -150,6 +149,95 @@ TEST_F(fisheyeTest, distortUndistortPoints)
     }
 }
 
+TEST_F(fisheyeTest, distortUndistortPointsNewCameraFixed)
+{
+    int width = imageSize.width;
+    int height = imageSize.height;
+
+    /* Random points inside image */
+    cv::Mat xy[2] = {};
+    xy[0].create(100, 1, CV_64F);
+    theRNG().fill(xy[0], cv::RNG::UNIFORM, 0, width); // x
+    xy[1].create(100, 1, CV_64F);
+    theRNG().fill(xy[1], cv::RNG::UNIFORM, 0, height); // y
+
+    cv::Mat randomPoints;
+    merge(xy, 2, randomPoints);
+
+    cv::Mat points0 = randomPoints;
+    cv::Mat Reye = cv::Mat::eye(3, 3, CV_64FC1);
+
+    cv::Mat Knew;
+    cv::fisheye::estimateNewCameraMatrixForUndistortRectify(K, D, imageSize, Reye,  Knew);
+
+    /* Distort -> Undistort */
+    cv::Mat distortedPoints;
+    cv::fisheye::distortPoints(points0, distortedPoints, Knew, K, D);
+    cv::Mat undistortedPoints;
+    cv::fisheye::undistortPoints(distortedPoints, undistortedPoints, K, D, Reye, Knew);
+
+    EXPECT_MAT_NEAR(points0, undistortedPoints, 1e-8);
+
+    /* Undistort -> Distort */
+    cv::fisheye::undistortPoints(points0, undistortedPoints, K, D, Reye, Knew);
+    cv::fisheye::distortPoints(undistortedPoints, distortedPoints, Knew, K, D);
+
+    EXPECT_MAT_NEAR(points0, distortedPoints, 1e-8);
+}
+
+TEST_F(fisheyeTest, distortUndistortPointsNewCameraRandom)
+{
+    int width = imageSize.width;
+    int height = imageSize.height;
+
+    /* Create test points */
+    std::vector<cv::Point2d> points0Vector;
+    cv::Mat principalPoints = (cv::Mat_<double>(5, 2) << K(0, 2), K(1, 2), // (cx, cy)
+                                                                    /* Image corners */
+                                                                    0, 0,
+                                                                    0, height,
+                                                                    width, 0,
+                                                                    width, height
+                                                                    );
+
+    /* Random points inside image */
+    cv::Mat xy[2] = {};
+    xy[0].create(100, 1, CV_64F);
+    theRNG().fill(xy[0], cv::RNG::UNIFORM, 0, width); // x
+    xy[1].create(100, 1, CV_64F);
+    theRNG().fill(xy[1], cv::RNG::UNIFORM, 0, height); // y
+
+    cv::Mat randomPoints;
+    merge(xy, 2, randomPoints);
+
+    cv::Mat points0;
+    cv::Mat Reye = cv::Mat::eye(3, 3, CV_64FC1);
+    cv::vconcat(principalPoints.reshape(2), randomPoints, points0);
+
+    /* Test with random D set */
+    for (size_t i = 0; i < 10; ++i) {
+        cv::Mat distortion(1, 4, CV_64F);
+        theRNG().fill(distortion, cv::RNG::UNIFORM, -0.001, 0.001);
+
+        cv::Mat Knew;
+        cv::fisheye::estimateNewCameraMatrixForUndistortRectify(K, distortion, imageSize, Reye,  Knew);
+
+        /* Distort -> Undistort */
+        cv::Mat distortedPoints;
+        cv::fisheye::distortPoints(points0, distortedPoints, Knew, K, distortion);
+        cv::Mat undistortedPoints;
+        cv::fisheye::undistortPoints(distortedPoints, undistortedPoints, K, distortion, Reye, Knew);
+
+        EXPECT_MAT_NEAR(points0, undistortedPoints, 1e-8);
+
+        /* Undistort -> Distort */
+        cv::fisheye::undistortPoints(points0, undistortedPoints, K, distortion, Reye, Knew);
+        cv::fisheye::distortPoints(undistortedPoints, distortedPoints, Knew, K, distortion);
+
+        EXPECT_MAT_NEAR(points0, distortedPoints, 1e-8);
+    }
+}
+
 TEST_F(fisheyeTest, solvePnP)
 {
     const int n = 16;