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Merge pull request #2889 from Ilya-Krylov:fisheye

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pull/3346/head
Vadim Pisarevsky 11 years ago
parent 6a94862fef 84bb77e914
commit fb8fa3fdac
2 changed files with 38 additions and 38 deletions
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  1. 74
      modules/calib3d/src/fisheye.cpp
  2. 2
      modules/calib3d/test/test_fisheye.cpp

74
modules/calib3d/src/fisheye.cpp
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@ -309,47 +309,47 @@ void cv::fisheye::distortPoints(InputArray undistorted, OutputArray distorted, I
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
/// cv::fisheye::undistortPoints
void cv::fisheye::undistortPoints( InputArray distorted, OutputArray undistorted, InputArray _K, InputArray _D, InputArray _R, InputArray _P)
void cv::fisheye::undistortPoints( InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, InputArray R, InputArray P)
{
// will support only 2-channel data now for points
CV_Assert(distorted.type() == CV_32FC2 || distorted.type() == CV_64FC2);
undistorted.create(distorted.size(), distorted.type());
CV_Assert(_P.empty() || _P.size() == Size(3, 3) || _P.size() == Size(4, 3));
CV_Assert(_R.empty() || _R.size() == Size(3, 3) || _R.total() * _R.channels() == 3);
CV_Assert(_D.total() == 4 && _K.size() == Size(3, 3) && (_K.depth() == CV_32F || _K.depth() == CV_64F));
CV_Assert(P.empty() || P.size() == Size(3, 3) || P.size() == Size(4, 3));
CV_Assert(R.empty() || R.size() == Size(3, 3) || R.total() * R.channels() == 3);
CV_Assert(D.total() == 4 && K.size() == Size(3, 3) && (K.depth() == CV_32F || K.depth() == CV_64F));
cv::Vec2d f, c;
if (_K.depth() == CV_32F)
if (K.depth() == CV_32F)
{
Matx33f camMat = _K.getMat();
Matx33f camMat = K.getMat();
f = Vec2f(camMat(0, 0), camMat(1, 1));
c = Vec2f(camMat(0, 2), camMat(1, 2));
}
else
{
Matx33d camMat = _K.getMat();
Matx33d camMat = K.getMat();
f = Vec2d(camMat(0, 0), camMat(1, 1));
c = Vec2d(camMat(0, 2), camMat(1, 2));
}
Vec4d k = _D.depth() == CV_32F ? (Vec4d)*_D.getMat().ptr<Vec4f>(): *_D.getMat().ptr<Vec4d>();
Vec4d k = D.depth() == CV_32F ? (Vec4d)*D.getMat().ptr<Vec4f>(): *D.getMat().ptr<Vec4d>();
cv::Matx33d RR = cv::Matx33d::eye();
if (!_R.empty() && _R.total() * _R.channels() == 3)
if (!R.empty() && R.total() * R.channels() == 3)
{
cv::Vec3d rvec;
_R.getMat().convertTo(rvec, CV_64F);
R.getMat().convertTo(rvec, CV_64F);
RR = cv::Affine3d(rvec).rotation();
}
else if (!_R.empty() && _R.size() == Size(3, 3))
_R.getMat().convertTo(RR, CV_64F);
else if (!R.empty() && R.size() == Size(3, 3))
R.getMat().convertTo(RR, CV_64F);
if(!_P.empty())
if(!P.empty())
{
cv::Matx33d P;
_P.getMat().colRange(0, 3).convertTo(P, CV_64F);
RR = P * RR;
cv::Matx33d PP;
P.getMat().colRange(0, 3).convertTo(PP, CV_64F);
RR = PP * RR;
}
// start undistorting
@ -398,52 +398,52 @@ void cv::fisheye::undistortPoints( InputArray distorted, OutputArray undistorted
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
/// cv::fisheye::undistortPoints
void cv::fisheye::initUndistortRectifyMap( InputArray _K, InputArray _D, InputArray _R, InputArray _P,
void cv::fisheye::initUndistortRectifyMap( InputArray K, InputArray D, InputArray R, InputArray P,
const cv::Size& size, int m1type, OutputArray map1, OutputArray map2 )
{
CV_Assert( m1type == CV_16SC2 || m1type == CV_32F || m1type <=0 );
map1.create( size, m1type <= 0 ? CV_16SC2 : m1type );
map2.create( size, map1.type() == CV_16SC2 ? CV_16UC1 : CV_32F );
CV_Assert((_K.depth() == CV_32F || _K.depth() == CV_64F) && (_D.depth() == CV_32F || _D.depth() == CV_64F));
CV_Assert((_P.depth() == CV_32F || _P.depth() == CV_64F) && (_R.depth() == CV_32F || _R.depth() == CV_64F));
CV_Assert(_K.size() == Size(3, 3) && (_D.empty() || _D.total() == 4));
CV_Assert(_R.empty() || _R.size() == Size(3, 3) || _R.total() * _R.channels() == 3);
CV_Assert(_P.empty() || _P.size() == Size(3, 3) || _P.size() == Size(4, 3));
CV_Assert((K.depth() == CV_32F || K.depth() == CV_64F) && (D.depth() == CV_32F || D.depth() == CV_64F));
CV_Assert((P.depth() == CV_32F || P.depth() == CV_64F) && (R.depth() == CV_32F || R.depth() == CV_64F));
CV_Assert(K.size() == Size(3, 3) && (D.empty() || D.total() == 4));
CV_Assert(R.empty() || R.size() == Size(3, 3) || R.total() * R.channels() == 3);
CV_Assert(P.empty() || P.size() == Size(3, 3) || P.size() == Size(4, 3));
cv::Vec2d f, c;
if (_K.depth() == CV_32F)
if (K.depth() == CV_32F)
{
Matx33f camMat = _K.getMat();
Matx33f camMat = K.getMat();
f = Vec2f(camMat(0, 0), camMat(1, 1));
c = Vec2f(camMat(0, 2), camMat(1, 2));
}
else
{
Matx33d camMat = _K.getMat();
Matx33d camMat = K.getMat();
f = Vec2d(camMat(0, 0), camMat(1, 1));
c = Vec2d(camMat(0, 2), camMat(1, 2));
}
Vec4d k = Vec4d::all(0);
if (!_D.empty())
k = _D.depth() == CV_32F ? (Vec4d)*_D.getMat().ptr<Vec4f>(): *_D.getMat().ptr<Vec4d>();
if (!D.empty())
k = D.depth() == CV_32F ? (Vec4d)*D.getMat().ptr<Vec4f>(): *D.getMat().ptr<Vec4d>();
cv::Matx33d R = cv::Matx33d::eye();
if (!_R.empty() && _R.total() * _R.channels() == 3)
cv::Matx33d RR = cv::Matx33d::eye();
if (!R.empty() && R.total() * R.channels() == 3)
{
cv::Vec3d rvec;
_R.getMat().convertTo(rvec, CV_64F);
R = Affine3d(rvec).rotation();
R.getMat().convertTo(rvec, CV_64F);
RR = Affine3d(rvec).rotation();
}
else if (!_R.empty() && _R.size() == Size(3, 3))
_R.getMat().convertTo(R, CV_64F);
else if (!R.empty() && R.size() == Size(3, 3))
R.getMat().convertTo(RR, CV_64F);
cv::Matx33d P = cv::Matx33d::eye();
if (!_P.empty())
_P.getMat().colRange(0, 3).convertTo(P, CV_64F);
cv::Matx33d PP = cv::Matx33d::eye();
if (!P.empty())
P.getMat().colRange(0, 3).convertTo(PP, CV_64F);
cv::Matx33d iR = (P * R).inv(cv::DECOMP_SVD);
cv::Matx33d iR = (PP * RR).inv(cv::DECOMP_SVD);
for( int i = 0; i < size.height; ++i)
{

2
modules/calib3d/test/test_fisheye.cpp
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@ -149,7 +149,7 @@ TEST_F(fisheyeTest, jacobians)
cv::Mat k(4, 1, CV_64F);
double alpha;
cv::RNG& r = cv::theRNG();
cv::RNG r;
r.fill(X, cv::RNG::NORMAL, 2, 1);
X = cv::abs(X) * 10;

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