From 5384a2205a01c413dfd2c1c86675f093885f9157 Mon Sep 17 00:00:00 2001
From: Josep Bosch <jep250@gmail.com>
Date: Thu, 11 Feb 2016 11:27:43 +0100
Subject: [PATCH] Adapted estimateNewCameraMatrix to make it work with
pincushion-like distortion.
---
modules/calib3d/src/fisheye.cpp | 39 +++++++++++++++++++--------------
1 file changed, 23 insertions(+), 16 deletions(-)
diff --git a/modules/calib3d/src/fisheye.cpp b/modules/calib3d/src/fisheye.cpp
index 3d737e7f46..3e637d7939 100644
--- a/modules/calib3d/src/fisheye.cpp
+++ b/modules/calib3d/src/fisheye.cpp
@@ -517,12 +517,16 @@ void cv::fisheye::estimateNewCameraMatrixForUndistortRectify(InputArray K, Input
int w = image_size.width, h = image_size.height;
balance = std::min(std::max(balance, 0.0), 1.0);
- cv::Mat points(1, 4, CV_64FC2);
+ cv::Mat points(1, 8, CV_64FC2);
Vec2d* pptr = points.ptr<Vec2d>();
- pptr[0] = Vec2d(w/2, 0);
- pptr[1] = Vec2d(w, h/2);
- pptr[2] = Vec2d(w/2, h);
- pptr[3] = Vec2d(0, h/2);
+ pptr[0] = Vec2d(0, 0);
+ pptr[1] = Vec2d(w/2, 0);
+ pptr[2] = Vec2d(w, 0);
+ pptr[3] = Vec2d(w, h/2);
+ pptr[4] = Vec2d(w, h);
+ pptr[5] = Vec2d(w/2, h);
+ pptr[6] = Vec2d(0, h);
+ pptr[7] = Vec2d(0, h/2);
#if 0
const int N = 10;
@@ -532,7 +536,6 @@ void cv::fisheye::estimateNewCameraMatrixForUndistortRectify(InputArray K, Input
{
pptr[k++] = Vec2d(w/2, 0) - Vec2d(w/8, 0) + Vec2d(w/4/N*i, 0);
pptr[k++] = Vec2d(w/2, h-1) - Vec2d(w/8, h-1) + Vec2d(w/4/N*i, h-1);
-
pptr[k++] = Vec2d(0, h/2) - Vec2d(0, h/8) + Vec2d(0, h/4/N*i);
pptr[k++] = Vec2d(w-1, h/2) - Vec2d(w-1, h/8) + Vec2d(w-1, h/4/N*i);
}
@@ -553,10 +556,14 @@ void cv::fisheye::estimateNewCameraMatrixForUndistortRectify(InputArray K, Input
double minx = DBL_MAX, miny = DBL_MAX, maxx = -DBL_MAX, maxy = -DBL_MAX;
for(size_t i = 0; i < points.total(); ++i)
{
- miny = std::min(miny, pptr[i][1]);
- maxy = std::max(maxy, pptr[i][1]);
- minx = std::min(minx, pptr[i][0]);
- maxx = std::max(maxx, pptr[i][0]);
+ if(i!=1 && i!=5){
+ minx = std::min(minx, std::abs(pptr[i][0]-cn[0]));
+ }
+ if(i!=3 && i!=7){
+ miny = std::min(miny, std::abs(pptr[i][1]-cn[1]));
+ }
+ maxy = std::max(maxy, std::abs(pptr[i][1]-cn[1]));
+ maxx = std::max(maxx, std::abs(pptr[i][0]-cn[0]));
}
#if 0
@@ -570,13 +577,13 @@ void cv::fisheye::estimateNewCameraMatrixForUndistortRectify(InputArray K, Input
}
#endif
- double f1 = w * 0.5/(cn[0] - minx);
- double f2 = w * 0.5/(maxx - cn[0]);
- double f3 = h * 0.5 * aspect_ratio/(cn[1] - miny);
- double f4 = h * 0.5 * aspect_ratio/(maxy - cn[1]);
+ double f1 = w * 0.5/(minx);
+ double f2 = w * 0.5/(maxx);
+ double f3 = h * 0.5 * aspect_ratio/(miny);
+ double f4 = h * 0.5 * aspect_ratio/(maxy);
- double fmin = std::min(f1, std::min(f2, std::min(f3, f4)));
- double fmax = std::max(f1, std::max(f2, std::max(f3, f4)));
+ double fmax = std::max(f1, f3);
+ double fmin = std::min(f2, f4);
double f = balance * fmin + (1.0 - balance) * fmax;
f *= fov_scale > 0 ? 1.0/fov_scale : 1.0;