From f220e9839692695d60927d20f4bd3aa7963750d9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Milo=C5=A1=20Komar=C4=8Devi=C4=87?=
 <4973094+kmilos@users.noreply.github.com>
Date: Sun, 1 Mar 2020 09:36:50 +0000
Subject: [PATCH] Merge pull request #2439 from kmilos:omnidir

* Add overload method and fix typos in omnidir (1/2)

Addresses part of https://github.com/opencv/opencv/issues/16601

* Add overload method in omnidir (2/2)

Addresses part of https://github.com/opencv/opencv/issues/16601
---
 modules/ccalib/include/opencv2/ccalib/omnidir.hpp | 15 ++++++++++-----
 modules/ccalib/src/omnidir.cpp                    |  6 ++++++
 2 files changed, 16 insertions(+), 5 deletions(-)

diff --git a/modules/ccalib/include/opencv2/ccalib/omnidir.hpp b/modules/ccalib/include/opencv2/ccalib/omnidir.hpp
index 140aede65..d3132b3ff 100644
--- a/modules/ccalib/include/opencv2/ccalib/omnidir.hpp
+++ b/modules/ccalib/include/opencv2/ccalib/omnidir.hpp
@@ -39,12 +39,13 @@
 //
 //M*/
 
-#include <opencv2/core.hpp>
-#include <vector>
-
 #ifndef __OPENCV_OMNIDIR_HPP__
 #define __OPENCV_OMNIDIR_HPP__
 
+#include "opencv2/core.hpp"
+#include "opencv2/core/affine.hpp"
+#include <vector>
+
 namespace cv
 {
 namespace omnidir
@@ -102,6 +103,10 @@ namespace omnidir
     CV_EXPORTS_W void projectPoints(InputArray objectPoints, OutputArray imagePoints, InputArray rvec, InputArray tvec,
                        InputArray K, double xi, InputArray D, OutputArray jacobian = noArray());
 
+    /** @overload */
+    CV_EXPORTS void projectPoints(InputArray objectPoints, OutputArray imagePoints, const Affine3d& affine,
+                        InputArray K, double xi, InputArray D, OutputArray jacobian = noArray());
+
     /** @brief Undistort 2D image points for omnidirectional camera using CMei's model
 
     @param distorted Array of distorted image points, vector of Vec2f
@@ -126,7 +131,7 @@ namespace omnidir
     @param R Rotation transform between the original and object space : 3x3 1-channel, or vector: 3x1/1x3, with depth CV_32F or CV_64F
     @param P New camera matrix (3x3) or new projection matrix (3x4)
     @param size Undistorted image size.
-    @param mltype Type of the first output map that can be CV_32FC1 or CV_16SC2 . See convertMaps()
+    @param m1type Type of the first output map that can be CV_32FC1 or CV_16SC2 . See convertMaps()
     for details.
     @param map1 The first output map.
     @param map2 The second output map.
@@ -134,7 +139,7 @@ namespace omnidir
     are supported.
      */
     CV_EXPORTS_W void initUndistortRectifyMap(InputArray K, InputArray D, InputArray xi, InputArray R, InputArray P, const cv::Size& size,
-        int mltype, OutputArray map1, OutputArray map2, int flags);
+        int m1type, OutputArray map1, OutputArray map2, int flags);
 
     /** @brief Undistort omnidirectional images to perspective images
 
diff --git a/modules/ccalib/src/omnidir.cpp b/modules/ccalib/src/omnidir.cpp
index 214156207..a67a6bd6c 100644
--- a/modules/ccalib/src/omnidir.cpp
+++ b/modules/ccalib/src/omnidir.cpp
@@ -75,6 +75,12 @@ namespace cv { namespace
 
 /////////////////////////////////////////////////////////////////////////////
 //////// projectPoints
+void cv::omnidir::projectPoints(InputArray objectPoints, OutputArray imagePoints,
+                const Affine3d& affine, InputArray K, double xi, InputArray D, OutputArray jacobian)
+{
+    projectPoints(objectPoints, imagePoints, affine.rvec(), affine.translation(), K, xi, D, jacobian);
+}
+
 void cv::omnidir::projectPoints(InputArray objectPoints, OutputArray imagePoints,
                 InputArray rvec, InputArray tvec, InputArray K, double xi, InputArray D, OutputArray jacobian)
 {