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Added fisheye::distortPoints with non-identity projection matrix#25943

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asmorkalov merged 1 commit intoopencv:4.xfrom
asmorkalov:as/fisheye_distrort_newk
Aug 5, 2024
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Added fisheye::distortPoints with non-identity projection matrix#25943
asmorkalov merged 1 commit intoopencv:4.xfrom
asmorkalov:as/fisheye_distrort_newk

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@asmorkalov asmorkalov commented Jul 23, 2024

The function covered the case, when the fisheye image was undistorted with new camera matrix found with estimateNewCameraMatrixForUndistortRectify.

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@asmorkalov asmorkalov added this to the 4.11.0 milestone Jul 23, 2024
@asmorkalov asmorkalov requested a review from vpisarev July 23, 2024 12:46
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asmorkalov commented Jul 23, 2024

@catree Could you take a look? What do you think?

@asmorkalov asmorkalov force-pushed the as/fisheye_distrort_newk branch from c2579e9 to 6984db0 Compare July 23, 2024 12:55
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modules/calib3d/src/fisheye.cpp
size_t n = undistorted.total();
const Vec2f* Xf = undistorted.ptr<Vec2f>();
const Vec2d* Xd = undistorted.ptr<Vec2d>();
Vec2d* normXd = normalized.ptr<Vec2d>();
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@vpisarev vpisarev Jul 23, 2024 •
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isn't double precision too heavy here? Shall we use the same data type as input points? Maybe we could add a helper function to do this {(x-cx)/fx, (y-cy)/fy} normalization?

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catree commented Jul 23, 2024

@asmorkalov Sorry, I am not used to this specific aspect between K and Knew and distortion functionality.

Just some quick minor comments:

  • at some point it would be great to unify the convention between A and K notation for the camera intrinsic matrix
  • when using \f$cameramatrix{K}\f$ there are some rendering issue:
    image
  • the macro \f$\cameramatrix{A}\f$ displays instead:
    image

@asmorkalov asmorkalov force-pushed the as/fisheye_distrort_newk branch 4 times, most recently from 4e466f7 to b956b3b Compare August 1, 2024 07:16
@asmorkalov asmorkalov self-assigned this Aug 2, 2024
@asmorkalov asmorkalov force-pushed the as/fisheye_distrort_newk branch from b956b3b to 75fca7d Compare August 5, 2024 12:22
@asmorkalov asmorkalov merged commit 333054e into opencv:4.x Aug 5, 2024
This was referenced Aug 6, 2024
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