Merge branch 4.x

modules/calib/perf/perf_undistort.cpp

@@ -0,0 +1,44 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html
+#include "perf_precomp.hpp"
+
+namespace opencv_test { namespace {
+
+using PerfIntType = perf::TestBaseWithParam<std::tuple<int>>;
+PERF_TEST_P(PerfIntType, fisheye_undistortPoints,
+                                            (testing::Values(1e2, 1e3, 1e4)))
+{
+    const cv::Size imageSize(1280, 800);
+
+    /* Set camera matrix */
+    const cv::Matx33d K(558.478087865323,  0, 620.458515360843,
+                         0, 560.506767351568, 381.939424848348,
+                         0,               0,                1);
+
+    /* Set distortion coefficients */
+    Mat D(1, 4, CV_64F);
+    theRNG().fill(D, RNG::UNIFORM, -1.e-5, 1.e-5);
+
+    int pointsNumber = std::get<0>(GetParam());
+
+    /* Create two-channel points matrix */
+    cv::Mat xy[2] = {};
+    xy[0].create(pointsNumber, 1, CV_64F);
+    theRNG().fill(xy[0], cv::RNG::UNIFORM, 0, imageSize.width); // x
+    xy[1].create(pointsNumber, 1, CV_64F);
+    theRNG().fill(xy[1], cv::RNG::UNIFORM, 0, imageSize.height); // y
+
+    cv::Mat points;
+    merge(xy, 2, points);
+
+    /* Set fixed iteration number to check only c++ code, not algo convergence */
+    TermCriteria termCriteria(TermCriteria::MAX_ITER, 10, 0);
+
+    Mat undistortedPoints;
+    TEST_CYCLE() fisheye::undistortPoints(points, undistortedPoints, K, D, noArray(), noArray(), termCriteria);
+
+    SANITY_CHECK_NOTHING();
+}
+
+}} // namespace