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Merge branch 4.x

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OpenCV Developers
2022-04-23 21:42:17 +00:00
parent 3d12581798 767857c516
commit 0fbd58bef9
324 changed files with 34982 additions and 9803 deletions
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modules/calib/src/fisheye.cpp
+18 -7
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@@ -320,7 +320,8 @@ 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, TermCriteria criteria)
{
CV_INSTRUMENT_REGION();
@@ -332,6 +333,8 @@ void cv::fisheye::undistortPoints( InputArray distorted, OutputArray undistorted
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(criteria.isValid());
Vec2d f, c;
if (K.depth() == CV_32F)
{
@@ -374,6 +377,15 @@ void cv::fisheye::undistortPoints( InputArray distorted, OutputArray undistorted
size_t n = distorted.total();
int sdepth = distorted.depth();
const bool isEps = criteria.type & TermCriteria::EPS;
/* Define max count for solver iterations */
int maxCount = std::numeric_limits<int>::max();
if (criteria.type & TermCriteria::MAX_ITER) {
maxCount = criteria.maxCount;
}
for(size_t i = 0; i < n; i++ )
{
Vec2d pi = sdepth == CV_32F ? (Vec2d)srcf[i] : srcd[i]; // image point
@@ -391,13 +403,11 @@ void cv::fisheye::undistortPoints( InputArray distorted, OutputArray undistorted
double scale = 0.0;
if (fabs(theta_d) > 1e-8)
if (!isEps || fabs(theta_d) > criteria.epsilon)
{
// compensate distortion iteratively
const double EPS = 1e-8; // or std::numeric_limits<double>::epsilon();
for (int j = 0; j < 10; j++)
for (int j = 0; j < maxCount; j++)
{
double theta2 = theta*theta, theta4 = theta2*theta2, theta6 = theta4*theta2, theta8 = theta6*theta2;
double k0_theta2 = k[0] * theta2, k1_theta4 = k[1] * theta4, k2_theta6 = k[2] * theta6, k3_theta8 = k[3] * theta8;
@@ -405,7 +415,8 @@ void cv::fisheye::undistortPoints( InputArray distorted, OutputArray undistorted
double theta_fix = (theta * (1 + k0_theta2 + k1_theta4 + k2_theta6 + k3_theta8) - theta_d) /
(1 + 3*k0_theta2 + 5*k1_theta4 + 7*k2_theta6 + 9*k3_theta8);
theta = theta - theta_fix;
if (fabs(theta_fix) < EPS)
if (isEps && (fabs(theta_fix) < criteria.epsilon))
{
converged = true;
break;
@@ -424,7 +435,7 @@ void cv::fisheye::undistortPoints( InputArray distorted, OutputArray undistorted
// so we can check whether theta has changed the sign during the optimization
bool theta_flipped = ((theta_d < 0 && theta > 0) || (theta_d > 0 && theta < 0));
if (converged && !theta_flipped)
if ((converged || !isEps) && !theta_flipped)
{
Vec2d pu = pw * scale; //undistorted point