Finalize calib3d module split for fisheye part.

modules/3d/include/opencv2/3d.hpp

@@ -2481,6 +2481,130 @@ void undistortImagePoints(InputArray src, OutputArray dst, InputArray cameraMatr
                           InputArray distCoeffs,
                           TermCriteria = TermCriteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 5, 0.01));
 
+namespace fisheye {
+
+/** @brief Projects points using fisheye model
+
+@param objectPoints Array of object points, 1xN/Nx1 3-channel (or vector\<Point3f\> ), where N is
+the number of points in the view.
+@param imagePoints Output array of image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel, or
+vector\<Point2f\>.
+@param affine
+@param K Camera intrinsic matrix \f$cameramatrix{K}\f$.
+@param D Input vector of distortion coefficients \f$\distcoeffsfisheye\f$.
+@param alpha The skew coefficient.
+@param jacobian Optional output 2Nx15 jacobian matrix of derivatives of image points with respect
+to components of the focal lengths, coordinates of the principal point, distortion coefficients,
+rotation vector, translation vector, and the skew. In the old interface different components of
+the jacobian are returned via different output parameters.
+
+The function computes projections of 3D points to the image plane given intrinsic and extrinsic
+camera parameters. Optionally, the function computes Jacobians - matrices of partial derivatives of
+image points coordinates (as functions of all the input parameters) with respect to the particular
+parameters, intrinsic and/or extrinsic.
+ */
+CV_EXPORTS void projectPoints(InputArray objectPoints, OutputArray imagePoints, const Affine3d& affine,
+    InputArray K, InputArray D, double alpha = 0, OutputArray jacobian = noArray());
+
+/** @overload */
+CV_EXPORTS_W void projectPoints(InputArray objectPoints, OutputArray imagePoints, InputArray rvec, InputArray tvec,
+    InputArray K, InputArray D, double alpha = 0, OutputArray jacobian = noArray());
+
+/** @brief Distorts 2D points using fisheye model.
+
+@param undistorted Array of object points, 1xN/Nx1 2-channel (or vector\<Point2f\> ), where N is
+the number of points in the view.
+@param K Camera intrinsic matrix \f$cameramatrix{K}\f$.
+@param D Input vector of distortion coefficients \f$\distcoeffsfisheye\f$.
+@param alpha The skew coefficient.
+@param distorted Output array of image points, 1xN/Nx1 2-channel, or vector\<Point2f\> .
+
+Note that the function assumes the camera intrinsic matrix of the undistorted points to be identity.
+This means if you want to distort image points you have to multiply them with \f$K^{-1}\f$.
+ */
+CV_EXPORTS_W void distortPoints(InputArray undistorted, OutputArray distorted, InputArray K, InputArray D, double alpha = 0);
+
+/** @brief Undistorts 2D points using fisheye model
+
+@param distorted Array of object points, 1xN/Nx1 2-channel (or vector\<Point2f\> ), where N is the
+number of points in the view.
+@param K Camera intrinsic matrix \f$cameramatrix{K}\f$.
+@param D Input vector of distortion coefficients \f$\distcoeffsfisheye\f$.
+@param R Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3
+1-channel or 1x1 3-channel
+@param P New camera intrinsic matrix (3x3) or new projection matrix (3x4)
+@param criteria Termination criteria
+@param undistorted Output array of image points, 1xN/Nx1 2-channel, or vector\<Point2f\> .
+ */
+CV_EXPORTS_W void undistortPoints(InputArray distorted, OutputArray undistorted,
+    InputArray K, InputArray D, InputArray R = noArray(), InputArray P  = noArray(),
+    TermCriteria criteria = TermCriteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 10, 1e-8));
+
+/** @brief Estimates new camera intrinsic matrix for undistortion or rectification.
+
+@param K Camera intrinsic matrix \f$cameramatrix{K}\f$.
+@param image_size Size of the image
+@param D Input vector of distortion coefficients \f$\distcoeffsfisheye\f$.
+@param R Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3
+1-channel or 1x1 3-channel
+@param P New camera intrinsic matrix (3x3) or new projection matrix (3x4)
+@param balance Sets the new focal length in range between the min focal length and the max focal
+length. Balance is in range of [0, 1].
+@param new_size the new size
+@param fov_scale Divisor for new focal length.
+ */
+CV_EXPORTS_W void estimateNewCameraMatrixForUndistortRectify(InputArray K, InputArray D, const Size &image_size, InputArray R,
+    OutputArray P, double balance = 0.0, const Size& new_size = Size(), double fov_scale = 1.0);
+
+/** @brief Computes undistortion and rectification maps for image transform by cv::remap(). If D is empty zero
+distortion is used, if R or P is empty identity matrixes are used.
+
+@param K Camera intrinsic matrix \f$cameramatrix{K}\f$.
+@param D Input vector of distortion coefficients \f$\distcoeffsfisheye\f$.
+@param R Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3
+1-channel or 1x1 3-channel
+@param P New camera intrinsic matrix (3x3) or new projection matrix (3x4)
+@param size Undistorted image size.
+@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.
+ */
+CV_EXPORTS_W void initUndistortRectifyMap(InputArray K, InputArray D, InputArray R, InputArray P,
+    const cv::Size& size, int m1type, OutputArray map1, OutputArray map2);
+
+/** @brief Transforms an image to compensate for fisheye lens distortion.
+
+@param distorted image with fisheye lens distortion.
+@param undistorted Output image with compensated fisheye lens distortion.
+@param K Camera intrinsic matrix \f$cameramatrix{K}\f$.
+@param D Input vector of distortion coefficients \f$\distcoeffsfisheye\f$.
+@param Knew Camera intrinsic matrix of the distorted image. By default, it is the identity matrix but you
+may additionally scale and shift the result by using a different matrix.
+@param new_size the new size
+
+The function transforms an image to compensate radial and tangential lens distortion.
+
+The function is simply a combination of fisheye::initUndistortRectifyMap (with unity R ) and remap
+(with bilinear interpolation). See the former function for details of the transformation being
+performed.
+
+See below the results of undistortImage.
+   -   a\) result of undistort of perspective camera model (all possible coefficients (k_1, k_2, k_3,
+        k_4, k_5, k_6) of distortion were optimized under calibration)
+    -   b\) result of fisheye::undistortImage of fisheye camera model (all possible coefficients (k_1, k_2,
+        k_3, k_4) of fisheye distortion were optimized under calibration)
+    -   c\) original image was captured with fisheye lens
+
+Pictures a) and b) almost the same. But if we consider points of image located far from the center
+of image, we can notice that on image a) these points are distorted.
+
+![image](pics/fisheye_undistorted.jpg)
+ */
+CV_EXPORTS_W void undistortImage(InputArray distorted, OutputArray undistorted,
+    InputArray K, InputArray D, InputArray Knew = cv::noArray(), const Size& new_size = Size());
+
+} // namespace fisheye
 
 /** @brief Octree for 3D vision.
  *