Finalize calib3d module split for fisheye part.

modules/3d/perf/perf_undistort.cpp

@@ -27,4 +27,36 @@ PERF_TEST(Undistort, DISABLED_InitInverseRectificationMap)
     SANITY_CHECK_NOTHING();
 }
 
+PERF_TEST(Undistort, fisheye_undistortPoints_100k_10iter)
+{
+    const int pointsNumber = 100000;
+    const Size imageSize(1280, 800);
+
+    /* Set camera matrix */
+    const Matx33d K(558.478087865323,  0, 620.458515360843,
+                         0, 560.506767351568, 381.939424848348,
+                         0,               0,                1);
+
+    /* Set distortion coefficients */
+    const Matx14d D(2.81e-06, 1.31e-06, -4.42e-06, -1.25e-06);
+
+    /* Create two-channel points matrix */
+    Mat xy[2] = {};
+    xy[0].create(pointsNumber, 1, CV_64F);
+    theRNG().fill(xy[0], RNG::UNIFORM, 0, imageSize.width); // x
+    xy[1].create(pointsNumber, 1, CV_64F);
+    theRNG().fill(xy[1], RNG::UNIFORM, 0, imageSize.height); // y
+
+    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