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Finalize calib3d module split for fisheye part.
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Alexander Smorkalov
@@ -443,7 +443,7 @@ enum { CALIB_USE_INTRINSIC_GUESS = 0x00001, //!< Use user provided intrinsics as
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CALIB_FIX_INTRINSIC = 0x00100, //!< For stereo and milti-camera calibration only. Do not optimize cameras intrinsics
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CALIB_SAME_FOCAL_LENGTH = 0x00200, //!< For stereo calibration only. Use the same focal length for cameras in pair.
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// for stereo rectification
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CALIB_ZERO_DISPARITY = 0x00400, //!< For @ref stereoRectify only. See the function description for more details.
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CALIB_ZERO_DISPARITY = 0x00400, //!< Deprecated synonim of @ref STEREO_ZERO_DISPARITY. See @ref stereoRectify.
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CALIB_USE_LU = (1 << 17), //!< use LU instead of SVD decomposition for solving. much faster but potentially less precise
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CALIB_USE_EXTRINSIC_GUESS = (1 << 22), //!< For stereo calibration only. Use user provided extrinsics (R, T) as initial point for optimization
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// fisheye only flags
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@@ -1486,128 +1486,6 @@ using cv::CALIB_FIX_PRINCIPAL_POINT;
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using cv::CALIB_ZERO_DISPARITY;
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using cv::CALIB_FIX_FOCAL_LENGTH;
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/** @brief Projects points using fisheye model
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@param objectPoints Array of object points, 1xN/Nx1 3-channel (or vector\<Point3f\> ), where N is
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the number of points in the view.
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@param imagePoints Output array of image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel, or
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vector\<Point2f\>.
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@param affine
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@param K Camera intrinsic matrix \f$cameramatrix{K}\f$.
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@param D Input vector of distortion coefficients \f$\distcoeffsfisheye\f$.
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@param alpha The skew coefficient.
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@param jacobian Optional output 2Nx15 jacobian matrix of derivatives of image points with respect
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to components of the focal lengths, coordinates of the principal point, distortion coefficients,
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rotation vector, translation vector, and the skew. In the old interface different components of
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the jacobian are returned via different output parameters.
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The function computes projections of 3D points to the image plane given intrinsic and extrinsic
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camera parameters. Optionally, the function computes Jacobians - matrices of partial derivatives of
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image points coordinates (as functions of all the input parameters) with respect to the particular
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parameters, intrinsic and/or extrinsic.
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*/
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CV_EXPORTS void projectPoints(InputArray objectPoints, OutputArray imagePoints, const Affine3d& affine,
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InputArray K, InputArray D, double alpha = 0, OutputArray jacobian = noArray());
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/** @overload */
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CV_EXPORTS_W void projectPoints(InputArray objectPoints, OutputArray imagePoints, InputArray rvec, InputArray tvec,
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InputArray K, InputArray D, double alpha = 0, OutputArray jacobian = noArray());
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/** @brief Distorts 2D points using fisheye model.
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@param undistorted Array of object points, 1xN/Nx1 2-channel (or vector\<Point2f\> ), where N is
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the number of points in the view.
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@param K Camera intrinsic matrix \f$cameramatrix{K}\f$.
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@param D Input vector of distortion coefficients \f$\distcoeffsfisheye\f$.
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@param alpha The skew coefficient.
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@param distorted Output array of image points, 1xN/Nx1 2-channel, or vector\<Point2f\> .
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Note that the function assumes the camera intrinsic matrix of the undistorted points to be identity.
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This means if you want to distort image points you have to multiply them with \f$K^{-1}\f$.
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*/
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CV_EXPORTS_W void distortPoints(InputArray undistorted, OutputArray distorted, InputArray K, InputArray D, double alpha = 0);
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/** @brief Undistorts 2D points using fisheye model
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@param distorted Array of object points, 1xN/Nx1 2-channel (or vector\<Point2f\> ), where N is the
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number of points in the view.
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@param K Camera intrinsic matrix \f$cameramatrix{K}\f$.
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@param D Input vector of distortion coefficients \f$\distcoeffsfisheye\f$.
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@param R Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3
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1-channel or 1x1 3-channel
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@param P New camera intrinsic matrix (3x3) or new projection matrix (3x4)
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@param criteria Termination criteria
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@param undistorted Output array of image points, 1xN/Nx1 2-channel, or vector\<Point2f\> .
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*/
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CV_EXPORTS_W void undistortPoints(InputArray distorted, OutputArray undistorted,
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InputArray K, InputArray D, InputArray R = noArray(), InputArray P = noArray(),
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TermCriteria criteria = TermCriteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 10, 1e-8));
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/** @brief Computes undistortion and rectification maps for image transform by cv::remap(). If D is empty zero
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distortion is used, if R or P is empty identity matrixes are used.
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@param K Camera intrinsic matrix \f$cameramatrix{K}\f$.
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@param D Input vector of distortion coefficients \f$\distcoeffsfisheye\f$.
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@param R Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3
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1-channel or 1x1 3-channel
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@param P New camera intrinsic matrix (3x3) or new projection matrix (3x4)
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@param size Undistorted image size.
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@param m1type Type of the first output map that can be CV_32FC1 or CV_16SC2 . See convertMaps()
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for details.
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@param map1 The first output map.
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@param map2 The second output map.
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*/
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CV_EXPORTS_W void initUndistortRectifyMap(InputArray K, InputArray D, InputArray R, InputArray P,
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const cv::Size& size, int m1type, OutputArray map1, OutputArray map2);
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/** @brief Transforms an image to compensate for fisheye lens distortion.
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@param distorted image with fisheye lens distortion.
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@param undistorted Output image with compensated fisheye lens distortion.
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@param K Camera intrinsic matrix \f$cameramatrix{K}\f$.
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@param D Input vector of distortion coefficients \f$\distcoeffsfisheye\f$.
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@param Knew Camera intrinsic matrix of the distorted image. By default, it is the identity matrix but you
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may additionally scale and shift the result by using a different matrix.
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@param new_size the new size
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The function transforms an image to compensate radial and tangential lens distortion.
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The function is simply a combination of fisheye::initUndistortRectifyMap (with unity R ) and remap
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(with bilinear interpolation). See the former function for details of the transformation being
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performed.
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See below the results of undistortImage.
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- a\) result of undistort of perspective camera model (all possible coefficients (k_1, k_2, k_3,
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k_4, k_5, k_6) of distortion were optimized under calibration)
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- b\) result of fisheye::undistortImage of fisheye camera model (all possible coefficients (k_1, k_2,
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k_3, k_4) of fisheye distortion were optimized under calibration)
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- c\) original image was captured with fisheye lens
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Pictures a) and b) almost the same. But if we consider points of image located far from the center
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of image, we can notice that on image a) these points are distorted.
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*/
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CV_EXPORTS_W void undistortImage(InputArray distorted, OutputArray undistorted,
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InputArray K, InputArray D, InputArray Knew = cv::noArray(), const Size& new_size = Size());
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/** @brief Estimates new camera intrinsic matrix for undistortion or rectification.
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@param K Camera intrinsic matrix \f$cameramatrix{K}\f$.
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@param image_size Size of the image
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@param D Input vector of distortion coefficients \f$\distcoeffsfisheye\f$.
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@param R Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3
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1-channel or 1x1 3-channel
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@param P New camera intrinsic matrix (3x3) or new projection matrix (3x4)
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@param balance Sets the new focal length in range between the min focal length and the max focal
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length. Balance is in range of [0, 1].
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@param new_size the new size
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@param fov_scale Divisor for new focal length.
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*/
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CV_EXPORTS_W void estimateNewCameraMatrixForUndistortRectify(InputArray K, InputArray D, const Size &image_size, InputArray R,
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OutputArray P, double balance = 0.0, const Size& new_size = Size(), double fov_scale = 1.0);
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/** @brief Performs camera calibration
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@param objectPoints vector of vectors of calibration pattern points in the calibration pattern
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@@ -1647,40 +1525,6 @@ CV_EXPORTS_W double calibrate(InputArrayOfArrays objectPoints, InputArrayOfArray
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InputOutputArray K, InputOutputArray D, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags = 0,
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TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON));
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/** @brief Stereo rectification for fisheye camera model
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@param K1 First camera intrinsic matrix.
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@param D1 First camera distortion parameters.
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@param K2 Second camera intrinsic matrix.
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@param D2 Second camera distortion parameters.
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@param imageSize Size of the image used for stereo calibration.
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@param R Rotation matrix between the coordinate systems of the first and the second
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cameras.
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@param tvec Translation vector between coordinate systems of the cameras.
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@param R1 Output 3x3 rectification transform (rotation matrix) for the first camera.
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@param R2 Output 3x3 rectification transform (rotation matrix) for the second camera.
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@param P1 Output 3x4 projection matrix in the new (rectified) coordinate systems for the first
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camera.
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@param P2 Output 3x4 projection matrix in the new (rectified) coordinate systems for the second
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camera.
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@param Q Output \f$4 \times 4\f$ disparity-to-depth mapping matrix (see reprojectImageTo3D ).
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@param flags Operation flags that may be zero or @ref CALIB_ZERO_DISPARITY . If the flag is set,
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the function makes the principal points of each camera have the same pixel coordinates in the
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rectified views. And if the flag is not set, the function may still shift the images in the
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horizontal or vertical direction (depending on the orientation of epipolar lines) to maximize the
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useful image area.
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@param newImageSize New image resolution after rectification. The same size should be passed to
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#initUndistortRectifyMap (see the stereo_calib.cpp sample in OpenCV samples directory). When (0,0)
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is passed (default), it is set to the original imageSize . Setting it to larger value can help you
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preserve details in the original image, especially when there is a big radial distortion.
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@param balance Sets the new focal length in range between the min focal length and the max focal
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length. Balance is in range of [0, 1].
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@param fov_scale Divisor for new focal length.
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*/
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CV_EXPORTS_W void stereoRectify(InputArray K1, InputArray D1, InputArray K2, InputArray D2, const Size &imageSize, InputArray R, InputArray tvec,
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OutputArray R1, OutputArray R2, OutputArray P1, OutputArray P2, OutputArray Q, int flags, const Size &newImageSize = Size(),
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double balance = 0.0, double fov_scale = 1.0);
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/** @brief Performs stereo calibration
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@param objectPoints Vector of vectors of the calibration pattern points.
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