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Merge pull request #20247 from IanMaquignaz:inverseRectification_update

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Update to initInverseRectificationMap()

* update to initInverseRectificationMap() documentation

* Restructured Calib3d_InitInverseRectificationMap unit test per feedback from alalek

* whitespace
This commit is contained in:
Ian Maquignaz
2021-06-09 09:27:43 -04:00
committed by GitHub
parent b57b64b7a3
commit 2db243b8ed
5 changed files with 99 additions and 106 deletions
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modules/ts/src/ts_func.cpp
-80
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@@ -2881,86 +2881,6 @@ void initUndistortMap( const Mat& _a0, const Mat& _k0, const Mat& _R0, const Mat
_mapy.convertTo(__mapy, map_type);
}
void initInverseRectificationMap( const Mat& _a0, const Mat& _k0, const Mat& _R0, const Mat& _new_cam0, Size sz, Mat& __mapx, Mat& __mapy, int map_type )
{
Mat _mapx(sz, CV_32F), _mapy(sz, CV_32F);
double a[9], k[5]={0,0,0,0,0}, iR[9]={1, 0, 0, 0, 1, 0, 0, 0, 1}, a1[9];
Mat _a(3, 3, CV_64F, a), _a1(3, 3, CV_64F, a1);
Mat _k(_k0.rows,_k0.cols, CV_MAKETYPE(CV_64F,_k0.channels()),k);
Mat _iR(3, 3, CV_64F, iR);
double fx, fy, cx, cy, ifx, ify, cxn, cyn;
// Camera matrix
CV_Assert(_a0.size() == Size(3, 3));
_a0.convertTo(_a, CV_64F);
if( !_new_cam0.empty() )
{
CV_Assert(_new_cam0.size() == Size(3, 3));
_new_cam0.convertTo(_a1, CV_64F);
}
else
{
_a.copyTo(_a1);
}
// Distortion
CV_Assert(_k0.empty() ||
_k0.size() == Size(5, 1) ||
_k0.size() == Size(1, 5) ||
_k0.size() == Size(4, 1) ||
_k0.size() == Size(1, 4));
if( !_k0.empty() )
_k0.convertTo(_k, CV_64F);
// Rotation
if( !_R0.empty() )
{
CV_Assert(_R0.size() == Size(3, 3));
Mat tmp;
_R0.convertTo(_iR, CV_64F);
//invert(tmp, _iR, DECOMP_LU);
}
// Copy camera matrix
fx = a[0]; fy = a[4]; cx = a[2]; cy = a[5];
// Copy new camera matrix
ifx = a1[0]; ify = a1[4]; cxn = a1[2]; cyn = a1[5];
// Undistort
for( int v = 0; v < sz.height; v++ )
{
for( int u = 0; u < sz.width; u++ )
{
// Convert from image to pin-hole coordinates
double x = (u - cx)/fx;
double y = (v - cy)/fy;
// Undistort
double x2 = x*x, y2 = y*y;
double r2 = x2 + y2;
double cdist = 1./(1 + (k[0] + (k[1] + k[4]*r2)*r2)*r2); // (1 + (k[5] + (k[6] + k[7]*r2)*r2)*r2) == 1 as K[5-7]=0;
double x_ = x*cdist - k[2]*2*x*y + k[3]*(r2 + 2*x2);
double y_ = y*cdist - k[3]*2*x*y + k[2]*(r2 + 2*y2);
// Rectify
double X = iR[0]*x_ + iR[1]*y_ + iR[2];
double Y = iR[3]*x_ + iR[4]*y_ + iR[5];
double Z = iR[6]*x_ + iR[7]*y_ + iR[8];
double x__ = X/Z;
double y__ = Y/Z;
// Convert from pin-hole to image coordinates
_mapy.at<float>(v, u) = (float)(y__*ify + cyn);
_mapx.at<float>(v, u) = (float)(x__*ifx + cxn);
}
}
_mapx.convertTo(__mapx, map_type);
_mapy.convertTo(__mapy, map_type);
}
std::ostream& operator << (std::ostream& out, const MatInfo& m)
{
if( !m.m || m.m->empty() )