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Added fisheye::distort with non-identity projection matrix.

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Alexander Smorkalov
2024-07-23 15:42:21 +03:00
parent 95041f5e65
commit 75fca7d9d0
3 changed files with 147 additions and 2 deletions
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modules/calib3d/include/opencv2/calib3d.hpp
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@@ -3835,10 +3835,25 @@ namespace fisheye
@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$K^{-1}\f$.
This means if you want to distort image points you have to multiply them with \f$K^{-1}\f$ or
use another function overload.
*/
CV_EXPORTS_W void distortPoints(InputArray undistorted, OutputArray distorted, InputArray K, InputArray D, double alpha = 0);
/** @overload
Overload of distortPoints function to handle cases when undistorted points are got with non-identity
camera matrix, e.g. output of #estimateNewCameraMatrixForUndistortRectify.
@param undistorted Array of object points, 1xN/Nx1 2-channel (or vector\<Point2f\> ), where N is
the number of points in the view.
@param Kundistorted Camera intrinsic matrix used as new camera matrix for undistortion.
@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\> .
@sa estimateNewCameraMatrixForUndistortRectify
*/
CV_EXPORTS_W void distortPoints(InputArray undistorted, OutputArray distorted, InputArray Kundistorted, 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