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Merge branch 4.x

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This commit is contained in:
Alexander Smorkalov
2024-08-06 12:26:34 +03:00
parent 35eba9ca90 49459d46e2
commit 7e8f2a1bc4
75 changed files with 1890 additions and 792 deletions
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modules/3d/src/fisheye.cpp
+42
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@@ -266,6 +266,48 @@ void cv::fisheye::distortPoints(InputArray undistorted, OutputArray distorted, I
}
}
void cv::fisheye::distortPoints(InputArray _undistorted, OutputArray distorted, InputArray Kundistorted, InputArray K, InputArray D, double alpha)
{
CV_INSTRUMENT_REGION();
CV_Assert(_undistorted.type() == CV_32FC2 || _undistorted.type() == CV_64FC2);
CV_Assert(Kundistorted.size() == Size(3,3) && (Kundistorted.type() == CV_32F || Kundistorted.type() == CV_64F));
cv::Mat undistorted = _undistorted.getMat();
cv::Mat normalized(undistorted.size(), CV_64FC2);
Mat Knew = Kundistorted.getMat();
double cx, cy, fx, fy;
if (Knew.depth() == CV_32F)
{
fx = (double)Knew.at<float>(0, 0);
fy = (double)Knew.at<float>(1, 1);
cx = (double)Knew.at<float>(0, 2);
cy = (double)Knew.at<float>(1, 2);
}
else
{
fx = Knew.at<double>(0, 0);
fy = Knew.at<double>(1, 1);
cx = Knew.at<double>(0, 2);
cy = Knew.at<double>(1, 2);
}
size_t n = undistorted.total();
const Vec2f* Xf = undistorted.ptr<Vec2f>();
const Vec2d* Xd = undistorted.ptr<Vec2d>();
Vec2d* normXd = normalized.ptr<Vec2d>();
for (size_t i = 0; i < n; i++)
{
Vec2d p = undistorted.depth() == CV_32F ? (Vec2d)Xf[i] : Xd[i];
normXd[i][0] = (p[0] - cx) / fx;
normXd[i][1] = (p[1] - cy) / fy;
}
cv::fisheye::distortPoints(normalized, distorted, K, D, alpha);
}
void cv::fisheye::undistortPoints( InputArray distorted, OutputArray undistorted, InputArray K, InputArray D,
InputArray R, InputArray P, TermCriteria criteria)
{