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Merge pull request #25028 from asmorkalov:as/fisheye_solvepnp

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solvePnP implementation for Fisheye camera model #25028

Credits to Linfei Pan
Extracted from https://github.com/opencv/opencv/pull/24052

**Warning:** The patch changes Obj-C generator behaviour and adds "fisheye_" prefix for all ObjC functions from namespace.

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake

Co-authored-by: lpanaf <linpan@student.ethz.ch>
Co-authored-by: Vadim Levin <vadim.levin@xperience.ai>
This commit is contained in:
Alexander Smorkalov
2024-02-16 17:54:40 +03:00
committed by GitHub
parent 7bea25a60c
commit bd73b7bcf5
4 changed files with 78 additions and 0 deletions
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modules/calib3d/test/test_fisheye.cpp
+22
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@@ -150,6 +150,28 @@ TEST_F(fisheyeTest, distortUndistortPoints)
}
}
TEST_F(fisheyeTest, solvePnP)
{
const int n = 16;
cv::Mat obj_points(1, n, CV_64FC3);
theRNG().fill(obj_points, cv::RNG::NORMAL, 2, 1);
obj_points = cv::abs(obj_points) * 10;
cv::Mat rvec;
cv::Rodrigues(this->R, rvec);
cv::Mat img_points;
cv::fisheye::projectPoints(obj_points, img_points, rvec, this->T, this->K, this->D);
cv::Mat rvec_pred;
cv::Mat tvec_pred;
bool converged = cv::fisheye::solvePnP(obj_points, img_points, this->K, this->D, rvec_pred, tvec_pred);
EXPECT_MAT_NEAR(rvec, rvec_pred, 1e-6);
EXPECT_MAT_NEAR(this->T, tvec_pred, 1e-6);
ASSERT_TRUE(converged);
}
TEST_F(fisheyeTest, undistortImage)
{
// we use it to reduce patch size for images in testdata