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Merge branch 4.x

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This commit is contained in:
Alexander Smorkalov
2025-03-04 16:42:12 +03:00
parent b6b5a10a8e 8a24d41b54
commit db40139f16
42 changed files with 3445 additions and 816 deletions
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modules/3d/src/fisheye.cpp
+11 -3
View File
@@ -426,10 +426,18 @@ void cv::fisheye::undistortPoints( InputArray distorted, OutputArray undistorted
if ((converged || !isEps) && !theta_flipped)
{
Vec2d pu = pw * scale; //undistorted point
Vec2d fi;
// reproject
Vec3d pr = RR * Vec3d(pu[0], pu[1], 1.0); // rotated point optionally multiplied by new camera matrix
Vec2d fi(pr[0]/pr[2], pr[1]/pr[2]); // final
if (!R.empty() || !P.empty())
{
// reproject
Vec3d pr = RR * Vec3d(pu[0], pu[1], 1.0); // rotated point optionally multiplied by new camera matrix
fi = Vec2d(pr[0]/pr[2], pr[1]/pr[2]); // final
}
else
{
fi = pu;
}
if( sdepth == CV_32F )
dstf[i] = fi;
modules/3d/src/undistort.dispatch.cpp
+8 -5
View File
@@ -480,11 +480,14 @@ static void undistortPointsInternal( const Mat& _src, Mat& _dst, const Mat& _cam
}
}
double xx = RR[0][0]*x + RR[0][1]*y + RR[0][2];
double yy = RR[1][0]*x + RR[1][1]*y + RR[1][2];
double ww = 1./(RR[2][0]*x + RR[2][1]*y + RR[2][2]);
x = xx*ww;
y = yy*ww;
if( !matR.empty() || !matP.empty() )
{
double xx = RR[0][0]*x + RR[0][1]*y + RR[0][2];
double yy = RR[1][0]*x + RR[1][1]*y + RR[1][2];
double ww = 1./(RR[2][0]*x + RR[2][1]*y + RR[2][2]);
x = xx*ww;
y = yy*ww;
}
if( dtype == CV_32FC2 )
{