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Merge branch 4.x

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This commit is contained in:
Alexander Smorkalov
2025-12-02 15:22:25 +03:00
parent f64d5771c1 a08565253e
commit e466110245
56 changed files with 1639 additions and 876 deletions
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modules/3d/src/undistort.dispatch.cpp
+22 -10
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@@ -437,8 +437,12 @@ static void undistortPointsInternal( const Mat& _src, Mat& _dst, const Mat& _cam
y0 = y = invProj * vecUntilt(1);
double error = std::numeric_limits<double>::max();
double prevError = std::numeric_limits<double>::max();
// compensate distortion iteratively using fixed-point iteration
// parameter for damped fixed-point iteration
double alpha = 1.;
for( int j = 0; ; j++ )
{
if ((criteria.type & TermCriteria::COUNT) && j >= criteria.maxCount)
@@ -462,10 +466,11 @@ static void undistortPointsInternal( const Mat& _src, Mat& _dst, const Mat& _cam
// [x'', y'']^T = [x' / icdist + deltaX, y' / icdist + deltaY]^T =>
// [x', y']^T = [(x'' - deltaX) * icdist, (y'' - deltaY) * icdist]^T =>
// x' = f1(x') := (x'' - deltaX) * icdist, y' = f2(y') := (y'' - deltaY) * icdist
// Fixed-point iteration:
// new_x' = f1(x') = (x'' - deltaX) * icdist, new_y' = f2(y') = (y'' - deltaY) * icdist
x = (x0 - deltaX)*icdist;
y = (y0 - deltaY)*icdist;
// Damped fixed-point iteration:
// f1(x') = (x'' - deltaX) * icdist, f2(y') = (y'' - deltaY) * icdist
// new_x' = (1 - alpha) * x' + alpha * f1(x'), new_y' = (1 - alpha) * y' + alpha * f2(y')
double new_x = (1. - alpha)*x + alpha*(x0 - deltaX)*icdist;
double new_y = (1. - alpha)*y + alpha*(y0 - deltaY)*icdist;
if(criteria.type & TermCriteria::EPS)
{
@@ -474,20 +479,20 @@ static void undistortPointsInternal( const Mat& _src, Mat& _dst, const Mat& _cam
Vec3d vecTilt;
// r^2 = x'^2 + y'^2
r2 = x*x + y*y;
r2 = new_x*new_x + new_y*new_y;
r4 = r2*r2;
r6 = r4*r2;
a1 = 2*x*y;
a2 = r2 + 2*x*x;
a3 = r2 + 2*y*y;
a1 = 2*new_x*new_y;
a2 = r2 + 2*new_x*new_x;
a3 = r2 + 2*new_y*new_y;
// cdist := 1 + k1 * r^2 + k2 * r^4 + k3 * r^6
cdist = 1 + k[0]*r2 + k[1]*r4 + k[4]*r6;
// icdist2 := 1 / (1 + k4 * r^2 + k5 * r^4 + k6 * r^6)
icdist2 = 1./(1 + k[5]*r2 + k[6]*r4 + k[7]*r6);
// x'' = x' * cdist * icdist2 + 2 * p1 * x' * y' + p2 * (r^2 + 2 * x'^2) + s1 * r^2 + s2 * r^4
// y'' = y' * cdist * icdist2 + p1 * (r^2 + 2 * y'^2) + 2 * p2 * x' * y' + s3 * r^2 + s4 * r^4
xd0 = x*cdist*icdist2 + k[2]*a1 + k[3]*a2 + k[8]*r2+k[9]*r4;
yd0 = y*cdist*icdist2 + k[2]*a3 + k[3]*a1 + k[10]*r2+k[11]*r4;
xd0 = new_x*cdist*icdist2 + k[2]*a1 + k[3]*a2 + k[8]*r2+k[9]*r4;
yd0 = new_y*cdist*icdist2 + k[2]*a3 + k[3]*a1 + k[10]*r2+k[11]*r4;
// s * [x''', y''', 1]^T = matTilt * [x'', y'', 1]^T =>
// (vecTilt := matTilt * [x'', y'', 1]^T)
@@ -505,6 +510,13 @@ static void undistortPointsInternal( const Mat& _src, Mat& _dst, const Mat& _cam
error = sqrt( pow(x_proj - u, 2) + pow(y_proj - v, 2) );
}
if (error > prevError) {
alpha *= .5;
} else {
x = new_x;
y = new_y;
}
prevError = error;
}
}