solvePnPRansac implementation for Fisheye camera model #26669
Related: https://github.com/opencv/opencv/pull/25028
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Fix handeye #24897
Fixes to the hand-eye calibration methods, from #24871.
The Tsai method is sensitive to poses separated by small rotations, so I filter those out.
The Horaud and Daniilidis methods use quaternions (and dual quaternions), where $q$ and $-q$ represent the same transform.
However, these methods depend on the gripper motion and camera motion having the same sign for the real part.
The fix was simply to multiply the (dual) quaternions by -1 if their real part is negative.
### Pull Request Readiness Checklist
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- [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
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Patch to opencv_extra has the same branch name.
- [ ] ~~The feature is well documented and sample code can be built with the project CMake~~ N/A
Fix documentation for findEssentialMat to reflect how it actually works. #25488
Documentation for findEssentialMat() incorrectly states that the method uses the same cameraMatrix for both lists of points even though there are two cameraMatrix and distCoeffs.
Checked the code and it does the right thing i.e. uses cameraMatrix1, distCoeffs1 for points1 and cameraMatrix2, distCoeffs2 for points2.
Updated the documentation for the method to clarify what it does. The code itself is not changed.
calib3d: doc: remove C API link (For 4.x) #25141
Related to #25140 (for 4.x)
### Pull Request Readiness Checklist
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- [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
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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
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- [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>
Check Checkerboard Corners #24546
What I did was get you to pull out of findChessboardCorners cornres the whole part that "checks" and sorts the corners of the checkerboard if present.
The main reason for this is that findChessboardCorners is often very slow to find the corners and this depends in that the size the contrast etc of the checkerboards can be very different from each other and writing a function that works on all kinds of images is complicated.
So I find it very useful to have the ability to write your own code to process the image and then have a function that controls or orders the corners.
### Pull Request Readiness Checklist
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- [x] I agree to contribute to the project under Apache 2 License.
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- [x] The PR is proposed to the proper branch
- [ ] There is a reference to the original bug report and related work
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Patch to opencv_extra has the same branch name.
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Update USAC #23078
### Pull Request Readiness Checklist
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- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
Patch to opencv_extra has the same branch name.
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Add undistortImagePoints function
* Add undistortImagePoints function
undistortPoints has unclear interface and additional functionality. New function computes only undistorted image points position
* Add undistortImagePoints test
* Add TermCriteria
* Fix layout
Recover pose from different cameras (version 2)
* add recoverPose for two different cameras
* Address review comments from original PR
* Address new review comments
* Rename private api
Co-authored-by: tompollok <tom.pollok@gmail.com>
Co-authored-by: Zane <zane.huang@mail.utoronto.ca>
Update to initInverseRectificationMap()
* update to initInverseRectificationMap() documentation
* Restructured Calib3d_InitInverseRectificationMap unit test per feedback from alalek
* whitespace
Fixed trailing whitespace
Update to initInverseRectificationMap documentation for clarity
Added test case for initInverseRectificationMap()
Updated documentation.
Fixed whitespace error in docs
Small update to test function
Now passes success_error_level
final update to inverseRectification documentation
- Added missing documentation for the CALIB_FIX_FOCAL_LENGTH flag
- Removed erroneous information about the number of distortion coefficients
returned
- Added some missing @ref tags
* Added CALIB_FIX_FOCAL_LENGTH to fisheye calibration #13450
Sometimes you want to calibrate just the principal point of a camera, or just the distortion coefficients. In this case, you can pass the CALIB_FIX_FOCAL_LENGTH flag to keep Fx and Fy
* Added test for CALIB_FIX_FOCAL_LENGTH option in fisheye callinration.
Souriya Trinh
Alexander Smorkalov
Aditya Jha
Gou Minghao
catree
Alexander Smorkalov
Kumataro
John Stechschulte
Dmitry Kurtaev
inkredibl
Markus Murschitz
Alexander Smorkalov
thewoz
Tomoaki Teshima
Maksym Ivashechkin
Alexander Alekhin
Rostislav Vasilikhin
Stefan Spiss
Ed J
Victor
Alexander Panov
thezane
Ian Maquignaz
Vadim Pisarevsky
Ian Maquignaz
Guillaume Jacob
Andreas Franek
Tiago De Gaspari