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Merge pull request #21834 from victor1234:issue-19138_add_termcriteria_to_fisheye_undistortpoints

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* Add termination criteria to cv::fisheye::undistortPoints()

* Add criteria.type check
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Victor 2022-04-16 20:59:53 +03:00 committed by GitHub
parent 2985739b8c
commit 27c15bed60
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2 changed files with 21 additions and 8 deletions
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4
modules/calib3d/include/opencv2/calib3d.hpp
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@ -3797,10 +3797,12 @@ namespace fisheye
@param R Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3
1-channel or 1x1 3-channel
@param P New camera intrinsic matrix (3x3) or new projection matrix (3x4)
@param criteria Termination criteria
@param undistorted Output array of image points, 1xN/Nx1 2-channel, or vector\<Point2f\> .
*/
CV_EXPORTS_W void undistortPoints(InputArray distorted, OutputArray undistorted,
InputArray K, InputArray D, InputArray R = noArray(), InputArray P = noArray());
InputArray K, InputArray D, InputArray R = noArray(), InputArray P = noArray(),
TermCriteria criteria = TermCriteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 10, 1e-8));
/** @brief Computes undistortion and rectification maps for image transform by #remap. If D is empty zero
distortion is used, if R or P is empty identity matrixes are used.

25
modules/calib3d/src/fisheye.cpp
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@ -318,7 +318,8 @@ void cv::fisheye::distortPoints(InputArray undistorted, OutputArray distorted, I
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
/// cv::fisheye::undistortPoints
void cv::fisheye::undistortPoints( InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, InputArray R, InputArray P)
void cv::fisheye::undistortPoints( InputArray distorted, OutputArray undistorted, InputArray K, InputArray D,
InputArray R, InputArray P, TermCriteria criteria)
{
CV_INSTRUMENT_REGION();
@ -330,6 +331,8 @@ void cv::fisheye::undistortPoints( InputArray distorted, OutputArray undistorted
CV_Assert(R.empty() || R.size() == Size(3, 3) || R.total() * R.channels() == 3);
CV_Assert(D.total() == 4 && K.size() == Size(3, 3) && (K.depth() == CV_32F || K.depth() == CV_64F));
CV_Assert(criteria.isValid());
cv::Vec2d f, c;
if (K.depth() == CV_32F)
{
@ -372,6 +375,15 @@ void cv::fisheye::undistortPoints( InputArray distorted, OutputArray undistorted
size_t n = distorted.total();
int sdepth = distorted.depth();
const bool isEps = criteria.type & TermCriteria::EPS;
/* Define max count for solver iterations */
int maxCount = std::numeric_limits<int>::max();
if (criteria.type & TermCriteria::MAX_ITER) {
maxCount = criteria.maxCount;
}
for(size_t i = 0; i < n; i++ )
{
Vec2d pi = sdepth == CV_32F ? (Vec2d)srcf[i] : srcd[i]; // image point
@ -389,13 +401,11 @@ void cv::fisheye::undistortPoints( InputArray distorted, OutputArray undistorted
double scale = 0.0;
if (fabs(theta_d) > 1e-8)
if (!isEps || fabs(theta_d) > criteria.epsilon)
{
// compensate distortion iteratively
const double EPS = 1e-8; // or std::numeric_limits<double>::epsilon();
for (int j = 0; j < 10; j++)
for (int j = 0; j < maxCount; j++)
{
double theta2 = theta*theta, theta4 = theta2*theta2, theta6 = theta4*theta2, theta8 = theta6*theta2;
double k0_theta2 = k[0] * theta2, k1_theta4 = k[1] * theta4, k2_theta6 = k[2] * theta6, k3_theta8 = k[3] * theta8;
@ -403,7 +413,8 @@ void cv::fisheye::undistortPoints( InputArray distorted, OutputArray undistorted
double theta_fix = (theta * (1 + k0_theta2 + k1_theta4 + k2_theta6 + k3_theta8) - theta_d) /
(1 + 3*k0_theta2 + 5*k1_theta4 + 7*k2_theta6 + 9*k3_theta8);
theta = theta - theta_fix;
if (fabs(theta_fix) < EPS)
if (isEps && (fabs(theta_fix) < criteria.epsilon))
{
converged = true;
break;
@ -422,7 +433,7 @@ void cv::fisheye::undistortPoints( InputArray distorted, OutputArray undistorted
// so we can check whether theta has changed the sign during the optimization
bool theta_flipped = ((theta_d < 0 && theta > 0) || (theta_d > 0 && theta < 0));
if (converged && !theta_flipped)
if ((converged || !isEps) && !theta_flipped)
{
Vec2d pu = pw * scale; //undistorted point