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Adapted estimateNewCameraMatrix to make it work with pincushion-like distortion.

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This commit is contained in:
Josep Bosch 2016-02-11 11:27:43 +01:00
parent 2c4ed7f8a5
commit 5384a2205a
1 changed files with 23 additions and 16 deletions
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39
modules/calib3d/src/fisheye.cpp
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@ -517,12 +517,16 @@ void cv::fisheye::estimateNewCameraMatrixForUndistortRectify(InputArray K, Input
int w = image_size.width, h = image_size.height;
balance = std::min(std::max(balance, 0.0), 1.0);
cv::Mat points(1, 4, CV_64FC2);
cv::Mat points(1, 8, CV_64FC2);
Vec2d* pptr = points.ptr<Vec2d>();
pptr[0] = Vec2d(w/2, 0);
pptr[1] = Vec2d(w, h/2);
pptr[2] = Vec2d(w/2, h);
pptr[3] = Vec2d(0, h/2);
pptr[0] = Vec2d(0, 0);
pptr[1] = Vec2d(w/2, 0);
pptr[2] = Vec2d(w, 0);
pptr[3] = Vec2d(w, h/2);
pptr[4] = Vec2d(w, h);
pptr[5] = Vec2d(w/2, h);
pptr[6] = Vec2d(0, h);
pptr[7] = Vec2d(0, h/2);
#if 0
const int N = 10;
@ -532,7 +536,6 @@ void cv::fisheye::estimateNewCameraMatrixForUndistortRectify(InputArray K, Input
{
pptr[k++] = Vec2d(w/2, 0) - Vec2d(w/8, 0) + Vec2d(w/4/N*i, 0);
pptr[k++] = Vec2d(w/2, h-1) - Vec2d(w/8, h-1) + Vec2d(w/4/N*i, h-1);
pptr[k++] = Vec2d(0, h/2) - Vec2d(0, h/8) + Vec2d(0, h/4/N*i);
pptr[k++] = Vec2d(w-1, h/2) - Vec2d(w-1, h/8) + Vec2d(w-1, h/4/N*i);
}
@ -553,10 +556,14 @@ void cv::fisheye::estimateNewCameraMatrixForUndistortRectify(InputArray K, Input
double minx = DBL_MAX, miny = DBL_MAX, maxx = -DBL_MAX, maxy = -DBL_MAX;
for(size_t i = 0; i < points.total(); ++i)
{
miny = std::min(miny, pptr[i][1]);
maxy = std::max(maxy, pptr[i][1]);
minx = std::min(minx, pptr[i][0]);
maxx = std::max(maxx, pptr[i][0]);
if(i!=1 && i!=5){
minx = std::min(minx, std::abs(pptr[i][0]-cn[0]));
}
if(i!=3 && i!=7){
miny = std::min(miny, std::abs(pptr[i][1]-cn[1]));
}
maxy = std::max(maxy, std::abs(pptr[i][1]-cn[1]));
maxx = std::max(maxx, std::abs(pptr[i][0]-cn[0]));
}
#if 0
@ -570,13 +577,13 @@ void cv::fisheye::estimateNewCameraMatrixForUndistortRectify(InputArray K, Input
}
#endif
double f1 = w * 0.5/(cn[0] - minx);
double f2 = w * 0.5/(maxx - cn[0]);
double f3 = h * 0.5 * aspect_ratio/(cn[1] - miny);
double f4 = h * 0.5 * aspect_ratio/(maxy - cn[1]);
double f1 = w * 0.5/(minx);
double f2 = w * 0.5/(maxx);
double f3 = h * 0.5 * aspect_ratio/(miny);
double f4 = h * 0.5 * aspect_ratio/(maxy);
double fmin = std::min(f1, std::min(f2, std::min(f3, f4)));
double fmax = std::max(f1, std::max(f2, std::max(f3, f4)));
double fmax = std::max(f1, f3);
double fmin = std::min(f2, f4);
double f = balance * fmin + (1.0 - balance) * fmax;
f *= fov_scale > 0 ? 1.0/fov_scale : 1.0;