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Merge pull request #27001 from DanBmh/opt_newoptcm

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Optimize camera matrix undistortion
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Alexander Smorkalov 2025-03-11 12:47:35 +03:00 committed by GitHub
commit 6fb082ae7f
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1 changed files with 22 additions and 2 deletions
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24
modules/calib3d/src/calibration_base.cpp
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@ -1527,12 +1527,25 @@ void cv::getUndistortRectangles(InputArray _cameraMatrix, InputArray _distCoeffs
{ {
const int N = 9; const int N = 9;
int x, y, k; int x, y, k;
Mat _pts(1, N*N, CV_64FC2); Mat _pts(1, 4*(N-1), CV_64FC2);
Point2d* pts = _pts.ptr<Point2d>(); Point2d* pts = _pts.ptr<Point2d>();
// generate a grid of points across the image to estimate the distortion deformation
double stepX = (imgSize.width - 1) / static_cast<double>(N - 1);
double stepY = (imgSize.height - 1) / static_cast<double>(N - 1);
for( y = k = 0; y < N; y++ ) for( y = k = 0; y < N; y++ )
{
for( x = 0; x < N; x++ ) for( x = 0; x < N; x++ )
pts[k++] = Point2d((double)x*(imgSize.width-1)/(N-1), (double)y*(imgSize.height-1)/(N-1)); {
if (x != 0 && x != N - 1 && y != 0 && y != N - 1)
{
// skip all points except those on the image border, because inner grid points
// have no influence on the two deformation rectangles that are calculated below
continue;
}
pts[k++] = Point2d(x * stepX, y * stepY);
}
}
undistortPoints(_pts, _pts, _cameraMatrix, _distCoeffs, R, newCameraMatrix); undistortPoints(_pts, _pts, _cameraMatrix, _distCoeffs, R, newCameraMatrix);
@ -1541,8 +1554,14 @@ void cv::getUndistortRectangles(InputArray _cameraMatrix, InputArray _distCoeffs
// find the inscribed rectangle. // find the inscribed rectangle.
// the code will likely not work with extreme rotation matrices (R) (>45%) // the code will likely not work with extreme rotation matrices (R) (>45%)
for( y = k = 0; y < N; y++ ) for( y = k = 0; y < N; y++ )
{
for( x = 0; x < N; x++ ) for( x = 0; x < N; x++ )
{ {
if (x != 0 && x != N - 1 && y != 0 && y != N - 1)
{
continue;
}
Point2d p = pts[k++]; Point2d p = pts[k++];
oX0 = MIN(oX0, p.x); oX0 = MIN(oX0, p.x);
oX1 = MAX(oX1, p.x); oX1 = MAX(oX1, p.x);
@ -1558,6 +1577,7 @@ void cv::getUndistortRectangles(InputArray _cameraMatrix, InputArray _distCoeffs
if( y == N-1 ) if( y == N-1 )
iY1 = MIN(iY1, p.y); iY1 = MIN(iY1, p.y);
} }
}
inner = Rect_<double>(iX0, iY0, iX1-iX0, iY1-iY0); inner = Rect_<double>(iX0, iY0, iX1-iX0, iY1-iY0);
outer = Rect_<double>(oX0, oY0, oX1-oX0, oY1-oY0); outer = Rect_<double>(oX0, oY0, oX1-oX0, oY1-oY0);
} }