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Use only image contour for camera matrix undistortion.

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Daniel 2025-03-03 11:35:05 +01:00
parent 3db1247745
commit e39eb949ea
1 changed files with 16 additions and 1 deletions
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17
modules/calib3d/src/calibration_base.cpp
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@ -1527,12 +1527,20 @@ 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>();
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;
}
pts[k++] = Point2d((double)x*(imgSize.width-1)/(N-1), (double)y*(imgSize.height-1)/(N-1)); pts[k++] = Point2d((double)x*(imgSize.width-1)/(N-1), (double)y*(imgSize.height-1)/(N-1));
}
}
undistortPoints(_pts, _pts, _cameraMatrix, _distCoeffs, R, newCameraMatrix); undistortPoints(_pts, _pts, _cameraMatrix, _distCoeffs, R, newCameraMatrix);
@ -1541,8 +1549,14 @@ 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 +1572,7 @@ 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);
} }