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Commit 651b13f7 authored by Ilya Krylov's avatar Ilya Krylov
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Refactored class Fisheye to namespace fisheye

parent c30fef1f
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Showing with 35 additions and 37 deletions
modules/calib3d/include/opencv2/calib3d/calib3d.hpp
View file @ 651b13f7
......@@ -745,10 +745,8 @@ CV_EXPORTS_W int estimateAffine3D(InputArray src, InputArray dst,
OutputArray out, OutputArray inliers,
double ransacThreshold=3, double confidence=0.99);
class CV_EXPORTS Fisheye
namespace fisheye
{
public:
enum{
CALIB_USE_INTRINSIC_GUESS = 1,
CALIB_RECOMPUTE_EXTRINSIC = 2,
......@@ -762,50 +760,50 @@ public:
};
//! projects 3D points using fisheye model
static void projectPoints(InputArray objectPoints, OutputArray imagePoints, const Affine3d& affine,
CV_EXPORTS void projectPoints(InputArray objectPoints, OutputArray imagePoints, const Affine3d& affine,
InputArray K, InputArray D, double alpha = 0, OutputArray jacobian = noArray());
//! projects points using fisheye model
static void projectPoints(InputArray objectPoints, OutputArray imagePoints, InputArray rvec, InputArray tvec,
CV_EXPORTS void projectPoints(InputArray objectPoints, OutputArray imagePoints, InputArray rvec, InputArray tvec,
InputArray K, InputArray D, double alpha = 0, OutputArray jacobian = noArray());
//! distorts 2D points using fisheye model
static void distortPoints(InputArray undistorted, OutputArray distorted, InputArray K, InputArray D, double alpha = 0);
CV_EXPORTS void distortPoints(InputArray undistorted, OutputArray distorted, InputArray K, InputArray D, double alpha = 0);
//! undistorts 2D points using fisheye model
static void undistortPoints(InputArray distorted, OutputArray undistorted,
CV_EXPORTS void undistortPoints(InputArray distorted, OutputArray undistorted,
InputArray K, InputArray D, InputArray R = noArray(), InputArray P = noArray());
//! computing undistortion and rectification maps for image transform by cv::remap()
//! If D is empty zero distortion is used, if R or P is empty identity matrixes are used
static void initUndistortRectifyMap(InputArray K, InputArray D, InputArray R, InputArray P,
CV_EXPORTS void initUndistortRectifyMap(InputArray K, InputArray D, InputArray R, InputArray P,
const cv::Size& size, int m1type, OutputArray map1, OutputArray map2);
//! undistorts image, optionally changes resolution and camera matrix. If Knew zero identity matrix is used
static void undistortImage(InputArray distorted, OutputArray undistorted,
CV_EXPORTS void undistortImage(InputArray distorted, OutputArray undistorted,
InputArray K, InputArray D, InputArray Knew = cv::noArray(), const Size& new_size = Size());
//! estimates new camera matrix for undistortion or rectification
static void estimateNewCameraMatrixForUndistortRectify(InputArray K, InputArray D, const Size &image_size, InputArray R,
CV_EXPORTS void estimateNewCameraMatrixForUndistortRectify(InputArray K, InputArray D, const Size &image_size, InputArray R,
OutputArray P, double balance = 0.0, const Size& new_size = Size(), double fov_scale = 1.0);
//! performs camera calibaration
static double calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, const Size& image_size,
CV_EXPORTS double calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, const Size& image_size,
InputOutputArray K, InputOutputArray D, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags = 0,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON));
//! stereo rectification estimation
static void stereoRectify(InputArray K1, InputArray D1, InputArray K2, InputArray D2, const Size &imageSize, InputArray R, InputArray tvec,
CV_EXPORTS void stereoRectify(InputArray K1, InputArray D1, InputArray K2, InputArray D2, const Size &imageSize, InputArray R, InputArray tvec,
OutputArray R1, OutputArray R2, OutputArray P1, OutputArray P2, OutputArray Q, int flags, const Size &newImageSize = Size(),
double balance = 0.0, double fov_scale = 1.0);
//! performs stereo calibaration
static double stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
CV_EXPORTS double stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize,
OutputArray R, OutputArray T, int flags = CALIB_FIX_INTRINSIC,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON));
};
}
}
......
modules/calib3d/src/fisheye.cpp
View file @ 651b13f7
......@@ -14,15 +14,15 @@ namespace cv { namespace
}}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
/// cv::Fisheye::projectPoints
/// cv::fisheye::projectPoints
void cv::Fisheye::projectPoints(InputArray objectPoints, OutputArray imagePoints, const Affine3d& affine,
void cv::fisheye::projectPoints(InputArray objectPoints, OutputArray imagePoints, const Affine3d& affine,
InputArray K, InputArray D, double alpha, OutputArray jacobian)
{
projectPoints(objectPoints, imagePoints, affine.rvec(), affine.translation(), K, D, alpha, jacobian);
}
void cv::Fisheye::projectPoints(InputArray objectPoints, OutputArray imagePoints, InputArray _rvec,
void cv::fisheye::projectPoints(InputArray objectPoints, OutputArray imagePoints, InputArray _rvec,
InputArray _tvec, InputArray _K, InputArray _D, double alpha, OutputArray jacobian)
{
// will support only 3-channel data now for points
......@@ -202,9 +202,9 @@ void cv::Fisheye::projectPoints(InputArray objectPoints, OutputArray imagePoints
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
/// cv::Fisheye::distortPoints
/// cv::fisheye::distortPoints
void cv::Fisheye::distortPoints(InputArray undistorted, OutputArray distorted, InputArray K, InputArray D, double alpha)
void cv::fisheye::distortPoints(InputArray undistorted, OutputArray distorted, InputArray K, InputArray D, double alpha)
{
// will support only 2-channel data now for points
CV_Assert(undistorted.type() == CV_32FC2 || undistorted.type() == CV_64FC2);
......@@ -264,9 +264,9 @@ void cv::Fisheye::distortPoints(InputArray undistorted, OutputArray distorted, I
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
/// cv::Fisheye::undistortPoints
/// 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)
{
// will support only 2-channel data now for points
CV_Assert(distorted.type() == CV_32FC2 || distorted.type() == CV_64FC2);
......@@ -353,9 +353,9 @@ void cv::Fisheye::undistortPoints( InputArray distorted, OutputArray undistorted
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
/// cv::Fisheye::undistortPoints
/// cv::fisheye::undistortPoints
void cv::Fisheye::initUndistortRectifyMap( InputArray _K, InputArray _D, InputArray _R, InputArray _P,
void cv::fisheye::initUndistortRectifyMap( InputArray _K, InputArray _D, InputArray _R, InputArray _P,
const cv::Size& size, int m1type, OutputArray map1, OutputArray map2 )
{
CV_Assert( m1type == CV_16SC2 || m1type == CV_32F || m1type <=0 );
......@@ -449,23 +449,23 @@ void cv::Fisheye::initUndistortRectifyMap( InputArray _K, InputArray _D, InputAr
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
/// cv::Fisheye::undistortImage
/// cv::fisheye::undistortImage
void cv::Fisheye::undistortImage(InputArray distorted, OutputArray undistorted,
void cv::fisheye::undistortImage(InputArray distorted, OutputArray undistorted,
InputArray K, InputArray D, InputArray Knew, const Size& new_size)
{
Size size = new_size.area() != 0 ? new_size : distorted.size();
cv::Mat map1, map2;
initUndistortRectifyMap(K, D, cv::Matx33d::eye(), Knew, size, CV_16SC2, map1, map2 );
fisheye::initUndistortRectifyMap(K, D, cv::Matx33d::eye(), Knew, size, CV_16SC2, map1, map2 );
cv::remap(distorted, undistorted, map1, map2, INTER_LINEAR, BORDER_CONSTANT);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
/// cv::Fisheye::estimateNewCameraMatrixForUndistortRectify
/// cv::fisheye::estimateNewCameraMatrixForUndistortRectify
void cv::Fisheye::estimateNewCameraMatrixForUndistortRectify(InputArray K, InputArray D, const Size &image_size, InputArray R,
void cv::fisheye::estimateNewCameraMatrixForUndistortRectify(InputArray K, InputArray D, const Size &image_size, InputArray R,
OutputArray P, double balance, const Size& new_size, double fov_scale)
{
CV_Assert( K.size() == Size(3, 3) && (K.depth() == CV_32F || K.depth() == CV_64F));
......@@ -495,7 +495,7 @@ void cv::Fisheye::estimateNewCameraMatrixForUndistortRectify(InputArray K, Input
}
#endif
undistortPoints(points, points, K, D, R);
fisheye::undistortPoints(points, points, K, D, R);
cv::Scalar center_mass = mean(points);
cv::Vec2d cn(center_mass.val);
......@@ -560,9 +560,9 @@ void cv::Fisheye::estimateNewCameraMatrixForUndistortRectify(InputArray K, Input
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
/// cv::Fisheye::stereoRectify
/// cv::fisheye::stereoRectify
void cv::Fisheye::stereoRectify( InputArray K1, InputArray D1, InputArray K2, InputArray D2, const Size& imageSize,
void cv::fisheye::stereoRectify( InputArray K1, InputArray D1, InputArray K2, InputArray D2, const Size& imageSize,
InputArray _R, InputArray _tvec, OutputArray R1, OutputArray R2, OutputArray P1, OutputArray P2,
OutputArray Q, int flags, const Size& newImageSize, double balance, double fov_scale)
{
......@@ -642,9 +642,9 @@ void cv::Fisheye::stereoRectify( InputArray K1, InputArray D1, InputArray K2, In
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
/// cv::Fisheye::calibrate
/// cv::fisheye::calibrate
double cv::Fisheye::calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, const Size& image_size,
double cv::fisheye::calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, const Size& image_size,
InputOutputArray K, InputOutputArray D, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
int flags , cv::TermCriteria criteria)
{
......@@ -758,9 +758,9 @@ double cv::Fisheye::calibrate(InputArrayOfArrays objectPoints, InputArrayOfArray
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
/// cv::Fisheye::stereoCalibrate
/// cv::fisheye::stereoCalibrate
double cv::Fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
double cv::fisheye::stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize,
OutputArray R, OutputArray T, int flags, TermCriteria criteria)
{
......@@ -1094,7 +1094,7 @@ void cv::internal::projectPoints(cv::InputArray objectPoints, cv::OutputArray im
Matx33d K(param.f[0], param.f[0] * param.alpha, param.c[0],
0, param.f[1], param.c[1],
0, 0, 1);
Fisheye::projectPoints(objectPoints, imagePoints, _rvec, _tvec, K, param.k, param.alpha, jacobian);
fisheye::projectPoints(objectPoints, imagePoints, _rvec, _tvec, K, param.k, param.alpha, jacobian);
}
void cv::internal::ComputeExtrinsicRefine(const Mat& imagePoints, const Mat& objectPoints, Mat& rvec,
......@@ -1251,7 +1251,7 @@ cv::Mat cv::internal::NormalizePixels(const Mat& imagePoints, const IntrinsicPar
ptr_d[i] = (ptr[i] - param.c).mul(Vec2d(1.0 / param.f[0], 1.0 / param.f[1]));
ptr_d[i][0] = ptr_d[i][0] - param.alpha * ptr_d[i][1];
}
cv::Fisheye::undistortPoints(distorted, undistorted, Matx33d::eye(), param.k);
cv::fisheye::undistortPoints(distorted, undistorted, Matx33d::eye(), param.k);
return undistorted;
}
......
modules/calib3d/test/test_fisheye.cpp
View file @ 651b13f7
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