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Commit 76d03fcc authored by alegarda's avatar alegarda
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Added Thin Prism Distortion Model 

Only the code.
parent 262fc929
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Showing with 23 additions and 12 deletions
modules/calib3d/include/opencv2/calib3d/calib3d.hpp
View file @ 76d03fcc
......@@ -234,6 +234,9 @@ CVAPI(void) cvDrawChessboardCorners( CvArr* image, CvSize pattern_size,
#define CV_CALIB_FIX_K5 4096
#define CV_CALIB_FIX_K6 8192
#define CV_CALIB_RATIONAL_MODEL 16384
#define CV_CALIB_THIN_PRISM_MODEL 32768
#define CV_CALIB_FIX_S1_S2_S3_S4 65536
/* Finds intrinsic and extrinsic camera parameters
from a few views of known calibration pattern */
......@@ -534,6 +537,8 @@ enum
CALIB_FIX_K5 = CV_CALIB_FIX_K5,
CALIB_FIX_K6 = CV_CALIB_FIX_K6,
CALIB_RATIONAL_MODEL = CV_CALIB_RATIONAL_MODEL,
CALIB_THIN_PRISM_MODEL = CV_CALIB_THIN_PRISM_MODEL,
CALIB_FIX_S1_S2_S3_S4=CV_CALIB_FIX_S1_S2_S3_S4,
// only for stereo
CALIB_FIX_INTRINSIC = CV_CALIB_FIX_INTRINSIC,
CALIB_SAME_FOCAL_LENGTH = CV_CALIB_SAME_FOCAL_LENGTH,
......
modules/calib3d/src/calibration.cpp
View file @ 76d03fcc
This diff is collapsed.
modules/imgproc/src/undistort.cpp
View file @ 76d03fcc
......@@ -94,7 +94,7 @@ void cv::initUndistortRectifyMap( InputArray _cameraMatrix, InputArray _distCoef
distCoeffs = Mat_<double>(distCoeffs);
else
{
distCoeffs.create(8, 1, CV_64F);
distCoeffs.create(12, 1, CV_64F);
distCoeffs = 0.;
}
......@@ -108,7 +108,8 @@ void cv::initUndistortRectifyMap( InputArray _cameraMatrix, InputArray _distCoef
CV_Assert( distCoeffs.size() == Size(1, 4) || distCoeffs.size() == Size(4, 1) ||
distCoeffs.size() == Size(1, 5) || distCoeffs.size() == Size(5, 1) ||
distCoeffs.size() == Size(1, 8) || distCoeffs.size() == Size(8, 1));
distCoeffs.size() == Size(1, 8) || distCoeffs.size() == Size(8, 1) ||
distCoeffs.size() == Size(1, 12) || distCoeffs.size() == Size(12, 1);
if( distCoeffs.rows != 1 && !distCoeffs.isContinuous() )
distCoeffs = distCoeffs.t();
......@@ -121,6 +122,10 @@ void cv::initUndistortRectifyMap( InputArray _cameraMatrix, InputArray _distCoef
double k4 = distCoeffs.cols + distCoeffs.rows - 1 >= 8 ? ((double*)distCoeffs.data)[5] : 0.;
double k5 = distCoeffs.cols + distCoeffs.rows - 1 >= 8 ? ((double*)distCoeffs.data)[6] : 0.;
double k6 = distCoeffs.cols + distCoeffs.rows - 1 >= 8 ? ((double*)distCoeffs.data)[7] : 0.;
double s1 = distCoeffs.cols + distCoeffs.rows - 1 >= 12 ? ((double*)distCoeffs.data)[8] : 0.;
double s2 = distCoeffs.cols + distCoeffs.rows - 1 >= 12 ? ((double*)distCoeffs.data)[9] : 0.;
double s3 = distCoeffs.cols + distCoeffs.rows - 1 >= 12 ? ((double*)distCoeffs.data)[10] : 0.;
double s4 = distCoeffs.cols + distCoeffs.rows - 1 >= 12 ? ((double*)distCoeffs.data)[11] : 0.;
for( int i = 0; i < size.height; i++ )
{
......@@ -136,8 +141,8 @@ void cv::initUndistortRectifyMap( InputArray _cameraMatrix, InputArray _distCoef
double x2 = x*x, y2 = y*y;
double r2 = x2 + y2, _2xy = 2*x*y;
double kr = (1 + ((k3*r2 + k2)*r2 + k1)*r2)/(1 + ((k6*r2 + k5)*r2 + k4)*r2);
double u = fx*(x*kr + p1*_2xy + p2*(r2 + 2*x2)) + u0;
double v = fy*(y*kr + p1*(r2 + 2*y2) + p2*_2xy) + v0;
double u = fx*(x*kr + p1*_2xy + p2*(r2 + 2*x2) + s1*r2+s2*r2*r2) + u0;
double v = fy*(y*kr + p1*(r2 + 2*y2) + p2*_2xy + s3*r2+s4*r2*r2) + v0;
if( m1type == CV_16SC2 )
{
int iu = saturate_cast<int>(u*INTER_TAB_SIZE);
......@@ -260,7 +265,7 @@ void cvUndistortPoints( const CvMat* _src, CvMat* _dst, const CvMat* _cameraMatr
const CvMat* _distCoeffs,
const CvMat* matR, const CvMat* matP )
{
double A[3][3], RR[3][3], k[8]={0,0,0,0,0,0,0,0}, fx, fy, ifx, ify, cx, cy;
double A[3][3], RR[3][3], k[12]={0,0,0,0,0,0,0,0,0,0,0}, fx, fy, ifx, ify, cx, cy;
CvMat matA=cvMat(3, 3, CV_64F, A), _Dk;
CvMat _RR=cvMat(3, 3, CV_64F, RR);
const CvPoint2D32f* srcf;
......@@ -289,7 +294,8 @@ void cvUndistortPoints( const CvMat* _src, CvMat* _dst, const CvMat* _cameraMatr
(_distCoeffs->rows == 1 || _distCoeffs->cols == 1) &&
(_distCoeffs->rows*_distCoeffs->cols == 4 ||
_distCoeffs->rows*_distCoeffs->cols == 5 ||
_distCoeffs->rows*_distCoeffs->cols == 8));
_distCoeffs->rows*_distCoeffs->cols == 8 ||
_distCoeffs->rows*_distCoeffs->cols == 12));
_Dk = cvMat( _distCoeffs->rows, _distCoeffs->cols,
CV_MAKETYPE(CV_64F,CV_MAT_CN(_distCoeffs->type)), k);
......@@ -355,8 +361,8 @@ void cvUndistortPoints( const CvMat* _src, CvMat* _dst, const CvMat* _cameraMatr
{
double r2 = x*x + y*y;
double icdist = (1 + ((k[7]*r2 + k[6])*r2 + k[5])*r2)/(1 + ((k[4]*r2 + k[1])*r2 + k[0])*r2);
double deltaX = 2*k[2]*x*y + k[3]*(r2 + 2*x*x);
double deltaY = k[2]*(r2 + 2*y*y) + 2*k[3]*x*y;
double deltaX = 2*k[2]*x*y + k[3]*(r2 + 2*x*x)+ k[8]*r2+k[9]*r2*r2;
double deltaY = k[2]*(r2 + 2*y*y) + 2*k[3]*x*y+ k[10]*r2+k[11]*r2*r2;
x = (x0 - deltaX)*icdist;
y = (y0 - deltaY)*icdist;
}
......@@ -493,7 +499,7 @@ float cv::initWideAngleProjMap( InputArray _cameraMatrix0, InputArray _distCoeff
OutputArray _map1, OutputArray _map2, int projType, double _alpha )
{
Mat cameraMatrix0 = _cameraMatrix0.getMat(), distCoeffs0 = _distCoeffs0.getMat();
double k[8] = {0,0,0,0,0,0,0,0}, M[9]={0,0,0,0,0,0,0,0,0};
double k[12] = {0,0,0,0,0,0,0,0,0,0,0}, M[9]={0,0,0,0,0,0,0,0,0};
Mat distCoeffs(distCoeffs0.rows, distCoeffs0.cols, CV_MAKETYPE(CV_64F,distCoeffs0.channels()), k);
Mat cameraMatrix(3,3,CV_64F,M);
Point2f scenter((float)cameraMatrix.at<double>(0,2), (float)cameraMatrix.at<double>(1,2));
......@@ -531,7 +537,7 @@ float cv::initWideAngleProjMap( InputArray _cameraMatrix0, InputArray _distCoeff
dcenter.y = (dsize.height - 1)*0.5f;
Mat mapxy(dsize, CV_32FC2);
double k1 = k[0], k2 = k[1], k3 = k[2], p1 = k[3], p2 = k[4], k4 = k[5], k5 = k[6], k6 = k[7];
double k1 = k[0], k2 = k[1], k3 = k[2], p1 = k[3], p2 = k[4], k4 = k[5], k5 = k[6], k6 = k[7], s1 = k[8], s2 = k[9], s3 = k[10], s4 = k[11];
double fx = cameraMatrix.at<double>(0,0), fy = cameraMatrix.at<double>(1,1), cx = scenter.x, cy = scenter.y;
for( int y = 0; y < dsize.height; y++ )
......@@ -549,8 +555,8 @@ float cv::initWideAngleProjMap( InputArray _cameraMatrix0, InputArray _distCoeff
double x2 = q.x*q.x, y2 = q.y*q.y;
double r2 = x2 + y2, _2xy = 2*q.x*q.y;
double kr = 1 + ((k3*r2 + k2)*r2 + k1)*r2/(1 + ((k6*r2 + k5)*r2 + k4)*r2);
double u = fx*(q.x*kr + p1*_2xy + p2*(r2 + 2*x2)) + cx;
double v = fy*(q.y*kr + p1*(r2 + 2*y2) + p2*_2xy) + cy;
double u = fx*(q.x*kr + p1*_2xy + p2*(r2 + 2*x2) + s1*r2+ s2*r2*r2) + cx;
double v = fy*(q.y*kr + p1*(r2 + 2*y2) + p2*_2xy + s3*r2+ s4*r2*r2) + cy;
mxy[x] = Point2f((float)u, (float)v);
}
......
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