Mat cameraMatrix = _cameraMatrix.getMat();
if( !centerPrincipalPoint && cameraMatrix.type() == CV_64F )
return cameraMatrix;
-
+
Mat newCameraMatrix;
cameraMatrix.convertTo(newCameraMatrix, CV_64F);
if( centerPrincipalPoint )
{
Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat();
Mat matR = _matR.getMat(), newCameraMatrix = _newCameraMatrix.getMat();
-
+
if( m1type <= 0 )
m1type = CV_16SC2;
CV_Assert( m1type == CV_16SC2 || m1type == CV_32FC1 || m1type == CV_32FC2 );
double u0 = A(0, 2), v0 = A(1, 2);
double fx = A(0, 0), fy = A(1, 1);
- CV_Assert( distCoeffs.size() == Size(1, 4) || distCoeffs.size() == Size(4, 1) ||
+ 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));
{
Mat src = _src.getMat(), cameraMatrix = _cameraMatrix.getMat();
Mat distCoeffs = _distCoeffs.getMat(), newCameraMatrix = _newCameraMatrix.getMat();
-
+
_dst.create( src.size(), src.type() );
Mat dst = _dst.getMat();
-
+
CV_Assert( dst.data != src.data );
int stripe_size0 = std::min(std::max(1, (1 << 12) / std::max(src.cols, 1)), src.rows);
(_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));
_Dk = cvMat( _distCoeffs->rows, _distCoeffs->cols,
CV_MAKETYPE(CV_64F,CV_MAT_CN(_distCoeffs->type)), k);
-
+
cvConvert( _distCoeffs, &_Dk );
iters = 5;
}
{
Mat src = _src.getMat(), cameraMatrix = _cameraMatrix.getMat();
Mat distCoeffs = _distCoeffs.getMat(), R = _Rmat.getMat(), P = _Pmat.getMat();
-
+
CV_Assert( src.isContinuous() && (src.depth() == CV_32F || src.depth() == CV_64F) &&
((src.rows == 1 && src.channels() == 2) || src.cols*src.channels() == 2));
-
+
_dst.create(src.size(), src.type(), -1, true);
Mat dst = _dst.getMat();
-
+
CvMat _csrc = src, _cdst = dst, _ccameraMatrix = cameraMatrix;
CvMat matR, matP, _cdistCoeffs, *pR=0, *pP=0, *pD=0;
if( R.data )
double beta = 1 + 2*alpha;
double v = x*x + y*y + 1, iv = 1/v;
double u = sqrt(beta*v + alpha*alpha);
-
+
double k = (u - alpha)*iv;
double kv = (v*beta/u - (u - alpha)*2)*iv*iv;
double kx = kv*x, ky = kv*y;
-
+
if( projType == PROJ_SPHERICAL_ORTHO )
{
if(J)
double iR = 1/(alpha + 1);
double x1 = std::max(std::min(x*k*iR, 1.), -1.);
double y1 = std::max(std::min(y*k*iR, 1.), -1.);
-
+
if(J)
{
double fx1 = iR/sqrt(1 - x1*x1);
return Point2f();
}
-
+
static Point2f invMapPointSpherical(Point2f _p, float alpha, int projType)
{
static int avgiter = 0, avgn = 0;
-
+
double eps = 1e-12;
Vec2d p(_p.x, _p.y), q(_p.x, _p.y), err;
Vec4d J;
int i, maxiter = 5;
-
+
for( i = 0; i < maxiter; i++ )
{
Point2f p1 = mapPointSpherical(Point2f((float)q[0], (float)q[1]), alpha, &J, projType);
err = Vec2d(p1.x, p1.y) - p;
if( err[0]*err[0] + err[1]*err[1] < eps )
break;
-
+
Vec4d JtJ(J[0]*J[0] + J[2]*J[2], J[0]*J[1] + J[2]*J[3],
J[0]*J[1] + J[2]*J[3], J[1]*J[1] + J[3]*J[3]);
double d = JtJ[0]*JtJ[3] - JtJ[1]*JtJ[2];
d = d ? 1./d : 0;
Vec4d iJtJ(JtJ[3]*d, -JtJ[1]*d, -JtJ[2]*d, JtJ[0]*d);
Vec2d JtErr(J[0]*err[0] + J[2]*err[1], J[1]*err[0] + J[3]*err[1]);
-
+
q -= Vec2d(iJtJ[0]*JtErr[0] + iJtJ[1]*JtErr[1], iJtJ[2]*JtErr[0] + iJtJ[3]*JtErr[1]);
//Matx22d J(kx*x + k, kx*y, ky*x, ky*y + k);
//q -= Vec2d((J.t()*J).inv()*(J.t()*err));
}
-
+
if( i < maxiter )
{
avgiter += i;
if( avgn == 1500 )
printf("avg iters = %g\n", (double)avgiter/avgn);
}
-
+
return i < maxiter ? Point2f((float)q[0], (float)q[1]) : Point2f(-FLT_MAX, -FLT_MAX);
}
}
-
+
float cv::initWideAngleProjMap( InputArray _cameraMatrix0, InputArray _distCoeffs0,
Size imageSize, int destImageWidth, int m1type,
OutputArray _map1, OutputArray _map2, int projType, double _alpha )
Point2f dcenter((destImageWidth-1)*0.5f, 0.f);
float xmin = FLT_MAX, xmax = -FLT_MAX, ymin = FLT_MAX, ymax = -FLT_MAX;
int N = 9;
- std::vector<Point2f> u(1), v(1);
- Mat _u(u), I = Mat::eye(3,3,CV_64F);
+ std::vector<Point2f> uvec(1), vvec(1);
+ Mat I = Mat::eye(3,3,CV_64F);
float alpha = (float)_alpha;
-
+
int ndcoeffs = distCoeffs0.cols*distCoeffs0.rows*distCoeffs0.channels();
CV_Assert((distCoeffs0.cols == 1 || distCoeffs0.rows == 1) &&
(ndcoeffs == 4 || ndcoeffs == 5 || ndcoeffs == 8));
CV_Assert(cameraMatrix0.size() == Size(3,3));
distCoeffs0.convertTo(distCoeffs,CV_64F);
cameraMatrix0.convertTo(cameraMatrix,CV_64F);
-
+
alpha = std::min(alpha, 0.999f);
-
+
for( int i = 0; i < N; i++ )
for( int j = 0; j < N; j++ )
{
Point2f p((float)j*imageSize.width/(N-1), (float)i*imageSize.height/(N-1));
- u[0] = p;
- undistortPoints(_u, v, cameraMatrix, distCoeffs, I, I);
- Point2f q = mapPointSpherical(v[0], alpha, 0, projType);
+ uvec[0] = p;
+ undistortPoints(uvec, vvec, cameraMatrix, distCoeffs, I, I);
+ Point2f q = mapPointSpherical(vvec[0], alpha, 0, projType);
if( xmin > q.x ) xmin = q.x;
if( xmax < q.x ) xmax = q.x;
if( ymin > q.y ) ymin = q.y;
if( ymax < q.y ) ymax = q.y;
}
-
+
float scale = (float)std::min(dcenter.x/fabs(xmax), dcenter.x/fabs(xmin));
Size dsize(destImageWidth, cvCeil(std::max(scale*fabs(ymin)*2, scale*fabs(ymax)*2)));
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 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++ )
{
Point2f* mxy = mapxy.ptr<Point2f>(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;
-
+
mxy[x] = Point2f((float)u, (float)v);
}
}
-
+
if(m1type == CV_32FC2)
{
_map1.create(mapxy.size(), mapxy.type());
}
else
convertMaps(mapxy, Mat(), _map1, _map2, m1type, false);
-
+
return scale;
}
projects / platform / upstream / opencv.git / blobdiff