Commit 698f805c authored by Alexander Alekhin's avatar Alexander Alekhin
Browse files

Merge remote-tracking branch 'upstream/3.4' into merge-3.4

parents 96742da6 f220e983

modules/ccalib/include/opencv2/ccalib/omnidir.hpp

+10 −5
Original line number Diff line number Diff line
@@ -39,12 +39,13 @@ 
//

//M*/



#include <opencv2/core.hpp>

#include <vector>



#ifndef __OPENCV_OMNIDIR_HPP__

#define __OPENCV_OMNIDIR_HPP__



#include "opencv2/core.hpp"

#include "opencv2/core/affine.hpp"

#include <vector>



namespace cv

{

namespace omnidir
@@ -102,6 +103,10 @@ namespace omnidir 
    CV_EXPORTS_W void projectPoints(InputArray objectPoints, OutputArray imagePoints, InputArray rvec, InputArray tvec,

                       InputArray K, double xi, InputArray D, OutputArray jacobian = noArray());



    /** @overload */

    CV_EXPORTS void projectPoints(InputArray objectPoints, OutputArray imagePoints, const Affine3d& affine,

                        InputArray K, double xi, InputArray D, OutputArray jacobian = noArray());



    /** @brief Undistort 2D image points for omnidirectional camera using CMei's model



    @param distorted Array of distorted image points, vector of Vec2f
@@ -126,7 +131,7 @@ namespace omnidir 
    @param R Rotation transform between the original and object space : 3x3 1-channel, or vector: 3x1/1x3, with depth CV_32F or CV_64F

    @param P New camera matrix (3x3) or new projection matrix (3x4)

    @param size Undistorted image size.

    @param mltype Type of the first output map that can be CV_32FC1 or CV_16SC2 . See convertMaps()

    @param m1type Type of the first output map that can be CV_32FC1 or CV_16SC2 . See convertMaps()

    for details.

    @param map1 The first output map.

    @param map2 The second output map.
@@ -134,7 +139,7 @@ namespace omnidir 
    are supported.

     */

    CV_EXPORTS_W void initUndistortRectifyMap(InputArray K, InputArray D, InputArray xi, InputArray R, InputArray P, const cv::Size& size,

        int mltype, OutputArray map1, OutputArray map2, int flags);

        int m1type, OutputArray map1, OutputArray map2, int flags);



    /** @brief Undistort omnidirectional images to perspective images

modules/ccalib/src/omnidir.cpp

+6 −0
Original line number Diff line number Diff line
@@ -75,6 +75,12 @@ namespace cv { namespace 


/////////////////////////////////////////////////////////////////////////////

//////// projectPoints

void cv::omnidir::projectPoints(InputArray objectPoints, OutputArray imagePoints,

                const Affine3d& affine, InputArray K, double xi, InputArray D, OutputArray jacobian)

{

    projectPoints(objectPoints, imagePoints, affine.rvec(), affine.translation(), K, xi, D, jacobian);

}



void cv::omnidir::projectPoints(InputArray objectPoints, OutputArray imagePoints,

                InputArray rvec, InputArray tvec, InputArray K, double xi, InputArray D, OutputArray jacobian)

{