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fisheye: fix initUndistortRectifyMap()

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Tony0 2017-09-14 14:57:21 +03:00
parent 4435ec5f26
commit 62df5e8c8b
1 changed files with 17 additions and 8 deletions
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25
modules/calib3d/src/fisheye.cpp
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@ -475,17 +475,26 @@ void cv::fisheye::initUndistortRectifyMap( InputArray K, InputArray D, InputArra
for( int j = 0; j < size.width; ++j)
{
double x = _x/_w, y = _y/_w;
double u, v;
if( _w <= 0)
{
_x > 0 ? u = -std::numeric_limits<double>::infinity() : u = std::numeric_limits<double>::infinity();
_y > 0 ? v = -std::numeric_limits<double>::infinity() : v = std::numeric_limits<double>::infinity();
}
else
{
double x = _x/_w, y = _y/_w;
double r = sqrt(x*x + y*y);
double theta = atan(r);
double r = sqrt(x*x + y*y);
double theta = atan(r);
double theta2 = theta*theta, theta4 = theta2*theta2, theta6 = theta4*theta2, theta8 = theta4*theta4;
double theta_d = theta * (1 + k[0]*theta2 + k[1]*theta4 + k[2]*theta6 + k[3]*theta8);
double theta2 = theta*theta, theta4 = theta2*theta2, theta6 = theta4*theta2, theta8 = theta4*theta4;
double theta_d = theta * (1 + k[0]*theta2 + k[1]*theta4 + k[2]*theta6 + k[3]*theta8);
double scale = (r == 0) ? 1.0 : theta_d / r;
double u = f[0]*x*scale + c[0];
double v = f[1]*y*scale + c[1];
double scale = (r == 0) ? 1.0 : theta_d / r;
u = f[0]*x*scale + c[0];
v = f[1]*y*scale + c[1];
}
if( m1type == CV_16SC2 )
{