Fix omnidir::undistortPoints

rgolovanov · web-flow · commit 24baeaae2791 · 2021-02-18T19:46:39.000+02:00
The relevant bug was reported in opencv#1612 The _xi was erroneously applied at points re-projection to camera plane. _xi parameter was already taken in use while projection of points to unit sphere.
diff --git a/modules/ccalib/src/omnidir.cpp b/modules/ccalib/src/omnidir.cpp
@@ -330,7 +330,7 @@ void cv::omnidir::undistortPoints( InputArray distorted, OutputArray undistorted
         Vec3d Xs = Xw / cv::norm(Xw);
 
         // reproject to camera plane
-        Vec3d ppu = Vec3d(Xs[0]/(Xs[2]+_xi), Xs[1]/(Xs[2]+_xi), 1.0);
+        Vec3d ppu = Vec3d(Xs[0]/Xs[2], Xs[1]/Xs[2], 1.0);
         if (undistorted.depth() == CV_32F)
         {
             dstf[i] = Vec2f((float)ppu[0], (float)ppu[1]);

Original file line number	Diff line number	Diff line change
`@@ -330,7 +330,7 @@ void cv::omnidir::undistortPoints( InputArray distorted, OutputArray undistorted`
`330`	`330`	`Vec3d Xs = Xw / cv::norm(Xw);`
`331`	`331`
`332`	`332`	`// reproject to camera plane`
`333`		`- Vec3d ppu = Vec3d(Xs[0]/(Xs[2]+_xi), Xs[1]/(Xs[2]+_xi), 1.0);`
	`333`	`+ Vec3d ppu = Vec3d(Xs[0]/Xs[2], Xs[1]/Xs[2], 1.0);`
`334`	`334`	`if (undistorted.depth() == CV_32F)`
`335`	`335`	`{`
`336`	`336`	`dstf[i] = Vec2f((float)ppu[0], (float)ppu[1]);`