Omnidirectional Camera Calibration

[nicheng0019]

System information (version)

• OpenCV => 4.5.5
• Operating System / Platform =>Windows 64 Bit
• Compiler => Visual Studio 2019

Detailed description

In function cv::omnidir::initUndistortRectifyMap, when flags is RECTIFY_CYLINDRICAL, the code line 477-479
_xt = std::cos(theta); _yt = std::sin(theta); _wt = h;
may be
_xt = -std::sin(h) * std::cos(theta); _yt = -std::cos(h); _wt = std::sin(h) * std::sin(theta);

and when flags is RECTIFY_LONGLATI, the code line 483-485
_xt = -std::cos(theta); _yt = -std::sin(theta) * std::cos(h); _wt = std::sin(theta) * std::sin(h);
may be
theta = (j * 1.0 / (size.width - 1) - 0.5) * 3.1415926; h = (i * 1.0 / (size.height - 1) - 0.5) * 3.1415926; _xt = std::sin(theta); _yt = std::cos(theta) * std::sin(h); _wt = std::cos(theta) * std::cos(h);

[Garvanand]

We can make changes to:
RECTIFY_CYLINDRICAL:
_xt = -std::sin(h) * std::cos(theta);
_yt = -std::cos(h);
_wt = std::sin(h) * std::sin(theta);

RECTIFY_LONGLATI:
theta = (j * 1.0 / (size.width - 1) - 0.5) * 3.1415926;
h = (i * 1.0 / (size.height - 1) - 0.5) * 3.1415926;
_xt = std::sin(theta);
_yt = std::cos(theta) * std::sin(h);
_wt = std::cos(theta) * std::cos(h);

If the issue is still open,Kindly assign the issue to me so that I can rectify it and raise a PR.

[nicheng0019]

We can make changes to: RECTIFY_CYLINDRICAL: _xt = -std::sin(h) * std::cos(theta); _yt = -std::cos(h); _wt = std::sin(h) * std::sin(theta);

RECTIFY_LONGLATI: theta = (j * 1.0 / (size.width - 1) - 0.5) * 3.1415926; h = (i * 1.0 / (size.height - 1) - 0.5) * 3.1415926; _xt = std::sin(theta); _yt = std::cos(theta) * std::sin(h); _wt = std::cos(theta) * std::cos(h);

If the issue is still open,Kindly assign the issue to me so that I can rectify it and raise a PR.

OK, thank you, but I don't have the permission to assign the issue to you. If you have , please help yourself

[jnader]

Hello
In function cv::omnidir::initUndistortRectifyMap, is it normal that when calculating theta and h in non perspective rectification, we use iK and not iKR?
In this case, we won't be taking into account the matrix R, right?

Thank you.