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ccalib: add k3 radial distortion support for omnidir model #4077

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ccalib: add k3 radial distortion support for omnidir model #4077

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ec1351b
ccalib: add k3 support to omnidir calibration
nechami795 Feb 2, 2026
1939d1b
Add typedefs for 1x5/2x5 Matx and Vec5d for k3 support
nechami795 Feb 2, 2026
5e162a2
ccalib/omnidir: clean up code and extend K3 distortion support
nechami795 Feb 8, 2026
0586452
ccalib/omnidir: add k3 distortion tests
nechami795 Feb 8, 2026
0fdec47
ccalib(omnidir): move typedef into namespace
nechami795 Feb 9, 2026
c68656e
ccalib(omnidir): fix trailing whitespace
nechami795 Feb 9, 2026
031321c
ccalib(omnidir): make k3 calibrate test robust
nechami795 Feb 9, 2026
4f152b7
ccalib/omnidir: restore comments and cleanup whitespace
nechami795 Feb 10, 2026
7c4dd93
ccalib: omnidir: refactor k3 handling (no functional change)
nechami795 Feb 11, 2026
a839f04
ccalib(omnidir): restore comments; code cleanup (no functional change)
nechami795 Feb 11, 2026
8043c19
ccalib: add hard tests for omnidir k3 distortion
nechami795 Feb 18, 2026
2df9ad8
ccalib: fix trailing whitespace
nechami795 Feb 18, 2026
c2dea71
Add omnidir k3 tests
nechami795 Mar 9, 2026
fbe1b0e
Fix trailing whitespace in omnidir k3 tests
nechami795 Mar 9, 2026
ef3af06
Refactor omnidir k3 tests helpers and cleanup formatting
nechami795 Mar 9, 2026
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3 changes: 3 additions & 0 deletions modules/ccalib/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,2 +1,5 @@
set(the_description "Custom Calibration Pattern")
ocv_define_module(ccalib opencv_core opencv_imgproc opencv_calib3d opencv_features2d opencv_highgui opencv_imgcodecs WRAP python)
if(BUILD_TESTS)
add_subdirectory(test)
endif()
32 changes: 29 additions & 3 deletions modules/ccalib/include/opencv2/ccalib/omnidir.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,15 +39,24 @@
//
//M*/


#ifndef __OPENCV_OMNIDIR_HPP__
#define __OPENCV_OMNIDIR_HPP__

#include "opencv2/core.hpp"
#include "opencv2/core/affine.hpp"
#include <vector>


namespace cv
{
/** following typedefs used in k3 support (github.com/opencv/opencv_contrib/issues/3952)
      should go to opencv2/core/matx.hpp at some point */
typedef Matx<float, 1, 5> Matx15f;
typedef Matx<double, 1, 5> Matx15d;
typedef Matx<float, 2, 5> Matx25f;
typedef Matx<double, 2, 5> Matx25d;
typedef Vec<double, 5> Vec5d;
namespace omnidir
{
//! @addtogroup ccalib
Expand Down Expand Up @@ -270,10 +279,12 @@ namespace internal
void decodeParametersStereo(InputArray parameters, OutputArray K1, OutputArray K2, OutputArray om, OutputArray T, OutputArrayOfArrays omL,
OutputArrayOfArrays tL, OutputArray D1, OutputArray D2, double& xi1, double& xi2);

void estimateUncertainties(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, InputArray parameters, Mat& errors, Vec2d& std_error, double& rms, int flags);
void estimateUncertainties(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, InputArray parameters,
Mat& errors, Vec2d& std_error, double& rms, int flags, bool useK3);


void estimateUncertaintiesStereo(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputArray parameters, Mat& errors,
Vec2d& std_error, double& rms, int flags);
void estimateUncertaintiesStereo(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
InputArray parameters, Mat& errors, Vec2d& std_error, double& rms, int flags, bool useK3);

double computeMeanReproErr(InputArrayOfArrays imagePoints, InputArrayOfArrays proImagePoints);

Expand All @@ -286,12 +297,20 @@ namespace internal
void subMatrix(const Mat& src, Mat& dst, const std::vector<int>& cols, const std::vector<int>& rows);

void flags2idx(int flags, std::vector<int>& idx, int n);
void flags2idx(int flags, std::vector<int>& idx, int n, bool useK3);
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void flags2idxStereo(int flags, std::vector<int>& idx, int n);
void flags2idxStereo(int flags, std::vector<int>& idx, int n, bool useK3);

void fillFixed(Mat&G, int flags, int n);
void fillFixed(Mat& G, int flags, int n, bool useK3);


void fillFixedStereo(Mat& G, int flags, int n);
void fillFixedStereo(Mat& G, int flags, int n, bool useK3);


double findMedian(const Mat& row);

Expand All @@ -302,6 +321,13 @@ namespace internal
void compose_motion(InputArray _om1, InputArray _T1, InputArray _om2, InputArray _T2, Mat& om3, Mat& T3, Mat& dom3dom1,
Mat& dom3dT1, Mat& dom3dom2, Mat& dom3dT2, Mat& dT3dom1, Mat& dT3dT1, Mat& dT3dom2, Mat& dT3dT2);

void computeJacobian(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints,
InputArray parameters, Mat& JTJ_inv, Mat& JTE, int flags, double epsilon, bool useK3);

void computeJacobianStereo(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
InputArray parameters, Mat& JTJ_inv, Mat& JTE, int flags, double epsilon, bool useK3);


//void JRodriguesMatlab(const Mat& src, Mat& dst);

//void dAB(InputArray A, InputArray B, OutputArray dABdA, OutputArray dABdB);
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