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Omar Rizwan . @omar,

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The Truth

Source code in opencv

The truth is, as usual, in the source code of opencv. Typically, we see the relevant code blocks,

x0 = x = (x - cx)*ifx;
y0 = y = (y - cy)*ify;

// compensate distortion iteratively
for( j = 0; j < iters; j++ )
{
double r2 = x*x + y*y;
double icdist = (1 + ((k[7]*r2 + k[6])*r2 + k[5])*r2)/(1 + ((k[4]*r2 + k[1])*r2 + k[0])*r2);
double deltaX = 2*k[2]*x*y + k[3]*(r2 + 2*x*x);
double deltaY = k[2]*(r2 + 2*y*y) + 2*k[3]*x*y;
x = (x0 - deltaX)*icdist;
y = (y0 - deltaY)*icdist;
}
This confirmed my guess and the math equations in the opencv tutorial is not correct.

The Truth

Source code in opencv

The truth is, as usual, in the source code of opencv. Typically, we see the relevant code blocks,

x0 = x = (x - cx)*ifx;
y0 = y = (y - cy)*ify;

// compensate distortion iteratively
for( j = 0; j < iters; j++ )
{
double r2 = x*x + y*y;
double icdist = (1 + ((k[7]*r2 + k[6])*r2 + k[5])*r2)/(1 + ((k[4]*r2 + k[1])*r2 + k[0])*r2);
double deltaX = 2*k[2]*x*y + k[3]*(r2 + 2*x*x);
double deltaY = k[2]*(r2 + 2*y*y) + 2*k[3]*x*y;
x = (x0 - deltaX)*icdist;
y = (y0 - deltaY)*icdist;
}
This confirmed my guess and the math equations in the opencv tutorial is not correct.

Dec 13, 2023, 18:05

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