OpenCV Q&A Forum - RSS feedhttp://answers.opencv.org/questions/OpenCV answersenCopyright <a href="http://www.opencv.org">OpenCV foundation</a>, 2012-2018.Fri, 17 Aug 2018 07:32:34 -0500Are Lens Distortion Coefficients inverted for projectPoints?http://answers.opencv.org/question/197614/are-lens-distortion-coefficients-inverted-for-projectpoints/ Good day guys,
I am trying to simulate and image with lens barrel distortion. I create a virtual chessboard (only the corners) and then project it onto my image plane using OpenCV. The idea is to project these points with known distortion coefficients, and then attempt a lens distortion calibration (with `calibrateCamera`), and see if the same coefficients are obtained.
**My question** is about the `projectPoints` function which takes `distCoeffs` as an input. Are these coefficients the same that must be used to *undistort* an image (output of `calibrateCamera`)? This means the function will have to calculate the inverse of that operation. Or, does it use those coefficients to distort the object points directly? Meaning that the will not correlate at all at the output of e.g. `calibrateCamera`.
I ask, because I noticed my simulation does pincushion distortion when I expect barrel, and vica versa. Which seems that the distortion does the opposite of what I think it does.
The minimal working code that I used to simulate the image (in Python):
# The distortion matrix that I vary
distortion = np.array([0.03, 0.0001, 0.0, 0.0, 0.0001])
# Generate Grid of Object Points
grid_size, square_size = [20, 20], 0.2
object_points = np.zeros([grid_size[0] * grid_size[1], 3])
mx, my = [(grid_size[0] - 1) * square_size / 2, (grid_size[1] - 1) * square_size / 2]
for i in range(grid_size[0]):
for j in range(grid_size[1]):
object_points[i * grid_size[0] + j] = [i * square_size - mx, j * square_size - my, 0]
# Setup the camera information
f, p = [5e-3, 120e-8]
intrinsic = np.array([[f/p, 0, 0], [0, f/p, 0], [0, 0, 1]])
rvec = np.array([0.0, 0.0, 0.0])
tvec = np.array([0.0, 0.0, 3.0])
# Project the points
image_points, jacobian = cv2.projectPoints(object_points, rvec, tvec, intrinsic, distortion)
# Plot the points (using PyPlot)
plt.scatter(*zip(*image_points[:, 0, :]), marker='.')
plt.axis('equal')
plt.xlim((-4000, 4000))
plt.ylim((-4000, 4000))
plt.grid()
plt.show()
Thank you for your help!Fri, 17 Aug 2018 07:32:34 -0500http://answers.opencv.org/question/197614/are-lens-distortion-coefficients-inverted-for-projectpoints/