Well - using fisheye::undistortPoints() for transforming captured pixel coordinates to the 'planar domain', ends up with result coordinates in the range -1..+1, when applying the camera matrix to this points I get the correct results. I'm wondering if this is the intended behavior?
With the regular undistortPoints function you have to pass your camera matrix as the P parameter in addition to passing it as the K parameter to convert the coordinates from -1..+1 back to pixels. I imagine fisheye::undistortPoints works the same way.
void fisheye::undistortPoints(InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, InputArray R=noArray(), InputArray P=noArray())
Here's how I call it:
undistortPoints(thePoints, undistortedPoints, _cameraMatrix, _distortionCoefficients, noArray(), _cameraMatrix);
Asked: 2016-07-19 10:40:32 -0600
Seen: 233 times
Last updated: Jul 19 '16