Function opencv::calib3d::undistort_points

pub fn undistort_points(
    src: &dyn ToInputArray, 
    dst: &mut dyn ToOutputArray, 
    camera_matrix: &dyn ToInputArray, 
    dist_coeffs: &dyn ToInputArray, 
    r: &dyn ToInputArray, 
    p: &dyn ToInputArray
) -> Result<()>

Computes the ideal point coordinates from the observed point coordinates.

The function is similar to #undistort and #initUndistortRectifyMap but it operates on a sparse set of points instead of a raster image. Also the function performs a reverse transformation to projectPoints. In case of a 3D object, it does not reconstruct its 3D coordinates, but for a planar object, it does, up to a translation vector, if the proper R is specified.

For each observed point coordinate the function computes:

where undistort is an approximate iterative algorithm that estimates the normalized original point coordinates out of the normalized distorted point coordinates ("normalized" means that the coordinates do not depend on the camera matrix).

The function can be used for both a stereo camera head or a monocular camera (when R is empty).

Parameters

• src: Observed point coordinates, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel (CV_32FC2 or CV_64FC2) (or vector<Point2f> ).
• dst: Output ideal point coordinates (1xN/Nx1 2-channel or vector<Point2f> ) after undistortion and reverse perspective transformation. If matrix P is identity or omitted, dst will contain normalized point coordinates.
• cameraMatrix: Camera matrix .
• distCoeffs: Input vector of distortion coefficients of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.
• R: Rectification transformation in the object space (3x3 matrix). R1 or R2 computed by #stereoRectify can be passed here. If the matrix is empty, the identity transformation is used.
• P: New camera matrix (3x3) or new projection matrix (3x4) . P1 or P2 computed by #stereoRectify can be passed here. If the matrix is empty, the identity new camera matrix is used.

C++ default parameters

• r: noArray()
• p: noArray()