Merge pull request #26988 from DanBmh:opt_undistort

DanBmh · Daniel · web-flow · commit 8a24d41b54f9 · 2025-03-03T17:16:09.000+03:00
Optimize undistort points #26988 Skips unnecessary rotation with identity matrix if no R or P mats are given. --------- Co-authored-by: Daniel <daniel@mail.de>
diff --git a/modules/calib3d/src/fisheye.cpp b/modules/calib3d/src/fisheye.cpp
@@ -478,10 +478,18 @@ void cv::fisheye::undistortPoints( InputArray distorted, OutputArray undistorted
         if ((converged || !isEps) && !theta_flipped)
         {
             Vec2d pu = pw * scale; //undistorted point
+            Vec2d fi;
 
-            // reproject
-            Vec3d pr = RR * Vec3d(pu[0], pu[1], 1.0); // rotated point optionally multiplied by new camera matrix
-            Vec2d fi(pr[0]/pr[2], pr[1]/pr[2]);       // final
+            if (!R.empty() || !P.empty())
+            {
+                // reproject
+                Vec3d pr = RR * Vec3d(pu[0], pu[1], 1.0); // rotated point optionally multiplied by new camera matrix
+                fi = Vec2d(pr[0]/pr[2], pr[1]/pr[2]);     // final
+            }
+            else
+            {
+                fi = pu;
+            }
 
             if( sdepth == CV_32F )
                 dstf[i] = fi;
diff --git a/modules/calib3d/src/undistort.dispatch.cpp b/modules/calib3d/src/undistort.dispatch.cpp
@@ -488,11 +488,14 @@ static void cvUndistortPointsInternal( const CvMat* _src, CvMat* _dst, const CvM
             }
         }
 
-        double xx = RR[0][0]*x + RR[0][1]*y + RR[0][2];
-        double yy = RR[1][0]*x + RR[1][1]*y + RR[1][2];
-        double ww = 1./(RR[2][0]*x + RR[2][1]*y + RR[2][2]);
-        x = xx*ww;
-        y = yy*ww;
+        if( matR || matP )
+        {
+            double xx = RR[0][0]*x + RR[0][1]*y + RR[0][2];
+            double yy = RR[1][0]*x + RR[1][1]*y + RR[1][2];
+            double ww = 1./(RR[2][0]*x + RR[2][1]*y + RR[2][2]);
+            x = xx*ww;
+            y = yy*ww;
+        }
 
         if( dtype == CV_32FC2 )
         {

Original file line number	Diff line number	Diff line change
`@@ -488,11 +488,14 @@ static void cvUndistortPointsInternal( const CvMat* _src, CvMat* _dst, const CvM`
`488`	`488`	`}`
`489`	`489`	`}`
`490`	`490`
`491`		`- double xx = RR[0][0]x + RR[0][1]y + RR[0][2];`
`492`		`- double yy = RR[1][0]x + RR[1][1]y + RR[1][2];`
`493`		`- double ww = 1./(RR[2][0]x + RR[2][1]y + RR[2][2]);`
`494`		`- x = xx*ww;`
`495`		`- y = yy*ww;`
	`491`	`+ if( matR \|\| matP )`
	`492`	`+ {`
	`493`	`+ double xx = RR[0][0]x + RR[0][1]y + RR[0][2];`
	`494`	`+ double yy = RR[1][0]x + RR[1][1]y + RR[1][2];`
	`495`	`+ double ww = 1./(RR[2][0]x + RR[2][1]y + RR[2][2]);`
	`496`	`+ x = xx*ww;`
	`497`	`+ y = yy*ww;`
	`498`	`+ }`
`496`	`499`
`497`	`500`	`if( dtype == CV_32FC2 )`
`498`	`501`	`{`