Merge pull request #44 from lazywei/cv2

Wrap OpenCV2's Calib3d module with SWIG

AUTHORS

@@ -7,12 +7,12 @@ ChaiShushan <chaishushan@gmail.com>
 # Forked version authors:
 Chih-Wei Chang <me@cwchang.me>
 MohamedHelala <mohamed.helala@gmail.com>
-Adrian Zankich <>
-vanillahsu <>
-Alexander Kirillov <>
-Aditya Bhargava <>
-Bradley Griffiths <>
-Ashkan Kiani <>
-Peter Bui <>
-satojkovic <>
-TEE JIA HEN <>
+Adrian Zankich
+vanillahsu
+Alexander Kirillov
+Aditya Bhargava
+Bradley Griffiths
+Ashkan Kiani
+Peter Bui
+satojkovic
+TEE JIA HEN

README.md

@@ -3,6 +3,8 @@ Go OpenCV binding
 
 A Golang binding for [OpenCV](http://opencv.org/).
 
+OpenCV 1.x C API bindings through CGO, and OpenCV 2+ C++ API through SWIG.
+
 [**DISCLAIMER**](https://github.com/lazywei/go-opencv#disclaimer)
 
 ## Install
@@ -31,14 +33,42 @@ go get code.google.com/p/go-opencv/trunk/opencv
 cd ${GoOpenCVRoot}/trunk/samples && go run hellocv.go
 ```
 
-## TODOs
+## [WIP] OpenCV2
 
-- [ ] Better documents
-- [ ] Split the big package into sub-packages corresponding to the modules described in [OpenCV API Reference](http://docs.opencv.org/modules/core/doc/intro.html)
-- [ ] Clean up the codes
+After OpenCV 2.x+, the core team no longer develop and maintain C API. Therefore, CGO will not be used in CV2 binding. Instead, we are using SWIG for wrapping. The support for OpenCV2 is currently under development.
+
+If you want to use CV2's API, please refer to the code under `opencv2/` directory. There has no too much document for CV2 wrapper yet, but you can still find the usage example in `*_test.go`.
+
+Note that the basic data structures in OpenCV (e.g., `cv::Mat`, `cv::Point3f`) hasn't been wrapped fully yet. For now, we have some specific wrappers. We will try to wrapped those data structures fully as soon as possible.
 
 ## Example
 
+### OpenCV2's initCameraMatrix2D
+
+```go
+package main
+
+import "github.com/lazywei/go-opencv/opencv2/gcv_utils"
+import "github.com/lazywei/go-opencv/opencv2/gcv_calib3d"
+
+func main() {
+	objPts := gcv_utils.NewGcvPoint3fVector(int64(4))
+	objPts.Set(0, gcv_utils.GetPoint3f(0, 25, 0))
+	objPts.Set(1, gcv_utils.GetPoint3f(0, -25, 0))
+	objPts.Set(2, gcv_utils.GetPoint3f(-47, 25, 0))
+	objPts.Set(3, gcv_utils.GetPoint3f(-47, -25, 0))
+
+	imgPts := gcv_utils.NewGcvPoint2fVector(int64(4))
+	imgPts.Set(0, gcv_utils.GetPoint2f(1136.4140625, 1041.89208984))
+	imgPts.Set(1, gcv_utils.GetPoint2f(1845.33190918, 671.39581299))
+	imgPts.Set(2, gcv_utils.GetPoint2f(302.73373413, 634.79998779))
+	imgPts.Set(3, gcv_utils.GetPoint2f(1051.46154785, 352.76107788))
+
+	cameraMatrix := GcvInitCameraMatrix2D(objPts, imgPts)
+}
+```
+
+
 ### Resizing
 
 ```go
@@ -106,5 +136,5 @@ You can find more samples at: https://github.com/lazywei/go-opencv/tree/master/s
 
 ## Disclaimer
 
-This is a fork of [chai's go-opencv](https://github.com/chai2010/opencv). At the time of the fork (Dec 9, 2013) the original project was inactive, and hence I decide to host a fork on Github so people can contribute to this project easily. However, now it seems to be active again starting from Aug 25, 2014. Efforts to merge the two projects are very welcome.
+This is a fork of [chai's go-opencv](https://github.com/chai2010/opencv), which has only OpenCV1 support through CGO. At the time of the fork (Dec 9, 2013) the original project was inactive, and hence I decide to host a fork on Github so people can contribute to this project easily. However, now it seems to be active again starting from Aug 25, 2014. Efforts to merge the two projects are very welcome.
 

opencv/imgproc.go

@@ -1,4 +1,4 @@
-// Copyright 2013 jrweizhang AT gmail.com. All rights reserved.
+// Copyright 2013 <me@cwchang.me>. All rights reserved.
 // Use of this source code is governed by a BSD-style
 // license that can be found in the LICENSE file.
 

opencv2/gcv_calib3d/gcv_calib3d.cpp

@@ -0,0 +1,44 @@
+#include <opencv2/opencv.hpp>
+#include <opencv2/core/core.hpp>
+#include <iostream>
+#include <vector>
+
+#include "gcv_calib3d.hpp"
+
+cv::Mat GcvInitCameraMatrix2D(VecPoint3f objPts, VecPoint2f imgPts) {
+        cv::Mat cameraMatrix;
+
+        std::vector<VecPoint3f> objPtsArr;
+        std::vector<VecPoint2f> imgPtsArr;
+
+        objPtsArr.push_back(objPts);
+        imgPtsArr.push_back(imgPts);
+
+        cameraMatrix = cv::initCameraMatrix2D(objPtsArr, imgPtsArr, cv::Size(1920, 1080), 1);
+        return cameraMatrix;
+}
+
+double GcvCalibrateCamera(VecPoint3f objPts, VecPoint2f imgPts,
+                          std::vector<int> imgSize, cv::Mat cameraMatrix) {
+        std::vector<VecPoint3f> objPtsArr;
+        std::vector<VecPoint2f> imgPtsArr;
+        std::vector<cv::Mat> rvecs, tvecs;
+        cv::Mat distCoeffs;
+
+        double rtn;
+
+        objPtsArr.push_back(objPts);
+        imgPtsArr.push_back(imgPts);
+
+        std::cout << "init Camera" << cameraMatrix << std::endl;
+
+        rtn = cv::calibrateCamera(objPtsArr, imgPtsArr,
+                                  cv::Size2i(imgSize[0], imgSize[1]),
+                                  cameraMatrix, distCoeffs, rvecs, tvecs);
+
+        std::cout << "final Camera" << cameraMatrix << std::endl;
+        std::cout << "final rvecs" << rvecs[0] << std::endl;
+        std::cout << "final tvecs" << tvecs[0] << std::endl;
+
+        return rtn;
+}

opencv2/gcv_calib3d/gcv_calib3d.go

@@ -0,0 +1,5 @@
+package gcv_calib3d
+
+// #cgo CXXFLAGS: -std=c++11
+// #cgo darwin pkg-config: opencv
+import "C"

opencv2/gcv_calib3d/gcv_calib3d.hpp

@@ -0,0 +1,11 @@
+#include <opencv2/opencv.hpp>
+#include <vector>
+#include <iostream>
+
+typedef std::vector<cv::Point3f> VecPoint3f;
+typedef std::vector<cv::Point2f> VecPoint2f;
+
+cv::Mat GcvInitCameraMatrix2D(VecPoint3f objPts, VecPoint2f imgPts);
+
+double GcvCalibrateCamera(VecPoint3f objPts, VecPoint2f imgPts,
+                          std::vector<int> imgSize, cv::Mat cameraMatrix);

opencv2/gcv_calib3d/gcv_calib3d.swigcxx

@@ -0,0 +1,7 @@
+%module gcv_calib3d
+
+%{
+#include "gcv_calib3d.hpp"
+%}
+
+%include "gcv_calib3d.hpp"

opencv2/gcv_calib3d/gcv_calib3d_test.go

@@ -0,0 +1,56 @@
+package gcv_calib3d
+
+import "testing"
+
+import "github.com/lazywei/go-opencv/opencv2/gcv_utils"
+
+// [[[  0.  25.   0.]
+//   [  0. -25.   0.]
+//   [-47.  25.   0.]
+//   [-47. -25.   0.]]]
+// [[[ 1136.4140625   1041.89208984]
+//   [ 1845.33190918   671.39581299]
+//   [  302.73373413   634.79998779]
+//   [ 1051.46154785   352.76107788]]]
+// (1920, 1080)
+// [[  4.82812906e+03   0.00000000e+00   9.59500000e+02]
+//  [  0.00000000e+00   4.82812906e+03   5.39500000e+02]
+//  [  0.00000000e+00   0.00000000e+00   1.00000000e+00]]
+
+func TestGcvInitCameraMatrix2D(t *testing.T) {
+	objPts := gcv_utils.NewGcvPoint3fVector(int64(4))
+	objPts.Set(0, gcv_utils.GetPoint3f(0, 25, 0))
+	objPts.Set(1, gcv_utils.GetPoint3f(0, -25, 0))
+	objPts.Set(2, gcv_utils.GetPoint3f(-47, 25, 0))
+	objPts.Set(3, gcv_utils.GetPoint3f(-47, -25, 0))
+
+	imgPts := gcv_utils.NewGcvPoint2fVector(int64(4))
+	imgPts.Set(0, gcv_utils.GetPoint2f(1136.4140625, 1041.89208984))
+	imgPts.Set(1, gcv_utils.GetPoint2f(1845.33190918, 671.39581299))
+	imgPts.Set(2, gcv_utils.GetPoint2f(302.73373413, 634.79998779))
+	imgPts.Set(3, gcv_utils.GetPoint2f(1051.46154785, 352.76107788))
+
+	GcvInitCameraMatrix2D(objPts, imgPts)
+}
+
+func TestGcvCalibrateCamera(t *testing.T) {
+	objPts := gcv_utils.NewGcvPoint3fVector(int64(4))
+	objPts.Set(0, gcv_utils.GetPoint3f(0, 25, 0))
+	objPts.Set(1, gcv_utils.GetPoint3f(0, -25, 0))
+	objPts.Set(2, gcv_utils.GetPoint3f(-47, 25, 0))
+	objPts.Set(3, gcv_utils.GetPoint3f(-47, -25, 0))
+
+	imgPts := gcv_utils.NewGcvPoint2fVector(int64(4))
+	imgPts.Set(0, gcv_utils.GetPoint2f(1136.4140625, 1041.89208984))
+	imgPts.Set(1, gcv_utils.GetPoint2f(1845.33190918, 671.39581299))
+	imgPts.Set(2, gcv_utils.GetPoint2f(302.73373413, 634.79998779))
+	imgPts.Set(3, gcv_utils.GetPoint2f(1051.46154785, 352.76107788))
+
+	imgSize := gcv_utils.NewGcvIntVector(int64(2))
+	imgSize.Set(0, 1920)
+	imgSize.Set(1, 1080)
+
+	camMat := GcvInitCameraMatrix2D(objPts, imgPts)
+
+	GcvCalibrateCamera(objPts, imgPts, imgSize, camMat)
+}

opencv2/gcv_utils/gcv_utils.go

@@ -0,0 +1,5 @@
+package gcv_utils
+
+// #cgo CXXFLAGS: -std=c++11
+// #cgo darwin pkg-config: opencv
+import "C"

opencv2/gcv_utils/gcv_utils.hpp

@@ -0,0 +1,12 @@
+#include <opencv2/opencv.hpp>
+#include <vector>
+
+using namespace std;
+
+cv::Point3f GetPoint3f(float x, float y, float z) {
+        return cv::Point3f(x, y, z);
+}
+
+cv::Point2f GetPoint2f(float x, float y) {
+        return cv::Point2f(x, y);
+}

opencv2/gcv_utils/gcv_utils.swigcxx

@@ -0,0 +1,16 @@
+%module gcv_utils
+%include "std_vector.i"
+
+%{
+#include "gcv_utils.hpp"
+%}
+
+%include "gcv_utils.hpp"
+
+namespace std {
+   %template(GcvPoint3fVector) vector<cv::Point3f>;
+   %template(GcvPoint2fVector) vector<cv::Point2f>;
+
+   %template(GcvIntVector) vector<int>;
+   %template(GcvFloatVector) vector<float>;
+};

opencv2/opencv2.go

@@ -0,0 +1 @@
+package opencv2