sander/go-opencv
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Merge pull request #65 from deltamobile/updated_gonum_matrix

Browse source 
Updated gonum matrix
This commit is contained in:
Chih-Wei (Bert) Chang 2016-01-27 00:08:56 +08:00
commit 1d8dd6c04e
2 changed files with 19 additions and 19 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

8
gocv/gocv_calib3d.go
View file

@ -24,11 +24,11 @@ func GcvInitCameraMatrix2D(objPts, imgPts *mat64.Dense, dims [2]int,
imgPtsVec := NewGcvPoint2f32Vector(int64(nObjPts))
for j := 0; j < nObjPts; j++ {
objPtsVec.Set(j, NewGcvPoint3f32(mat64.Col(nil,j,objPts.ColView(j))...))
objPtsVec.Set(j, NewGcvPoint3f32(mat64.Col(nil, j, objPts)...))
}
for j := 0; j < nObjPts; j++ {
imgPtsVec.Set(j, NewGcvPoint2f32( mat64.Col(nil,j,imgPts.ColView(j))...))
imgPtsVec.Set(j, NewGcvPoint2f32(mat64.Col(nil, j, imgPts)...))
}
_imgSize := NewGcvSize2i(dims[0], dims[1])
@ -52,11 +52,11 @@ func GcvCalibrateCamera(objPts, imgPts, camMat, distCoeffs *mat64.Dense,
imgPtsVec := NewGcvPoint2f32Vector(int64(nObjPts))
for j := 0; j < nObjPts; j++ {
objPtsVec.Set(j, NewGcvPoint3f32(mat64.Col(nil,j,objPts.ColView(j))...))
objPtsVec.Set(j, NewGcvPoint3f32(mat64.Col(nil, j, objPts)...))
}
for j := 0; j < nObjPts; j++ {
imgPtsVec.Set(j, NewGcvPoint2f32(mat64.Col(nil,j,imgPts.ColView(j))...))
imgPtsVec.Set(j, NewGcvPoint2f32(mat64.Col(nil, j, imgPts)...))
}
_camMat := Mat64ToGcvMat(camMat)

30
gocv/gocv_calib3d_test.go
View file

@ -24,7 +24,7 @@ func TestGcvInitCameraMatrix2D(t *testing.T) {
-0.226950, 0.942377, -0.899869,
-1.148912, 0.093725, 0.634745,
})
objPts.TCopy(objPts)
objPts.Clone(objPts.T())
imgPts := mat64.NewDense(10, 2, []float64{
-0.384281, -0.299055,
@ -38,15 +38,15 @@ func TestGcvInitCameraMatrix2D(t *testing.T) {
0.631444, -0.340257,
-0.647580, 0.502113,
})
imgPts.TCopy(imgPts)
imgPts.Clone(imgPts.T())
camMat := GcvInitCameraMatrix2D(objPts, imgPts, [2]int{1920, 1080}, 1)
assert.InDeltaSlice(t, []float64{1.47219772e+03, 0.00000000e+00, 9.59500000e+02},
camMat.Row(nil, 0), DELTA)
mat64.Row(nil, 0, camMat), DELTA)
assert.InDeltaSlice(t, []float64{0.00000000e+00, 1.47219772e+03, 5.39500000e+02},
camMat.Row(nil, 1), DELTA)
mat64.Row(nil, 1, camMat), DELTA)
assert.InDeltaSlice(t, []float64{0.00000000e+00, 0.00000000e+00, 1.00000000e+00},
camMat.Row(nil, 2), DELTA)
mat64.Row(nil, 2, camMat), DELTA)
}
func TestGcvCalibrateCamera(t *testing.T) {
@ -62,7 +62,7 @@ func TestGcvCalibrateCamera(t *testing.T) {
-0.226950, 0.942377, -0.899869,
-1.148912, 0.093725, 0.634745,
})
objPts.TCopy(objPts)
objPts.Clone(objPts.T())
imgPts := mat64.NewDense(10, 2, []float64{
-0.384281, -0.299055,
@ -76,7 +76,7 @@ func TestGcvCalibrateCamera(t *testing.T) {
0.631444, -0.340257,
-0.647580, 0.502113,
})
imgPts.TCopy(imgPts)
imgPts.Clone(imgPts.T())
camMat := GcvInitCameraMatrix2D(objPts, imgPts, [2]int{1920, 1080}, 1)
@ -85,12 +85,12 @@ func TestGcvCalibrateCamera(t *testing.T) {
camMat, rvec, tvec := GcvCalibrateCamera(
objPts, imgPts, camMat, distCoeffs, [2]int{1920, 1080}, 14575)
assert.InDeltaSlice(t, []float64{-46.15296606, 0., 959.5}, camMat.Row(nil, 0), DELTA)
assert.InDeltaSlice(t, []float64{0., -46.15296606, 539.5}, camMat.Row(nil, 1), DELTA)
assert.InDeltaSlice(t, []float64{0., 0., 1.}, camMat.Row(nil, 2), DELTA)
assert.InDeltaSlice(t, []float64{-46.15296606, 0., 959.5}, mat64.Row(nil, 0, camMat), DELTA)
assert.InDeltaSlice(t, []float64{0., -46.15296606, 539.5}, mat64.Row(nil, 1, camMat), DELTA)
assert.InDeltaSlice(t, []float64{0., 0., 1.}, mat64.Row(nil, 2, camMat), DELTA)
assert.InDeltaSlice(t, []float64{-0.98405029, -0.93443411, -0.26304667}, rvec.Col(nil, 0), DELTA)
assert.InDeltaSlice(t, []float64{0.6804739, 0.47530207, -0.04833094}, tvec.Col(nil, 0), DELTA)
assert.InDeltaSlice(t, []float64{-0.98405029, -0.93443411, -0.26304667}, mat64.Col(nil, 0, rvec), DELTA)
assert.InDeltaSlice(t, []float64{0.6804739, 0.47530207, -0.04833094}, mat64.Col(nil, 0, tvec), DELTA)
}
func TestGcvRodrigues(t *testing.T) {
@ -101,7 +101,7 @@ func TestGcvRodrigues(t *testing.T) {
})
rmat := GcvRodrigues(rvec)
assert.InDeltaSlice(t, []float64{0.59922526, 0.57799222, -0.55394411}, rmat.Row(nil, 0), DELTA)
assert.InDeltaSlice(t, []float64{0.20413818, 0.558743, 0.80382452}, rmat.Row(nil, 1), DELTA)
assert.InDeltaSlice(t, []float64{0.77411672, -0.5947531, 0.21682264}, rmat.Row(nil, 2), DELTA)
assert.InDeltaSlice(t, []float64{0.59922526, 0.57799222, -0.55394411}, mat64.Row(nil, 0, rmat), DELTA)
assert.InDeltaSlice(t, []float64{0.20413818, 0.558743, 0.80382452}, mat64.Row(nil, 1, rmat), DELTA)
assert.InDeltaSlice(t, []float64{0.77411672, -0.5947531, 0.21682264}, mat64.Row(nil, 2, rmat), DELTA)
}