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Merge pull request #65 from deltamobile/updated_gonum_matrix

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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
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8
gocv/gocv_calib3d.go
View file

@ -24,11 +24,11 @@ func GcvInitCameraMatrix2D(objPts, imgPts *mat64.Dense, dims [2]int,
imgPtsVec := NewGcvPoint2f32Vector(int64(nObjPts)) imgPtsVec := NewGcvPoint2f32Vector(int64(nObjPts))
for j := 0; j < nObjPts; j++ { 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++ { 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]) _imgSize := NewGcvSize2i(dims[0], dims[1])
@ -52,11 +52,11 @@ func GcvCalibrateCamera(objPts, imgPts, camMat, distCoeffs *mat64.Dense,
imgPtsVec := NewGcvPoint2f32Vector(int64(nObjPts)) imgPtsVec := NewGcvPoint2f32Vector(int64(nObjPts))
for j := 0; j < nObjPts; j++ { 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++ { 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) _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, -0.226950, 0.942377, -0.899869,
-1.148912, 0.093725, 0.634745, -1.148912, 0.093725, 0.634745,
}) })
objPts.TCopy(objPts) objPts.Clone(objPts.T())
imgPts := mat64.NewDense(10, 2, []float64{ imgPts := mat64.NewDense(10, 2, []float64{
-0.384281, -0.299055, -0.384281, -0.299055,
@ -38,15 +38,15 @@ func TestGcvInitCameraMatrix2D(t *testing.T) {
0.631444, -0.340257, 0.631444, -0.340257,
-0.647580, 0.502113, -0.647580, 0.502113,
}) })
imgPts.TCopy(imgPts) imgPts.Clone(imgPts.T())
camMat := GcvInitCameraMatrix2D(objPts, imgPts, [2]int{1920, 1080}, 1) camMat := GcvInitCameraMatrix2D(objPts, imgPts, [2]int{1920, 1080}, 1)
assert.InDeltaSlice(t, []float64{1.47219772e+03, 0.00000000e+00, 9.59500000e+02}, 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}, 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}, 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) { func TestGcvCalibrateCamera(t *testing.T) {
@ -62,7 +62,7 @@ func TestGcvCalibrateCamera(t *testing.T) {
-0.226950, 0.942377, -0.899869, -0.226950, 0.942377, -0.899869,
-1.148912, 0.093725, 0.634745, -1.148912, 0.093725, 0.634745,
}) })
objPts.TCopy(objPts) objPts.Clone(objPts.T())
imgPts := mat64.NewDense(10, 2, []float64{ imgPts := mat64.NewDense(10, 2, []float64{
-0.384281, -0.299055, -0.384281, -0.299055,
@ -76,7 +76,7 @@ func TestGcvCalibrateCamera(t *testing.T) {
0.631444, -0.340257, 0.631444, -0.340257,
-0.647580, 0.502113, -0.647580, 0.502113,
}) })
imgPts.TCopy(imgPts) imgPts.Clone(imgPts.T())
camMat := GcvInitCameraMatrix2D(objPts, imgPts, [2]int{1920, 1080}, 1) camMat := GcvInitCameraMatrix2D(objPts, imgPts, [2]int{1920, 1080}, 1)
@ -85,12 +85,12 @@ func TestGcvCalibrateCamera(t *testing.T) {
camMat, rvec, tvec := GcvCalibrateCamera( camMat, rvec, tvec := GcvCalibrateCamera(
objPts, imgPts, camMat, distCoeffs, [2]int{1920, 1080}, 14575) 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{-46.15296606, 0., 959.5}, mat64.Row(nil, 0, camMat), DELTA)
assert.InDeltaSlice(t, []float64{0., -46.15296606, 539.5}, camMat.Row(nil, 1), DELTA) assert.InDeltaSlice(t, []float64{0., -46.15296606, 539.5}, mat64.Row(nil, 1, camMat), DELTA)
assert.InDeltaSlice(t, []float64{0., 0., 1.}, camMat.Row(nil, 2), 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{-0.98405029, -0.93443411, -0.26304667}, mat64.Col(nil, 0, rvec), DELTA)
assert.InDeltaSlice(t, []float64{0.6804739, 0.47530207, -0.04833094}, tvec.Col(nil, 0), DELTA) assert.InDeltaSlice(t, []float64{0.6804739, 0.47530207, -0.04833094}, mat64.Col(nil, 0, tvec), DELTA)
} }
func TestGcvRodrigues(t *testing.T) { func TestGcvRodrigues(t *testing.T) {
@ -101,7 +101,7 @@ func TestGcvRodrigues(t *testing.T) {
}) })
rmat := GcvRodrigues(rvec) rmat := GcvRodrigues(rvec)
assert.InDeltaSlice(t, []float64{0.59922526, 0.57799222, -0.55394411}, rmat.Row(nil, 0), 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}, rmat.Row(nil, 1), 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}, rmat.Row(nil, 2), DELTA) assert.InDeltaSlice(t, []float64{0.77411672, -0.5947531, 0.21682264}, mat64.Row(nil, 2, rmat), DELTA)
} }