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Takes column vector instead.

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This commit is contained in:
Chih-Wei Chang 2015-02-23 17:46:13 +08:00
parent 7fdd343dbf
commit 2afcd2a05b
2 changed files with 27 additions and 61 deletions
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76
gocv/gocv_calib3d.go
View file

@ -5,57 +5,57 @@ package gocv
import "C"
import "github.com/gonum/matrix/mat64"
// GcvInitCameraMatrix2D takes one N-by-3 matrix and one
// N-by-2 Matrix as input.
// Each row in the input matrix represents a point in real
// world (objPts) or in image (imgPts).
// GcvInitCameraMatrix2D takes one 3-by-N matrix and one 2-by-N Matrix as input.
// Each column in the input matrix represents a point in real world (objPts) or
// in image (imgPts).
// Return: the camera matrix.
func GcvInitCameraMatrix2D(objPts, imgPts *mat64.Dense) (camMat *mat64.Dense) {
nObjPts, objCol := objPts.Dims()
nImgPts, imgCol := imgPts.Dims()
objDim, nObjPts := objPts.Dims()
imgDim, nImgPts := imgPts.Dims()
if objCol != 3 || imgCol != 2 || nObjPts != nImgPts {
if objDim != 3 || imgDim != 2 || nObjPts != nImgPts {
panic("Invalid dimensions for objPts and imgPts")
}
objPtsVec := NewGcvPoint3f32Vector(int64(nObjPts))
imgPtsVec := NewGcvPoint2f32Vector(int64(nObjPts))
for i := 0; i < nObjPts; i++ {
objPtsVec.Set(i, NewGcvPoint3f32(objPts.Row(nil, i)...))
for j := 0; j < nObjPts; j++ {
objPtsVec.Set(j, NewGcvPoint3f32(objPts.Col(nil, j)...))
}
for i := 0; i < nObjPts; i++ {
imgPtsVec.Set(i, NewGcvPoint2f32(imgPts.Row(nil, i)...))
for j := 0; j < nObjPts; j++ {
imgPtsVec.Set(j, NewGcvPoint2f32(imgPts.Col(nil, j)...))
}
camMat = GcvMatToMat64(GcvInitCameraMatrix2D_(objPtsVec, imgPtsVec))
return camMat
}
func GcvCalibrateCamera(objPts, imgPts, camMat *mat64.Dense) (calCamMat, rvec, tvec *mat64.Dense) {
nObjPts, objCol := objPts.Dims()
nImgPts, imgCol := imgPts.Dims()
func GcvCalibrateCamera(objPts, imgPts, camMat *mat64.Dense, dims [2]int) (
calCamMat, rvec, tvec *mat64.Dense) {
objDim, nObjPts := objPts.Dims()
imgDim, nImgPts := imgPts.Dims()
if objCol != 3 || imgCol != 2 || nObjPts != nImgPts {
if objDim != 3 || imgDim != 2 || nObjPts != nImgPts {
panic("Invalid dimensions for objPts and imgPts")
}
objPtsVec := NewGcvPoint3f32Vector(int64(nObjPts))
imgPtsVec := NewGcvPoint2f32Vector(int64(nObjPts))
for i := 0; i < nObjPts; i++ {
objPtsVec.Set(i, NewGcvPoint3f32(objPts.Row(nil, i)...))
for j := 0; j < nObjPts; j++ {
objPtsVec.Set(j, NewGcvPoint3f32(objPts.Col(nil, j)...))
}
for i := 0; i < nObjPts; i++ {
imgPtsVec.Set(i, NewGcvPoint2f32(imgPts.Row(nil, i)...))
for j := 0; j < nObjPts; j++ {
imgPtsVec.Set(j, NewGcvPoint2f32(imgPts.Col(nil, j)...))
}
_camMat := Mat64ToGcvMat(camMat)
_rvec := NewGcvMat()
_tvec := NewGcvMat()
_imgSize := NewGcvSize2i(1920, 1080)
_imgSize := NewGcvSize2i(dims[0], dims[1])
GcvCalibrateCamera_(
objPtsVec, imgPtsVec,
@ -68,7 +68,7 @@ func GcvCalibrateCamera(objPts, imgPts, camMat *mat64.Dense) (calCamMat, rvec, t
return calCamMat, rvec, tvec
}
// Same as cv::Rodrigues
// GcvRodrigues takes a 3D column vector, and apply cv::Rodrigues to it.
func GcvRodrigues(src *mat64.Dense) (dst *mat64.Dense) {
gcvSrc := Mat64ToGcvMat(src)
gcvDst := NewGcvMat()
@ -77,37 +77,3 @@ func GcvRodrigues(src *mat64.Dense) (dst *mat64.Dense) {
return dst
}
// func mat64ToGcvPoint3f32Vector(mat *mat64.Dense) NewGcvPoint3f32Vector {
// }
// func TestGcvCalibrateCamera(t *testing.T) {
// objPts := NewGcvPoint3fVector(int64(4))
// objPts.Set(0, NewGcvPoint3f(0, 25, 0))
// objPts.Set(1, NewGcvPoint3f(0, -25, 0))
// objPts.Set(2, NewGcvPoint3f(-47, 25, 0))
// objPts.Set(3, NewGcvPoint3f(-47, -25, 0))
// imgPts := NewGcvPoint2fVector(int64(4))
// imgPts.Set(0, NewGcvPoint2f(1136.4140625, 1041.89208984))
// imgPts.Set(1, NewGcvPoint2f(1845.33190918, 671.39581299))
// imgPts.Set(2, NewGcvPoint2f(302.73373413, 634.79998779))
// imgPts.Set(3, NewGcvPoint2f(1051.46154785, 352.76107788))
// imgSize := NewGcvSize2i(1920, 1080)
// camMat := GcvInitCameraMatrix2D(objPts, imgPts)
// spew.Dump(camMat.GcvAtd(NewGcvSize2i(0, 0)))
// spew.Dump(camMat.GcvAtd(NewGcvSize2i(0, 1)))
// spew.Dump(camMat.GcvAtd(NewGcvSize2i(1, 1)))
// spew.Dump(camMat.GcvAtd(NewGcvSize2i(1, 2)))
// spew.Dump(camMat.GcvAtd(NewGcvSize2i(2, 2)))
// rvec := NewMat()
// tvec := NewMat()
// GcvCalibrateCamera(objPts, imgPts, imgSize, camMat, rvec, tvec)
// MatToMat64(camMat)
// }

12
gocv/gocv_calib3d_test.go
View file

@ -24,6 +24,7 @@ func TestGcvInitCameraMatrix2D(t *testing.T) {
-0.226950, 0.942377, -0.899869,
-1.148912, 0.093725, 0.634745,
})
objPts.TCopy(objPts)
imgPts := mat64.NewDense(10, 2, []float64{
-0.384281, -0.299055,
@ -37,6 +38,7 @@ func TestGcvInitCameraMatrix2D(t *testing.T) {
0.631444, -0.340257,
-0.647580, 0.502113,
})
imgPts.TCopy(imgPts)
camMat := GcvInitCameraMatrix2D(objPts, imgPts)
assert.InDeltaSlice(t, []float64{1.47219772e+03, 0.00000000e+00, 9.59500000e+02},
@ -60,6 +62,7 @@ func TestGcvCalibrateCamera(t *testing.T) {
-0.226950, 0.942377, -0.899869,
-1.148912, 0.093725, 0.634745,
})
objPts.TCopy(objPts)
imgPts := mat64.NewDense(10, 2, []float64{
-0.384281, -0.299055,
@ -73,15 +76,12 @@ func TestGcvCalibrateCamera(t *testing.T) {
0.631444, -0.340257,
-0.647580, 0.502113,
})
imgPts.TCopy(imgPts)
camMat := GcvInitCameraMatrix2D(objPts, imgPts)
camMat, rvec, tvec := GcvCalibrateCamera(objPts, imgPts, camMat)
// stackedMat := *mat64.NewDense(0, 0, nil)
// stackedMat.Augment(GcvRodrigues(rvec), tvec)
// camMat.Mul(camMat, &stackedMat)
camMat, rvec, tvec := GcvCalibrateCamera(
objPts, imgPts, camMat, [2]int{1920, 1080})
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)