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Complete initCameraMatrix2D, calibrateCamera interface.

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This commit is contained in:
Chih-Wei Chang 2015-02-23 17:56:59 +08:00
parent 2afcd2a05b
commit 40ed44c20c
4 changed files with 27 additions and 17 deletions
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11
gocv/gocv_calib3d.cpp
View file

@ -5,7 +5,7 @@
#include "gocv_calib3d.hpp" #include "gocv_calib3d.hpp"
cv::Mat GcvInitCameraMatrix2D_(VecPoint3f objPts, VecPoint2f imgPts) { cv::Mat GcvInitCameraMatrix2D_(VecPoint3f objPts, VecPoint2f imgPts, cv::Size imgSize, double aspectRatio) {
cv::Mat cameraMatrix; cv::Mat cameraMatrix;
std::vector<VecPoint3f> objPtsArr; std::vector<VecPoint3f> objPtsArr;
@ -14,17 +14,16 @@ cv::Mat GcvInitCameraMatrix2D_(VecPoint3f objPts, VecPoint2f imgPts) {
objPtsArr.push_back(objPts); objPtsArr.push_back(objPts);
imgPtsArr.push_back(imgPts); imgPtsArr.push_back(imgPts);
cameraMatrix = cv::initCameraMatrix2D(objPtsArr, imgPtsArr, cv::Size(1920, 1080), 1); cameraMatrix = cv::initCameraMatrix2D(objPtsArr, imgPtsArr, imgSize, aspectRatio);
return cameraMatrix; return cameraMatrix;
} }
double GcvCalibrateCamera_(VecPoint3f objPts, VecPoint2f imgPts, double GcvCalibrateCamera_(VecPoint3f objPts, VecPoint2f imgPts,
cv::Size imgSize, cv::Mat& cameraMatrix, cv::Size imgSize, cv::Mat& cameraMatrix, cv::Mat distCoeffs,
cv::Mat& rvec, cv::Mat& tvec) { cv::Mat& rvec, cv::Mat& tvec, int flags) {
std::vector<VecPoint3f> objPtsArr; std::vector<VecPoint3f> objPtsArr;
std::vector<VecPoint2f> imgPtsArr; std::vector<VecPoint2f> imgPtsArr;
std::vector<cv::Mat> rvecs, tvecs; std::vector<cv::Mat> rvecs, tvecs;
cv::Mat distCoeffs;
double rtn; double rtn;
objPtsArr.push_back(objPts); objPtsArr.push_back(objPts);
@ -37,7 +36,7 @@ double GcvCalibrateCamera_(VecPoint3f objPts, VecPoint2f imgPts,
rtn = cv::calibrateCamera(objPtsArr, imgPtsArr, imgSize, rtn = cv::calibrateCamera(objPtsArr, imgPtsArr, imgSize,
cameraMatrix, distCoeffs, cameraMatrix, distCoeffs,
rvecs, tvecs, 14575); rvecs, tvecs, flags);
rvec = rvecs[0]; rvec = rvecs[0];
tvec = tvecs[0]; tvec = tvecs[0];

18
gocv/gocv_calib3d.go
View file

@ -9,7 +9,9 @@ import "github.com/gonum/matrix/mat64"
// Each column in the input matrix represents a point in real world (objPts) or // Each column in the input matrix represents a point in real world (objPts) or
// in image (imgPts). // in image (imgPts).
// Return: the camera matrix. // Return: the camera matrix.
func GcvInitCameraMatrix2D(objPts, imgPts *mat64.Dense) (camMat *mat64.Dense) { func GcvInitCameraMatrix2D(objPts, imgPts *mat64.Dense, dims [2]int,
aspectRatio float64) (camMat *mat64.Dense) {
objDim, nObjPts := objPts.Dims() objDim, nObjPts := objPts.Dims()
imgDim, nImgPts := imgPts.Dims() imgDim, nImgPts := imgPts.Dims()
@ -28,12 +30,16 @@ func GcvInitCameraMatrix2D(objPts, imgPts *mat64.Dense) (camMat *mat64.Dense) {
imgPtsVec.Set(j, NewGcvPoint2f32(imgPts.Col(nil, j)...)) imgPtsVec.Set(j, NewGcvPoint2f32(imgPts.Col(nil, j)...))
} }
camMat = GcvMatToMat64(GcvInitCameraMatrix2D_(objPtsVec, imgPtsVec)) _imgSize := NewGcvSize2i(dims[0], dims[1])
camMat = GcvMatToMat64(GcvInitCameraMatrix2D_(
objPtsVec, imgPtsVec, _imgSize, aspectRatio))
return camMat return camMat
} }
func GcvCalibrateCamera(objPts, imgPts, camMat *mat64.Dense, dims [2]int) ( func GcvCalibrateCamera(objPts, imgPts, camMat, distCoeffs *mat64.Dense,
calCamMat, rvec, tvec *mat64.Dense) { dims [2]int, flags int) (calCamMat, rvec, tvec *mat64.Dense) {
objDim, nObjPts := objPts.Dims() objDim, nObjPts := objPts.Dims()
imgDim, nImgPts := imgPts.Dims() imgDim, nImgPts := imgPts.Dims()
@ -53,13 +59,15 @@ func GcvCalibrateCamera(objPts, imgPts, camMat *mat64.Dense, dims [2]int) (
} }
_camMat := Mat64ToGcvMat(camMat) _camMat := Mat64ToGcvMat(camMat)
_distCoeffs := Mat64ToGcvMat(distCoeffs)
_rvec := NewGcvMat() _rvec := NewGcvMat()
_tvec := NewGcvMat() _tvec := NewGcvMat()
_imgSize := NewGcvSize2i(dims[0], dims[1]) _imgSize := NewGcvSize2i(dims[0], dims[1])
GcvCalibrateCamera_( GcvCalibrateCamera_(
objPtsVec, imgPtsVec, objPtsVec, imgPtsVec,
_imgSize, _camMat, _rvec, _tvec) _imgSize, _camMat, _distCoeffs,
_rvec, _tvec, flags)
calCamMat = GcvMatToMat64(_camMat) calCamMat = GcvMatToMat64(_camMat)
rvec = GcvMatToMat64(_rvec) rvec = GcvMatToMat64(_rvec)

7
gocv/gocv_calib3d.hpp
View file

@ -5,10 +5,11 @@
typedef std::vector<cv::Point3f> VecPoint3f; typedef std::vector<cv::Point3f> VecPoint3f;
typedef std::vector<cv::Point2f> VecPoint2f; typedef std::vector<cv::Point2f> VecPoint2f;
cv::Mat GcvInitCameraMatrix2D_(VecPoint3f objPts, VecPoint2f imgPts); cv::Mat GcvInitCameraMatrix2D_(VecPoint3f objPts, VecPoint2f imgPts,
cv::Size imgSize, double aspectRatio);
double GcvCalibrateCamera_(VecPoint3f objPts, VecPoint2f imgPts, double GcvCalibrateCamera_(VecPoint3f objPts, VecPoint2f imgPts,
cv::Size2i imgSize, cv::Mat& cameraMatrix, cv::Size imgSize, cv::Mat& cameraMatrix, cv::Mat distCoeffs,
cv::Mat& rvec, cv::Mat& tvec); cv::Mat& rvec, cv::Mat& tvec, int flags);
void GcvRodrigues_(cv::Mat src, cv::Mat& dst); void GcvRodrigues_(cv::Mat src, cv::Mat& dst);

8
gocv/gocv_calib3d_test.go
View file

@ -40,7 +40,7 @@ func TestGcvInitCameraMatrix2D(t *testing.T) {
}) })
imgPts.TCopy(imgPts) imgPts.TCopy(imgPts)
camMat := GcvInitCameraMatrix2D(objPts, imgPts) 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) camMat.Row(nil, 0), 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},
@ -78,10 +78,12 @@ func TestGcvCalibrateCamera(t *testing.T) {
}) })
imgPts.TCopy(imgPts) imgPts.TCopy(imgPts)
camMat := GcvInitCameraMatrix2D(objPts, imgPts) camMat := GcvInitCameraMatrix2D(objPts, imgPts, [2]int{1920, 1080}, 1)
distCoeffs := mat64.NewDense(5, 1, []float64{0, 0, 0, 0, 0})
camMat, rvec, tvec := GcvCalibrateCamera( camMat, rvec, tvec := GcvCalibrateCamera(
objPts, imgPts, camMat, [2]int{1920, 1080}) 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}, camMat.Row(nil, 0), DELTA)
assert.InDeltaSlice(t, []float64{0., -46.15296606, 539.5}, camMat.Row(nil, 1), DELTA) assert.InDeltaSlice(t, []float64{0., -46.15296606, 539.5}, camMat.Row(nil, 1), DELTA)