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Draft for cv::initCameraMatrix2D

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This commit is contained in:
Chih-Wei Chang 2015-02-14 14:41:23 +08:00
parent 8f9e5b89d9
commit 49c0f9831b
10 changed files with 148 additions and 70 deletions
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20
opencv2/gcv_calib3d/gcv_calib3d.cpp Normal file
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#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 = new std::vector<VecPoint3f>();
std::vector<VecPoint2f> *imgPtsArr = new std::vector<VecPoint2f>();
objPtsArr->push_back(objPts);
imgPtsArr->push_back(imgPts);
cameraMatrix = cv::initCameraMatrix2D(*objPtsArr, *imgPtsArr, cv::Size(1920, 1080), 1);
std::cout << cameraMatrix << std::endl;
return cameraMatrix;
}

2
opencv2/go_calib3d/go_calib3d.go → opencv2/gcv_calib3d/gcv_calib3d.go
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@ -1,4 +1,4 @@
package go_calib3d
package gcv_calib3d
// #cgo CXXFLAGS: -std=c++11
// #cgo darwin pkg-config: opencv

8
opencv2/gcv_calib3d/gcv_calib3d.hpp Normal file
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#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);

15
opencv2/gcv_calib3d/gcv_calib3d.swigcxx Normal file
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%module gcv_calib3d
%include "std_vector.i"
%{
#include "gcv_calib3d.hpp"
#include "gcv_core.hpp"
%}
%include "gcv_calib3d.hpp"
%include "gcv_core.hpp"
namespace std {
%template(IntVector) vector<int>;
%template(DoubleVector) vector<double>;
};

32
opencv2/gcv_calib3d/gcv_calib3d_test.go Normal file
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package gcv_calib3d
import "testing"
// [[[ 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 := NewGcvVecPoint3f()
objPts.PushBack(NewGcvPoint3f(0, 25, 0).Get())
objPts.PushBack(NewGcvPoint3f(0, -25, 0).Get())
objPts.PushBack(NewGcvPoint3f(-47, 25, 0).Get())
objPts.PushBack(NewGcvPoint3f(-47, -25, 0).Get())
imgPts := NewGcvVecPoint2f()
imgPts.PushBack(NewGcvPoint2f(1136.4140625, 1041.89208984).Get())
imgPts.PushBack(NewGcvPoint2f(1845.33190918, 671.39581299).Get())
imgPts.PushBack(NewGcvPoint2f(302.73373413, 634.79998779).Get())
imgPts.PushBack(NewGcvPoint2f(1051.46154785, 352.76107788).Get())
GcvInitCameraMatrix2D(objPts.Get(), imgPts.Get())
}

72
opencv2/gcv_calib3d/gcv_core.hpp Normal file
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#include <opencv2/opencv.hpp>
#include <vector>
using namespace std;
class GcvPoint3f
{
public:
GcvPoint3f (float x, float y, float z)
: _data(x, y, z) {};
~GcvPoint3f () {};
cv::Point3f Get() { return _data; }
void Set(float x, float y, float z) {
_data = cv::Point3f(x, y, z);
}
private:
cv::Point3f _data;
};
class GcvVecPoint3f
{
public:
GcvVecPoint3f () {};
~GcvVecPoint3f () {};
void PushBack(cv::Point3f pt) {
_data.push_back(pt);
}
void Clear() {
_data.clear();
}
std::vector<cv::Point3f> Get() { return _data; }
private:
std::vector<cv::Point3f> _data;
};
class GcvPoint2f
{
public:
GcvPoint2f (float x, float y)
: _data(x, y) {};
~GcvPoint2f () {};
cv::Point2f Get() { return _data; }
void Set(float x, float y) {
_data = cv::Point2f(x, y);
}
private:
cv::Point2f _data;
};
class GcvVecPoint2f
{
public:
GcvVecPoint2f () {};
~GcvVecPoint2f () {};
void PushBack(cv::Point2f pt) {
_data.push_back(pt);
}
void Clear() {
_data.clear();
}
std::vector<cv::Point2f> Get() { return _data; }
private:
std::vector<cv::Point2f> _data;
};

29
opencv2/go_calib3d/go_calib3d.cpp
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@ -1,29 +0,0 @@
#include <opencv2/opencv.hpp>
#include "go_calib3d.hpp"
#include "iostream"
#include "vector"
using namespace std;
void
GoCalib3d::foo() {
cout << "Hello there" << endl;
vector< vector<cv::Point3f>> objPts;
vector< vector<cv::Point2f>> imgPts;
objPts.push_back(vector<cv::Point3f>());
imgPts.push_back(vector<cv::Point2f>());
objPts[0].push_back(cv::Point3f(0, 25, 0));
objPts[0].push_back(cv::Point3f(0, -25, 0));
objPts[0].push_back(cv::Point3f(-47, 25, 0));
objPts[0].push_back(cv::Point3f(-47, -25, 0));
imgPts[0].push_back(cv::Point2f(1136.4140625, 1041.89208984));
imgPts[0].push_back(cv::Point2f(1845.33190918, 671.39581299));
imgPts[0].push_back(cv::Point2f(302.73373413, 634.79998779));
imgPts[0].push_back(cv::Point2f(1051.46154785, 352.76107788));
cv::Mat cameraMatrix = cv::initCameraMatrix2D(objPts, imgPts, cv::Size(1920, 1080), 1);
std::cout << cameraMatrix << std::endl;
}

9
opencv2/go_calib3d/go_calib3d.hpp
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@ -1,9 +0,0 @@
class GoCalib3d
{
public:
GoCalib3d () {};
virtual ~GoCalib3d () {};
void foo();
private:
/* data */
};

7
opencv2/go_calib3d/go_calib3d.swigcxx
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@ -1,7 +0,0 @@
%module go_calib3d
%{
#include "go_calib3d.hpp"
%}
%include "go_calib3d.hpp"

24
opencv2/go_calib3d/go_calib3d_test.go
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@ -1,24 +0,0 @@
package go_calib3d
import "testing"
// [[[ 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 TestMain(t *testing.T) {
// objPoints := opencv.CreateMat(4, 3, opencv.CV_64F)
// spew.Dump(objPoints.Get(0, 0))
// InitIntrinsicParams2D(objPoints)
xxx := NewGoCalib3d()
xxx.Foo()
}