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Wrap CalibrateCamera with mat64

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This commit is contained in:
Chih-Wei Chang 2015-02-17 01:27:27 +08:00
parent f3ef2ccd9b
commit 51f567bae2
4 changed files with 86 additions and 43 deletions
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45
gocv/gocv_calib3d.go
View file

@ -22,19 +22,56 @@ func GcvInitCameraMatrix2D(objPts, imgPts *mat64.Dense) (camMat *mat64.Dense) {
imgPtsVec := NewGcvPoint2f32Vector(int64(nObjPts))
for i := 0; i < nObjPts; i++ {
objPtsVec.Set(i, NewGcvPoint3f32(
objPts.At(i, 0), objPts.At(i, 1), objPts.At(i, 2)))
objPtsVec.Set(i, NewGcvPoint3f32(objPts.Row(nil, i)...))
}
for i := 0; i < nObjPts; i++ {
imgPtsVec.Set(i, NewGcvPoint2f32(
imgPts.At(i, 0), imgPts.At(i, 1)))
imgPtsVec.Set(i, NewGcvPoint2f32(imgPts.Row(nil, i)...))
}
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()
if objCol != 3 || imgCol != 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 i := 0; i < nObjPts; i++ {
imgPtsVec.Set(i, NewGcvPoint2f32(imgPts.Row(nil, i)...))
}
_camMat := Mat64ToGcvMat(camMat)
_rvec := NewGcvMat()
_tvec := NewGcvMat()
_imgSize := NewGcvSize2i(1920, 1080)
GcvCalibrateCamera_(
objPtsVec, imgPtsVec,
_imgSize, _camMat, _rvec, _tvec)
calCamMat = GcvMatToMat64(_camMat)
rvec = GcvMatToMat64(_rvec)
tvec = GcvMatToMat64(_tvec)
return camMat, rvec, tvec
}
// func mat64ToGcvPoint3f32Vector(mat *mat64.Dense) NewGcvPoint3f32Vector {
// }
// func TestGcvCalibrateCamera(t *testing.T) {
// objPts := NewGcvPoint3fVector(int64(4))
// objPts.Set(0, NewGcvPoint3f(0, 25, 0))

43
gocv/gocv_calib3d_test.go
View file

@ -24,32 +24,23 @@ func TestGcvInitCameraMatrix2D(t *testing.T) {
spew.Dump(camMat)
}
// 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))
func TestGcvCalibrateCamera(t *testing.T) {
objPts := mat64.NewDense(4, 3, []float64{
0, 25, 0,
0, -25, 0,
-47, 25, 0,
-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))
imgPts := mat64.NewDense(4, 2, []float64{
1136.4140625, 1041.89208984,
1845.33190918, 671.39581299,
302.73373413, 634.79998779,
1051.46154785, 352.76107788})
// imgSize := NewGcvSize2i(1920, 1080)
camMat := GcvInitCameraMatrix2D(objPts, imgPts)
// 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)
// }
camMat, rvec, tvec := GcvCalibrateCamera(objPts, imgPts, camMat)
spew.Dump(camMat)
spew.Dump(rvec)
spew.Dump(tvec)
}

39
gocv/gocv_core.go
View file

@ -5,28 +5,35 @@ package gocv
import "C"
import "github.com/gonum/matrix/mat64"
func NewGcvPoint3f32(x, y, z float64) GcvPoint3f32_ {
return NewGcvPoint3f32_(float32(x), float32(y), float32(z))
func NewGcvPoint3f32(pts ...float64) GcvPoint3f32_ {
// This make sure we have default values
safePts := getSafePts(pts, 3)
return NewGcvPoint3f32_(float32(safePts[0]), float32(safePts[1]), float32(safePts[2]))
}
func NewGcvPoint3f64(x, y, z float64) GcvPoint3f64_ {
return NewGcvPoint3f64_(float64(x), float64(y), float64(z))
func NewGcvPoint3f64(pts ...float64) GcvPoint3f64_ {
safePts := getSafePts(pts, 3)
return NewGcvPoint3f64_(safePts[0], safePts[1], safePts[2])
}
func NewGcvPoint2f32(x, y float64) GcvPoint2f32_ {
return NewGcvPoint2f32_(float32(x), float32(y))
func NewGcvPoint2f32(pts ...float64) GcvPoint2f32_ {
safePts := getSafePts(pts, 2)
return NewGcvPoint2f32_(float32(safePts[0]), float32(safePts[1]))
}
func NewGcvPoint2f64(x, y float64) GcvPoint2f64_ {
return NewGcvPoint2f64_(float64(x), float64(y))
func NewGcvPoint2f64(pts ...float64) GcvPoint2f64_ {
safePts := getSafePts(pts, 2)
return NewGcvPoint2f64_(safePts[0], safePts[1])
}
func NewGcvSize2f32(x, y float64) GcvSize2f32_ {
return NewGcvSize2f32_(float32(x), float32(y))
func NewGcvSize2f32(pts ...float64) GcvSize2f32_ {
safePts := getSafePts(pts, 2)
return NewGcvSize2f32_(float32(safePts[0]), float32(safePts[1]))
}
func NewGcvSize2f64(x, y float64) GcvSize2f64_ {
return NewGcvSize2f64_(float64(x), float64(y))
func NewGcvSize2f64(pts ...float64) GcvSize2f64_ {
safePts := getSafePts(pts, 2)
return NewGcvSize2f64_(safePts[0], safePts[1])
}
// Convert Mat, which defined by SWIG, to *mat64.Dense.
@ -67,3 +74,11 @@ func Mat64ToGcvMat(mat *mat64.Dense) GcvMat {
return Mat64ToGcvMat_(row, col, rawData)
}
func getSafePts(pts []float64, size int) []float64 {
// This make sure we have default values
safePts := make([]float64, size, size)
copy(safePts, pts)
return safePts
}

2
gocv/gocv_core_test.go
View file

@ -8,7 +8,7 @@ import (
)
func TestNewGcvPoint3f32(t *testing.T) {
pt := NewGcvPoint3f32(3, 1, 2)
pt := NewGcvPoint3f32(3, 1)
spew.Dump(pt)
}