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Wrap CalibrateCamera

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This commit is contained in:
Chih-Wei Chang 2015-02-15 13:59:32 +08:00
parent 8aad62212a
commit 7a78947362
4 changed files with 60 additions and 8 deletions
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38
opencv2/gcv_calib3d/gcv_calib3d.cpp
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@ -5,16 +5,40 @@
#include "gcv_calib3d.hpp" #include "gcv_calib3d.hpp"
cv::Mat gcvInitCameraMatrix2D(VecPoint3f objPts, VecPoint2f imgPts) { cv::Mat GcvInitCameraMatrix2D(VecPoint3f objPts, VecPoint2f imgPts) {
cv::Mat cameraMatrix; cv::Mat cameraMatrix;
std::vector<VecPoint3f> *objPtsArr = new std::vector<VecPoint3f>(); std::vector<VecPoint3f> objPtsArr;
std::vector<VecPoint2f> *imgPtsArr = new std::vector<VecPoint2f>(); std::vector<VecPoint2f> imgPtsArr;
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, cv::Size(1920, 1080), 1);
std::cout << cameraMatrix << std::endl;
return cameraMatrix; return cameraMatrix;
} }
double GcvCalibrateCamera(VecPoint3f objPts, VecPoint2f imgPts,
std::vector<int> imgSize, cv::Mat cameraMatrix) {
std::vector<VecPoint3f> objPtsArr;
std::vector<VecPoint2f> imgPtsArr;
std::vector<cv::Mat> rvecs, tvecs;
cv::Mat distCoeffs;
double rtn;
objPtsArr.push_back(objPts);
imgPtsArr.push_back(imgPts);
std::cout << "init Camera" << cameraMatrix << std::endl;
rtn = cv::calibrateCamera(objPtsArr, imgPtsArr,
cv::Size2i(imgSize[0], imgSize[1]),
cameraMatrix, distCoeffs, rvecs, tvecs);
std::cout << "final Camera" << cameraMatrix << std::endl;
std::cout << "final rvecs" << rvecs[0] << std::endl;
std::cout << "final tvecs" << tvecs[0] << std::endl;
return rtn;
}

5
opencv2/gcv_calib3d/gcv_calib3d.hpp
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@ -5,4 +5,7 @@
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);
double GcvCalibrateCamera(VecPoint3f objPts, VecPoint2f imgPts,
std::vector<int> imgSize, cv::Mat cameraMatrix);

22
opencv2/gcv_calib3d/gcv_calib3d_test.go
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@ -32,3 +32,25 @@ func TestGcvInitCameraMatrix2D(t *testing.T) {
GcvInitCameraMatrix2D(objPts, imgPts) GcvInitCameraMatrix2D(objPts, imgPts)
} }
func TestGcvCalibrateCamera(t *testing.T) {
objPts := gcv_utils.NewGcvPoint3fVector(int64(4))
objPts.Set(0, gcv_utils.GetPoint3f(0, 25, 0))
objPts.Set(1, gcv_utils.GetPoint3f(0, -25, 0))
objPts.Set(2, gcv_utils.GetPoint3f(-47, 25, 0))
objPts.Set(3, gcv_utils.GetPoint3f(-47, -25, 0))
imgPts := gcv_utils.NewGcvPoint2fVector(int64(4))
imgPts.Set(0, gcv_utils.GetPoint2f(1136.4140625, 1041.89208984))
imgPts.Set(1, gcv_utils.GetPoint2f(1845.33190918, 671.39581299))
imgPts.Set(2, gcv_utils.GetPoint2f(302.73373413, 634.79998779))
imgPts.Set(3, gcv_utils.GetPoint2f(1051.46154785, 352.76107788))
imgSize := gcv_utils.NewGcvIntVector(int64(2))
imgSize.Set(0, 1920)
imgSize.Set(1, 1080)
camMat := GcvInitCameraMatrix2D(objPts, imgPts)
GcvCalibrateCamera(objPts, imgPts, imgSize, camMat)
}

3
opencv2/gcv_utils/gcv_utils.swigcxx
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@ -10,4 +10,7 @@
namespace std { namespace std {
%template(GcvPoint3fVector) vector<cv::Point3f>; %template(GcvPoint3fVector) vector<cv::Point3f>;
%template(GcvPoint2fVector) vector<cv::Point2f>; %template(GcvPoint2fVector) vector<cv::Point2f>;
%template(GcvIntVector) vector<int>;
%template(GcvFloatVector) vector<float>;
}; };