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Wrap initCameraMatrix2D with mat64.

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This commit is contained in:
Chih-Wei Chang 2015-02-16 16:48:18 +08:00
parent b434835c52
commit fb12538882
6 changed files with 173 additions and 62 deletions
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31
gocv/gocv.go
View file

@ -3,8 +3,9 @@ package gocv
// #cgo CXXFLAGS: -std=c++11
// #cgo darwin pkg-config: opencv
import "C"
import "github.com/gonum/matrix/mat64"
func NewGcvPoint3f(x, y, z float32) GcvPoint3f_ {
func NewGcvPoint3f(x, y, z float64) GcvPoint3f_ {
return NewGcvPoint3f_(float32(x), float32(y), float32(z))
}
@ -12,7 +13,7 @@ func NewGcvPoint3d(x, y, z float64) GcvPoint3d_ {
return NewGcvPoint3d_(float64(x), float64(y), float64(z))
}
func NewGcvPoint2f(x, y float32) GcvPoint2f_ {
func NewGcvPoint2f(x, y float64) GcvPoint2f_ {
return NewGcvPoint2f_(float32(x), float32(y))
}
@ -20,10 +21,34 @@ func NewGcvPoint2d(x, y float64) GcvPoint2d_ {
return NewGcvPoint2d_(float64(x), float64(y))
}
func NewGcvSize2f(x, y float32) GcvSize2f_ {
func NewGcvSize2f(x, y float64) GcvSize2f_ {
return NewGcvSize2f_(float32(x), float32(y))
}
func NewGcvSize2d(x, y float64) GcvSize2d_ {
return NewGcvSize2d_(float64(x), float64(y))
}
// Convert Mat, which defined by SWIG, to mat64.Dense.
// The reason is the latter is much easier to handle
// in Go.
// GcvMat is assumed to be 2-dimensional matrix.
func MatToMat64(mat Mat) *mat64.Dense {
col := mat.GetCols()
row := mat.GetRows()
data := []float64{}
for i := 0; i < row; i++ {
for j := 0; j < col; j++ {
if fltPtr, ok := mat.GcvAtd(i, j).(*float64); ok {
data = append(data, *fltPtr)
} else {
panic("Non *float64 passed to MatToMat64")
}
}
}
return mat64.NewDense(row, col, data)
}

19
gocv/gocv_calib3d.cpp
View file

@ -5,7 +5,7 @@
#include "gocv_calib3d.hpp"
cv::Mat GcvInitCameraMatrix2D(VecPoint3f objPts, VecPoint2f imgPts) {
cv::Mat GcvInitCameraMatrix2D_(VecPoint3f objPts, VecPoint2f imgPts) {
cv::Mat cameraMatrix;
std::vector<VecPoint3f> objPtsArr;
@ -15,30 +15,27 @@ cv::Mat GcvInitCameraMatrix2D(VecPoint3f objPts, VecPoint2f imgPts) {
imgPtsArr.push_back(imgPts);
cameraMatrix = cv::initCameraMatrix2D(objPtsArr, imgPtsArr, cv::Size(1920, 1080), 1);
std::cout << cameraMatrix.type() << std::endl;
return cameraMatrix;
}
double GcvCalibrateCamera(VecPoint3f objPts, VecPoint2f imgPts,
cv::Size imgSize, cv::Mat cameraMatrix) {
double GcvCalibrateCamera_(VecPoint3f objPts, VecPoint2f imgPts,
cv::Size imgSize, cv::Mat& cameraMatrix,
cv::Mat& rvec, cv::Mat& tvec) {
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, imgSize,
cameraMatrix, distCoeffs, rvecs, tvecs);
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;
rvec = rvecs[0];
tvec = tvecs[0];
return rtn;
}

66
gocv/gocv_calib3d.go Normal file
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@ -0,0 +1,66 @@
package gocv
// #cgo CXXFLAGS: -std=c++11
// #cgo darwin pkg-config: opencv
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).
// Return: the camera matrix.
func GcvInitCameraMatrix2D(objPts, imgPts *mat64.Dense) (camMat *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 := NewGcvPoint3fVector(int64(nObjPts))
imgPtsVec := NewGcvPoint2fVector(int64(nObjPts))
for i := 0; i < nObjPts; i++ {
objPtsVec.Set(i, NewGcvPoint3f(
objPts.At(i, 0), objPts.At(i, 1), objPts.At(i, 2)))
}
for i := 0; i < nObjPts; i++ {
imgPtsVec.Set(i, NewGcvPoint2f(
imgPts.At(i, 0), imgPts.At(i, 1)))
}
camMat = MatToMat64(GcvInitCameraMatrix2D_(objPtsVec, imgPtsVec))
return 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))
// 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)
// }

7
gocv/gocv_calib3d.hpp
View file

@ -5,7 +5,8 @@
typedef std::vector<cv::Point3f> VecPoint3f;
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,
cv::Size2i imgSize, cv::Mat cameraMatrix);
double GcvCalibrateCamera_(VecPoint3f objPts, VecPoint2f imgPts,
cv::Size2i imgSize, cv::Mat& cameraMatrix,
cv::Mat& rvec, cv::Mat& tvec);

35
gocv/gocv_core.i
View file

@ -1,8 +1,6 @@
%include "std_vector.i"
%{
#include "opencv2/core/types_c.h"
#include "opencv2/core/version.hpp"
#include "opencv2/core/core.hpp"
%}
@ -256,12 +254,39 @@ namespace cv {
void pop_back(size_t nelems=1);
//! special versions for 2D arrays (especially convenient for referencing image pixels)
template<typename _Tp> _Tp& at(int i0=0);
template<typename _Tp> const _Tp& at(int i0=0) const;
template<typename _Tp> _Tp& at(int i0, int i1);
template<typename _Tp> const _Tp& at(int i0, int i1) const;
template<typename _Tp> _Tp& at(int i0, int i1, int i2);
template<typename _Tp> const _Tp& at(int i0, int i1, int i2) const;
template<typename _Tp> _Tp& at(const int* idx);
template<typename _Tp> const _Tp& at(const int* idx) const;
template<typename _Tp, int n> _Tp& at(const Vec<int, n>& idx);
template<typename _Tp, int n> const _Tp& at(const Vec<int, n>& idx) const;
template<typename _Tp> _Tp& at(cv::Point pt);
template<typename _Tp> const _Tp& at(cv::Point pt) const;
%template(gcvAtd) at<double>;
%template(gcvAtf) at<float>;
};
%template(gcvAtf) at<float>;
%template(gcvAtd) at<double>;
/*! includes several bit-fields:
- the magic signature
- continuity flag
- depth
- number of channels
*/
int flags;
//! the matrix dimensionality, >= 2
int dims;
//! the number of rows and columns or (-1, -1) when the matrix has more than 2 dimensions
int rows, cols;
};
}
/* Additional STL types */

77
gocv/gocv_test.go
View file

@ -4,6 +4,7 @@ import (
"testing"
"github.com/davecgh/go-spew/spew"
"github.com/gonum/matrix/mat64"
)
func TestNewGcvPoint3f(t *testing.T) {
@ -28,52 +29,48 @@ func TestMat(t *testing.T) {
}
func TestGcvInitCameraMatrix2D(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))
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})
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)))
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 := 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))
// 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)
// 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)))
// 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)))
GcvCalibrateCamera(objPts, imgPts, imgSize, camMat)
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)
// }