79 lines
2.1 KiB
Go
79 lines
2.1 KiB
Go
package gocv
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// #cgo CXXFLAGS: -std=c++11
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// #cgo darwin pkg-config: opencv
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import "C"
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import "github.com/gonum/matrix/mat64"
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// GcvInitCameraMatrix2D takes one 3-by-N matrix and one 2-by-N Matrix as input.
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// Each column in the input matrix represents a point in real world (objPts) or
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// in image (imgPts).
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// Return: the camera matrix.
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func GcvInitCameraMatrix2D(objPts, imgPts *mat64.Dense) (camMat *mat64.Dense) {
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objDim, nObjPts := objPts.Dims()
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imgDim, nImgPts := imgPts.Dims()
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if objDim != 3 || imgDim != 2 || nObjPts != nImgPts {
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panic("Invalid dimensions for objPts and imgPts")
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}
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objPtsVec := NewGcvPoint3f32Vector(int64(nObjPts))
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imgPtsVec := NewGcvPoint2f32Vector(int64(nObjPts))
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for j := 0; j < nObjPts; j++ {
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objPtsVec.Set(j, NewGcvPoint3f32(objPts.Col(nil, j)...))
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}
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for j := 0; j < nObjPts; j++ {
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imgPtsVec.Set(j, NewGcvPoint2f32(imgPts.Col(nil, j)...))
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}
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camMat = GcvMatToMat64(GcvInitCameraMatrix2D_(objPtsVec, imgPtsVec))
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return camMat
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}
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func GcvCalibrateCamera(objPts, imgPts, camMat *mat64.Dense, dims [2]int) (
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calCamMat, rvec, tvec *mat64.Dense) {
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objDim, nObjPts := objPts.Dims()
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imgDim, nImgPts := imgPts.Dims()
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if objDim != 3 || imgDim != 2 || nObjPts != nImgPts {
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panic("Invalid dimensions for objPts and imgPts")
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}
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objPtsVec := NewGcvPoint3f32Vector(int64(nObjPts))
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imgPtsVec := NewGcvPoint2f32Vector(int64(nObjPts))
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for j := 0; j < nObjPts; j++ {
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objPtsVec.Set(j, NewGcvPoint3f32(objPts.Col(nil, j)...))
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}
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for j := 0; j < nObjPts; j++ {
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imgPtsVec.Set(j, NewGcvPoint2f32(imgPts.Col(nil, j)...))
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}
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_camMat := Mat64ToGcvMat(camMat)
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_rvec := NewGcvMat()
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_tvec := NewGcvMat()
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_imgSize := NewGcvSize2i(dims[0], dims[1])
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GcvCalibrateCamera_(
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objPtsVec, imgPtsVec,
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_imgSize, _camMat, _rvec, _tvec)
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calCamMat = GcvMatToMat64(_camMat)
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rvec = GcvMatToMat64(_rvec)
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tvec = GcvMatToMat64(_tvec)
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return calCamMat, rvec, tvec
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}
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// GcvRodrigues takes a 3D column vector, and apply cv::Rodrigues to it.
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func GcvRodrigues(src *mat64.Dense) (dst *mat64.Dense) {
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gcvSrc := Mat64ToGcvMat(src)
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gcvDst := NewGcvMat()
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GcvRodrigues_(gcvSrc, gcvDst)
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dst = GcvMatToMat64(gcvDst)
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return dst
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}
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