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package gocv
/*
#include <stdlib.h>
#include "calib3d.h"
*/
import "C"
import "image"
// Calib is a wrapper around OpenCV's "Camera Calibration and 3D Reconstruction" of
// Fisheye Camera model
//
// For more details, please see:
// https://docs.opencv.org/trunk/db/d58/group__calib3d__fisheye.html
// CalibFlag value for calibration
type CalibFlag int32
const (
// CalibUseIntrinsicGuess indicates that cameraMatrix contains valid initial values
// of fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially
// set to the image center ( imageSize is used), and focal distances are computed
// in a least-squares fashion.
CalibUseIntrinsicGuess CalibFlag = 1 << iota
// CalibRecomputeExtrinsic indicates that extrinsic will be recomputed after each
// iteration of intrinsic optimization.
CalibRecomputeExtrinsic
// CalibCheckCond indicates that the functions will check validity of condition number
CalibCheckCond
// CalibFixSkew indicates that skew coefficient (alpha) is set to zero and stay zero
CalibFixSkew
// CalibFixK1 indicates that selected distortion coefficients are set to zeros and stay zero
CalibFixK1
// CalibFixK2 indicates that selected distortion coefficients are set to zeros and stay zero
CalibFixK2
// CalibFixK3 indicates that selected distortion coefficients are set to zeros and stay zero
CalibFixK3
// CalibFixK4 indicates that selected distortion coefficients are set to zeros and stay zero
CalibFixK4
// CalibFixIntrinsic indicates that fix K1, K2? and D1, D2? so that only R, T matrices are estimated
CalibFixIntrinsic
// CalibFixPrincipalPoint indicates that the principal point is not changed during the global optimization.
// It stays at the center or at a different location specified when CalibUseIntrinsicGuess is set too.
CalibFixPrincipalPoint
)
// FisheyeUndistortImage transforms an image to compensate for fisheye lens distortion
func FisheyeUndistortImage(distorted Mat, undistorted *Mat, k, d Mat) {
C.Fisheye_UndistortImage(distorted.Ptr(), undistorted.Ptr(), k.Ptr(), d.Ptr())
}
// FisheyeUndistortImageWithParams transforms an image to compensate for fisheye lens distortion with Knew matrix
func FisheyeUndistortImageWithParams(distorted Mat, undistorted *Mat, k, d, knew Mat, size image.Point) {
sz := C.struct_Size{
width: C.int(size.X),
height: C.int(size.Y),
}
C.Fisheye_UndistortImageWithParams(distorted.Ptr(), undistorted.Ptr(), k.Ptr(), d.Ptr(), knew.Ptr(), sz)
}
// InitUndistortRectifyMap computes the joint undistortion and rectification transformation and represents the result in the form of maps for remap
//
// For further details, please see:
// https://docs.opencv.org/master/d9/d0c/group__calib3d.html#ga7dfb72c9cf9780a347fbe3d1c47e5d5a
//
func InitUndistortRectifyMap(cameraMatrix Mat, distCoeffs Mat, r Mat, newCameraMatrix Mat, size image.Point, m1type int, map1 Mat, map2 Mat) {
sz := C.struct_Size{
width: C.int(size.X),
height: C.int(size.Y),
}
C.InitUndistortRectifyMap(cameraMatrix.Ptr(), distCoeffs.Ptr(), r.Ptr(), newCameraMatrix.Ptr(), sz, C.int(m1type), map1.Ptr(), map2.Ptr())
}
// GetOptimalNewCameraMatrixWithParams computes and returns the optimal new camera matrix based on the free scaling parameter.
//
// For further details, please see:
// https://docs.opencv.org/master/d9/d0c/group__calib3d.html#ga7a6c4e032c97f03ba747966e6ad862b1
//
func GetOptimalNewCameraMatrixWithParams(cameraMatrix Mat, distCoeffs Mat, imageSize image.Point, alpha float64, newImgSize image.Point, centerPrincipalPoint bool) (Mat, image.Rectangle) {
sz := C.struct_Size{
width: C.int(imageSize.X),
height: C.int(imageSize.Y),
}
newSize := C.struct_Size{
width: C.int(newImgSize.X),
height: C.int(newImgSize.Y),
}
rt := C.struct_Rect{}
return newMat(C.GetOptimalNewCameraMatrixWithParams(cameraMatrix.Ptr(), distCoeffs.Ptr(), sz, C.double(alpha), newSize, &rt, C.bool(centerPrincipalPoint))), toRect(rt)
}
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