forked from go-opencv/go-opencv
/
gocv_calib3d.go
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/
gocv_calib3d.go
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package gocv
// #cgo CXXFLAGS: -std=c++11
// #cgo darwin pkg-config: opencv
// #cgo linux pkg-config: opencv
import "C"
import "github.com/gonum/matrix/mat64"
// GcvInitCameraMatrix2D takes one 3-by-N matrix and one 2-by-N Matrix as input.
// Each column 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, dims [2]int,
aspectRatio float64) (camMat *mat64.Dense) {
objDim, nObjPts := objPts.Dims()
imgDim, nImgPts := imgPts.Dims()
if objDim != 3 || imgDim != 2 || nObjPts != nImgPts {
panic("Invalid dimensions for objPts and imgPts")
}
objPtsVec := NewGcvPoint3f32Vector(int64(nObjPts))
imgPtsVec := NewGcvPoint2f32Vector(int64(nObjPts))
for j := 0; j < nObjPts; j++ {
objPtsVec.Set(j, NewGcvPoint3f32(mat64.Col(nil, j, objPts)...))
}
for j := 0; j < nObjPts; j++ {
imgPtsVec.Set(j, NewGcvPoint2f32(mat64.Col(nil, j, imgPts)...))
}
_imgSize := NewGcvSize2i(dims[0], dims[1])
camMat = GcvMatToMat64(GcvInitCameraMatrix2D_(
objPtsVec, imgPtsVec, _imgSize, aspectRatio))
return camMat
}
func GcvCalibrateCamera(objPts, imgPts, camMat, distCoeffs *mat64.Dense,
dims [2]int, flags int) (calCamMat, rvec, tvec *mat64.Dense) {
objDim, nObjPts := objPts.Dims()
imgDim, nImgPts := imgPts.Dims()
if objDim != 3 || imgDim != 2 || nObjPts != nImgPts {
panic("Invalid dimensions for objPts and imgPts")
}
objPtsVec := NewGcvPoint3f32Vector(int64(nObjPts))
imgPtsVec := NewGcvPoint2f32Vector(int64(nObjPts))
for j := 0; j < nObjPts; j++ {
objPtsVec.Set(j, NewGcvPoint3f32(mat64.Col(nil, j, objPts)...))
}
for j := 0; j < nObjPts; j++ {
imgPtsVec.Set(j, NewGcvPoint2f32(mat64.Col(nil, j, imgPts)...))
}
_camMat := Mat64ToGcvMat(camMat)
_distCoeffs := Mat64ToGcvMat(distCoeffs)
_rvec := NewGcvMat()
_tvec := NewGcvMat()
_imgSize := NewGcvSize2i(dims[0], dims[1])
GcvCalibrateCamera_(
objPtsVec, imgPtsVec,
_imgSize, _camMat, _distCoeffs,
_rvec, _tvec, flags)
calCamMat = GcvMatToMat64(_camMat)
rvec = GcvMatToMat64(_rvec)
tvec = GcvMatToMat64(_tvec)
return calCamMat, rvec, tvec
}
// GcvRodrigues takes a 3D column vector, and apply cv::Rodrigues to it.
func GcvRodrigues(src *mat64.Dense) (dst *mat64.Dense) {
gcvSrc := Mat64ToGcvMat(src)
gcvDst := NewGcvMat()
GcvRodrigues_(gcvSrc, gcvDst)
dst = GcvMatToMat64(gcvDst)
return dst
}