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686 lines
23 KiB
C++
686 lines
23 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2008-2010, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of Intel Corporation may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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#include "opencv2/calib3d/calib3d_c.h"
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CvMat cvMatArray( int rows, int cols, int type,
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int count, void* data)
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{
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return cvMat( rows*count, cols, type, data );
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}
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double cvMean( const CvArr* image, const CvArr* mask )
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{
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CvScalar mean = cvAvg( image, mask );
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return mean.val[0];
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}
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double cvSumPixels( const CvArr* image )
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{
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CvScalar scalar = cvSum( image );
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return scalar.val[0];
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}
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void cvMean_StdDev( const CvArr* image, double* mean, double* sdv, const CvArr* mask)
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{
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CvScalar _mean, _sdv;
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cvAvgSdv( image, &_mean, &_sdv, mask );
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if( mean )
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*mean = _mean.val[0];
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if( sdv )
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*sdv = _sdv.val[0];
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}
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void cvmPerspectiveProject( const CvMat* mat, const CvArr* src, CvArr* dst )
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{
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CvMat tsrc, tdst;
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cvReshape( src, &tsrc, 3, 0 );
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cvReshape( dst, &tdst, 3, 0 );
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cvPerspectiveTransform( &tsrc, &tdst, mat );
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}
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void cvFillImage( CvArr* mat, double color )
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{
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cvSet( mat, cvColorToScalar(color, cvGetElemType(mat)), 0 );
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}
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/* Changes RNG range while preserving RNG state */
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void cvRandSetRange( CvRandState* state, double param1, double param2, int index)
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{
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if( !state )
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{
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cvError( CV_StsNullPtr, "cvRandSetRange", "Null pointer to RNG state", "cvcompat.h", 0 );
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return;
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}
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if( (unsigned)(index + 1) > 4 )
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{
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cvError( CV_StsOutOfRange, "cvRandSetRange", "index is not in -1..3", "cvcompat.h", 0 );
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return;
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}
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if( index < 0 )
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{
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state->param[0].val[0] = state->param[0].val[1] =
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state->param[0].val[2] = state->param[0].val[3] = param1;
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state->param[1].val[0] = state->param[1].val[1] =
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state->param[1].val[2] = state->param[1].val[3] = param2;
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}
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else
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{
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state->param[0].val[index] = param1;
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state->param[1].val[index] = param2;
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}
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}
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void cvRandInit( CvRandState* state, double param1, double param2,
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int seed, int disttype)
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{
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if( !state )
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{
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cvError( CV_StsNullPtr, "cvRandInit", "Null pointer to RNG state", "cvcompat.h", 0 );
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return;
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}
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if( disttype != CV_RAND_UNI && disttype != CV_RAND_NORMAL )
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{
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cvError( CV_StsBadFlag, "cvRandInit", "Unknown distribution type", "cvcompat.h", 0 );
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return;
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}
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state->state = (uint64)(seed ? seed : -1);
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state->disttype = disttype;
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cvRandSetRange( state, param1, param2, -1 );
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}
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/* Fills array with random numbers */
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void cvRand( CvRandState* state, CvArr* arr )
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{
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if( !state )
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{
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cvError( CV_StsNullPtr, "cvRand", "Null pointer to RNG state", "cvcompat.h", 0 );
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return;
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}
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cvRandArr( &state->state, arr, state->disttype, state->param[0], state->param[1] );
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}
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void cvbRand( CvRandState* state, float* dst, int len )
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{
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CvMat mat = cvMat( 1, len, CV_32F, (void*)dst );
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cvRand( state, &mat );
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}
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void cvbCartToPolar( const float* y, const float* x, float* magnitude, float* angle, int len )
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{
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CvMat mx = cvMat( 1, len, CV_32F, (void*)x );
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CvMat my = mx;
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CvMat mm = mx;
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CvMat ma = mx;
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my.data.fl = (float*)y;
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mm.data.fl = (float*)magnitude;
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ma.data.fl = (float*)angle;
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cvCartToPolar( &mx, &my, &mm, angle ? &ma : NULL, 1 );
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}
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void cvbFastArctan( const float* y, const float* x, float* angle, int len )
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{
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CvMat mx = cvMat( 1, len, CV_32F, (void*)x );
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CvMat my = mx;
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CvMat ma = mx;
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my.data.fl = (float*)y;
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ma.data.fl = (float*)angle;
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cvCartToPolar( &mx, &my, NULL, &ma, 1 );
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}
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void cvbSqrt( const float* x, float* y, int len )
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{
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CvMat mx = cvMat( 1, len, CV_32F, (void*)x );
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CvMat my = mx;
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my.data.fl = (float*)y;
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cvPow( &mx, &my, 0.5 );
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}
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void cvbInvSqrt( const float* x, float* y, int len )
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{
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CvMat mx = cvMat( 1, len, CV_32F, (void*)x );
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CvMat my = mx;
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my.data.fl = (float*)y;
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cvPow( &mx, &my, -0.5 );
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}
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void cvbReciprocal( const float* x, float* y, int len )
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{
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CvMat mx = cvMat( 1, len, CV_32F, (void*)x );
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CvMat my = mx;
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my.data.fl = (float*)y;
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cvPow( &mx, &my, -1 );
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}
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void cvbFastExp( const float* x, double* y, int len )
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{
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int i;
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for( i = 0; i < len; i++ )
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y[i] = exp((double)x[i]);
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}
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void cvbFastLog( const double* x, float* y, int len )
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{
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int i;
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for( i = 0; i < len; i++ )
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y[i] = (float)log(x[i]);
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}
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CvRect cvContourBoundingRect( void* point_set, int update)
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{
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return cvBoundingRect( point_set, update );
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}
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double cvPseudoInverse( const CvArr* src, CvArr* dst )
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{
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return cvInvert( src, dst, CV_SVD );
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}
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/* Calculates exact convex hull of 2d point set */
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void cvConvexHull( CvPoint* points, int num_points, CvRect*,
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int orientation, int* hull, int* hullsize )
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{
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CvMat points1 = cvMat( 1, num_points, CV_32SC2, points );
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CvMat hull1 = cvMat( 1, num_points, CV_32SC1, hull );
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cvConvexHull2( &points1, &hull1, orientation, 0 );
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*hullsize = hull1.cols;
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}
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void cvMinAreaRect( CvPoint* points, int n, int, int, int, int,
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CvPoint2D32f* anchor, CvPoint2D32f* vect1, CvPoint2D32f* vect2 )
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{
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CvMat mat = cvMat( 1, n, CV_32SC2, points );
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CvBox2D box = cvMinAreaRect2( &mat, 0 );
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CvPoint2D32f pt[4];
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cvBoxPoints( box, pt );
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*anchor = pt[0];
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vect1->x = pt[1].x - pt[0].x;
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vect1->y = pt[1].y - pt[0].y;
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vect2->x = pt[3].x - pt[0].x;
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vect2->y = pt[3].y - pt[0].y;
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}
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void cvFitLine3D( CvPoint3D32f* points, int count, int dist,
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void *param, float reps, float aeps, float* line )
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{
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CvMat mat = cvMat( 1, count, CV_32FC3, points );
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float _param = param != NULL ? *(float*)param : 0.f;
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assert( dist != CV_DIST_USER );
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cvFitLine( &mat, dist, _param, reps, aeps, line );
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}
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/* Fits a line into set of 2d points in a robust way (M-estimator technique) */
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void cvFitLine2D( CvPoint2D32f* points, int count, int dist,
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void *param, float reps, float aeps, float* line )
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{
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CvMat mat = cvMat( 1, count, CV_32FC2, points );
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float _param = param != NULL ? *(float*)param : 0.f;
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assert( dist != CV_DIST_USER );
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cvFitLine( &mat, dist, _param, reps, aeps, line );
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}
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void cvFitEllipse( const CvPoint2D32f* points, int count, CvBox2D* box )
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{
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CvMat mat = cvMat( 1, count, CV_32FC2, (void*)points );
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*box = cvFitEllipse2( &mat );
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}
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/* Projects 2d points to one of standard coordinate planes
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(i.e. removes one of coordinates) */
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void cvProject3D( CvPoint3D32f* points3D, int count,
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CvPoint2D32f* points2D, int xIndx, int yIndx)
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{
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CvMat src = cvMat( 1, count, CV_32FC3, points3D );
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CvMat dst = cvMat( 1, count, CV_32FC2, points2D );
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float m[6] = {0,0,0,0,0,0};
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CvMat M = cvMat( 2, 3, CV_32F, m );
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assert( (unsigned)xIndx < 3 && (unsigned)yIndx < 3 );
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m[xIndx] = m[yIndx+3] = 1.f;
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cvTransform( &src, &dst, &M, NULL );
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}
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int cvHoughLines( CvArr* image, double rho,
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double theta, int threshold,
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float* lines, int linesNumber )
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{
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CvMat linesMat = cvMat( 1, linesNumber, CV_32FC2, lines );
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cvHoughLines2( image, &linesMat, CV_HOUGH_STANDARD,
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rho, theta, threshold, 0, 0 );
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return linesMat.cols;
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}
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int cvHoughLinesP( CvArr* image, double rho,
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double theta, int threshold,
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int lineLength, int lineGap,
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int* lines, int linesNumber )
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{
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CvMat linesMat = cvMat( 1, linesNumber, CV_32SC4, lines );
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cvHoughLines2( image, &linesMat, CV_HOUGH_PROBABILISTIC,
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rho, theta, threshold, lineLength, lineGap );
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return linesMat.cols;
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}
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int cvHoughLinesSDiv( CvArr* image, double rho, int srn,
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double theta, int stn, int threshold,
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float* lines, int linesNumber )
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{
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CvMat linesMat = cvMat( 1, linesNumber, CV_32FC2, lines );
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cvHoughLines2( image, &linesMat, CV_HOUGH_MULTI_SCALE,
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rho, theta, threshold, srn, stn );
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return linesMat.cols;
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}
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float cvCalcEMD( const float* signature1, int size1, const float* signature2, int size2,
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int dims, int dist_type, CvDistanceFunction dist_func,
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float* lower_bound, void* user_param)
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{
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CvMat sign1 = cvMat( size1, dims + 1, CV_32FC1, (void*)signature1 );
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CvMat sign2 = cvMat( size2, dims + 1, CV_32FC1, (void*)signature2 );
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return cvCalcEMD2( &sign1, &sign2, dist_type, dist_func, 0, 0, lower_bound, user_param );
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}
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void cvKMeans( int num_clusters, float** samples,
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int num_samples, int vec_size,
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CvTermCriteria termcrit, int* cluster_idx )
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{
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CvMat* samples_mat = cvCreateMat( num_samples, vec_size, CV_32FC1 );
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CvMat cluster_idx_mat = cvMat( num_samples, 1, CV_32SC1, cluster_idx );
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int i;
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for( i = 0; i < num_samples; i++ )
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memcpy( samples_mat->data.fl + i*vec_size, samples[i], vec_size*sizeof(float));
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cvKMeans2( samples_mat, num_clusters, &cluster_idx_mat, termcrit, 1, 0, 0, 0, 0 );
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cvReleaseMat( &samples_mat );
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}
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void cvStartScanGraph( CvGraph* graph, CvGraphScanner* scanner,
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CvGraphVtx* vtx, int mask)
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{
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CvGraphScanner* temp_scanner;
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if( !scanner )
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cvError( CV_StsNullPtr, "cvStartScanGraph", "Null scanner pointer", "cvcompat.h", 0 );
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temp_scanner = cvCreateGraphScanner( graph, vtx, mask );
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*scanner = *temp_scanner;
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cvFree( &temp_scanner );
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}
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void cvEndScanGraph( CvGraphScanner* scanner )
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{
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if( !scanner )
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cvError( CV_StsNullPtr, "cvEndScanGraph", "Null scanner pointer", "cvcompat.h", 0 );
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if( scanner->stack )
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{
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CvGraphScanner* temp_scanner = (CvGraphScanner*)cvAlloc( sizeof(*temp_scanner) );
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*temp_scanner = *scanner;
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cvReleaseGraphScanner( &temp_scanner );
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memset( scanner, 0, sizeof(*scanner) );
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}
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}
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/* old drawing functions */
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void cvLineAA( CvArr* img, CvPoint pt1, CvPoint pt2, double color, int scale)
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{
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cvLine( img, pt1, pt2, cvColorToScalar(color, cvGetElemType(img)), 1, CV_AA, scale );
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}
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void cvCircleAA( CvArr* img, CvPoint center, int radius, double color, int scale)
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{
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cvCircle( img, center, radius, cvColorToScalar(color, cvGetElemType(img)), 1, CV_AA, scale );
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}
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void cvEllipseAA( CvArr* img, CvPoint center, CvSize axes,
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double angle, double start_angle,
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double end_angle, double color,
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int scale)
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{
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cvEllipse( img, center, axes, angle, start_angle, end_angle,
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cvColorToScalar(color, cvGetElemType(img)), 1, CV_AA, scale );
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}
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void cvPolyLineAA( CvArr* img, CvPoint** pts, int* npts, int contours,
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int is_closed, double color, int scale )
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{
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cvPolyLine( img, pts, npts, contours, is_closed,
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cvColorToScalar(color, cvGetElemType(img)),
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1, CV_AA, scale );
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}
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void cvUnDistortOnce( const CvArr* src, CvArr* dst,
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const float* intrinsic_matrix,
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const float* distortion_coeffs,
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int )
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{
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CvMat _a = cvMat( 3, 3, CV_32F, (void*)intrinsic_matrix );
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CvMat _k = cvMat( 4, 1, CV_32F, (void*)distortion_coeffs );
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cvUndistort2( src, dst, &_a, &_k, 0 );
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}
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/* the two functions below have quite hackerish implementations, use with care
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(or, which is better, switch to cvUndistortInitMap and cvRemap instead */
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void cvUnDistortInit( const CvArr*,
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CvArr* undistortion_map,
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const float* A, const float* k,
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int)
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{
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union { uchar* ptr; float* fl; } data;
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CvSize sz;
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cvGetRawData( undistortion_map, &data.ptr, 0, &sz );
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assert( sz.width >= 8 );
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/* just save the intrinsic parameters to the map */
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data.fl[0] = A[0]; data.fl[1] = A[4];
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data.fl[2] = A[2]; data.fl[3] = A[5];
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data.fl[4] = k[0]; data.fl[5] = k[1];
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data.fl[6] = k[2]; data.fl[7] = k[3];
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}
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void cvUnDistort( const CvArr* src, CvArr* dst,
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const CvArr* undistortion_map, int )
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{
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union { uchar* ptr; float* fl; } data;
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float a[] = {0,0,0,0,0,0,0,0,1};
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CvSize sz;
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cvGetRawData( undistortion_map, &data.ptr, 0, &sz );
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assert( sz.width >= 8 );
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a[0] = data.fl[0]; a[4] = data.fl[1];
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a[2] = data.fl[2]; a[5] = data.fl[3];
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cvUnDistortOnce( src, dst, a, data.fl + 4, 1 );
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}
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/* Find fundamental matrix */
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void cvFindFundamentalMatrix( int* points1, int* points2, int numpoints, int, float* matrix )
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|
{
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|
CvMat* pointsMat1;
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CvMat* pointsMat2;
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CvMat fundMatr = cvMat(3,3,CV_32F,matrix);
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int i, curr = 0;
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pointsMat1 = cvCreateMat(3,numpoints,CV_64F);
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pointsMat2 = cvCreateMat(3,numpoints,CV_64F);
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|
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for( i = 0; i < numpoints; i++ )
|
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{
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cvmSet(pointsMat1,0,i,points1[curr]);//x
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cvmSet(pointsMat1,1,i,points1[curr+1]);//y
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cvmSet(pointsMat1,2,i,1.0);
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cvmSet(pointsMat2,0,i,points2[curr]);//x
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cvmSet(pointsMat2,1,i,points2[curr+1]);//y
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cvmSet(pointsMat2,2,i,1.0);
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curr += 2;
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}
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cvFindFundamentalMat(pointsMat1,pointsMat2,&fundMatr,CV_FM_RANSAC,1,0.99,0);
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|
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cvReleaseMat(&pointsMat1);
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cvReleaseMat(&pointsMat2);
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|
}
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|
|
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|
int cvFindChessBoardCornerGuesses( const void* arr, void*,
|
|
CvMemStorage*, CvSize pattern_size,
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|
CvPoint2D32f* corners, int* corner_count )
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|
{
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|
return cvFindChessboardCorners( arr, pattern_size, corners,
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|
corner_count, CV_CALIB_CB_ADAPTIVE_THRESH );
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}
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|
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|
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/* Calibrates camera using multiple views of calibration pattern */
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void cvCalibrateCamera( int image_count, int* _point_counts,
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|
CvSize image_size, CvPoint2D32f* _image_points, CvPoint3D32f* _object_points,
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|
float* _distortion_coeffs, float* _camera_matrix, float* _translation_vectors,
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|
float* _rotation_matrices, int flags )
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|
{
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|
int i, total = 0;
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|
CvMat point_counts = cvMat( image_count, 1, CV_32SC1, _point_counts );
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|
CvMat image_points, object_points;
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|
CvMat dist_coeffs = cvMat( 4, 1, CV_32FC1, _distortion_coeffs );
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|
CvMat camera_matrix = cvMat( 3, 3, CV_32FC1, _camera_matrix );
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|
CvMat rotation_matrices = cvMat( image_count, 9, CV_32FC1, _rotation_matrices );
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|
CvMat translation_vectors = cvMat( image_count, 3, CV_32FC1, _translation_vectors );
|
|
|
|
for( i = 0; i < image_count; i++ )
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|
total += _point_counts[i];
|
|
|
|
image_points = cvMat( total, 1, CV_32FC2, _image_points );
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|
object_points = cvMat( total, 1, CV_32FC3, _object_points );
|
|
|
|
cvCalibrateCamera2( &object_points, &image_points, &point_counts, image_size,
|
|
&camera_matrix, &dist_coeffs, &rotation_matrices, &translation_vectors,
|
|
flags );
|
|
}
|
|
|
|
|
|
void cvCalibrateCamera_64d( int image_count, int* _point_counts,
|
|
CvSize image_size, CvPoint2D64f* _image_points, CvPoint3D64f* _object_points,
|
|
double* _distortion_coeffs, double* _camera_matrix, double* _translation_vectors,
|
|
double* _rotation_matrices, int flags )
|
|
{
|
|
int i, total = 0;
|
|
CvMat point_counts = cvMat( image_count, 1, CV_32SC1, _point_counts );
|
|
CvMat image_points, object_points;
|
|
CvMat dist_coeffs = cvMat( 4, 1, CV_64FC1, _distortion_coeffs );
|
|
CvMat camera_matrix = cvMat( 3, 3, CV_64FC1, _camera_matrix );
|
|
CvMat rotation_matrices = cvMat( image_count, 9, CV_64FC1, _rotation_matrices );
|
|
CvMat translation_vectors = cvMat( image_count, 3, CV_64FC1, _translation_vectors );
|
|
|
|
for( i = 0; i < image_count; i++ )
|
|
total += _point_counts[i];
|
|
|
|
image_points = cvMat( total, 1, CV_64FC2, _image_points );
|
|
object_points = cvMat( total, 1, CV_64FC3, _object_points );
|
|
|
|
cvCalibrateCamera2( &object_points, &image_points, &point_counts, image_size,
|
|
&camera_matrix, &dist_coeffs, &rotation_matrices, &translation_vectors,
|
|
flags );
|
|
}
|
|
|
|
|
|
|
|
/* Find 3d position of object given intrinsic camera parameters,
|
|
3d model of the object and projection of the object into view plane */
|
|
void cvFindExtrinsicCameraParams( int point_count,
|
|
CvSize, CvPoint2D32f* _image_points,
|
|
CvPoint3D32f* _object_points, float* focal_length,
|
|
CvPoint2D32f principal_point, float* _distortion_coeffs,
|
|
float* _rotation_vector, float* _translation_vector )
|
|
{
|
|
CvMat image_points = cvMat( point_count, 1, CV_32FC2, _image_points );
|
|
CvMat object_points = cvMat( point_count, 1, CV_32FC3, _object_points );
|
|
CvMat dist_coeffs = cvMat( 4, 1, CV_32FC1, _distortion_coeffs );
|
|
float a[9];
|
|
CvMat camera_matrix = cvMat( 3, 3, CV_32FC1, a );
|
|
CvMat rotation_vector = cvMat( 1, 1, CV_32FC3, _rotation_vector );
|
|
CvMat translation_vector = cvMat( 1, 1, CV_32FC3, _translation_vector );
|
|
|
|
a[0] = focal_length[0]; a[4] = focal_length[1];
|
|
a[2] = principal_point.x; a[5] = principal_point.y;
|
|
a[1] = a[3] = a[6] = a[7] = 0.f;
|
|
a[8] = 1.f;
|
|
|
|
cvFindExtrinsicCameraParams2( &object_points, &image_points, &camera_matrix,
|
|
&dist_coeffs, &rotation_vector, &translation_vector, 0 );
|
|
}
|
|
|
|
|
|
/* Variant of the previous function that takes double-precision parameters */
|
|
void cvFindExtrinsicCameraParams_64d( int point_count,
|
|
CvSize, CvPoint2D64f* _image_points,
|
|
CvPoint3D64f* _object_points, double* focal_length,
|
|
CvPoint2D64f principal_point, double* _distortion_coeffs,
|
|
double* _rotation_vector, double* _translation_vector )
|
|
{
|
|
CvMat image_points = cvMat( point_count, 1, CV_64FC2, _image_points );
|
|
CvMat object_points = cvMat( point_count, 1, CV_64FC3, _object_points );
|
|
CvMat dist_coeffs = cvMat( 4, 1, CV_64FC1, _distortion_coeffs );
|
|
double a[9];
|
|
CvMat camera_matrix = cvMat( 3, 3, CV_64FC1, a );
|
|
CvMat rotation_vector = cvMat( 1, 1, CV_64FC3, _rotation_vector );
|
|
CvMat translation_vector = cvMat( 1, 1, CV_64FC3, _translation_vector );
|
|
|
|
a[0] = focal_length[0]; a[4] = focal_length[1];
|
|
a[2] = principal_point.x; a[5] = principal_point.y;
|
|
a[1] = a[3] = a[6] = a[7] = 0.;
|
|
a[8] = 1.;
|
|
|
|
cvFindExtrinsicCameraParams2( &object_points, &image_points, &camera_matrix,
|
|
&dist_coeffs, &rotation_vector, &translation_vector, 0 );
|
|
}
|
|
|
|
/* Converts rotation_matrix matrix to rotation_matrix vector or vice versa */
|
|
void cvRodrigues( CvMat* rotation_matrix, CvMat* rotation_vector,
|
|
CvMat* jacobian, int conv_type )
|
|
{
|
|
if( conv_type == CV_RODRIGUES_V2M )
|
|
cvRodrigues2( rotation_vector, rotation_matrix, jacobian );
|
|
else
|
|
cvRodrigues2( rotation_matrix, rotation_vector, jacobian );
|
|
}
|
|
|
|
|
|
/* Does reprojection of 3d object points to the view plane */
|
|
void cvProjectPoints( int point_count, CvPoint3D64f* _object_points,
|
|
double* _rotation_vector, double* _translation_vector,
|
|
double* focal_length, CvPoint2D64f principal_point,
|
|
double* _distortion, CvPoint2D64f* _image_points,
|
|
double* _deriv_points_rotation_matrix,
|
|
double* _deriv_points_translation_vect,
|
|
double* _deriv_points_focal,
|
|
double* _deriv_points_principal_point,
|
|
double* _deriv_points_distortion_coeffs )
|
|
{
|
|
CvMat object_points = cvMat( point_count, 1, CV_64FC3, _object_points );
|
|
CvMat image_points = cvMat( point_count, 1, CV_64FC2, _image_points );
|
|
CvMat rotation_vector = cvMat( 3, 1, CV_64FC1, _rotation_vector );
|
|
CvMat translation_vector = cvMat( 3, 1, CV_64FC1, _translation_vector );
|
|
double a[9];
|
|
CvMat camera_matrix = cvMat( 3, 3, CV_64FC1, a );
|
|
CvMat dist_coeffs = cvMat( 4, 1, CV_64FC1, _distortion );
|
|
CvMat dpdr = cvMat( 2*point_count, 3, CV_64FC1, _deriv_points_rotation_matrix );
|
|
CvMat dpdt = cvMat( 2*point_count, 3, CV_64FC1, _deriv_points_translation_vect );
|
|
CvMat dpdf = cvMat( 2*point_count, 2, CV_64FC1, _deriv_points_focal );
|
|
CvMat dpdc = cvMat( 2*point_count, 2, CV_64FC1, _deriv_points_principal_point );
|
|
CvMat dpdk = cvMat( 2*point_count, 4, CV_64FC1, _deriv_points_distortion_coeffs );
|
|
|
|
a[0] = focal_length[0]; a[4] = focal_length[1];
|
|
a[2] = principal_point.x; a[5] = principal_point.y;
|
|
a[1] = a[3] = a[6] = a[7] = 0.;
|
|
a[8] = 1.;
|
|
|
|
cvProjectPoints2( &object_points, &rotation_vector, &translation_vector,
|
|
&camera_matrix, &dist_coeffs, &image_points,
|
|
&dpdr, &dpdt, &dpdf, &dpdc, &dpdk, 0 );
|
|
}
|
|
|
|
|
|
/* Simpler version of the previous function */
|
|
void cvProjectPointsSimple( int point_count, CvPoint3D64f* _object_points,
|
|
double* _rotation_matrix, double* _translation_vector,
|
|
double* _camera_matrix, double* _distortion, CvPoint2D64f* _image_points )
|
|
{
|
|
CvMat object_points = cvMat( point_count, 1, CV_64FC3, _object_points );
|
|
CvMat image_points = cvMat( point_count, 1, CV_64FC2, _image_points );
|
|
CvMat rotation_matrix = cvMat( 3, 3, CV_64FC1, _rotation_matrix );
|
|
CvMat translation_vector = cvMat( 3, 1, CV_64FC1, _translation_vector );
|
|
CvMat camera_matrix = cvMat( 3, 3, CV_64FC1, _camera_matrix );
|
|
CvMat dist_coeffs = cvMat( 4, 1, CV_64FC1, _distortion );
|
|
|
|
cvProjectPoints2( &object_points, &rotation_matrix, &translation_vector,
|
|
&camera_matrix, &dist_coeffs, &image_points,
|
|
0, 0, 0, 0, 0, 0 );
|
|
}
|