static Mat getTransformedImg(GMatrix m, Mat mat)
{
return(netCvLib.calib3d.Calib.TransformImg(m.To2DArray(), mat));
//var size = mat.Size;
//Mat tm = new Mat();
//Matrix<double> tranMat = new Matrix<double>(m.To2DArray());
//CvInvoke.WarpPerspective(mat, tm, tranMat, size);
//return tm;
}
public Bitmap TransformBmp(Bitmap bmp, GMatrix ma)
{
Bitmap outBmp = new Bitmap(bmp);
using (var g = Graphics.FromImage(outBmp))
{
g.Clear(System.Drawing.Color.White);
}
//for (int y = 0; y < bmp.Height; y++)
//{
// for (int x = 0; x < bmp.Width; x++)
// {
// var pix = bmp.GetPixel(x, y);
// var res = m.dot(new GMatrix(new double[] { x, y, 1 }, 3, 1));
// var zt = res.storage[2][0];
// var xt = res.storage[0][0] / zt;
// var yt = res.storage[1][0] / zt;
// if (xt > 0 && yt > 0)
// {
// if (xt < bmp.Width && yt < bmp.Height)
// {
// outBmp.SetPixel((int)xt, (int)yt, pix);
// }
// }
// }
//}
var mi = GMatrix.Inverse3x3(ma);
for (int y = 0; y < bmp.Height; y++)
{
for (int x = 0; x < bmp.Width; x++)
{
var res = mi.dot(new GMatrix(new double[] { x, y, 1 }, 3, 1));
var zt = res.storage[2][0];
var xt = (int)(res.storage[0][0] / zt);
var yt = (int)(res.storage[1][0] / zt);
if (xt > 0 && yt > 0 && xt < bmp.Width && yt < bmp.Height)
{
var pix = bmp.GetPixel(xt, yt);
outBmp.SetPixel(x, y, pix);
}
}
}
return(outBmp);
}
private LineSlop GetEpLineABC(PointFloat pts, PointSide side, GMatrix f)
{
if (side == PointSide.Right)
{
f = f.tranpose();
}
var gm = f.dot(new GMatrix(new double[3, 1] {
{ pts.X }, { pts.Y }, { 1 }
}));
var ms = gm.storage;
var a = ms[0][0];
var b = ms[1][0];
var c = ms[2][0];
return(new LineSlop(a, b, c));
}
public void DrawMatrix(Texture p_texture, BlendMode p_srcBlendMode, BlendMode p_dstBlendMode, GMatrix p_matrix,
float p_red, float p_green, float p_blue, float p_alpha, float p_u, float p_v, float p_uScale, float p_vScale,
float p_textureWidth, float p_textureHeight, float p_texturePivotX, float p_texturePivotY, IGNativeUnityFilter p_filter)
{
if (!Object.ReferenceEquals(_lastTexture, p_texture) || p_srcBlendMode != _lastSrcBlendMode || p_dstBlendMode != _lastDstBlendMode || _renderType != 1 || _lastFilter != p_filter)
{
if (_lastTexture)
{
FlushRenderer();
}
Mesh mesh = _meshes[_currentBatchIndex];
Material material = (p_filter == null) ? _defaultMaterial : p_filter.getMaterial();
_lastFilter = p_filter;
if (_lastFilter != null)
{
_lastFilter.bind();
}
material.mainTexture = p_texture;
_lastTexture = p_texture;
material.SetInt("BlendSrcMode", (int)p_srcBlendMode);
material.SetInt("BlendDstMode", (int)p_dstBlendMode);
_lastSrcBlendMode = p_srcBlendMode;
_lastDstBlendMode = p_dstBlendMode;
_renderType = 1;
}
float tx;
float ty;
int vertexIndex = _quadIndex * 4;
tx = -p_textureWidth / 2 - p_texturePivotX;
ty = -p_textureHeight / 2 - p_texturePivotY;
_vertices[vertexIndex].x = (float)(p_matrix.a * tx + p_matrix.c * ty + p_matrix.tx);
_vertices[vertexIndex].y = (float)(p_matrix.b * tx + p_matrix.d * ty + p_matrix.ty);
_uvs[vertexIndex].x = p_u;
_uvs[vertexIndex].y = 1 - p_v;
_colors[vertexIndex].r = p_red;
_colors[vertexIndex].g = p_green;
_colors[vertexIndex].b = p_blue;
_colors[vertexIndex].a = p_alpha;
tx = -p_textureWidth / 2 - p_texturePivotX;
ty = p_textureHeight / 2 - p_texturePivotY;
vertexIndex++;
_vertices[vertexIndex].x = (float)(p_matrix.a * tx + p_matrix.c * ty + p_matrix.tx);
_vertices[vertexIndex].y = (float)(p_matrix.b * tx + p_matrix.d * ty + p_matrix.ty);
_uvs[vertexIndex].x = p_u;
_uvs[vertexIndex].y = 1 - (p_v + p_vScale);
_colors[vertexIndex].r = p_red;
_colors[vertexIndex].g = p_green;
_colors[vertexIndex].b = p_blue;
_colors[vertexIndex].a = p_alpha;
tx = p_textureWidth / 2 - p_texturePivotX;
ty = p_textureHeight / 2 - p_texturePivotY;
vertexIndex++;
_vertices[vertexIndex].x = (float)(p_matrix.a * tx + p_matrix.c * ty + p_matrix.tx);
_vertices[vertexIndex].y = (float)(p_matrix.b * tx + p_matrix.d * ty + p_matrix.ty);
_uvs[vertexIndex].x = p_u + p_uScale;
_uvs[vertexIndex].y = 1 - (p_v + p_vScale);
_colors[vertexIndex].r = p_red;
_colors[vertexIndex].g = p_green;
_colors[vertexIndex].b = p_blue;
_colors[vertexIndex].a = p_alpha;
tx = p_textureWidth / 2 - p_texturePivotX;
ty = -p_textureHeight / 2 - p_texturePivotY;
vertexIndex++;
_vertices[vertexIndex].x = (float)(p_matrix.a * tx + p_matrix.c * ty + p_matrix.tx);
_vertices[vertexIndex].y = (float)(p_matrix.b * tx + p_matrix.d * ty + p_matrix.ty);
_uvs[vertexIndex].x = p_u + p_uScale;
_uvs[vertexIndex].y = 1 - p_v;
_colors[vertexIndex].r = p_red;
_colors[vertexIndex].g = p_green;
_colors[vertexIndex].b = p_blue;
_colors[vertexIndex].a = p_alpha;
_quadIndex++;
if (_quadIndex >= _maxBatchSize)
{
FlushRenderer();
}
}
static void Main(string[] args)
{
//TestData();
//return;
double[] A = new double[]
{
1, 1, 2,
3, 2, 1,
4, 2, 1,
};
var jres = JacobSvd.JacobiSVD(new GMatrix(A, 3, 3));
GMatrix s = jres.getWMat();
//new GMatrix(new double[] {
// jres.W[0], 0 ,0,
// 0, jres.W[1], 0,
// 0,0,jres.W[2]
//}, 3, 3);
//Console.WriteLine("U");
//Console.WriteLine(jres.U);
//Console.WriteLine(jres.U.dot(jres.U.tranpose()));
//Console.WriteLine("S");
//Console.WriteLine(s);
//Console.WriteLine("V");
//Console.WriteLine(jres.Vt);
//Console.WriteLine(jres.Vt.dot(jres.Vt.tranpose()));
//Console.WriteLine(jres.U.dot(s).dot(jres.Vt));
//return;
//var r = new GMatrix(new double[,] { { 1, 2 }, { 3, 4 } , { 1, 1 } }).cross(new GMatrix(new double[,] { { 1, 1 ,1}, { 3, 4 ,1} }));
//Console.WriteLine(r);
//new Calib().Calc(new PointF[] {
// new Point(1,2),
// new Point(3,4),
// new Point(5,4),
// new Point(6,4),
// new Point(7,4),
// new Point(8,4),
// new Point(9,4),
// new Point(10,4),
// new Point(11,4),
// new Point(12,4),
// new Point(13,4),
// new Point(14,4),
//},
//new PointF[] {
// new Point(1,2),
// new Point(3,4),
// new Point(3,4),
// new Point(3,4),
// new Point(3,4),
// new Point(3,4),
// new Point(3,4),
// new Point(3,4),
// new Point(3,4),
// new Point(3,4),
// new Point(3,4),
// new Point(3,4),
//}
//);
var lines = File.ReadAllLines(saveFileName_corners);
var resa = stringToCorner(lines);
for (int i = 0; i < 10; i++)
{
var res = Calib.CalcFundm(resa[0][i], resa[1][i]);
Console.WriteLine(res);
}
Console.WriteLine(Calib.CalcFundm(resa[0].Take(10).SelectMany(x => x).ToArray(), resa[1].Take(10).SelectMany(x => x).ToArray()));
Console.WriteLine("\nHomo\n");
for (int i = 0; i < 10; i++)
{
var res = Calib.EstimateHomography(resa[0][i]);
Console.WriteLine(res);
var res2 = Calib.EstimateHomography(resa[1][i]);
Console.WriteLine(res2);
Console.WriteLine("====================================");
}
var intrinc1 = Calib.EstimateIntranics(resa[0]);
Console.WriteLine("==================================== INCTRINS 1");
Console.WriteLine(intrinc1);
var intrinc2 = Calib.EstimateIntranics(resa[1]);
Console.WriteLine("==================================== INCTRINS 2");
Console.WriteLine(intrinc2);
}
public MainWindow()
{
InitializeComponent();
var al = new List <PointFloat>();
var ar = new List <PointFloat>();
List <StereoPoints> allPts = new List <StereoPoints>();
PointFloat imgSize = null;
foreach (var iii in images)
{
var left = CvInvoke.Imread($"{imageDir}\\Left_{iii}.jpg");
imgSize = new PointFloat(left.Width, left.Height);
var right = CvInvoke.Imread($"{imageDir}\\Right_{iii}.jpg");
var corl = convertToPF(netCvLib.calib3d.Calib.findConers(left.ToImage <Gray, Byte>()));
al.AddRange(corl);
var corr = convertToPF(netCvLib.calib3d.Calib.findConers(right.ToImage <Gray, Byte>()));
ar.AddRange(corr);
allPts.Add(new StereoPoints {
Left = corl, Right = corr
});
File.WriteAllLines($"{imageDir}\\Left_{iii}.txt", cornerToString(corl));
File.WriteAllLines($"{imageDir}\\Right_{iii}.txt", cornerToString(corr));
var ff = com.veda.LinearAlg.Calib.CalcFundm((corl), (corr));
//Console.WriteLine(ff);
}
Console.WriteLine("F");
F = com.veda.LinearAlg.Calib.CalcFundm(al.ToArray(), ar.ToArray());
Console.WriteLine(F);
calres = CalibRect.Rectify(allPts, imgSize);
Console.WriteLine("Callres");
Console.WriteLine(calres.F);
Console.WriteLine(calres.el.X.ToString("0.00") + " " + calres.el.Y.ToString("0.00"));
Console.WriteLine(calres.LeftIntrinics);
Console.WriteLine(calres.RightIntrinics);
Console.WriteLine(calres.H1);
Console.WriteLine(calres.H2);
Console.WriteLine("E");
Console.WriteLine(calres.E);
var rtl = calres.GetRT(calres.E);
Console.WriteLine("RT from left");
Console.WriteLine(rtl.R);
Console.WriteLine(rtl.T);
who = 0;
imgSelFunc();
for (int i = 0; i < cbs.Length; i++)
{
var cb = new CheckBox();
cb.Name = "chkEpl_" + i;
cb.IsChecked = false;
cb.Checked += Cb_Checked;
cb.Unchecked += Cb_Checked;
cbs[i] = cb;
onChecks[i] = false;
}
foreach (var cb in cbs)
{
stkEpoles.Children.Add(cb);
}
}
