public void FishEyeCalibrate()
{
var patternSize = new Size(10, 7);
using (var image = Image("calibration/00.jpg"))
using (var corners = new MatOfPoint2f())
{
Cv2.FindChessboardCorners(image, patternSize, corners);
var objectPointsArray = Create3DChessboardCorners(patternSize, 1.0f).ToArray();
var imagePointsArray = corners.ToArray();
using (var objectPoints = MatOfPoint3f.FromArray(objectPointsArray))
using (var imagePoints = MatOfPoint2f.FromArray(imagePointsArray))
using (var cameraMatrix = new MatOfDouble(Mat.Eye(3, 3, MatType.CV_64FC1)))
using (var distCoeffs = new MatOfDouble())
{
var rms = Cv2.FishEye.Calibrate(new[] { objectPoints }, new[] { imagePoints }, image.Size(), cameraMatrix,
distCoeffs, out var rotationVectors, out var translationVectors,
FishEyeCalibrationFlags.None);
var distCoeffValues = distCoeffs.ToArray();
Assert.Equal(55.15, rms, 2);
Assert.Contains(distCoeffValues, d => Math.Abs(d) > 1e-20);
Assert.NotEmpty(rotationVectors);
Assert.NotEmpty(translationVectors);
}
}
}
public void Compute()
{
using (var model = ColorMomentHash.Create())
using (var img = Image("lenna.png"))
using (var hash = new MatOfDouble())
{
model.Compute(img, hash);
Assert.Equal(1, hash.Rows);
Assert.Equal(42, hash.Cols);
Assert.Equal(MatType.CV_64FC1, hash.Type());
var hashArray = hash.ToArray();
Assert.Equal(
new double[]
{
0.00168799895166844, 9.73548985026306E-09, 7.12008515499876E-12, 1.58206172228354E-10,
5.28813826840171E-21, 1.29337857065483E-14, 4.79075399951684E-22, 0.00128609224067447,
9.52599959124291E-10, 3.93698021400622E-12, 7.14400696815386E-12, 3.78255159833954E-23,
1.97733914733847E-16, 2.16399836659832E-24, 0.000922260536104536, 3.65830493343832E-09,
7.661707706699E-13, 1.19445875901408E-12, -1.12767845932483E-24, -5.93217692337658E-17,
-1.84467412783745E-25, 0.00132500752122349, 9.11756797244743E-09, 3.34535518270916E-12,
9.874171040899E-12, 1.58987320234562E-25, -9.15629498603106E-16, 5.67505900918754E-23,
0.000996616840904085, 1.90986702741479E-10, 1.81929041195046E-13, 1.60689960736751E-13,
-2.7254690880086E-26, 1.04487497633728E-18, -3.47059704207128E-27, 0.00139981947147226,
2.27201044977745E-09, 4.41887540236722E-13, 7.28673251542401E-13, -4.09431968883588E-25,
3.10909057900972E-17, -5.77204894690052E-26
},
hashArray, new DoubleEqualityComparer(1E-12));
}
}
public void Compute()
{
using (var model = ColorMomentHash.Create())
using (var img = Image("lenna.png"))
using (var hash = new MatOfDouble())
{
model.Compute(img, hash);
Assert.Equal(1, hash.Rows);
Assert.Equal(42, hash.Cols);
Assert.Equal(MatType.CV_64FC1, hash.Type());
var hashArray = hash.ToArray();
Assert.Equal(
new double[] {
0.00168819565895133, 9.69274323413482E-09, 7.15987637898653E-12, 1.58221230845821E-10, 5.30132640226369E-21, 1.29174445409783E-14,
5.05488594422795E-22, 0.00128582879665923, 9.54461083144018E-10, 3.93406825147193E-12, 7.14101055135503E-12, 3.77862605260528E-23,
1.97867503074794E-16, 2.18751322086428E-24, 0.000922420923231133, 3.66078199965787E-09, 7.66904362623121E-13, 1.19544776529889E-12,
-1.12961325893555E-24, -5.93904771577414E-17, -1.84824480251793E-25, 0.00132532781142086, 9.1266053151516E-09, 3.35010536084133E-12,
9.88703855128973E-12, 1.52916239933584E-25, -9.17283073278845E-16, 5.69019311750733E-23, 0.00099662162473446, 1.90988729313945E-10,
1.81949836361996E-13, 1.60681443129224E-13, -2.72531646791605E-26, 1.04472248518881E-18, -3.4777107678675E-27, 0.00139982088736603,
2.27107975098039E-09, 4.41840703628873E-13, 7.2892000615472E-13, -4.0962177932807E-25, 3.10975156243194E-17, -5.77217024628191E-26
},
hashArray, new DoubleEqualityComparer(1E-12));
}
}
/// <summary>
/// converts rotation matrix to rotation vector using Rodrigues transformation
/// </summary>
/// <param name="matrix">Input rotation matrix (3x3).</param>
/// <param name="vector">Output rotation vector (3x1).</param>
/// <param name="jacobian">Optional output Jacobian matrix, 3x9, which is a matrix of partial derivatives of the output array components with respect to the input array components.</param>
public static void Rodrigues(double[,] matrix, out double[] vector, out double[,] jacobian)
{
if (matrix == null)
throw new ArgumentNullException("matrix");
if (matrix.GetLength(0) != 3 || matrix.GetLength(1) != 3)
throw new ArgumentException("matrix must be double[3,3]");
using (var matrixM = new Mat(3, 3, MatType.CV_64FC1, matrix))
using (var vectorM = new MatOfDouble())
using (var jacobianM = new MatOfDouble())
{
NativeMethods.calib3d_Rodrigues_MatToVec(matrixM.CvPtr, vectorM.CvPtr, jacobianM.CvPtr);
vector = vectorM.ToArray();
jacobian = jacobianM.ToRectangularArray();
}
}
/// <summary>
/// composes 2 [R|t] transformations together. Also computes the derivatives of the result w.r.t the arguments
/// </summary>
/// <param name="rvec1">First rotation vector.</param>
/// <param name="tvec1">First translation vector.</param>
/// <param name="rvec2">Second rotation vector.</param>
/// <param name="tvec2">Second translation vector.</param>
/// <param name="rvec3">Output rotation vector of the superposition.</param>
/// <param name="tvec3">Output translation vector of the superposition.</param>
/// <param name="dr3dr1">Optional output derivatives of rvec3 or tvec3 with regard to rvec1, rvec2, tvec1 and tvec2, respectively.</param>
/// <param name="dr3dt1">Optional output derivatives of rvec3 or tvec3 with regard to rvec1, rvec2, tvec1 and tvec2, respectively.</param>
/// <param name="dr3dr2">Optional output derivatives of rvec3 or tvec3 with regard to rvec1, rvec2, tvec1 and tvec2, respectively.</param>
/// <param name="dr3dt2">Optional output derivatives of rvec3 or tvec3 with regard to rvec1, rvec2, tvec1 and tvec2, respectively.</param>
/// <param name="dt3dr1">Optional output derivatives of rvec3 or tvec3 with regard to rvec1, rvec2, tvec1 and tvec2, respectively.</param>
/// <param name="dt3dt1">Optional output derivatives of rvec3 or tvec3 with regard to rvec1, rvec2, tvec1 and tvec2, respectively.</param>
/// <param name="dt3dr2">Optional output derivatives of rvec3 or tvec3 with regard to rvec1, rvec2, tvec1 and tvec2, respectively.</param>
/// <param name="dt3dt2">Optional output derivatives of rvec3 or tvec3 with regard to rvec1, rvec2, tvec1 and tvec2, respectively.</param>
public static void ComposeRT(double[] rvec1, double[] tvec1,
double[] rvec2, double[] tvec2,
out double[] rvec3, out double[] tvec3,
out double[,] dr3dr1, out double[,] dr3dt1,
out double[,] dr3dr2, out double[,] dr3dt2,
out double[,] dt3dr1, out double[,] dt3dt1,
out double[,] dt3dr2, out double[,] dt3dt2)
{
if (rvec1 == null)
throw new ArgumentNullException("rvec1");
if (tvec1 == null)
throw new ArgumentNullException("tvec1");
if (rvec2 == null)
throw new ArgumentNullException("rvec2");
if (tvec2 == null)
throw new ArgumentNullException("tvec2");
using (var rvec1M = new Mat(3, 1, MatType.CV_64FC1, rvec1))
using (var tvec1M = new Mat(3, 1, MatType.CV_64FC1, tvec1))
using (var rvec2M = new Mat(3, 1, MatType.CV_64FC1, rvec2))
using (var tvec2M = new Mat(3, 1, MatType.CV_64FC1, tvec2))
using (var rvec3M = new MatOfDouble())
using (var tvec3M = new MatOfDouble())
using (var dr3dr1M = new MatOfDouble())
using (var dr3dt1M = new MatOfDouble())
using (var dr3dr2M = new MatOfDouble())
using (var dr3dt2M = new MatOfDouble())
using (var dt3dr1M = new MatOfDouble())
using (var dt3dt1M = new MatOfDouble())
using (var dt3dr2M = new MatOfDouble())
using (var dt3dt2M = new MatOfDouble())
{
NativeMethods.calib3d_composeRT_Mat(rvec1M.CvPtr, tvec1M.CvPtr, rvec2M.CvPtr, tvec2M.CvPtr,
rvec3M.CvPtr, tvec3M.CvPtr,
dr3dr1M.CvPtr, dr3dt1M.CvPtr, dr3dr2M.CvPtr, dr3dt2M.CvPtr,
dt3dr1M.CvPtr, dt3dt1M.CvPtr, dt3dr2M.CvPtr, dt3dt2M.CvPtr);
rvec3 = rvec3M.ToArray();
tvec3 = tvec3M.ToArray();
dr3dr1 = dr3dr1M.ToRectangularArray();
dr3dt1 = dr3dt1M.ToRectangularArray();
dr3dr2 = dr3dr2M.ToRectangularArray();
dr3dt2 = dr3dt2M.ToRectangularArray();
dt3dr1 = dt3dr1M.ToRectangularArray();
dt3dt1 = dt3dt1M.ToRectangularArray();
dt3dr2 = dt3dr2M.ToRectangularArray();
dt3dt2 = dt3dt2M.ToRectangularArray();
}
}
/// <summary>
/// Decomposes the projection matrix into camera matrix and the rotation martix and the translation vector
/// </summary>
/// <param name="projMatrix">3x4 input projection matrix P.</param>
/// <param name="cameraMatrix">Output 3x3 camera matrix K.</param>
/// <param name="rotMatrix">Output 3x3 external rotation matrix R.</param>
/// <param name="transVect">Output 4x1 translation vector T.</param>
/// <param name="rotMatrixX">Optional 3x3 rotation matrix around x-axis.</param>
/// <param name="rotMatrixY">Optional 3x3 rotation matrix around y-axis.</param>
/// <param name="rotMatrixZ">Optional 3x3 rotation matrix around z-axis.</param>
/// <param name="eulerAngles">ptional three-element vector containing three Euler angles of rotation in degrees.</param>
public static void DecomposeProjectionMatrix(double[,] projMatrix,
out double[,] cameraMatrix,
out double[,] rotMatrix,
out double[] transVect,
out double[,] rotMatrixX,
out double[,] rotMatrixY,
out double[,] rotMatrixZ,
out double[] eulerAngles)
{
if (projMatrix == null)
throw new ArgumentNullException("projMatrix");
int dim0 = projMatrix.GetLength(0);
int dim1 = projMatrix.GetLength(1);
if (!((dim0 == 3 && dim1 == 4) || (dim0 == 4 && dim1 == 3)))
throw new ArgumentException("projMatrix must be double[3,4] or double[4,3]");
using (var projMatrixM = new Mat(3, 4, MatType.CV_64FC1, projMatrix))
using (var cameraMatrixM = new MatOfDouble())
using (var rotMatrixM = new MatOfDouble())
using (var transVectM = new MatOfDouble())
using (var rotMatrixXM = new MatOfDouble())
using (var rotMatrixYM = new MatOfDouble())
using (var rotMatrixZM = new MatOfDouble())
using (var eulerAnglesM = new MatOfDouble())
{
NativeMethods.calib3d_decomposeProjectionMatrix_Mat(
projMatrixM.CvPtr,
cameraMatrixM.CvPtr, rotMatrixM.CvPtr, transVectM.CvPtr,
rotMatrixXM.CvPtr, rotMatrixYM.CvPtr, rotMatrixZM.CvPtr,
eulerAnglesM.CvPtr);
cameraMatrix = cameraMatrixM.ToRectangularArray();
rotMatrix = rotMatrixM.ToRectangularArray();
transVect = transVectM.ToArray();
rotMatrixX = rotMatrixXM.ToRectangularArray();
rotMatrixY = rotMatrixYM.ToRectangularArray();
rotMatrixZ = rotMatrixZM.ToRectangularArray();
eulerAngles = eulerAnglesM.ToArray();
}
}
