/// <summary>
/// 获得3*3相机内参矩阵
/// </summary>
//
public ME GetIntrinsicMatrix()
{
ME intrinsicMatrix = new ME(3, 3, DepthType.Cv64F);
double[] data = new double[]
{
f, 0, cx,
0, f, cy,
0, 0, 1
};
intrinsicMatrix.SetTo <double>(data);
return(intrinsicMatrix);
}
/// <summary>
/// 矩阵乘法
/// </summary>
/// <param name="lhs">常数</param>
/// <param name="rhs">矩阵</param>
/// <returns>结果</returns>
public static ME operator *(double rhs, ME lhs)
{
dynamic data1 = lhs.ToArray();
double[] result = new double[lhs.Rows * lhs.Cols];
for (int i = 0; i < data1.Length; i++)
{
result[i] = data1[i] * rhs;
}
ME mat = new ME(lhs.Rows, lhs.Cols, DepthType.Cv64F);
mat.SetTo <double>(result);
return(mat);
}
/// <summary>
/// 矩阵乘法
/// </summary>
/// <param name="lhs">左矩阵</param>
/// <param name="rhs">右矩阵</param>
/// <returns>结果</returns>
public static ME operator *(ME lhs, ME rhs)
{
if (lhs.Cols != rhs.Rows)
{
return(null);
}
double[] result = new double[lhs.Rows * rhs.Cols];
for (int i = 0; i < lhs.Rows * rhs.Cols; i++)
{
result[i] = lhs.Row(i / rhs.Cols).Dot(rhs.Col(i % rhs.Cols).T());
}
ME mat = new ME(lhs.Rows, rhs.Cols, DepthType.Cv64F);
mat.SetTo <double>(result);
return(mat);
}
/// <summary>
/// 矩阵减法
/// </summary>
/// <param name="lhs">左矩阵</param>
/// <param name="rhs">右矩阵</param>
/// <returns>结果</returns>
public static ME operator -(ME lhs, ME rhs)
{
if (lhs.Rows != rhs.Rows || lhs.Cols != rhs.Cols)
{
return(null);
}
dynamic data1 = lhs.ToArray();
dynamic data2 = rhs.ToArray();
double[] result = new double[lhs.Rows * lhs.Cols];
for (int i = 0; i < data1.Length; i++)
{
result[i] = data1[i] - data2[i];
}
ME mat = new ME(lhs.Rows, lhs.Cols, DepthType.Cv64F);
mat.SetTo <double>(result);
return(mat);
}
