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 Draw2dContour(Mat image, Scalar color)
{
Point2f[] points2dArray = Points2d.ToArray();
for (int i = 0; i < points2dArray.Length; i++)
{
Cv2.Line(image, points2dArray[i], points2dArray[(i + 1) % points2dArray.Length], color, 2, LineTypes.AntiAlias, 0);
}
}
// fixed FromArray behavior
static Point2d[] MyPerspectiveTransform2(Point2f[] yourData, Mat transformationMatrix)
{
using (MatOfPoint2f s = MatOfPoint2f.FromArray(yourData))
using (MatOfPoint2f d = new MatOfPoint2f())
{
Cv2.PerspectiveTransform(s, d, transformationMatrix);
Point2f[] f = d.ToArray();
return(f.Select(Point2fToPoint2d).ToArray());
}
}
private OpenCV.Core.Point[] FindBiggestContourWithFourBorders(IList <MatOfPoint> contours)
{
OpenCV.Core.Point[] biggestContour = null;
Parallel.ForEach(contours, (c) =>
{
MatOfPoint2f mat2f = new MatOfPoint2f(c.ToArray());
double perimeter = Imgproc.ArcLength(mat2f, true);
if (perimeter > 1500)
{
MatOfPoint2f approx = new MatOfPoint2f();
Imgproc.ApproxPolyDP(mat2f, approx, 0.02 * perimeter, true);
if (approx.Total() == 4)
{
MatOfPoint approxMat = new MatOfPoint(approx.ToArray());
if (Imgproc.IsContourConvex(approxMat))
{
if (biggestContour == null)
{
biggestContour = approx.ToArray();
detectedBorder = approx;
oldPerimeter = perimeter;
}
else
{
if (oldPerimeter < perimeter)
{
biggestContour = approx.ToArray();
detectedBorder = approx;
oldPerimeter = perimeter;
}
}
}
}
}
mat2f.Dispose();
});
return(biggestContour);
}
private void GetImageMaxSize(out double maxWidth, out double maxHeight, out OpenCV.Core.Point pTopLeft, out OpenCV.Core.Point pBottomLeft, out OpenCV.Core.Point pBottomRight, out OpenCV.Core.Point pTopRight)
{
var pointArray = detectedBorder.ToArray();
pTopLeft = new OpenCV.Core.Point(pointArray[0].X, pointArray[0].Y);
pBottomLeft = new OpenCV.Core.Point(pointArray[1].X, pointArray[1].Y);
pBottomRight = new OpenCV.Core.Point(pointArray[2].X, pointArray[2].Y);
pTopRight = new OpenCV.Core.Point(pointArray[3].X, pointArray[3].Y);
var w1 = pTopLeft.X - pBottomRight.X;
var w2 = pTopRight.X - pBottomLeft.X;
var h1 = pTopRight.Y - pTopLeft.Y;
var h2 = pBottomLeft.Y - pBottomRight.Y;
maxWidth = w1 > w2 ? w1 : w2;
maxHeight = h1 > h2 ? h1 : h2;
}
public void CalibrateCameraByArray()
{
var patternSize = new Size(10, 7);
using (var image = Image("calibration/00.jpg"))
using (var corners = new MatOfPoint2f())
{
Cv2.FindChessboardCorners(image, patternSize, corners);
var objectPoints = Create3DChessboardCorners(patternSize, 1.0f);
var imagePoints = corners.ToArray();
var cameraMatrix = new double[3, 3] {
{ 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1 }
};
var distCoeffs = new double[5];
var rms = Cv2.CalibrateCamera(new [] { objectPoints }, new[] { imagePoints }, image.Size(), cameraMatrix,
distCoeffs, out var rotationVectors, out var translationVectors,
CalibrationFlags.UseIntrinsicGuess | CalibrationFlags.FixK5);
Assert.Equal(6.16, rms, 2);
Assert.Contains(distCoeffs, d => Math.Abs(d) > 1e-20);
}
}
/// <summary>
/// performs perspective transformation of each element of multi-channel input matrix
/// </summary>
/// <param name="src">The source two-channel or three-channel floating-point array;
/// each element is 2D/3D vector to be transformed</param>
/// <param name="m">3x3 or 4x4 transformation matrix</param>
/// <returns>The destination array; it will have the same size and same type as src</returns>
public static Point2f[] PerspectiveTransform(IEnumerable<Point2f> src, Mat m)
{
if (src == null)
throw new ArgumentNullException("src");
if (m == null)
throw new ArgumentNullException("m");
using (var srcMat = MatOfPoint2f.FromArray(src))
using (var dstMat = new MatOfPoint2f())
{
NativeMethods.core_perspectiveTransform_Mat(srcMat.CvPtr, dstMat.CvPtr, m.CvPtr);
return dstMat.ToArray();
}
}
/// <summary>
/// Computes convex hull for a set of 2D points.
/// </summary>
/// <param name="points">The input 2D point set, represented by CV_32SC2 or CV_32FC2 matrix</param>
/// <param name="clockwise">If true, the output convex hull will be oriented clockwise,
/// otherwise it will be oriented counter-clockwise. Here, the usual screen coordinate
/// system is assumed - the origin is at the top-left corner, x axis is oriented to the right,
/// and y axis is oriented downwards.</param>
/// <returns>The output convex hull. It is a vector of points that form the
/// hull (must have the same type as the input points).</returns>
public Point2f[] ConvexHullFloatPoints(InputArray points, bool clockwise = false)
{
var dst = new MatOfPoint2f();
Cv2.ConvexHull(points, dst, clockwise, true);
return dst.ToArray();
}
/// <summary>
/// projects points from the model coordinate space to the image coordinates.
/// Also computes derivatives of the image coordinates w.r.t the intrinsic
/// and extrinsic camera parameters
/// </summary>
/// <param name="objectPoints">Array of object points, 3xN/Nx3 1-channel or
/// 1xN/Nx1 3-channel, where N is the number of points in the view.</param>
/// <param name="rvec">Rotation vector (3x1).</param>
/// <param name="tvec">Translation vector (3x1).</param>
/// <param name="cameraMatrix">Camera matrix (3x3)</param>
/// <param name="distCoeffs">Input vector of distortion coefficients
/// (k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]]) of 4, 5, or 8 elements.
/// If the vector is null, the zero distortion coefficients are assumed.</param>
/// <param name="imagePoints">Output array of image points, 2xN/Nx2 1-channel
/// or 1xN/Nx1 2-channel</param>
/// <param name="jacobian">Optional output 2Nx(10 + numDistCoeffs) jacobian matrix
/// of derivatives of image points with respect to components of the rotation vector,
/// translation vector, focal lengths, coordinates of the principal point and
/// the distortion coefficients. In the old interface different components of
/// the jacobian are returned via different output parameters.</param>
/// <param name="aspectRatio">Optional “fixed aspect ratio” parameter.
/// If the parameter is not 0, the function assumes that the aspect ratio (fx/fy)
/// is fixed and correspondingly adjusts the jacobian matrix.</param>
public static void ProjectPoints(IEnumerable<Point3f> objectPoints,
double[] rvec, double[] tvec,
double[,] cameraMatrix, double[] distCoeffs,
out Point2f[] imagePoints,
out double[,] jacobian,
double aspectRatio = 0)
{
if (objectPoints == null)
throw new ArgumentNullException(nameof(objectPoints));
if (rvec == null)
throw new ArgumentNullException(nameof(rvec));
if (rvec.Length != 3)
throw new ArgumentException("rvec.Length != 3");
if (tvec == null)
throw new ArgumentNullException(nameof(tvec));
if (tvec.Length != 3)
throw new ArgumentException("tvec.Length != 3");
if (cameraMatrix == null)
throw new ArgumentNullException(nameof(cameraMatrix));
if (cameraMatrix.GetLength(0) != 3 || cameraMatrix.GetLength(1) != 3)
throw new ArgumentException("cameraMatrix must be double[3,3]");
Point3f[] objectPointsArray = EnumerableEx.ToArray(objectPoints);
using (var objectPointsM = new Mat(objectPointsArray.Length, 1, MatType.CV_32FC3, objectPointsArray))
using (var rvecM = new Mat(3, 1, MatType.CV_64FC1, rvec))
using (var tvecM = new Mat(3, 1, MatType.CV_64FC1, tvec))
using (var cameraMatrixM = new Mat(3, 3, MatType.CV_64FC1, cameraMatrix))
using (var imagePointsM = new MatOfPoint2f())
{
var distCoeffsM = new Mat();
if (distCoeffs != null)
distCoeffsM = new Mat(distCoeffs.Length, 1, MatType.CV_64FC1, distCoeffs);
var jacobianM = new MatOfDouble();
NativeMethods.calib3d_projectPoints_Mat(objectPointsM.CvPtr,
rvecM.CvPtr, tvecM.CvPtr, cameraMatrixM.CvPtr, distCoeffsM.CvPtr,
imagePointsM.CvPtr, jacobianM.CvPtr, aspectRatio);
imagePoints = imagePointsM.ToArray();
jacobian = jacobianM.ToRectangularArray();
}
}
// fixed FromArray behavior
static Point2d[] MyPerspectiveTransform2(Point2f[] yourData, Mat transformationMatrix)
{
using (MatOfPoint2f s = MatOfPoint2f.FromArray(yourData))
using (MatOfPoint2f d = new MatOfPoint2f())
{
Cv2.PerspectiveTransform(s, d, transformationMatrix);
Point2f[] f = d.ToArray();
return f.Select(Point2fToPoint2d).ToArray();
}
}
