//private static readonly string TestCaseTestProjectPath = @"D:\Projects\RubiksCube\tests\RubiksCube.OpenCV.TestCase.Tests";
public SimpleAdHocTrackerTests()
{
_calibration = new CameraCalibrationInfo(560.764656335266f, 562.763179958161f, 295.849138757436f, 255.022208986073f);
_tracker = new SimpleAdHocTracker(_calibration);
Trace.Listeners.Add(new TextWriterTraceListener($"{TestCaseTestProjectPath}/Logs/log {DateTime.Now:H-mm-ss dd-MM-yyyy}.txt", "tracelog"));
}
public static void Run(string path)
{
var calibration = new CameraCalibrationInfo(560.764656335266f, 562.763179958161f, 295.849138757436f, 255.022208986073f);
var algorithm = new PtamLikeAlgorithm(calibration);
var capture = path != null ? new Capture(path) : new Capture();
var image = capture.QueryFrame();
ShowWindow(image, calibration, algorithm, capture);
}
public PtamWindow(CameraCalibrationInfo calibration, Mat img)
: base(img.Width, img.Height, GraphicsMode.Default, "PTAM",
GameWindowFlags.Default, DisplayDevice.Default,
3, 0, GraphicsContextFlags.ForwardCompatible)
{
_calibration = calibration;
_backgroundImage = img;
_newMap = true;
Planes = new List <PlaneInfo>();
Console.WriteLine("gl version: " + GL.GetString(StringName.Version));
}
private static void ShowWindow(Mat img, CameraCalibrationInfo calibration, PtamLikeAlgorithm algorithm, Capture capture = null)
{
double fps = capture?.GetCaptureProperty(CapProp.Fps) ?? 30;
using (var window = new PtamWindow(calibration, img))
{
window.Capture = capture;
//if (capture != null)
//{
// for (int i = 0; i < 40; i++)
// capture.QueryFrame();
//}
window.Algorithm = algorithm;
window.Run(fps);
}
}
public SimpleAdHocTracker(CameraCalibrationInfo calibrationInfo)
{
_calibrationInfo = calibrationInfo;
_detector = new ORBDetector();
_prevGray = new Mat();
_currGray = new Mat();
_raux = new Mat();
_taux = new Mat();
_bootstrapKp = new VectorOfKeyPoint();
_trackedFeatures = new VectorOfKeyPoint();
_trackedFeatures3D = new VectorOfPoint3D32F();
}
public PtamLikeAlgorithm(CameraCalibrationInfo calibrationInfo)
{
_calibrationInfo = calibrationInfo;
_detector = new ORBDetector();
_prevGray = new Mat();
_currGray = new Mat();
_raux = new VectorOfFloat();
_taux = new VectorOfFloat();
_bootstrapKp = new VectorOfKeyPoint();
_trackedFeatures = new VectorOfKeyPoint();
_trackedFeatures3D = new VectorOfPoint3D32F();
InitialP1 = new Matrix <double>(3, 4);
InitialP1.SetIdentity();
}
private static void ComputeRotationAndTranslation(VectorOfPoint3D32F trackedFeatures3D, VectorOfKeyPoint trackedFeatures, CameraCalibrationInfo calibrationInfo, out VectorOfFloat raux, out VectorOfFloat taux)
{
var rotationVector32F = new VectorOfFloat();
var translationVector32F = new VectorOfFloat();
var rotationVector = new Mat();
var translationVector = new Mat();
CvInvoke.SolvePnP(trackedFeatures3D, Utils.GetPointsVector(trackedFeatures), calibrationInfo.Intrinsic, calibrationInfo.Distortion, rotationVector, translationVector);
rotationVector.ConvertTo(rotationVector32F, DepthType.Cv32F);
translationVector.ConvertTo(translationVector32F, DepthType.Cv32F);
raux = rotationVector32F;
taux = translationVector32F;
}
//private static readonly string TestCaseTestProjectPath = @"D:\Projects\RubiksCube\tests\RubiksCube.OpenCV.TestCase.Tests";
public PtamLikeAlgorithmTests()
{
_calibration = new CameraCalibrationInfo(560.764656335266f, 562.763179958161f, 295.849138757436f, 255.022208986073f);
_algorithm = new PtamLikeAlgorithm(_calibration);
}
/// <summary>
///
/// </summary>
/// <param name="calibrationInfo"></param>
/// <param name="trackedFeaturesKp"></param>
/// <param name="bootstrapKp"></param>
/// <param name="initialP1"></param>
/// <param name="minInliers"></param>
/// <returns></returns>
public static CameraPoseAndTriangulationFromFundamentalResult CameraPoseAndTriangulationFromFundamental(CameraCalibrationInfo calibrationInfo, VectorOfKeyPoint trackedFeaturesKp,
VectorOfKeyPoint bootstrapKp, Matrix <double> initialP1, int minInliers = 10)
{
var result = new CameraPoseAndTriangulationFromFundamentalResult();
//find fundamental matrix
double minVal, maxVal;
var minIdx = new int[2];
var maxIdx = new int[2];
var trackedFeaturesPts = Utils.GetPointsVector(trackedFeaturesKp);
var bootstrapPts = Utils.GetPointsVector(bootstrapKp);
CvInvoke.MinMaxIdx(Utils.GetPointsMatrix(trackedFeaturesPts), out minVal, out maxVal, minIdx, maxIdx);
result.Min = (float)minVal;
result.Max = (float)maxVal;
var f = new Mat();
var status = new VectorOfByte();
CvInvoke.FindFundamentalMat(trackedFeaturesPts, bootstrapPts, f, FmType.Ransac, 0.006 * maxVal, 0.99, status);
var fMat = new Matrix <double>(f.Rows, f.Cols, f.DataPointer);
int inliersNum = CvInvoke.CountNonZero(status);
Trace.WriteLine($"Fundamental keeping {inliersNum} / {status.Size}");
Utils.KeepVectorsByStatus(ref trackedFeaturesKp, ref bootstrapKp, status);
if (inliersNum > minInliers)
{
//Essential matrix: compute then extract cameras [R|t]
var e = calibrationInfo.Intrinsic.Transpose() * fMat * calibrationInfo.Intrinsic; //according to HZ (9.12)
result.Esential = e;
//according to http://en.wikipedia.org/wiki/Essential_matrix#Properties_of_the_essential_matrix
double determinant = Math.Abs(CvInvoke.Determinant(e));
if (determinant > 1e-07)
{
Console.WriteLine($"det(E) != 0 : {determinant}");
return(result);
}
Matrix <double> r1;
Matrix <double> r2;
Matrix <double> t1;
Matrix <double> t2;
if (!DecomposeEtoRandT(e, out r1, out r2, out t1, out t2))
{
return(result);
}
determinant = CvInvoke.Determinant(r1);
if (determinant + 1.0 < 1e-09)
{
//according to http://en.wikipedia.org/wiki/Essential_matrix#Showing_that_it_is_valid
Trace.WriteLine($"det(R) == -1 [{determinant}]: flip E's sign");
Utils.Negotiate(ref e);
if (!DecomposeEtoRandT(e, out r1, out r2, out t1, out t2))
{
return(result);
}
}
if (Math.Abs(determinant) - 1.0 > 1e-07)
{
Trace.WriteLine($"det(R) != +-1.0, this is not a rotation matrix");
return(result);
}
var p = initialP1.Clone();
//TODO: there are 4 different combinations for P1...
var pMat1 = new Matrix <double>(new[, ] {
{ r1[0, 0], r1[0, 1], r1[0, 2], t1[0, 0] },
{ r1[1, 0], r1[1, 1], r1[1, 2], t1[1, 0] },
{ r1[2, 0], r1[2, 1], r1[2, 2], t1[2, 0] }
});
var triangulationResult = TriangulateAndCheckReproj(calibrationInfo, trackedFeaturesKp, bootstrapKp, p, pMat1);
if (!triangulationResult.Result)
{
pMat1 = new Matrix <double>(new[, ] {
{ r1[0, 0], r1[0, 1], r1[0, 2], t2[0, 0] },
{ r1[1, 0], r1[1, 1], r1[1, 2], t2[1, 0] },
{ r1[2, 0], r1[2, 1], r1[2, 2], t2[2, 0] }
});
triangulationResult = TriangulateAndCheckReproj(calibrationInfo, trackedFeaturesKp, bootstrapKp, p, pMat1);
if (!triangulationResult.Result)
{
pMat1 = new Matrix <double>(new[, ] {
{ r2[0, 0], r2[0, 1], r2[0, 2], t2[0, 0] },
{ r2[1, 0], r2[1, 1], r2[1, 2], t2[1, 0] },
{ r2[2, 0], r2[2, 1], r2[2, 2], t2[2, 0] }
});
triangulationResult = TriangulateAndCheckReproj(calibrationInfo, trackedFeaturesKp, bootstrapKp, p, pMat1);
if (!triangulationResult.Result)
{
pMat1 = new Matrix <double>(new[, ] {
{ r2[0, 0], r2[0, 1], r2[0, 2], t1[0, 0] },
{ r2[1, 0], r2[1, 1], r2[1, 2], t1[1, 0] },
{ r2[2, 0], r2[2, 1], r2[2, 2], t1[2, 0] }
});
triangulationResult = TriangulateAndCheckReproj(calibrationInfo, trackedFeaturesKp, bootstrapKp, p, pMat1);
if (!triangulationResult.Result)
{
Trace.WriteLine("Can't find the right P matrix.");
}
}
}
}
result.P1 = p;
result.P2 = pMat1;
result.FilteredTrackedFeaturesKp = triangulationResult.FilteredTrackedFeaturesKp;
result.FilteredBootstrapKp = triangulationResult.FilteredBootstrapKp;
result.TrackedFeatures3D = triangulationResult.TrackedFeatures3D;
result.Result = triangulationResult.Result;
return(result);
}
return(result);
}
/// <summary>
///
/// </summary>
/// <param name="calibrationInfo"></param>
/// <param name="trackedFeaturesKp"></param>
/// <param name="bootstrapKp"></param>
/// <param name="p"></param>
/// <param name="p1"></param>
/// <returns></returns>
public static TriangulateAndCheckReprojResult TriangulateAndCheckReproj(CameraCalibrationInfo calibrationInfo, VectorOfKeyPoint trackedFeaturesKp, VectorOfKeyPoint bootstrapKp, Matrix <double> p, Matrix <double> p1)
{
var result = new TriangulateAndCheckReprojResult();
var trackedFeaturesPoints = Utils.GetPointsVector(trackedFeaturesKp);
var bootstrapPoints = Utils.GetPointsVector(bootstrapKp);
//undistort
var normalizedTrackedPts = new VectorOfPointF();
var normalizedBootstrapPts = new VectorOfPointF();
CvInvoke.UndistortPoints(trackedFeaturesPoints, normalizedTrackedPts, calibrationInfo.Intrinsic, calibrationInfo.Distortion);
CvInvoke.UndistortPoints(bootstrapPoints, normalizedBootstrapPts, calibrationInfo.Intrinsic, calibrationInfo.Distortion);
//triangulate
var pt3Dh = new Mat();
CvInvoke.TriangulatePoints(p, p1, normalizedBootstrapPts, normalizedTrackedPts, pt3Dh);
var pt3DhMatrix = new Matrix <float>(pt3Dh.Rows, pt3Dh.Cols, pt3Dh.DataPointer);
var pt3DMat = new Mat();
CvInvoke.ConvertPointsFromHomogeneous(pt3DhMatrix.Transpose(), pt3DMat);
var pt3D = new Matrix <float>(pt3DMat.Rows, pt3DMat.Cols * pt3DMat.NumberOfChannels, pt3DMat.DataPointer);
var statusArray = new byte[pt3D.Rows];
for (int i = 0; i < pt3D.Rows; i++)
{
statusArray[i] = (pt3D[i, 2] > 0) ? (byte)1 : (byte)0;
}
var status = new VectorOfByte(statusArray);
int count = CvInvoke.CountNonZero(status);
double percentage = count / (double)pt3D.Rows;
if (percentage > 0.75)
{
//calculate reprojection
var rvec = new VectorOfFloat(new float[] { 0, 0, 0 });
var tvec = new VectorOfFloat(new float[] { 0, 0, 0 });
var reprojectedPtSet1 = new VectorOfPointF();
CvInvoke.ProjectPoints(pt3D, rvec, tvec, calibrationInfo.Intrinsic, calibrationInfo.Distortion,
reprojectedPtSet1);
double reprojErr = CvInvoke.Norm(reprojectedPtSet1, bootstrapPoints) / bootstrapPoints.Size;
if (reprojErr < 5)
{
statusArray = new byte[bootstrapPoints.Size];
for (int i = 0; i < bootstrapPoints.Size; ++i)
{
var pointsDiff = Utils.SubstarctPoints(bootstrapPoints[i], reprojectedPtSet1[i]);
var vectorOfPoint = new VectorOfPointF(new[] { pointsDiff });
statusArray[i] = CvInvoke.Norm(vectorOfPoint) < 20.0 ? (byte)1 : (byte)0;
}
status = new VectorOfByte(statusArray);
var trackedFeatures3D = new VectorOfPoint3D32F(Utils.Get3dPointsArray(pt3D));
Utils.KeepVectorsByStatus(ref trackedFeaturesKp, ref trackedFeatures3D, status);
result.Error = reprojErr;
result.TrackedFeatures3D = new VectorOfPoint3D32F(trackedFeatures3D.ToArray());
result.FilteredTrackedFeaturesKp = new VectorOfKeyPoint(trackedFeaturesKp.ToArray());
result.FilteredBootstrapKp = new VectorOfKeyPoint(bootstrapKp.ToArray());
result.Result = true;
}
rvec.Dispose();
tvec.Dispose();
reprojectedPtSet1.Dispose();
}
normalizedTrackedPts.Dispose();
normalizedBootstrapPts.Dispose();
pt3Dh.Dispose();
pt3DhMatrix.Dispose();
pt3DMat.Dispose();
pt3D.Dispose();
status.Dispose();
return(result);
}
public OpenCvUtilitiesTests()
{
_calibration = new CameraCalibrationInfo(560.764656335266f, 562.763179958161f, 295.849138757436f, 255.022208986073f);
_matrixComparer = Comparer <double> .Create((x, y) => Math.Abs(x - y) < 0.000001? 0 : 1);
#region Points
_trackedFeatures1 = new VectorOfPointF(new[]
{
new PointF(427.13428f, 227.33339f),
new PointF(391.91531f, 224.74487f),
new PointF(407.59424f, 224.22755f),
new PointF(429.16696f, 223.29608f),
new PointF(421.02155f, 218.90135f),
new PointF(418.12018f, 216.68893f),
new PointF(372.59952f, 271.2688f),
new PointF(374.59927f, 269.27325f),
new PointF(421.33975f, 213.69167f),
new PointF(421.7453f, 208.64569f),
new PointF(406.97095f, 205.71231f),
new PointF(373.56705f, 252.66739f),
new PointF(419.0239f, 202.15726f),
new PointF(410.15182f, 202.6559f),
new PointF(414.73322f, 202.8203f),
new PointF(421.86398f, 205.47487f),
new PointF(402.73456f, 236.44148f),
new PointF(385.00809f, 235.10345f),
new PointF(381.72519f, 235.00421f),
new PointF(384.38098f, 242.03709f),
new PointF(400.35175f, 221.35245f),
new PointF(375.55579f, 253.7218f),
new PointF(405.49969f, 217.04935f),
new PointF(382.35257f, 244.00104f),
new PointF(397.18988f, 213.02864f),
new PointF(423.28958f, 201.39389f),
new PointF(403.97839f, 243.57945f),
new PointF(371.52927f, 273.35638f),
new PointF(402.63351f, 235.38774f),
new PointF(421.15161f, 209.28316f),
new PointF(421.27039f, 205.40399f),
new PointF(407.20142f, 204.68332f),
new PointF(418.98199f, 202.7654f),
new PointF(413.95847f, 201.12106f),
new PointF(375.23849f, 254.13487f),
new PointF(426.56113f, 226.66367f),
new PointF(428.95081f, 223.1118f),
new PointF(399.58334f, 221.15453f),
new PointF(384.38138f, 242.40669f),
new PointF(421.60223f, 219.11192f),
new PointF(382.37976f, 234.07773f),
new PointF(372.77267f, 251.64935f),
new PointF(408.25488f, 224.43033f),
new PointF(418.13879f, 216.50366f),
new PointF(420.66992f, 214.13902f),
new PointF(405.49969f, 217.04935f),
new PointF(381.91599f, 243.56929f),
new PointF(407.97061f, 224.17844f),
new PointF(428.24982f, 223.81142f),
new PointF(406.58286f, 203.43124f),
new PointF(425.33484f, 226.63785f),
new PointF(422.5126f, 217.67339f),
new PointF(419.67578f, 214.5631f),
new PointF(381.633f, 233.09117f),
new PointF(373.30225f, 251.47868f),
new PointF(372.72458f, 270.70651f),
new PointF(371.83621f, 248.51126f),
new PointF(375.51776f, 269.3432f),
new PointF(406.24478f, 215.43176f),
new PointF(418.99274f, 202.52885f),
new PointF(402.92493f, 234.41644f),
new PointF(427.65225f, 224.37265f),
new PointF(408.91357f, 225.19838f),
new PointF(372.72458f, 270.70651f),
new PointF(372.97241f, 251.12473f),
new PointF(382.81277f, 232.57416f),
new PointF(417.39114f, 213.46442f),
new PointF(408.55203f, 203.72842f),
new PointF(406.4628f, 216.28511f),
new PointF(398.01672f, 220.56718f),
new PointF(409.94516f, 225.57368f),
new PointF(423.86615f, 217.82196f),
new PointF(399.35309f, 220.36206f),
new PointF(373.63873f, 250.76747f),
new PointF(373.73434f, 270.03922f),
new PointF(417.8584f, 211.4928f),
new PointF(383.17978f, 230.55035f),
new PointF(371.48196f, 274.57385f),
new PointF(406.82678f, 214.84328f),
new PointF(373.29251f, 249.99451f),
new PointF(373.75876f, 270.42651f),
new PointF(415.3963f, 209.66611f),
new PointF(422.67966f, 217.35188f),
new PointF(371.20831f, 272.03253f),
new PointF(373.29816f, 250.51921f),
new PointF(396.60257f, 224.0912f),
new PointF(375.98041f, 247.96669f),
new PointF(374.15375f, 273.72263f),
new PointF(382.40717f, 219.19965f)
});
_trackedFeatures2 = new VectorOfPointF(new[]
{
new PointF(426.03632f, 222.76335f),
new PointF(390.96695f, 219.97858f),
new PointF(406.54562f, 219.64514f),
new PointF(428.09631f, 218.70369f),
new PointF(420.02969f, 214.37195f),
new PointF(417.18686f, 212.15242f),
new PointF(371.31644f, 266.3609f),
new PointF(373.28091f, 264.38715f),
new PointF(420.39337f, 209.12727f),
new PointF(420.87967f, 204.09981f),
new PointF(406.13959f, 201.16556f),
new PointF(372.52917f, 247.70665f),
new PointF(418.207f, 197.58563f),
new PointF(409.27347f, 198.09737f),
new PointF(413.95377f, 198.25195f),
new PointF(420.99988f, 200.95354f),
new PointF(401.62491f, 231.76155f),
new PointF(383.94525f, 230.31931f),
new PointF(380.65768f, 230.22371f),
new PointF(383.29068f, 237.19083f),
new PointF(399.32339f, 216.67557f),
new PointF(374.50339f, 248.74915f),
new PointF(404.55908f, 212.4364f),
new PointF(381.25662f, 239.14381f),
new PointF(396.28745f, 208.28883f),
new PointF(422.42389f, 196.84546f),
new PointF(402.66537f, 238.85341f),
new PointF(370.23953f, 268.43887f),
new PointF(401.51538f, 230.76601f),
new PointF(420.25861f, 204.6877f),
new PointF(420.39197f, 200.87657f),
new PointF(406.35147f, 200.13043f),
new PointF(418.17007f, 198.2444f),
new PointF(413.20557f, 196.53227f),
new PointF(374.18121f, 249.16602f),
new PointF(425.47458f, 222.13777f),
new PointF(427.86325f, 218.52226f),
new PointF(398.54398f, 216.46603f),
new PointF(383.29218f, 237.52814f),
new PointF(420.62109f, 214.55142f),
new PointF(381.33087f, 229.29582f),
new PointF(371.72778f, 246.67822f),
new PointF(407.19f, 219.83838f),
new PointF(417.2084f, 211.94316f),
new PointF(419.71942f, 209.54953f),
new PointF(404.55908f, 212.4364f),
new PointF(380.8197f, 238.69392f),
new PointF(406.92761f, 219.60931f),
new PointF(427.15094f, 219.28215f),
new PointF(405.73328f, 198.8499f),
new PointF(424.24506f, 222.11359f),
new PointF(421.53174f, 213.15207f),
new PointF(418.71411f, 210.00742f),
new PointF(380.58487f, 228.33238f),
new PointF(372.25766f, 246.51025f),
new PointF(371.43317f, 265.80927f),
new PointF(370.80389f, 243.58653f),
new PointF(374.17325f, 264.45847f),
new PointF(405.3219f, 210.81206f),
new PointF(418.19434f, 197.99078f),
new PointF(401.79028f, 229.80133f),
new PointF(426.57095f, 219.80702f),
new PointF(407.84232f, 220.65297f),
new PointF(371.43317f, 265.80927f),
new PointF(371.91681f, 246.1552f),
new PointF(381.74255f, 227.81966f),
new PointF(416.45859f, 208.87207f),
new PointF(407.67117f, 199.16803f),
new PointF(405.53528f, 211.66692f),
new PointF(397.01413f, 215.87862f),
new PointF(408.84979f, 220.99838f),
new PointF(422.86496f, 213.2979f),
new PointF(398.32544f, 215.67107f),
new PointF(372.59445f, 245.80473f),
new PointF(372.43692f, 265.15585f),
new PointF(416.97476f, 206.92216f),
new PointF(382.06662f, 225.86298f),
new PointF(370.20435f, 269.63144f),
new PointF(405.93604f, 210.27585f),
new PointF(372.24982f, 245.04134f),
new PointF(372.46011f, 265.53363f),
new PointF(414.5097f, 205.08484f),
new PointF(421.71219f, 212.78195f),
new PointF(369.8866f, 267.12936f),
new PointF(372.25372f, 245.5535f),
new PointF(395.57431f, 219.39975f),
new PointF(374.96515f, 243.144f),
new PointF(372.81671f, 268.81808f),
new PointF(381.4924f, 214.46245f)
});
_bootstrapKp = new VectorOfPointF(new[]
{
new PointF(333, 231),
new PointF(300, 231),
new PointF(315, 229),
new PointF(335, 227),
new PointF(327, 223),
new PointF(324, 221),
new PointF(285, 277),
new PointF(287, 275),
new PointF(327, 218),
new PointF(327, 213),
new PointF(313, 211),
new PointF(284, 259),
new PointF(324, 207),
new PointF(316, 208),
new PointF(320, 208),
new PointF(327, 210),
new PointF(311, 241),
new PointF(294, 241),
new PointF(291, 241),
new PointF(294, 248),
new PointF(308, 227),
new PointF(286, 260),
new PointF(312, 222),
new PointF(292, 250),
new PointF(304, 219),
new PointF(328, 206),
new PointF(313, 248),
new PointF(284, 279),
new PointF(310.80002f, 240.00002f),
new PointF(326.40002f, 213.60001f),
new PointF(326.40002f, 210.00002f),
new PointF(313.20001f, 210.00002f),
new PointF(324, 207.60001f),
new PointF(319.20001f, 206.40001f),
new PointF(285.60001f, 260.40002f),
new PointF(332.40002f, 230.40001f),
new PointF(334.80002f, 226.8f),
new PointF(307.20001f, 226.8f),
new PointF(294, 248.40001f),
new PointF(327.60001f, 223.20001f),
new PointF(291.60001f, 240.00002f),
new PointF(283.20001f, 258),
new PointF(315.60001f, 229.20001f),
new PointF(324, 220.8f),
new PointF(326.40002f, 218.40001f),
new PointF(312, 222.00002f),
new PointF(291.60001f, 249.60001f),
new PointF(315.36002f, 228.96001f),
new PointF(334.08002f, 227.52f),
new PointF(312.48001f, 208.8f),
new PointF(331.20001f, 230.40001f),
new PointF(328.32001f, 221.76001f),
new PointF(325.44f, 218.88f),
new PointF(290.88f, 239.04001f),
new PointF(283.68002f, 257.76001f),
new PointF(285.12003f, 276.48001f),
new PointF(282.24002f, 254.88f),
new PointF(288, 275.04001f),
new PointF(312.48001f, 220.32001f),
new PointF(324, 207.36002f),
new PointF(311.04001f, 239.04001f),
new PointF(333.50403f, 228.09602f),
new PointF(316.22403f, 229.82402f),
new PointF(285.12003f, 276.48004f),
new PointF(283.39203f, 257.47202f),
new PointF(292.03201f, 238.46402f),
new PointF(323.13602f, 217.72803f),
new PointF(314.49603f, 209.08801f),
new PointF(312.76804f, 221.18402f),
new PointF(305.85602f, 226.36803f),
new PointF(317.26083f, 230.16963f),
new PointF(329.70245f, 221.87523f),
new PointF(306.89285f, 226.02243f),
new PointF(284.08325f, 257.12643f),
new PointF(286.15683f, 275.78885f),
new PointF(323.48166f, 215.65443f),
new PointF(292.37766f, 236.39043f),
new PointF(284.08325f, 279.93604f),
new PointF(313.11365f, 219.80164f),
new PointF(283.66855f, 256.29703f),
new PointF(286.15686f, 276.20358f),
new PointF(320.99335f, 213.99557f),
new PointF(328.45831f, 221.46053f),
new PointF(283.66855f, 277.69659f),
new PointF(283.66855f, 256.79468f),
new PointF(304.57043f, 229.92084f),
new PointF(286.65454f, 254.40591f),
new PointF(286.65454f, 279.48819f),
new PointF(290.23773f, 225.74046f)
});
#endregion
}
/// <summary>
/// Compute pattern pose using PnP algorithm
/// </summary>
/// <param name="points"></param>
/// <param name="calibration"></param>
/// <param name="points3D"></param>
/// <param name="raux"></param>
/// <param name="taux"></param>
public Transformation ComputePose(VectorOfPoint3D32F points3D, VectorOfPointF points, CameraCalibrationInfo calibration, out VectorOfFloat raux, out VectorOfFloat taux)
{
var pose3D = new Transformation();
var rotationVector32F = new VectorOfFloat();
var translationVector32F = new VectorOfFloat();
var rotationVector = new Mat();
var translationVector = new Mat();
CvInvoke.SolvePnP(points3D, points, calibration.Intrinsic, calibration.Distortion, rotationVector, translationVector);
rotationVector.ConvertTo(rotationVector32F, DepthType.Cv32F);
translationVector.ConvertTo(translationVector32F, DepthType.Cv32F);
raux = rotationVector32F;
taux = translationVector32F;
var rotationMat = new Mat();
CvInvoke.Rodrigues(rotationVector32F, rotationMat);
var rotationMatrix = new Matrix <double>(rotationMat.Rows, rotationMat.Cols, rotationMat.DataPointer);
// Copy to transformation matrix
for (int col = 0; col < 3; col++)
{
for (int row = 0; row < 3; row++)
{
pose3D.SetRotationMatrixValue(row, col, (float)rotationMatrix[row, col]); // Copy rotation component
}
pose3D.SetTranslationVectorValue(col, translationVector32F[col]); // Copy translation component
}
// Since solvePnP finds camera location, w.r.t to marker pose, to get marker pose w.r.t to the camera we invert it.
return(pose3D.GetInverted());
}