| private cvProjectPoints2 ( IntPtr objectPoints, IntPtr rotationVector, IntPtr translationVector, IntPtr intrinsicMatrix, IntPtr distortionCoeffs, IntPtr imagePoints, IntPtr dpdrot, IntPtr dpdt, IntPtr dpdf, IntPtr dpdc, IntPtr dpddist, double aspectRatio ) : void | ||
| objectPoints | IntPtr | |
| rotationVector | IntPtr | |
| translationVector | IntPtr | |
| intrinsicMatrix | IntPtr | |
| distortionCoeffs | IntPtr | |
| imagePoints | IntPtr | |
| dpdrot | IntPtr | |
| dpdt | IntPtr | |
| dpdf | IntPtr | |
| dpdc | IntPtr | |
| dpddist | IntPtr | |
| aspectRatio | double | |
| Результат | void | |
/// <summary>
/// Computes projections of 3D points to the image plane given intrinsic and extrinsic camera parameters.
/// Optionally, the function computes jacobians - matrices of partial derivatives of image points as functions of all the input parameters w.r.t. the particular parameters, intrinsic and/or extrinsic.
/// The jacobians are used during the global optimization in cvCalibrateCamera2 and cvFindExtrinsicCameraParams2.
/// The function itself is also used to compute back-projection error for with current intrinsic and extrinsic parameters.
/// </summary>
/// <remarks>Note, that with intrinsic and/or extrinsic parameters set to special values, the function can be used to compute just extrinsic transformation or just intrinsic transformation (i.e. distortion of a sparse set of points) </remarks>
/// <param name="objectPoints">The array of object points.</param>
/// <param name="extrin">Extrinsic parameters</param>
/// <param name="intrin">Intrinsic parameters</param>
/// <param name="mats">Optional matrix supplied in the following order: dpdrot, dpdt, dpdf, dpdc, dpddist</param>
/// <returns>The array of image points which is the projection of <paramref name="objectPoints"/></returns>
public static PointF[] ProjectPoints(
MCvPoint3D32f[] objectPoints,
ExtrinsicCameraParameters extrin,
IntrinsicCameraParameters intrin,
params Matrix <float>[] mats)
{
PointF[] imagePoints = new PointF[objectPoints.Length];
int matsLength = mats.Length;
GCHandle handle1 = GCHandle.Alloc(objectPoints, GCHandleType.Pinned);
GCHandle handle2 = GCHandle.Alloc(imagePoints, GCHandleType.Pinned);
using (Matrix <float> pointMatrix = new Matrix <float>(objectPoints.Length, 1, 3, handle1.AddrOfPinnedObject(), 3 * sizeof(float)))
using (Matrix <float> imagePointMatrix = new Matrix <float>(imagePoints.Length, 1, 2, handle2.AddrOfPinnedObject(), 2 * sizeof(float)))
CvInvoke.cvProjectPoints2(
pointMatrix,
extrin.RotationVector.Ptr,
extrin.TranslationVector.Ptr,
intrin.IntrinsicMatrix.Ptr,
intrin.DistortionCoeffs.Ptr,
imagePointMatrix,
matsLength > 0 ? mats[0] : IntPtr.Zero,
matsLength > 1 ? mats[1] : IntPtr.Zero,
matsLength > 2 ? mats[2] : IntPtr.Zero,
matsLength > 3 ? mats[3] : IntPtr.Zero,
matsLength > 4 ? mats[4] : IntPtr.Zero,
0.0);
handle1.Free();
handle2.Free();
return(imagePoints);
}
