/// <summary>
/// Draw a straight line indicating head pose on the specified image.
/// </summary>
/// <param name="rotation">The rotation matrix of the head.</param>
/// <param name="translation">The translation matrix of the head.</param>
/// <param name="cameraMatrix">The camera calibration matrix.</param>
/// <param name="coefficients">The coefficient matrix.</param>
/// <param name="shape">The list of facial landmark points.</param>
/// <param name="image">The image to draw on.</param>
public static void DrawPoseLine(
Mat rotation,
Mat translation,
MatOfDouble cameraMatrix,
MatOfDouble coefficients,
FullObjectDetection shape,
Bitmap image)
{
// create a new model point in front of the nose and project it into 2d
var poseModel = new MatOfPoint3d(1, 1, new Point3d(0, 0, 1000));
var poseProjection = new MatOfPoint2d();
Cv2.ProjectPoints(poseModel, rotation, translation, cameraMatrix, coefficients, poseProjection);
// get landmark point 30 (tip of the nose)
var point = shape.GetPart(30);
var tipOfNose = new OpenCvSharp.Point2d(point.X, point.Y);
// draw a line from the tip of the nose pointing in the direction of head pose
var p = poseProjection.At <Point2d>(0);
var pen = new Pen(Brushes.White, 2);
using (Graphics g = Graphics.FromImage(image))
{
g.DrawLine(pen, (int)tipOfNose.X, (int)tipOfNose.Y, (int)p.X, (int)p.Y);
}
}
public static void Run(IntPtr ptr, Point2d v) => NativeMethods.core_Mat_push_back_Point2d(ptr, v);
/// <summary>
/// 指定した点がこの矩形に含まれているかどうかを判断する
/// </summary>
/// <param name="pt">点</param>
/// <returns></returns>
#else
/// <summary>
/// Determines if the specified point is contained within the rectangular region defined by this Rectangle.
/// </summary>
/// <param name="pt">point</param>
/// <returns></returns>
#endif
public bool Contains(Point2d pt)
{
return(Contains(pt.X, pt.Y));
}
public static extern unsafe void calib3d_calibrationMatrixValues_array(
double *cameraMatrix, Size imageSize,
double apertureWidth, double apertureHeight, out double fovx, out double fovy, out double focalLength,
out Point2d principalPoint, out double aspectRatio);
public static extern ExceptionStatus core_Mat_push_back_Point2d(IntPtr self, Point2d v);
public static extern void core_FileStorage_shift_Point2d(IntPtr fs, Point2d val);
public static extern ExceptionStatus calib3d_findEssentialMat_InputArray2(
IntPtr points1, IntPtr points2, double focal, Point2d pp,
int method, double prob, double threshold, IntPtr mask, out IntPtr returnValue);
public static extern ExceptionStatus calib3d_recoverPose_InputArray2(
IntPtr E, IntPtr points1, IntPtr points2,
IntPtr R, IntPtr P, double focal, Point2d pp, IntPtr mask,
out int returnValue);
public static extern ExceptionStatus calib3d_calibrationMatrixValues_InputArray(
IntPtr cameraMatrix,
Size imageSize, double apertureWidth, double apertureHeight, out double fovx, out double fovy,
out double focalLength, out Point2d principalPoint, out double aspectRatio);
public static extern ExceptionStatus imgproc_ellipse2Poly_double(
Point2d center, Size2d axes, int angle, int arcStart, int arcEnd, int delta, IntPtr pts);
public static extern ExceptionStatus imgproc_phaseCorrelate(IntPtr src1, IntPtr src2, IntPtr window,
out double response, out Point2d returnValue);
