public void Transform(Mat input, Mat output, double[] rvec, Size outputSize = null)
{
double[,] rodrigues;
Core.Cv.Rodrigues(rvec, out rodrigues);
using (Mat rod = MatTool.New(new Size(3, 3), MatType.CV_64FC1, rodrigues))
{
Transform(input, output, rod, outputSize);
}
}
public void Transform(Mat input, Mat output, Mat rod, Size outputSize = null)
{
if (outputSize == null)
{
outputSize = input.SizeProperty.ToSize();
}
double w = input.Cols;
double h = input.Rows;
// Projection 2D -> 3D matrix
Mat A1 = MatTool.New(new Size(4, 3), MatType.CV_64FC1, new double[4, 3]
{
{ 1, 0, -w / 2 },
{ 0, 1, -h / 2 },
{ 0, 0, 0 },
{ 0, 0, 1 }
});
Mat R = MatTool.New(new Size(4, 4), MatType.CV_64FC1, new double[4, 4]
{
{ 1, 0, 0, 0 },
{ 0, 1, 0, 0 },
{ 0, 0, 1, 0 },
{ 0, 0, 0, 1 }
});
rod.CopyTo(MatTool.New(R, new Rect(0, 0, 3, 3)));
// Translation matrix
Mat T = MatTool.New(new Size(4, 4), MatType.CV_64FC1, new double[, ]
{
{ 1, 0, 0, 0 },
{ 0, 1, 0, 0 },
{ 0, 0, 1, input.Cols },
{ 0, 0, 0, 1 }
});
// 3D -> 2D matrix
Mat A2 = MatTool.New(new Size(3, 4), MatType.CV_64FC1, new double[, ]
{
{ input.Cols, 0, w / 2, 0 },
{ 0, input.Cols, h / 2, 0 },
{ 0, 0, 1, 0 }
});
// Final transformation matrix
Mat trans = A2 * (T * (R * A1));
// Apply matrix transformation
Core.Cv.WarpPerspective(input, output, trans, outputSize, Inter);
}