100 lines
3.9 KiB
Go
100 lines
3.9 KiB
Go
package gocv
|
|
|
|
/*
|
|
#include <stdlib.h>
|
|
#include "calib3d.h"
|
|
*/
|
|
import "C"
|
|
import "image"
|
|
|
|
// Calib is a wrapper around OpenCV's "Camera Calibration and 3D Reconstruction" of
|
|
// Fisheye Camera model
|
|
//
|
|
// For more details, please see:
|
|
// https://docs.opencv.org/trunk/db/d58/group__calib3d__fisheye.html
|
|
|
|
// CalibFlag value for calibration
|
|
type CalibFlag int32
|
|
|
|
const (
|
|
// CalibUseIntrinsicGuess indicates that cameraMatrix contains valid initial values
|
|
// of fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially
|
|
// set to the image center ( imageSize is used), and focal distances are computed
|
|
// in a least-squares fashion.
|
|
CalibUseIntrinsicGuess CalibFlag = 1 << iota
|
|
|
|
// CalibRecomputeExtrinsic indicates that extrinsic will be recomputed after each
|
|
// iteration of intrinsic optimization.
|
|
CalibRecomputeExtrinsic
|
|
|
|
// CalibCheckCond indicates that the functions will check validity of condition number
|
|
CalibCheckCond
|
|
|
|
// CalibFixSkew indicates that skew coefficient (alpha) is set to zero and stay zero
|
|
CalibFixSkew
|
|
|
|
// CalibFixK1 indicates that selected distortion coefficients are set to zeros and stay zero
|
|
CalibFixK1
|
|
|
|
// CalibFixK2 indicates that selected distortion coefficients are set to zeros and stay zero
|
|
CalibFixK2
|
|
|
|
// CalibFixK3 indicates that selected distortion coefficients are set to zeros and stay zero
|
|
CalibFixK3
|
|
|
|
// CalibFixK4 indicates that selected distortion coefficients are set to zeros and stay zero
|
|
CalibFixK4
|
|
|
|
// CalibFixIntrinsic indicates that fix K1, K2? and D1, D2? so that only R, T matrices are estimated
|
|
CalibFixIntrinsic
|
|
|
|
// CalibFixPrincipalPoint indicates that the principal point is not changed during the global optimization.
|
|
// It stays at the center or at a different location specified when CalibUseIntrinsicGuess is set too.
|
|
CalibFixPrincipalPoint
|
|
)
|
|
|
|
// FisheyeUndistortImage transforms an image to compensate for fisheye lens distortion
|
|
func FisheyeUndistortImage(distorted Mat, undistorted *Mat, k, d Mat) {
|
|
C.Fisheye_UndistortImage(distorted.Ptr(), undistorted.Ptr(), k.Ptr(), d.Ptr())
|
|
}
|
|
|
|
// FisheyeUndistortImageWithParams transforms an image to compensate for fisheye lens distortion with Knew matrix
|
|
func FisheyeUndistortImageWithParams(distorted Mat, undistorted *Mat, k, d, knew Mat, size image.Point) {
|
|
sz := C.struct_Size{
|
|
width: C.int(size.X),
|
|
height: C.int(size.Y),
|
|
}
|
|
C.Fisheye_UndistortImageWithParams(distorted.Ptr(), undistorted.Ptr(), k.Ptr(), d.Ptr(), knew.Ptr(), sz)
|
|
}
|
|
|
|
// InitUndistortRectifyMap computes the joint undistortion and rectification transformation and represents the result in the form of maps for remap
|
|
//
|
|
// For further details, please see:
|
|
// https://docs.opencv.org/master/d9/d0c/group__calib3d.html#ga7dfb72c9cf9780a347fbe3d1c47e5d5a
|
|
//
|
|
func InitUndistortRectifyMap(cameraMatrix Mat, distCoeffs Mat, r Mat, newCameraMatrix Mat, size image.Point, m1type int, map1 Mat, map2 Mat) {
|
|
sz := C.struct_Size{
|
|
width: C.int(size.X),
|
|
height: C.int(size.Y),
|
|
}
|
|
C.InitUndistortRectifyMap(cameraMatrix.Ptr(), distCoeffs.Ptr(), r.Ptr(), newCameraMatrix.Ptr(), sz, C.int(m1type), map1.Ptr(), map2.Ptr())
|
|
}
|
|
|
|
// GetOptimalNewCameraMatrixWithParams computes and returns the optimal new camera matrix based on the free scaling parameter.
|
|
//
|
|
// For further details, please see:
|
|
// https://docs.opencv.org/master/d9/d0c/group__calib3d.html#ga7a6c4e032c97f03ba747966e6ad862b1
|
|
//
|
|
func GetOptimalNewCameraMatrixWithParams(cameraMatrix Mat, distCoeffs Mat, imageSize image.Point, alpha float64, newImgSize image.Point, centerPrincipalPoint bool) (Mat, image.Rectangle) {
|
|
sz := C.struct_Size{
|
|
width: C.int(imageSize.X),
|
|
height: C.int(imageSize.Y),
|
|
}
|
|
newSize := C.struct_Size{
|
|
width: C.int(newImgSize.X),
|
|
height: C.int(newImgSize.Y),
|
|
}
|
|
rt := C.struct_Rect{}
|
|
return newMat(C.GetOptimalNewCameraMatrixWithParams(cameraMatrix.Ptr(), distCoeffs.Ptr(), sz, C.double(alpha), newSize, &rt, C.bool(centerPrincipalPoint))), toRect(rt)
|
|
}
|