Add Calibrate for Fisheye model(WIP)

calib3d.cpp

@@ -0,0 +1,19 @@
+#include "calib3d.h"
+
+double Fisheye_Calibrate(Mat objectPoints, Mat imagePoints, Size size, Mat k, Mat d, Mat rvecs, Mat tvecs) {
+    cv::Size sz(size.width, size.height);
+    return cv::fisheye::calibrate(*objectPoints, *imagePoints, sz, *k, *d, *rvecs, *tvecs);
+}
+
+void Fisheye_UndistortPoints(Mat distorted, Mat undistorted, Mat k, Mat d) {
+    cv::fisheye::undistortPoints(*distorted, *undistorted, *k, *d);
+}
+
+void Fisheye_UndistortImage(Mat distorted, Mat undistorted, Mat k, Mat d) {
+    cv::fisheye::undistortImage(*distorted, *undistorted, *k, *d);
+}
+
+void Fisheye_UndistortImageWithKNewMat(Mat distorted, Mat undistorted, Mat k, Mat d, Mat knew) {
+    cv::fisheye::undistortImage(*distorted, *undistorted, *k, *d, *knew);
+}
+

calib3d.go

@@ -0,0 +1,81 @@
+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
+)
+
+// FisheyeCalibrate performs camera calibaration.
+func FisheyeCalibrate(objectPoints, imagePoints, k, d, rvecs, tvecs Mat, size image.Point) float64 {
+	sz := C.struct_Size{
+		width:  C.int(size.X),
+		height: C.int(size.Y),
+	}
+	return float64(C.Fisheye_Calibrate(objectPoints.Ptr(), imagePoints.Ptr(), sz, k.Ptr(), d.Ptr(), rvecs.Ptr(), tvecs.Ptr()))
+}
+
+// FisheyeUndistortPoints undistorts 2D points using fisheye model
+func FisheyeUndistortPoints(distorted, undistorted, k, d Mat) {
+	C.Fisheye_UndistortPoints(distorted.Ptr(), undistorted.Ptr(), k.Ptr(), d.Ptr())
+}
+
+// FisheyeUndistortImage transforms an image to compensate for fisheye lens distortion
+func FisheyeUndistortImage(distorted, undistorted, k, d Mat) {
+	C.Fisheye_UndistortImage(distorted.Ptr(), undistorted.Ptr(), k.Ptr(), d.Ptr())
+}
+
+// FisheyeUndistortImageWithKNewMat transforms an image to compensate for fisheye lens distortion with Knew matrix
+func FisheyeUndistortImageWithKNewMat(distorted, undistorted, k, d, knew Mat) {
+	C.Fisheye_UndistortImageWithKNewMat(distorted.Ptr(), undistorted.Ptr(), k.Ptr(), d.Ptr(), knew.Ptr())
+}

calib3d.h

@@ -0,0 +1,24 @@
+#ifndef _OPENCV3_CALIB_H_
+#define _OPENCV3_CALIB_H_
+
+#ifdef __cplusplus
+#include <opencv2/opencv.hpp>
+#include <opencv2/calib3d.hpp>
+
+
+extern "C" {
+#endif
+
+#include "core.h"
+
+//Calib
+double Fisheye_Calibrate(Mat objectPoints, Mat imagePoints, Size size, Mat k, Mat d, Mat rvecs, Mat tvecs);
+void Fisheye_UndistortPoints(Mat distorted, Mat undistorted, Mat k, Mat d);
+void Fisheye_UndistortImage(Mat distorted, Mat undistorted, Mat k, Mat d);
+void Fisheye_UndistortImageWithKNewMat(Mat distorted, Mat undistorted, Mat k, Mat d, Mat knew);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //_OPENCV3_CALIB_H

calib3d_test.go

@@ -0,0 +1,125 @@
+package gocv
+
+import (
+	"image/jpeg"
+	"os"
+	"testing"
+)
+
+func TestFisheyeCalibrate(t *testing.T) {
+
+}
+
+func TestFisheyeUndistorImage(t *testing.T) {
+	img := IMRead("images/fisheyelens.jpg", IMReadUnchanged)
+	if img.Empty() {
+		t.Error("Invalid read of Mat in BilateralFilter test")
+	}
+	defer img.Close()
+
+	dest := NewMat()
+	defer dest.Close()
+
+	k := NewMatWithSize(3, 3, MatTypeCV64F)
+	defer k.Close()
+
+	k.SetDoubleAt(0, 0, 689.21)
+	k.SetDoubleAt(0, 1, 0)
+	k.SetDoubleAt(0, 2, 1295.56)
+
+	k.SetDoubleAt(1, 0, 0)
+	k.SetDoubleAt(1, 1, 690.48)
+	k.SetDoubleAt(1, 2, 942.17)
+
+	k.SetDoubleAt(2, 0, 0)
+	k.SetDoubleAt(2, 1, 0)
+	k.SetDoubleAt(2, 2, 1)
+
+	d := NewMatWithSize(1, 4, MatTypeCV64F)
+	defer d.Close()
+
+	d.SetDoubleAt(0, 0, 0)
+	d.SetDoubleAt(0, 1, 0)
+	d.SetDoubleAt(0, 2, 0)
+	d.SetDoubleAt(0, 3, 0)
+
+	FisheyeUndistortImage(img, dest, k, d)
+
+	finalImg, err := dest.ToImage()
+	if err != nil {
+		t.Error(err)
+	}
+
+	f, err := os.Create("images/fisheye_undistorted.jpg")
+	if err != nil {
+		t.Error(err)
+	}
+
+	defer f.Close()
+
+	if err := jpeg.Encode(f, finalImg, nil); err != nil {
+		t.Error(err)
+	}
+
+}
+
+func TestFisheyeUndistorImageWithKNewMat(t *testing.T) {
+	img := IMRead("images/fisheyelens.png", IMReadUnchanged)
+	if img.Empty() {
+		t.Error("Invalid read of Mat in BilateralFilter test")
+	}
+	defer img.Close()
+
+	dest := NewMat()
+	defer dest.Close()
+
+	k := NewMatWithSize(3, 3, MatTypeCV64F)
+	defer k.Close()
+
+	k.SetDoubleAt(0, 0, 689.21)
+	k.SetDoubleAt(0, 1, 0)
+	k.SetDoubleAt(0, 2, 1295.56)
+
+	k.SetDoubleAt(1, 0, 0)
+	k.SetDoubleAt(1, 1, 690.48)
+	k.SetDoubleAt(1, 2, 942.17)
+
+	k.SetDoubleAt(2, 0, 0)
+	k.SetDoubleAt(2, 1, 0)
+	k.SetDoubleAt(2, 2, 1)
+
+	d := NewMatWithSize(1, 4, MatTypeCV64F)
+	defer d.Close()
+
+	d.SetDoubleAt(0, 0, 0)
+	d.SetDoubleAt(0, 1, 0)
+	d.SetDoubleAt(0, 2, 0)
+	d.SetDoubleAt(0, 3, 0)
+
+	knew := NewMat()
+	defer knew.Close()
+
+	k.CopyTo(knew)
+
+	knew.SetDoubleAt(0, 0, 0.4*k.GetDoubleAt(0, 0))
+	knew.SetDoubleAt(1, 1, 0.4*k.GetDoubleAt(1, 1))
+
+	FisheyeUndistortImageWithKNewMat(img, dest, k, d, knew)
+
+	finalImg, err := dest.ToImage()
+	if err != nil {
+		t.Error(err)
+	}
+
+	f, err := os.Create("images/fisheye_undistortedknewMat.jpg")
+	if err != nil {
+		t.Error(err)
+	}
+
+	defer f.Close()
+
+	if err := jpeg.Encode(f, finalImg, nil); err != nil {
+		t.Error(err)
+	}
+
+}