add func InitUndistortRectifyMap (hybridgroup#405)

* add func InitUndistortRectifyMap

.gitignore

@@ -7,3 +7,4 @@ count.out
 /stage
 .vscode/
 /build
+.idea/

calib3d.cpp

@@ -10,3 +10,20 @@ void Fisheye_UndistortImageWithParams(Mat distorted, Mat undistorted, Mat k, Mat
     cv::fisheye::undistortImage(*distorted, *undistorted, *k, *d, *knew, sz);
 }
 
+void InitUndistortRectifyMap(Mat cameraMatrix,Mat distCoeffs,Mat r,Mat newCameraMatrix,Size size,int m1type,Mat map1,Mat map2) {
+    cv::Size sz(size.width, size.height);
+    cv::initUndistortRectifyMap(*cameraMatrix,*distCoeffs,*r,*newCameraMatrix,sz,m1type,*map1,*map2);
+}
+
+Mat GetOptimalNewCameraMatrixWithParams(Mat cameraMatrix,Mat distCoeffs,Size size,double alpha,Size newImgSize,Rect* validPixROI,bool centerPrincipalPoint) {
+    cv::Size sz(size.width, size.height);
+    cv::Size newSize(newImgSize.width, newImgSize.height);
+    cv::Rect rect(validPixROI->x,validPixROI->y,validPixROI->width,validPixROI->height);
+    cv::Mat* mat = new cv::Mat(cv::getOptimalNewCameraMatrix(*cameraMatrix,*distCoeffs,sz,alpha,newSize,&rect,centerPrincipalPoint));
+    validPixROI->x = rect.x;
+    validPixROI->y = rect.y;
+    validPixROI->width = rect.width;
+    validPixROI->height = rect.height;
+    return mat;
+}
+

calib3d.go

@@ -66,3 +66,34 @@ func FisheyeUndistortImageWithParams(distorted Mat, undistorted *Mat, k, d, knew
 	}
 	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)
+}

calib3d.h

@@ -15,6 +15,9 @@ extern "C" {
 void Fisheye_UndistortImage(Mat distorted, Mat undistorted, Mat k, Mat d);
 void Fisheye_UndistortImageWithParams(Mat distorted, Mat undistorted, Mat k, Mat d, Mat knew, Size size);
 
+void InitUndistortRectifyMap(Mat cameraMatrix,Mat distCoeffs,Mat r,Mat newCameraMatrix,Size size,int m1type,Mat map1,Mat map2);
+Mat GetOptimalNewCameraMatrixWithParams(Mat cameraMatrix,Mat distCoeffs,Size size,double alpha,Size newImgSize,Rect* validPixROI,bool centerPrincipalPoint);
+
 #ifdef __cplusplus
 }
 #endif

calib3d_test.go

@@ -1,7 +1,9 @@
 package gocv
 
 import (
+	"fmt"
 	"image"
+	"image/color"
 	"testing"
 )
 
@@ -99,3 +101,62 @@ func TestFisheyeUndistorImageWithParams(t *testing.T) {
 	}
 	// IMWrite("images/fisheye_sample-up.jpg", dest)
 }
+
+func TestInitUndistortRectifyMap(t *testing.T) {
+	img := IMRead("images/distortion.jpg", IMReadUnchanged)
+	if img.Empty() {
+		t.Error("Invalid read of Mat test")
+		return
+	}
+	defer img.Close()
+
+	dest := NewMat()
+	defer dest.Close()
+
+	k := NewMatWithSize(3, 3, MatTypeCV64F)
+	defer k.Close()
+
+	k.SetDoubleAt(0, 0, 842.0261028)
+	k.SetDoubleAt(0, 1, 0)
+	k.SetDoubleAt(0, 2, 667.7569792)
+
+	k.SetDoubleAt(1, 0, 0)
+	k.SetDoubleAt(1, 1, 707.3668897)
+	k.SetDoubleAt(1, 2, 385.56476464)
+
+	k.SetDoubleAt(2, 0, 0)
+	k.SetDoubleAt(2, 1, 0)
+	k.SetDoubleAt(2, 2, 1)
+
+	d := NewMatWithSize(1, 5, MatTypeCV64F)
+	defer d.Close()
+
+	d.SetDoubleAt(0, 0, -3.65584802e-01)
+	d.SetDoubleAt(0, 1, 1.41555815e-01)
+	d.SetDoubleAt(0, 2, -2.62985819e-03)
+	d.SetDoubleAt(0, 3, 2.05841873e-04)
+	d.SetDoubleAt(0, 4, -2.35021914e-02)
+	//FisheyeUndistortImage(img, &dest, k, d)
+	//img.Reshape()
+	newC, roi := GetOptimalNewCameraMatrixWithParams(k, d, image.Point{X: img.Cols(), Y: img.Rows()}, (float64)(1), image.Point{X: img.Cols(), Y: img.Rows()}, false)
+	if newC.Empty() {
+		t.Error("final image is empty")
+		return
+	}
+	fmt.Printf("roi:%+v\n", roi)
+	defer newC.Close()
+	r := NewMat()
+	defer r.Close()
+	mapx := NewMat()
+	defer mapx.Close()
+	mapy := NewMat()
+	defer mapy.Close()
+	//dest := NewMat()
+	InitUndistortRectifyMap(k, d, r, newC, image.Point{X: img.Cols(), Y: img.Rows()}, 5, mapx, mapy)
+
+	Remap(img, &dest, &mapx, &mapy, InterpolationDefault, BorderConstant, color.RGBA{0, 0, 0, 0})
+	flg := IMWrite("images/distortion-correct.jpg", dest)
+	if !flg {
+		t.Error("IMWrite failed")
+	}
+}

core.go

@@ -1749,6 +1749,10 @@ func toRectangles(ret C.Rects) []image.Rectangle {
 	return rects
 }
 
+func toRect(rect C.Rect) image.Rectangle {
+	return image.Rect(int(rect.x), int(rect.y), int(rect.x+rect.width), int(rect.y+rect.height))
+}
+
 func toCPoints(points []image.Point) C.struct_Points {
 	cPointSlice := make([]C.struct_Point, len(points))
 	for i, point := range points {

go.mod

@@ -0,0 +1 @@
+module gocv.io/x/gocv