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Added calibrateCamera function

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This commit is contained in:
Max Ehrlich 2015-01-20 13:04:22 -05:00
parent 088b44bdeb
commit 0c35976950
2 changed files with 110 additions and 0 deletions
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108
src/Calib3D.cc
View File

@ -9,6 +9,7 @@ void Calib3D::Init(Handle<Object> target)
NODE_SET_METHOD(obj, "findChessboardCorners", FindChessboardCorners);
NODE_SET_METHOD(obj, "drawChessboardCorners", DrawChessboardCorners);
NODE_SET_METHOD(obj, "calibrateCamera", CalibrateCamera);
target->Set(NanNew("calib3d"), obj);
}
@ -156,3 +157,110 @@ NAN_METHOD(Calib3D::DrawChessboardCorners)
NanReturnUndefined();
}
}
// cv::calibrateCamera
NAN_METHOD(Calib3D::CalibrateCamera)
{
NanEscapableScope();
try {
// Get the arguments
// Arg 0, the array of object points, an array of arrays
std::vector<std::vector<cv::Point3f> > objectPoints;
if(args[0]->IsArray()) {
Local<Array> objectPointsArray = Local<Array>::Cast(args[0]);
for(unsigned int i = 0; i < objectPointsArray->Length(); i++)
{
std::vector<cv::Point3f> points;
Local<Array> pointsArray = Local<Array>::Cast(objectPointsArray->Get(i));
for(unsigned int j = 0; j < pointsArray->Length(); j++)
{
Local<Object> pt = pointsArray->Get(j)->ToObject();
points.push_back(cv::Point3f(pt->Get(NanNew<String>("x"))->ToNumber()->Value(),
pt->Get(NanNew<String>("y"))->ToNumber()->Value(),
pt->Get(NanNew<String>("z"))->ToNumber()->Value()));
}
objectPoints.push_back(points);
}
} else {
JSTHROW_TYPE("Must pass array of object points for each frame")
}
// Arg 1, the image points, another array of arrays =(
std::vector<std::vector<cv::Point2f> > imagePoints;
if(args[1]->IsArray()) {
Local<Array> imagePointsArray = Local<Array>::Cast(args[1]);
for(unsigned int i = 0; i < imagePointsArray->Length(); i++)
{
std::vector<cv::Point2f> points;
Local<Array> pointsArray = Local<Array>::Cast(imagePointsArray->Get(i));
for(unsigned int j = 0; j < pointsArray->Length(); j++)
{
Local<Object> pt = pointsArray->Get(j)->ToObject();
points.push_back(cv::Point2f(pt->Get(NanNew<String>("x"))->ToNumber()->Value(),
pt->Get(NanNew<String>("y"))->ToNumber()->Value()));
}
imagePoints.push_back(points);
}
} else {
JSTHROW_TYPE("Must pass array of object points for each frame")
}
// Arg 2, the image size
cv::Size imageSize;
if (args[2]->IsArray()) {
Local<Object> v8sz = args[2]->ToObject();
imageSize = cv::Size(v8sz->Get(0)->IntegerValue(), v8sz->Get(1)->IntegerValue());
} else {
JSTHROW_TYPE("Must pass pattern size");
}
// Arg 3, 4, input guesses for the camrea matrix and distortion coefficients, skipping for now
cv::Mat K, dist;
// Arg 5, 6 flags and termination criteria, skipping for now
// Calibrate the camera
std::vector<cv::Mat> rvecs, tvecs;
double error = cv::calibrateCamera(objectPoints, imagePoints, imageSize, K, dist, rvecs, tvecs);
// make the return values
Local<Object> ret = NanNew<Object>();
// Reprojection error
ret->Set(NanNew<String>("reprojectionError"), NanNew<Number>(error));
// K
Local<Object> KMatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
Matrix *KMatrix = ObjectWrap::Unwrap<Matrix>(KMatrixWrap);
KMatrix->mat = K;
ret->Set(NanNew<String>("K"), KMatrixWrap);
// dist
Local<Object> distMatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
Matrix *distMatrix = ObjectWrap::Unwrap<Matrix>(distMatrixWrap);
distMatrix->mat = dist;
ret->Set(NanNew<String>("distortion"), distMatrixWrap);
// Per frame R and t, skiping for now
// Return
NanReturnValue(ret);
} catch (cv::Exception &e) {
const char *err_msg = e.what();
NanThrowError(err_msg);
NanReturnUndefined();
}
}

2
src/Calib3D.h
View File

@ -12,6 +12,8 @@ public:
static NAN_METHOD(FindChessboardCorners);
static NAN_METHOD(DrawChessboardCorners);
static NAN_METHOD(CalibrateCamera);
};
#endif