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Added solvePnP

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This commit is contained in:
Max Ehrlich 2015-01-20 14:05:58 -05:00
parent 024d8e5ee5
commit 9e04f95703
2 changed files with 86 additions and 0 deletions
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84
src/Calib3D.cc
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@ -10,6 +10,7 @@ void Calib3D::Init(Handle<Object> target)
NODE_SET_METHOD(obj, "findChessboardCorners", FindChessboardCorners);
NODE_SET_METHOD(obj, "drawChessboardCorners", DrawChessboardCorners);
NODE_SET_METHOD(obj, "calibrateCamera", CalibrateCamera);
NODE_SET_METHOD(obj, "solvePnP", SolvePnP);
target->Set(NanNew("calib3d"), obj);
}
@ -228,3 +229,86 @@ NAN_METHOD(Calib3D::CalibrateCamera)
NanReturnUndefined();
}
}
// cv::solvePnP
NAN_METHOD(Calib3D::SolvePnP)
{
NanEscapableScope();
try {
// Get the arguments
// Arg 0, the array of object points
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++)
{
Local<Object> pt = objectPointsArray->Get(i)->ToObject();
objectPoints.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()));
}
} else {
JSTHROW_TYPE("Must pass array of object points for each frame")
}
// Arg 1, the image points
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++)
{
Local<Object> pt = imagePointsArray->Get(i)->ToObject();
imagePoints.push_back(cv::Point2f(pt->Get(NanNew<String>("x"))->ToNumber()->Value(),
pt->Get(NanNew<String>("y"))->ToNumber()->Value()));
}
} else {
JSTHROW_TYPE("Must pass array of object points for each frame")
}
// Arg 2, the camera matrix
Matrix* kWrap = ObjectWrap::Unwrap<Matrix>(args[2]->ToObject());
cv::Mat K = kWrap->mat;
// Arg 3, the distortion coefficients
Matrix* distWrap = ObjectWrap::Unwrap<Matrix>(args[3]->ToObject());
cv::Mat dist = distWrap->mat;
// Arg 4, use extrinsic guess, skipped for now
// Arg 5, flags, skip for now
// solve for r and t
cv::Mat rvec, tvec;
cv::solvePnP(objectPoints, imagePoints, K, dist, rvec, tvec);
// make the return values
Local<Object> ret = NanNew<Object>();
// rvec
Local<Object> rMatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
Matrix *rMatrix = ObjectWrap::Unwrap<Matrix>(rMatrixWrap);
rMatrix->mat = rvec;
ret->Set(NanNew<String>("rvec"), rMatrixWrap);
// tvec
Local<Object> tMatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
Matrix *tMatrix = ObjectWrap::Unwrap<Matrix>(tMatrixWrap);
tMatrix->mat = tvec;
ret->Set(NanNew<String>("tvec"), tMatrixWrap);
// Return
NanReturnValue(ret);
} catch (cv::Exception &e) {
const char *err_msg = e.what();
NanThrowError(err_msg);
NanReturnUndefined();
}
}

2
src/Calib3D.h
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@ -14,6 +14,8 @@ public:
static NAN_METHOD(DrawChessboardCorners);
static NAN_METHOD(CalibrateCamera);
static NAN_METHOD(SolvePnP);
};
#endif