mirror of
https://github.com/peterbraden/node-opencv.git
synced 2025-12-08 19:45:55 +00:00
Added stereo calibrate
This commit is contained in:
Max Ehrlich
parent
037fa6a7a5
commit
b4a04b112a
180
src/Calib3D.cc
180
src/Calib3D.cc
@ -12,6 +12,7 @@ void Calib3D::Init(Handle<Object> target)
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NODE_SET_METHOD(obj, "calibrateCamera", CalibrateCamera);
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NODE_SET_METHOD(obj, "solvePnP", SolvePnP);
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NODE_SET_METHOD(obj, "getOptimalNewCameraMatrix", GetOptimalNewCameraMatrix);
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NODE_SET_METHOD(obj, "stereoCalibrate", StereoCalibrate);
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target->Set(NanNew("calib3d"), obj);
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}
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@ -314,7 +315,7 @@ NAN_METHOD(Calib3D::SolvePnP)
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}
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}
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// cv::solvePnP
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// cv::getOptimalNewCameraMAtrix
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NAN_METHOD(Calib3D::GetOptimalNewCameraMatrix)
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{
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NanEscapableScope();
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@ -373,3 +374,180 @@ NAN_METHOD(Calib3D::GetOptimalNewCameraMatrix)
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NanReturnUndefined();
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}
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}
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// cv::stereoCalibrate
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NAN_METHOD(Calib3D::StereoCalibrate)
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{
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NanEscapableScope();
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try {
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// Get the arguments
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// Arg 0, the array of object points, an array of arrays
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std::vector<std::vector<cv::Point3f> > objectPoints;
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if(args[0]->IsArray()) {
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Local<Array> objectPointsArray = Local<Array>::Cast(args[0]);
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for(unsigned int i = 0; i < objectPointsArray->Length(); i++)
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{
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std::vector<cv::Point3f> points;
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Local<Array> pointsArray = Local<Array>::Cast(objectPointsArray->Get(i));
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for(unsigned int j = 0; j < pointsArray->Length(); j++)
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{
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Local<Object> pt = pointsArray->Get(j)->ToObject();
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points.push_back(cv::Point3f(pt->Get(NanNew<String>("x"))->ToNumber()->Value(),
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pt->Get(NanNew<String>("y"))->ToNumber()->Value(),
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pt->Get(NanNew<String>("z"))->ToNumber()->Value()));
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}
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objectPoints.push_back(points);
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}
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} else {
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JSTHROW_TYPE("Must pass array of object points for each frame")
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}
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// Arg 1, the image points1, another array of arrays =(
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std::vector<std::vector<cv::Point2f> > imagePoints1;
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if(args[1]->IsArray()) {
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Local<Array> imagePointsArray = Local<Array>::Cast(args[1]);
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for(unsigned int i = 0; i < imagePointsArray->Length(); i++)
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{
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std::vector<cv::Point2f> points;
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Local<Array> pointsArray = Local<Array>::Cast(imagePointsArray->Get(i));
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for(unsigned int j = 0; j < pointsArray->Length(); j++)
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{
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Local<Object> pt = pointsArray->Get(j)->ToObject();
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points.push_back(cv::Point2f(pt->Get(NanNew<String>("x"))->ToNumber()->Value(),
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pt->Get(NanNew<String>("y"))->ToNumber()->Value()));
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}
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imagePoints1.push_back(points);
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}
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} else {
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JSTHROW_TYPE("Must pass array of object points for each frame")
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}
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// Arg 2, the image points2, another array of arrays =(
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std::vector<std::vector<cv::Point2f> > imagePoints2;
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if(args[2]->IsArray()) {
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Local<Array> imagePointsArray = Local<Array>::Cast(args[2]);
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for(unsigned int i = 0; i < imagePointsArray->Length(); i++)
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{
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std::vector<cv::Point2f> points;
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Local<Array> pointsArray = Local<Array>::Cast(imagePointsArray->Get(i));
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for(unsigned int j = 0; j < pointsArray->Length(); j++)
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{
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Local<Object> pt = pointsArray->Get(j)->ToObject();
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points.push_back(cv::Point2f(pt->Get(NanNew<String>("x"))->ToNumber()->Value(),
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pt->Get(NanNew<String>("y"))->ToNumber()->Value()));
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}
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imagePoints2.push_back(points);
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}
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} else {
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JSTHROW_TYPE("Must pass array of object points for each frame")
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}
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// Arg 3 is the image size (follows the PYTHON api not the C++ api since all following arguments are optional or outputs)
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cv::Size imageSize;
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if (args[3]->IsArray()) {
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Local<Object> v8sz = args[3]->ToObject();
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imageSize = cv::Size(v8sz->Get(1)->IntegerValue(), v8sz->Get(0)->IntegerValue());
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} else {
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JSTHROW_TYPE("Must pass original image size");
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}
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// Arg 4,5,6,7 is the camera matrix and distortion coefficients (optional but must pass all 4 or none)
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cv::Mat k1, d1, k2, d2;
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if(args.Length() >= 8)
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{
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Matrix* mk1 = ObjectWrap::Unwrap<Matrix>(args[4]->ToObject());
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Matrix* md1 = ObjectWrap::Unwrap<Matrix>(args[5]->ToObject());
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Matrix* mk2 = ObjectWrap::Unwrap<Matrix>(args[6]->ToObject());
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Matrix* md2 = ObjectWrap::Unwrap<Matrix>(args[7]->ToObject());
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k1 = mk1->mat;
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d1 = md1->mat;
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k2 = mk2->mat;
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d2 = md2->mat;
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}
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// Last argument is flags, skipping for now
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// Output mats
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cv::Mat R, t, E, F;
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// Do the stereo calibration
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cv::stereoCalibrate(objectPoints, imagePoints1, imagePoints2, k1, d1, k2, d2, imageSize, R, t, E, F);
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// make the return value
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Local<Object> ret = NanNew<Object>();
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// Make the output arguments
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// k1
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Local<Object> K1MatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
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Matrix *K1Matrix = ObjectWrap::Unwrap<Matrix>(K1MatrixWrap);
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K1Matrix->mat = k1;
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// d1
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Local<Object> d1MatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
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Matrix *d1Matrix = ObjectWrap::Unwrap<Matrix>(d1MatrixWrap);
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d1Matrix->mat = d1;
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// k2
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Local<Object> K2MatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
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Matrix *K2Matrix = ObjectWrap::Unwrap<Matrix>(K2MatrixWrap);
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K2Matrix->mat = k2;
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// d2
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Local<Object> d2MatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
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Matrix *d2Matrix = ObjectWrap::Unwrap<Matrix>(d2MatrixWrap);
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d2Matrix->mat = d2;
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// R
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Local<Object> RMatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
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Matrix *RMatrix = ObjectWrap::Unwrap<Matrix>(RMatrixWrap);
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RMatrix->mat = R;
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// t
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Local<Object> tMatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
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Matrix *tMatrix = ObjectWrap::Unwrap<Matrix>(tMatrixWrap);
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tMatrix->mat = t;
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// E
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Local<Object> EMatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
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Matrix *EMatrix = ObjectWrap::Unwrap<Matrix>(EMatrixWrap);
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EMatrix->mat = E;
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// F
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Local<Object> FMatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
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Matrix *FMatrix = ObjectWrap::Unwrap<Matrix>(FMatrixWrap);
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FMatrix->mat = F;
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// Add to return object
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ret->Set(NanNew<String>("K1"), K1MatrixWrap);
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ret->Set(NanNew<String>("distortion1"), d1MatrixWrap);
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ret->Set(NanNew<String>("K2"), K2MatrixWrap);
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ret->Set(NanNew<String>("distortion2"), d2MatrixWrap);
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ret->Set(NanNew<String>("R"), RMatrixWrap);
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ret->Set(NanNew<String>("t"), tMatrixWrap);
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ret->Set(NanNew<String>("E"), EMatrixWrap);
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ret->Set(NanNew<String>("F"), FMatrixWrap);
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// Return
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NanReturnValue(ret);
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} catch (cv::Exception &e) {
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const char *err_msg = e.what();
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NanThrowError(err_msg);
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NanReturnUndefined();
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}
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}
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@ -18,6 +18,8 @@ public:
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static NAN_METHOD(SolvePnP);
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static NAN_METHOD(GetOptimalNewCameraMatrix);
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static NAN_METHOD(StereoCalibrate);
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};
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#endif
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