mirror of
https://github.com/peterbraden/node-opencv.git
synced 2025-12-08 19:45:55 +00:00
Factored out commonly repeated code into functions
This commit is contained in:
Max Ehrlich
parent
b4a04b112a
commit
eb4808cebd
417
src/Calib3D.cc
417
src/Calib3D.cc
@ -1,6 +1,123 @@
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#include "Calib3D.h"
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#include "Matrix.h"
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inline Local<Object> matrixFromMat(cv::Mat &input)
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{
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Local<Object> matrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
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Matrix *matrix = ObjectWrap::Unwrap<Matrix>(matrixWrap);
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matrix->mat = input;
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return matrixWrap;
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}
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inline cv::Mat matFromMatrix(Handle<Value> matrix)
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{
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Matrix* m = ObjectWrap::Unwrap<Matrix>(matrix->ToObject());
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return m->mat;
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}
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inline cv::Size sizeFromArray(Handle<Value> jsArray)
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{
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cv::Size patternSize;
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if (jsArray->IsArray())
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{
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Local<Object> v8sz = jsArray->ToObject();
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patternSize = cv::Size(v8sz->Get(0)->IntegerValue(), v8sz->Get(1)->IntegerValue());
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}
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else
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{
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JSTHROW_TYPE("Size is not a valid array");
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}
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return patternSize;
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}
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inline std::vector<cv::Point2f> points2fFromArray(Handle<Value> array)
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{
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std::vector<cv::Point2f> points;
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if(array->IsArray())
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{
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Local<Array> pointsArray = Local<Array>::Cast(array->ToObject());
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for(unsigned int i = 0; i < pointsArray->Length(); i++)
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{
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Local<Object> pt = pointsArray->Get(i)->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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}
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else
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{
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JSTHROW_TYPE("Points not a valid array");
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}
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return points;
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}
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inline std::vector<cv::Point3f> points3fFromArray(Handle<Value> array)
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{
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std::vector<cv::Point3f> points;
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if(array->IsArray()) {
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Local<Array> pointsArray = Local<Array>::Cast(array->ToObject());
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for(unsigned int i = 0; i < pointsArray->Length(); i++)
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{
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Local<Object> pt = pointsArray->Get(i)->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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}
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else
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{
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JSTHROW_TYPE("Must pass array of object points for each frame")
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}
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return points;
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}
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inline std::vector<std::vector<cv::Point2f> > points2fFromArrayOfArrays(Handle<Value> array)
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{
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std::vector<std::vector<cv::Point2f> > points;
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if(array->IsArray())
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{
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Local<Array> pointsArray = Local<Array>::Cast(array->ToObject());
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for(unsigned int i = 0; i < pointsArray->Length(); i++)
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{
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points.push_back(points2fFromArray(pointsArray->Get(i)));
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}
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}
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else
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{
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JSTHROW_TYPE("Must pass array of object points for each frame")
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}
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return points;
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}
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inline std::vector<std::vector<cv::Point3f> > points3fFromArrayOfArrays(Handle<Value> array)
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{
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std::vector<std::vector<cv::Point3f> > points;
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if(array->IsArray())
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{
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Local<Array> pointsArray = Local<Array>::Cast(array->ToObject());
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for(unsigned int i = 0; i < pointsArray->Length(); i++)
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{
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points.push_back(points3fFromArray(pointsArray->Get(i)));
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}
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}
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else
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{
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JSTHROW_TYPE("Must pass array of object points for each frame")
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}
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return points;
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}
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void Calib3D::Init(Handle<Object> target)
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{
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Persistent<Object> inner;
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@ -26,18 +143,10 @@ NAN_METHOD(Calib3D::FindChessboardCorners)
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// Get the arguments from javascript
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// Arg 0 is the image
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Matrix* m = ObjectWrap::Unwrap<Matrix>(args[0]->ToObject());
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cv::Mat mat = m->mat;
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cv::Mat mat = matFromMatrix(args[0]);
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// Arg 1 is the pattern size
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cv::Size patternSize;
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if (args[1]->IsArray()) {
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Local<Object> v8sz = args[1]->ToObject();
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patternSize = cv::Size(v8sz->Get(0)->IntegerValue(), v8sz->Get(1)->IntegerValue());
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} else {
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JSTHROW_TYPE("Must pass pattern size");
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}
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cv::Size patternSize = sizeFromArray(args[1]);
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// Arg 2 would normally be the flags, ignoring this for now and using the default flags
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@ -81,33 +190,13 @@ NAN_METHOD(Calib3D::DrawChessboardCorners)
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// Get the arguments
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// Arg 0 is the image
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Matrix* m = ObjectWrap::Unwrap<Matrix>(args[0]->ToObject());
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cv::Mat mat = m->mat;
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cv::Mat mat = matFromMatrix(args[0]);
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// Arg 1 is the pattern size
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cv::Size patternSize;
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if (args[1]->IsArray()) {
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Local<Object> v8sz = args[1]->ToObject();
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patternSize = cv::Size(v8sz->Get(0)->IntegerValue(), v8sz->Get(1)->IntegerValue());
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} else {
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JSTHROW_TYPE("Must pass pattern size");
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}
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cv::Size patternSize = sizeFromArray(args[1]);
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// Arg 2 is the corners array
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std::vector<cv::Point2f> corners;
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if(args[2]->IsArray()) {
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Local<Array> cornersArray = Local<Array>::Cast(args[2]);
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for(unsigned int i = 0; i < cornersArray->Length(); i++)
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{
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Local<Object> pt = cornersArray->Get(i)->ToObject();
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corners.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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} else {
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JSTHROW_TYPE("Must pass corners array");
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}
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std::vector<cv::Point2f> corners = points2fFromArray(args[2]);
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// Arg 3, pattern found boolean
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bool patternWasFound = args[3]->ToBoolean()->Value();
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@ -134,61 +223,13 @@ NAN_METHOD(Calib3D::CalibrateCamera)
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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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std::vector<std::vector<cv::Point3f> > objectPoints = points3fFromArrayOfArrays(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 points, another array of arrays =(
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std::vector<std::vector<cv::Point2f> > imagePoints;
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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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imagePoints.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 points, another array of arrays
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std::vector<std::vector<cv::Point2f> > imagePoints = points2fFromArrayOfArrays(args[1]);
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// Arg 2, the image size
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cv::Size imageSize;
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if (args[2]->IsArray()) {
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Local<Object> v8sz = args[2]->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 pattern size");
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}
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cv::Size imageSize = sizeFromArray(args[2]);
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// Arg 3, 4, input guesses for the camrea matrix and distortion coefficients, skipping for now
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cv::Mat K, dist;
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@ -207,17 +248,11 @@ NAN_METHOD(Calib3D::CalibrateCamera)
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ret->Set(NanNew<String>("reprojectionError"), NanNew<Number>(error));
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// K
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Local<Object> KMatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
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Matrix *KMatrix = ObjectWrap::Unwrap<Matrix>(KMatrixWrap);
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KMatrix->mat = K;
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Local<Object> KMatrixWrap = matrixFromMat(K);
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ret->Set(NanNew<String>("K"), KMatrixWrap);
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// dist
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Local<Object> distMatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
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Matrix *distMatrix = ObjectWrap::Unwrap<Matrix>(distMatrixWrap);
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distMatrix->mat = dist;
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Local<Object> distMatrixWrap = matrixFromMat(dist);
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ret->Set(NanNew<String>("distortion"), distMatrixWrap);
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// Per frame R and t, skiping for now
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@ -241,43 +276,16 @@ NAN_METHOD(Calib3D::SolvePnP)
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// Get the arguments
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// Arg 0, the array of object points
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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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Local<Object> pt = objectPointsArray->Get(i)->ToObject();
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objectPoints.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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} else {
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JSTHROW_TYPE("Must pass array of object points for each frame")
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}
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std::vector<cv::Point3f> objectPoints = points3fFromArray(args[0]);
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// Arg 1, the image points
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std::vector<cv::Point2f> imagePoints;
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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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Local<Object> pt = imagePointsArray->Get(i)->ToObject();
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imagePoints.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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} else {
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JSTHROW_TYPE("Must pass array of object points for each frame")
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}
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std::vector<cv::Point2f> imagePoints = points2fFromArray(args[1]);
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// Arg 2, the camera matrix
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Matrix* kWrap = ObjectWrap::Unwrap<Matrix>(args[2]->ToObject());
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cv::Mat K = kWrap->mat;
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cv::Mat K = matFromMatrix(args[2]);
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// Arg 3, the distortion coefficients
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Matrix* distWrap = ObjectWrap::Unwrap<Matrix>(args[3]->ToObject());
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cv::Mat dist = distWrap->mat;
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cv::Mat dist = matFromMatrix(args[3]);
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// Arg 4, use extrinsic guess, skipped for now
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@ -292,17 +300,11 @@ NAN_METHOD(Calib3D::SolvePnP)
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Local<Object> ret = NanNew<Object>();
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// rvec
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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 = rvec;
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Local<Object> rMatrixWrap = matrixFromMat(rvec);
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ret->Set(NanNew<String>("rvec"), rMatrixWrap);
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// tvec
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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 = tvec;
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Local<Object> tMatrixWrap = matrixFromMat(tvec);
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ret->Set(NanNew<String>("tvec"), tMatrixWrap);
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// Return
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@ -324,35 +326,19 @@ NAN_METHOD(Calib3D::GetOptimalNewCameraMatrix)
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// Get the arguments
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// Arg 0 is the original camera matrix
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Matrix* m0 = ObjectWrap::Unwrap<Matrix>(args[0]->ToObject());
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cv::Mat Kin = m0->mat;
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cv::Mat Kin = matFromMatrix(args[0]);
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// Arg 1 is the distortion coefficients
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Matrix* m1 = ObjectWrap::Unwrap<Matrix>(args[1]->ToObject());
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cv::Mat dist = m1->mat;
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cv::Mat dist = matFromMatrix(args[1]);
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// Arg 2, the image size
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cv::Size imageSize;
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if (args[2]->IsArray()) {
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Local<Object> v8sz = args[2]->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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cv::Size imageSize = sizeFromArray(args[2]);
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// Arg 3 is the alpha free scaling parameter
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double alpha = args[3]->ToNumber()->Value();
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// Arg 4, the new image size
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cv::Size newImageSize;
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if (args[4]->IsArray()) {
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Local<Object> v8sz = args[4]->ToObject();
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newImageSize = cv::Size(v8sz->Get(1)->IntegerValue(), v8sz->Get(0)->IntegerValue());
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} else {
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JSTHROW_TYPE("Must pass new image size");
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}
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cv::Size newImageSize = sizeFromArray(args[4]);
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// Arg 5, valid ROI, skip for now
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// Arg 6, center principal point, skip for now
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@ -361,9 +347,7 @@ NAN_METHOD(Calib3D::GetOptimalNewCameraMatrix)
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cv::Mat Kout = cv::getOptimalNewCameraMatrix(Kin, dist, imageSize, alpha, newImageSize);
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// Wrap the output K
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Local<Object> KMatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
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Matrix *KMatrix = ObjectWrap::Unwrap<Matrix>(KMatrixWrap);
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KMatrix->mat = Kout;
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Local<Object> KMatrixWrap = matrixFromMat(Kout);
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// Return the new K matrix
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NanReturnValue(KMatrixWrap);
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@ -384,99 +368,26 @@ NAN_METHOD(Calib3D::StereoCalibrate)
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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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std::vector<std::vector<cv::Point3f> > objectPoints = points3fFromArrayOfArrays(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 1, the image points1, another array of arrays
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std::vector<std::vector<cv::Point2f> > imagePoints1 = points2fFromArrayOfArrays(args[1]);
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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++)
|
||||
{
|
||||
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()));
|
||||
}
|
||||
|
||||
imagePoints2.push_back(points);
|
||||
}
|
||||
} else {
|
||||
JSTHROW_TYPE("Must pass array of object points for each frame")
|
||||
}
|
||||
std::vector<std::vector<cv::Point2f> > imagePoints2 = points2fFromArrayOfArrays(args[2]);
|
||||
|
||||
// Arg 3 is the image size (follows the PYTHON api not the C++ api since all following arguments are optional or outputs)
|
||||
cv::Size imageSize;
|
||||
if (args[3]->IsArray()) {
|
||||
Local<Object> v8sz = args[3]->ToObject();
|
||||
|
||||
imageSize = cv::Size(v8sz->Get(1)->IntegerValue(), v8sz->Get(0)->IntegerValue());
|
||||
} else {
|
||||
JSTHROW_TYPE("Must pass original image size");
|
||||
}
|
||||
cv::Size imageSize = sizeFromArray(args[3]);
|
||||
|
||||
// Arg 4,5,6,7 is the camera matrix and distortion coefficients (optional but must pass all 4 or none)
|
||||
cv::Mat k1, d1, k2, d2;
|
||||
if(args.Length() >= 8)
|
||||
{
|
||||
Matrix* mk1 = ObjectWrap::Unwrap<Matrix>(args[4]->ToObject());
|
||||
Matrix* md1 = ObjectWrap::Unwrap<Matrix>(args[5]->ToObject());
|
||||
Matrix* mk2 = ObjectWrap::Unwrap<Matrix>(args[6]->ToObject());
|
||||
Matrix* md2 = ObjectWrap::Unwrap<Matrix>(args[7]->ToObject());
|
||||
k1 = matFromMatrix(args[4]);
|
||||
d1 = matFromMatrix(args[5]);
|
||||
|
||||
k1 = mk1->mat;
|
||||
d1 = md1->mat;
|
||||
|
||||
k2 = mk2->mat;
|
||||
d2 = md2->mat;
|
||||
k2 = matFromMatrix(args[6]);
|
||||
d2 = matFromMatrix(args[7]);
|
||||
}
|
||||
|
||||
// Last argument is flags, skipping for now
|
||||
@ -493,44 +404,28 @@ NAN_METHOD(Calib3D::StereoCalibrate)
|
||||
// Make the output arguments
|
||||
|
||||
// k1
|
||||
Local<Object> K1MatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
|
||||
Matrix *K1Matrix = ObjectWrap::Unwrap<Matrix>(K1MatrixWrap);
|
||||
K1Matrix->mat = k1;
|
||||
Local<Object> K1MatrixWrap = matrixFromMat(k1);
|
||||
|
||||
// d1
|
||||
Local<Object> d1MatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
|
||||
Matrix *d1Matrix = ObjectWrap::Unwrap<Matrix>(d1MatrixWrap);
|
||||
d1Matrix->mat = d1;
|
||||
Local<Object> d1MatrixWrap = matrixFromMat(d1);
|
||||
|
||||
// k2
|
||||
Local<Object> K2MatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
|
||||
Matrix *K2Matrix = ObjectWrap::Unwrap<Matrix>(K2MatrixWrap);
|
||||
K2Matrix->mat = k2;
|
||||
Local<Object> K2MatrixWrap = matrixFromMat(k2);
|
||||
|
||||
// d2
|
||||
Local<Object> d2MatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
|
||||
Matrix *d2Matrix = ObjectWrap::Unwrap<Matrix>(d2MatrixWrap);
|
||||
d2Matrix->mat = d2;
|
||||
Local<Object> d2MatrixWrap = matrixFromMat(d2);
|
||||
|
||||
// R
|
||||
Local<Object> RMatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
|
||||
Matrix *RMatrix = ObjectWrap::Unwrap<Matrix>(RMatrixWrap);
|
||||
RMatrix->mat = R;
|
||||
Local<Object> RMatrixWrap = matrixFromMat(R);
|
||||
|
||||
// t
|
||||
Local<Object> tMatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
|
||||
Matrix *tMatrix = ObjectWrap::Unwrap<Matrix>(tMatrixWrap);
|
||||
tMatrix->mat = t;
|
||||
Local<Object> tMatrixWrap = matrixFromMat(t);
|
||||
|
||||
// E
|
||||
Local<Object> EMatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
|
||||
Matrix *EMatrix = ObjectWrap::Unwrap<Matrix>(EMatrixWrap);
|
||||
EMatrix->mat = E;
|
||||
Local<Object> EMatrixWrap = matrixFromMat(E);
|
||||
|
||||
// F
|
||||
Local<Object> FMatrixWrap = NanNew(Matrix::constructor)->GetFunction()->NewInstance();
|
||||
Matrix *FMatrix = ObjectWrap::Unwrap<Matrix>(FMatrixWrap);
|
||||
FMatrix->mat = F;
|
||||
Local<Object> FMatrixWrap = matrixFromMat(F);
|
||||
|
||||
// Add to return object
|
||||
ret->Set(NanNew<String>("K1"), K1MatrixWrap);
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user