mirror of
https://github.com/peterbraden/node-opencv.git
synced 2025-12-08 19:45:55 +00:00
562 lines
16 KiB
C++
562 lines
16 KiB
C++
#include "Calib3D.h"
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#include "Matrix.h"
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#ifdef HAVE_OPENCV_CALIB3D
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inline cv::Mat matFromMatrix(Local<Value> matrix) {
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Matrix* m = Nan::ObjectWrap::Unwrap<Matrix>(matrix->ToObject());
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return m->mat;
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}
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inline cv::Size sizeFromArray(Local<Value> jsArray) {
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cv::Size patternSize;
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if (jsArray->IsArray()) {
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Local<Object> v8sz = jsArray->ToObject();
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patternSize = cv::Size(v8sz->Get(0)->IntegerValue(),
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v8sz->Get(1)->IntegerValue());
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} else {
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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(Local<Value> array) {
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std::vector<cv::Point2f> 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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Local<Object> pt = Nan::Get(pointsArray, i).ToLocalChecked()->ToObject();
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points.push_back(
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cv::Point2f(
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Nan::To<double>(Nan::Get(pt, Nan::New<String>("x").ToLocalChecked()).ToLocalChecked()).FromJust(),
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Nan::To<double>(Nan::Get(pt, Nan::New<String>("y").ToLocalChecked()).ToLocalChecked()).FromJust()
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)
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);
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}
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} else {
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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(Local<Value> array) {
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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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Local<Object> pt = pointsArray->Get(i)->ToObject();
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points.push_back(
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cv::Point3f(
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Nan::To<double>(Nan::Get(pt, Nan::New<String>("x").ToLocalChecked()).ToLocalChecked()).FromJust(),
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Nan::To<double>(Nan::Get(pt, Nan::New<String>("y").ToLocalChecked()).ToLocalChecked()).FromJust(),
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Nan::To<double>(Nan::Get(pt, Nan::New<String>("z").ToLocalChecked()).ToLocalChecked()).FromJust()
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)
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);
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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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return points;
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}
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inline std::vector<std::vector<cv::Point2f> > points2fFromArrayOfArrays(
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Local<Value> array) {
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std::vector<std::vector<cv::Point2f> > 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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points.push_back(points2fFromArray(pointsArray->Get(i)));
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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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return points;
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}
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inline std::vector<std::vector<cv::Point3f> > points3fFromArrayOfArrays(
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Local<Value> array) {
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std::vector<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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points.push_back(points3fFromArray(pointsArray->Get(i)));
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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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return points;
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}
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void Calib3D::Init(Local<Object> target) {
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Nan::Persistent<Object> inner;
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Local<Object> obj = Nan::New<Object>();
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inner.Reset(obj);
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Nan::SetMethod(obj, "findChessboardCorners", FindChessboardCorners);
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Nan::SetMethod(obj, "drawChessboardCorners", DrawChessboardCorners);
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Nan::SetMethod(obj, "calibrateCamera", CalibrateCamera);
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Nan::SetMethod(obj, "solvePnP", SolvePnP);
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Nan::SetMethod(obj, "getOptimalNewCameraMatrix", GetOptimalNewCameraMatrix);
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Nan::SetMethod(obj, "stereoCalibrate", StereoCalibrate);
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Nan::SetMethod(obj, "stereoRectify", StereoRectify);
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Nan::SetMethod(obj, "computeCorrespondEpilines", ComputeCorrespondEpilines);
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Nan::SetMethod(obj, "reprojectImageTo3d", ReprojectImageTo3D);
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target->Set(Nan::New("calib3d").ToLocalChecked(), obj);
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}
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// cv::findChessboardCorners
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NAN_METHOD(Calib3D::FindChessboardCorners) {
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Nan::EscapableHandleScope scope;
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try {
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// Get the arguments from javascript
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// Arg 0 is the image
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cv::Mat mat = matFromMatrix(info[0]);
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// Arg 1 is the pattern size
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cv::Size patternSize = sizeFromArray(info[1]);
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// Arg 2 would normally be the flags, ignoring this for now and using the
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// default flags
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// Find the corners
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std::vector<cv::Point2f> corners;
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bool found = cv::findChessboardCorners(mat, patternSize, corners);
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// Make the return value
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Local<Object> ret = Nan::New<Object>();
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ret->Set(Nan::New<String>("found").ToLocalChecked(), Nan::New<Boolean>(found));
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Local<Array> cornersArray = Nan::New<Array>(corners.size());
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for (unsigned int i = 0; i < corners.size(); i++) {
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Local<Object> point_data = Nan::New<Object>();
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point_data->Set(Nan::New<String>("x").ToLocalChecked(), Nan::New<Number>(corners[i].x));
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point_data->Set(Nan::New<String>("y").ToLocalChecked(), Nan::New<Number>(corners[i].y));
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cornersArray->Set(Nan::New<Number>(i), point_data);
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}
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ret->Set(Nan::New<String>("corners").ToLocalChecked(), cornersArray);
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info.GetReturnValue().Set(ret);
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} catch (cv::Exception &e) {
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const char *err_msg = e.what();
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Nan::ThrowError(err_msg);
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return;
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}
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}
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// cv::drawChessboardCorners
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NAN_METHOD(Calib3D::DrawChessboardCorners) {
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Nan::EscapableHandleScope scope;
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try {
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// Get the arguments
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// Arg 0 is the image
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cv::Mat mat = matFromMatrix(info[0]);
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// Arg 1 is the pattern size
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cv::Size patternSize = sizeFromArray(info[1]);
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// Arg 2 is the corners array
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std::vector<cv::Point2f> corners = points2fFromArray(info[2]);
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// Arg 3, pattern found boolean
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bool patternWasFound = info[3]->ToBoolean()->Value();
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// Draw the corners
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cv::drawChessboardCorners(mat, patternSize, corners, patternWasFound);
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// Return the passed image, now with corners drawn on it
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info.GetReturnValue().Set(info[0]);
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} catch (cv::Exception &e) {
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const char *err_msg = e.what();
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Nan::ThrowError(err_msg);
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return;
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}
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}
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// cv::calibrateCamera
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NAN_METHOD(Calib3D::CalibrateCamera) {
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Nan::EscapableHandleScope scope;
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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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points3fFromArrayOfArrays(info[0]);
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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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points2fFromArrayOfArrays(info[1]);
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// Arg 2, the image size
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cv::Size imageSize = sizeFromArray(info[2]);
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// Arg 3, 4, input guesses for the camrea matrix and distortion coefficients,
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// skipping for now
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cv::Mat K, dist;
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// Arg 5, 6 flags and termination criteria, skipping for now
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// Calibrate the camera
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std::vector<cv::Mat> rvecs, tvecs;
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double error = cv::calibrateCamera(objectPoints, imagePoints, imageSize, K,
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dist, rvecs, tvecs);
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// make the return values
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Local<Object> ret = Nan::New<Object>();
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// Reprojection error
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ret->Set(Nan::New<String>("reprojectionError").ToLocalChecked(), Nan::New<Number>(error));
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// K
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Local<Object> KMatrixWrap = Matrix::CreateWrappedFromMat(K);
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ret->Set(Nan::New<String>("K").ToLocalChecked(), KMatrixWrap);
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// dist
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Local<Object> distMatrixWrap = Matrix::CreateWrappedFromMat(dist);
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ret->Set(Nan::New<String>("distortion").ToLocalChecked(), distMatrixWrap);
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// Per frame R and t, skiping for now
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// Return
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info.GetReturnValue().Set(ret);
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} catch (cv::Exception &e) {
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const char *err_msg = e.what();
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Nan::ThrowError(err_msg);
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return;
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}
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}
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// cv::solvePnP
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NAN_METHOD(Calib3D::SolvePnP) {
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Nan::EscapableHandleScope scope;
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try {
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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 = points3fFromArray(info[0]);
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// Arg 1, the image points
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std::vector<cv::Point2f> imagePoints = points2fFromArray(info[1]);
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// Arg 2, the camera matrix
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cv::Mat K = matFromMatrix(info[2]);
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// Arg 3, the distortion coefficients
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cv::Mat dist = matFromMatrix(info[3]);
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// Arg 4, use extrinsic guess, skipped for now
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// Arg 5, flags, skip for now
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// solve for r and t
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cv::Mat rvec, tvec;
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cv::solvePnP(objectPoints, imagePoints, K, dist, rvec, tvec);
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// make the return values
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Local<Object> ret = Nan::New<Object>();
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// rvec
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Local<Object> rMatrixWrap = Matrix::CreateWrappedFromMat(rvec);
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ret->Set(Nan::New<String>("rvec").ToLocalChecked(), rMatrixWrap);
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// tvec
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Local<Object> tMatrixWrap = Matrix::CreateWrappedFromMat(tvec);
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ret->Set(Nan::New<String>("tvec").ToLocalChecked(), tMatrixWrap);
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// Return
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info.GetReturnValue().Set(ret);
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} catch (cv::Exception &e) {
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const char *err_msg = e.what();
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Nan::ThrowError(err_msg);
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return;
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}
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}
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// cv::getOptimalNewCameraMAtrix
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NAN_METHOD(Calib3D::GetOptimalNewCameraMatrix) {
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Nan::EscapableHandleScope scope;
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try {
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// Get the arguments
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// Arg 0 is the original camera matrix
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cv::Mat Kin = matFromMatrix(info[0]);
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// Arg 1 is the distortion coefficients
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cv::Mat dist = matFromMatrix(info[1]);
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// Arg 2, the image size
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cv::Size imageSize = sizeFromArray(info[2]);
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// Arg 3 is the alpha free scaling parameter
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double alpha = Nan::To<double>(info[3]).FromJust();
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// Arg 4, the new image size
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cv::Size newImageSize = sizeFromArray(info[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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// Get the optimal new camera matrix
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cv::Mat Kout = cv::getOptimalNewCameraMatrix(Kin, dist, imageSize, alpha,
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newImageSize);
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// Wrap the output K
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Local<Object> KMatrixWrap = Matrix::CreateWrappedFromMat(Kout);
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// Return the new K matrix
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info.GetReturnValue().Set(KMatrixWrap);
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} catch (cv::Exception &e) {
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const char *err_msg = e.what();
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Nan::ThrowError(err_msg);
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return;
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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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Nan::EscapableHandleScope scope;
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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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points3fFromArrayOfArrays(info[0]);
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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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points2fFromArrayOfArrays(info[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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points2fFromArrayOfArrays(info[2]);
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// Arg 3 is the image size (follows the PYTHON api not the C++ api since all
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// following arguments are optional or outputs)
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cv::Size imageSize = sizeFromArray(info[3]);
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// Arg 4,5,6,7 is the camera matrix and distortion coefficients
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// (optional but must pass all 4 or none)
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cv::Mat k1, d1, k2, d2;
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if (info.Length() >= 8) {
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k1 = matFromMatrix(info[4]);
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d1 = matFromMatrix(info[5]);
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k2 = matFromMatrix(info[6]);
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d2 = matFromMatrix(info[7]);
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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,
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d2, imageSize, R, t, E, F);
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// make the return value
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Local<Object> ret = Nan::New<Object>();
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// Make the output arguments
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// k1
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Local<Object> K1MatrixWrap = Matrix::CreateWrappedFromMat(k1);
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// d1
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Local<Object> d1MatrixWrap = Matrix::CreateWrappedFromMat(d1);
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// k2
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Local<Object> K2MatrixWrap = Matrix::CreateWrappedFromMat(k2);
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// d2
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Local<Object> d2MatrixWrap = Matrix::CreateWrappedFromMat(d2);
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// R
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Local<Object> RMatrixWrap = Matrix::CreateWrappedFromMat(R);
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// t
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Local<Object> tMatrixWrap = Matrix::CreateWrappedFromMat(t);
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// E
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Local<Object> EMatrixWrap = Matrix::CreateWrappedFromMat(E);
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// F
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Local<Object> FMatrixWrap = Matrix::CreateWrappedFromMat(F);
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// Add to return object
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ret->Set(Nan::New<String>("K1").ToLocalChecked(), K1MatrixWrap);
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ret->Set(Nan::New<String>("distortion1").ToLocalChecked(), d1MatrixWrap);
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ret->Set(Nan::New<String>("K2").ToLocalChecked(), K2MatrixWrap);
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ret->Set(Nan::New<String>("distortion2").ToLocalChecked(), d2MatrixWrap);
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ret->Set(Nan::New<String>("R").ToLocalChecked(), RMatrixWrap);
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ret->Set(Nan::New<String>("t").ToLocalChecked(), tMatrixWrap);
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ret->Set(Nan::New<String>("E").ToLocalChecked(), EMatrixWrap);
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ret->Set(Nan::New<String>("F").ToLocalChecked(), FMatrixWrap);
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// Return
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info.GetReturnValue().Set(ret);
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} catch (cv::Exception &e) {
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const char *err_msg = e.what();
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Nan::ThrowError(err_msg);
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return;
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}
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}
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// cv::stereoRectify
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NAN_METHOD(Calib3D::StereoRectify) {
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Nan::EscapableHandleScope scope;
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try {
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// Get the arguments
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// Arg0, the first camera matrix
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cv::Mat K1 = matFromMatrix(info[0]);
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// Arg1, the first distortion coefficients
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cv::Mat d1 = matFromMatrix(info[1]);
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// Arg2, the second camera matrix
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cv::Mat K2 = matFromMatrix(info[2]);
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// Arg3, the second distortion coefficients
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cv::Mat d2 = matFromMatrix(info[3]);
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// Arg4, the image size
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cv::Size imageSize = sizeFromArray(info[4]);
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// arg5, the intercamera rotation matrix
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cv::Mat R = matFromMatrix(info[5]);
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// Arg6, the intercamera translation vector
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cv::Mat t = matFromMatrix(info[6]);
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// Arg8, flags, skipping for now
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// Arg9, freescaling paremeter, skipping for now
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// Arg10, new image size, skipping for now to fix at original image size
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// Make output matrics
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cv::Mat R1, R2, P1, P2, Q;
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// Do the stereo rectification
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cv::stereoRectify(K1, d1, K2, d2, imageSize, R, t, R1, R2, P1, P2, Q);
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// Make the return object
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Local<Object> ret = Nan::New<Object>();
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ret->Set(Nan::New<String>("R1").ToLocalChecked(), Matrix::CreateWrappedFromMat(R1));
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ret->Set(Nan::New<String>("R2").ToLocalChecked(), Matrix::CreateWrappedFromMat(R2));
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ret->Set(Nan::New<String>("P1").ToLocalChecked(), Matrix::CreateWrappedFromMat(P1));
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ret->Set(Nan::New<String>("P2").ToLocalChecked(), Matrix::CreateWrappedFromMat(P2));
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ret->Set(Nan::New<String>("Q").ToLocalChecked(), Matrix::CreateWrappedFromMat(Q));
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// Return the rectification parameters
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info.GetReturnValue().Set(ret);
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} catch (cv::Exception &e) {
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const char *err_msg = e.what();
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Nan::ThrowError(err_msg);
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return;
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}
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}
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// cv::computeCorrespondEpilines
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NAN_METHOD(Calib3D::ComputeCorrespondEpilines) {
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Nan::EscapableHandleScope scope;
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try {
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// Get the arguments
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// Arg0, the image points
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std::vector<cv::Point2f> points = points2fFromArray(info[0]);
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// Arg1, the image index (1 or 2)
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int whichImage = Nan::To<int>(info[1]).FromJust();
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// Arg2, the fundamental matrix
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cv::Mat F = matFromMatrix(info[2]);
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// compute the lines
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std::vector<cv::Vec3f> lines;
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cv::computeCorrespondEpilines(points, whichImage, F, lines);
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// Convert the lines to an array of objects (ax + by + c = 0)
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Local<Array> linesArray = Nan::New<Array>(lines.size());
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for(unsigned int i = 0; i < lines.size(); i++)
|
|
{
|
|
Local<Object> line_data = Nan::New<Object>();
|
|
line_data->Set(Nan::New<String>("a").ToLocalChecked(), Nan::New<Number>(lines[i][0]));
|
|
line_data->Set(Nan::New<String>("b").ToLocalChecked(), Nan::New<Number>(lines[i][1]));
|
|
line_data->Set(Nan::New<String>("c").ToLocalChecked(), Nan::New<Number>(lines[i][2]));
|
|
|
|
linesArray->Set(Nan::New<Number>(i), line_data);
|
|
}
|
|
|
|
// Return the lines
|
|
info.GetReturnValue().Set(linesArray);
|
|
} catch (cv::Exception &e) {
|
|
const char *err_msg = e.what();
|
|
Nan::ThrowError(err_msg);
|
|
return;
|
|
}
|
|
}
|
|
|
|
// cv::reprojectImageTo3D
|
|
NAN_METHOD(Calib3D::ReprojectImageTo3D) {
|
|
Nan::EscapableHandleScope scope;
|
|
|
|
try {
|
|
// Get the arguments
|
|
|
|
// Arg0, the disparity image
|
|
cv::Mat disparity = matFromMatrix(info[0]);
|
|
|
|
// Arg1, the depth-to-disparity transformation Q
|
|
cv::Mat Q = matFromMatrix(info[1]);
|
|
|
|
// Arg 2, handle missing values, skipped for now
|
|
|
|
// Arg3, output bit depth, skipped for now
|
|
|
|
// Compute the depth image
|
|
cv::Mat depthImage;
|
|
cv::reprojectImageTo3D(disparity, depthImage, Q);
|
|
|
|
// Wrap the depth image
|
|
Local<Object> depthImageMatrix = Matrix::CreateWrappedFromMat(depthImage);
|
|
|
|
info.GetReturnValue().Set(depthImageMatrix);
|
|
} catch (cv::Exception &e) {
|
|
const char *err_msg = e.what();
|
|
Nan::ThrowError(err_msg);
|
|
return;
|
|
}
|
|
}
|
|
|
|
#endif
|