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| @@ -1,3 +1,5 @@ | ||
| <wpf:ResourceDictionary xml:space="preserve" xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml" xmlns:s="clr-namespace:System;assembly=mscorlib" xmlns:ss="urn:shemas-jetbrains-com:settings-storage-xaml" xmlns:wpf="http://schemas.microsoft.com/winfx/2006/xaml/presentation"> | ||
| <s:String x:Key="/Default/CodeStyle/Naming/CppNaming/Rules/=Local_0020variables/@EntryIndexedValue"><NamingElement Priority="6"><Descriptor Static="Indeterminate" Constexpr="Indeterminate" Const="Indeterminate" Volatile="Indeterminate" Accessibility="NOT_APPLICABLE"><type Name="local variable" /></Descriptor><Policy Inspect="True" Prefix="" Suffix="" Style="aaBb" /></NamingElement></s:String> | ||
| <s:String x:Key="/Default/CodeStyle/Naming/CppNaming/Rules/=Parameters/@EntryIndexedValue"><NamingElement Priority="5"><Descriptor Static="Indeterminate" Constexpr="Indeterminate" Const="Indeterminate" Volatile="Indeterminate" Accessibility="NOT_APPLICABLE"><type Name="parameter" /></Descriptor><Policy Inspect="True" Prefix="" Suffix="" Style="aaBb" /></NamingElement></s:String> | ||
| <s:String x:Key="/Default/CodeStyle/Naming/CSharpNaming/Abbreviations/=SURF/@EntryIndexedValue">SURF</s:String> | ||
| <s:String x:Key="/Default/CodeStyle/Naming/CSharpNaming/PredefinedNamingRules/=PrivateInstanceFields/@EntryIndexedValue"><Policy Inspect="True" Prefix="" Suffix="" Style="aaBb" /></s:String></wpf:ResourceDictionary> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,160 @@ | ||
| using System; | ||
| using System.Collections.Generic; | ||
| using System.Diagnostics; | ||
| using System.IO; | ||
| using System.Linq; | ||
| using Xunit; | ||
|
|
||
| namespace OpenCvSharp.Tests.Calib3D | ||
| { | ||
| public class Calib3DTest : TestBase | ||
| { | ||
| /// <summary> | ||
| /// https://stackoverflow.com/questions/25244603/opencvs-projectpoints-function | ||
| /// </summary> | ||
| [Fact] | ||
| public void ProjectPointsTest() | ||
| { | ||
| var objectPointsArray = Generate3DPoints().ToArray(); | ||
| var objectPoints = new Mat(objectPointsArray.Length, 1, MatType.CV_64FC3, objectPointsArray); | ||
|
|
||
| Mat intrisicMat = new Mat(3, 3, MatType.CV_64FC1); | ||
| intrisicMat.Set<double>(0, 0, 1.6415318549788924e+003); | ||
| intrisicMat.Set<double>(1, 0,0); | ||
| intrisicMat.Set<double>(2, 0,0); | ||
| intrisicMat.Set<double>(0, 1,0); | ||
| intrisicMat.Set<double>(1, 1,1.7067753507885654e+003); | ||
| intrisicMat.Set<double>(2, 1,0); | ||
| intrisicMat.Set<double>(0, 2,5.3262822453148601e+002); | ||
| intrisicMat.Set<double>(1, 2,3.8095355839052968e+002); | ||
| intrisicMat.Set<double>(2, 2,1); | ||
|
|
||
| Mat rVec = new Mat(3, 1, MatType.CV_64FC1); | ||
| rVec.Set<double>(0, -3.9277902400761393e-002); | ||
| rVec.Set<double>(1, 3.7803824407602084e-002); | ||
| rVec.Set<double>(2, 2.6445674487856268e-002); | ||
|
|
||
| Mat tVec = new Mat(3, 1, MatType.CV_64FC1); | ||
| tVec.Set<double>(0, 2.1158489381208221e+000); | ||
| tVec.Set<double>(1, -7.6847683212704716e+000); | ||
| tVec.Set<double>(2, 2.6169795190294256e+001); | ||
|
|
||
| Mat distCoeffs = new Mat(4, 1, MatType.CV_64FC1); | ||
| distCoeffs.Set<double>(0, 0); | ||
| distCoeffs.Set<double>(1, 0); | ||
| distCoeffs.Set<double>(2, 0); | ||
| distCoeffs.Set<double>(3, 0); | ||
|
|
||
| // without jacobian | ||
| Mat projectedPoints = new Mat(); | ||
| Cv2.ProjectPoints(objectPoints, rVec, tVec, intrisicMat, distCoeffs, projectedPoints); | ||
|
|
||
| // with jacobian | ||
| Mat jacobian = new Mat(); | ||
| Cv2.ProjectPoints(objectPoints, rVec, tVec, intrisicMat, distCoeffs, projectedPoints, jacobian); | ||
|
|
||
| objectPoints.Dispose(); | ||
| intrisicMat.Dispose(); | ||
| rVec.Dispose(); | ||
| tVec.Dispose(); | ||
| distCoeffs.Dispose(); | ||
| projectedPoints.Dispose(); | ||
| jacobian.Dispose(); | ||
|
|
||
| IEnumerable<Point3d> Generate3DPoints() | ||
| { | ||
| double x, y, z; | ||
|
|
||
| x = .5; y = .5; z = -.5; | ||
| yield return new Point3d(x, y, z); | ||
|
|
||
| x = .5; y = .5; z = .5; | ||
| yield return new Point3d(x, y, z); | ||
|
|
||
| x = -.5; y = .5; z = .5; | ||
| yield return new Point3d(x, y, z); | ||
|
|
||
| x = -.5; y = .5; z = -.5; | ||
| yield return new Point3d(x, y, z); | ||
|
|
||
| x = .5; y = -.5; z = -.5; | ||
| yield return new Point3d(x, y, z); | ||
|
|
||
| x = -.5; y = -.5; z = -.5; | ||
| yield return new Point3d(x, y, z); | ||
|
|
||
| x = -.5; y = -.5; z = .5; | ||
| yield return new Point3d(x, y, z); | ||
| } | ||
| } | ||
|
|
||
| [Fact] | ||
| public void SolvePnPTestByArray() | ||
| { | ||
| var rvec = new double[] { 0, 0, 0 }; | ||
| var tvec = new double[] { 0, 0, 0 }; | ||
| var cameraMatrix = new double[3, 3] | ||
| { | ||
| { 1, 0, 0 }, | ||
| { 0, 1, 0 }, | ||
| { 0, 0, 1 } | ||
| }; | ||
| var dist = new double[] { 0, 0, 0, 0, 0 }; | ||
|
|
||
| var objPts = new Point3f[] | ||
| { | ||
| new Point3f(0,0,1), | ||
| new Point3f(1,0,1), | ||
| new Point3f(0,1,1), | ||
| new Point3f(1,1,1), | ||
| new Point3f(1,0,2), | ||
| new Point3f(0,1,2) | ||
| }; | ||
|
|
||
| double[,] jacobian; | ||
| Point2f[] imgPts; | ||
| Cv2.ProjectPoints(objPts, rvec, tvec, cameraMatrix, dist, out imgPts, out jacobian); | ||
|
|
||
| Cv2.SolvePnP(objPts, imgPts, cameraMatrix, dist, out rvec, out tvec); | ||
| } | ||
|
|
||
| [Fact] | ||
| public void SolvePnPTestByMat() | ||
| { | ||
| var rvec = new double[] { 0, 0, 0 }; | ||
| var tvec = new double[] { 0, 0, 0 }; | ||
| var cameraMatrix = new double[3, 3] | ||
| { | ||
| { 1, 0, 0 }, | ||
| { 0, 1, 0 }, | ||
| { 0, 0, 1 } | ||
| }; | ||
| var dist = new double[] { 0, 0, 0, 0, 0 }; | ||
|
|
||
| var objPts = new Point3f[] | ||
| { | ||
| new Point3f(0,0,1), | ||
| new Point3f(1,0,1), | ||
| new Point3f(0,1,1), | ||
| new Point3f(1,1,1), | ||
| new Point3f(1,0,2), | ||
| new Point3f(0,1,2) | ||
| }; | ||
|
|
||
| double[,] jacobian; | ||
| Point2f[] imgPts; | ||
| Cv2.ProjectPoints(objPts, rvec, tvec, cameraMatrix, dist, out imgPts, out jacobian); | ||
|
|
||
| using (var objPtsMat = new Mat(objPts.Length, 1, MatType.CV_32FC3)) | ||
| using (var imgPtsMat = new Mat(imgPts.Length, 1, MatType.CV_32FC2)) | ||
| using (var cameraMatrixMat = Mat.Eye(3, 3, MatType.CV_64FC1)) | ||
| using (var distMat = Mat.Zeros(5, 0, MatType.CV_64FC1)) | ||
| using (var rvecMat = new Mat()) | ||
| using (var tvecMat = new Mat()) | ||
| { | ||
| Cv2.SolvePnP(objPtsMat, imgPtsMat, cameraMatrixMat, distMat, rvecMat, tvecMat); | ||
| } | ||
| } | ||
| } | ||
| } | ||
|
|