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https://github.com/ruby-opencv/ruby-opencv
synced 2023-03-27 23:22:12 -04:00
modified and tested CvMat.find_fundamental_mat_*point
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ser1zw
parent
3a3e577289
commit
e56749c70d
3 changed files with 115 additions and 48 deletions
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@ -394,11 +394,16 @@ void define_ruby_class()
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rb_define_method(rb_klass, "optical_flow_lk", RUBY_METHOD_FUNC(rb_optical_flow_lk), 2);
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rb_define_method(rb_klass, "optical_flow_bm", RUBY_METHOD_FUNC(rb_optical_flow_bm), -1);
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rb_define_singleton_method(rb_klass, "find_fundamental_mat_7point", RUBY_METHOD_FUNC(rb_find_fundamental_mat_7point), -1);
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rb_define_singleton_method(rb_klass, "find_fundamental_mat_8point", RUBY_METHOD_FUNC(rb_find_fundamental_mat_8point), -1);
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rb_define_singleton_method(rb_klass, "find_fundamental_mat_ransac", RUBY_METHOD_FUNC(rb_find_fundamental_mat_ransac), -1);
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rb_define_singleton_method(rb_klass, "find_fundamental_mat_lmeds", RUBY_METHOD_FUNC(rb_find_fundamental_mat_lmeds), -1);
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rb_define_singleton_method(rb_klass, "compute_correspond_epilines", RUBY_METHOD_FUNC(rb_compute_correspond_epilines), 3);
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rb_define_singleton_method(rb_klass, "find_fundamental_mat_7point",
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RUBY_METHOD_FUNC(rb_find_fundamental_mat_7point), 2);
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rb_define_singleton_method(rb_klass, "find_fundamental_mat_8point",
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RUBY_METHOD_FUNC(rb_find_fundamental_mat_8point), 2);
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rb_define_singleton_method(rb_klass, "find_fundamental_mat_ransac",
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RUBY_METHOD_FUNC(rb_find_fundamental_mat_ransac), -1);
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rb_define_singleton_method(rb_klass, "find_fundamental_mat_lmeds",
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RUBY_METHOD_FUNC(rb_find_fundamental_mat_lmeds), -1);
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rb_define_singleton_method(rb_klass, "compute_correspond_epilines",
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RUBY_METHOD_FUNC(rb_compute_correspond_epilines), 3);
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rb_define_method(rb_klass, "save_image", RUBY_METHOD_FUNC(rb_save_image), 1);
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}
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@ -4995,66 +5000,38 @@ rb_optical_flow_bm(int argc, VALUE *argv, VALUE self)
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/*
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* call-seq:
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* CvMat.find_fundamental_mat_7point(<i>points1, points2[,options = {}]</i>) -> fundamental_matrix(cvmat) or nil
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* CvMat.find_fundamental_mat_7point(<i>points1, points2</i>) -> fundamental_matrix(cvmat) or nil
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*
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* Calculates fundamental matrix from corresponding points, use for 7-point algorism. Return fundamental matrix(9x3).
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* <i>points1</i> and <i>points2</i> should be 2x7 or 3x7 single-channel, or 1x7 multi-channel matrix.
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* <i>option</i> should be Hash include these keys.
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* :with_status (true or false)
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* If set true, return fundamental_matrix and status. [fundamental_matrix, status]
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* Otherwise return fundamental matrix only(default).
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*
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* note: <i>option</i>'s default value is CvMat::FIND_FUNDAMENTAL_MAT_OPTION.
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* note: 9x3 fundamental matrix means 3x3 three fundamental matrices.
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*/
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VALUE
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rb_find_fundamental_mat_7point(int argc, VALUE *argv, VALUE klass)
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rb_find_fundamental_mat_7point(VALUE klass, VALUE points1, VALUE points2)
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{
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VALUE points1, points2, option, fundamental_matrix, status;
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int num = 0;
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rb_scan_args(argc, argv, "21", &points1, &points2, &option);
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option = FIND_FUNDAMENTAL_MAT_OPTION(option);
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fundamental_matrix = cCvMat::new_object(9, 3, CV_32FC1);
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if(FFM_WITH_STATUS(option)){
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status = cCvMat::new_object(cvGetSize(CVARR(points1)), CV_8UC1);
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num = cvFindFundamentalMat(CVMAT(points1), CVMAT(points2), CVMAT(fundamental_matrix), CV_FM_7POINT, 0, 0, CVMAT(status));
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return rb_ary_new3(2, fundamental_matrix, status);
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}else{
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num = cvFindFundamentalMat(CVMAT(points1), CVMAT(points2), CVMAT(fundamental_matrix), CV_FM_7POINT, 0, 0, NULL);
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return fundamental_matrix;
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}
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VALUE fundamental_matrix = cCvMat::new_object(9, 3, CVMAT(points1)->type);
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int num = cvFindFundamentalMat(CVMAT(points1), CVMAT(points2), CVMAT(fundamental_matrix),
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CV_FM_7POINT, 0, 0, NULL);
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return (num == 0) ? Qnil : fundamental_matrix;
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}
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/*
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* call-seq:
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* CvMat.find_fundamental_mat_8point(<i>points1, points2[,options = {}]</i>) -> fundamental_matrix(cvmat) or nil
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* CvMat.find_fundamental_mat_8point(<i>points1, points2</i>) -> fundamental_matrix(cvmat) or nil
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*
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* Calculates fundamental matrix from corresponding points, use for 8-point algorism.
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* <i>points1</i> and <i>points2</i> should be 2x7 or 3x7 single-channel, or 1x7 multi-channel matrix.
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* <i>option</i> should be Hash include these keys.
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* :with_status (true or false)
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* If set true, return fundamental_matrix and status. [fundamental_matrix, status]
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* Otherwise return fundamental matrix only(default).
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* <i>points1</i> and <i>points2</i> should be 2x8 or 3x8 single-channel, or 1x8 multi-channel matrix.
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*
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* note: <i>option</i>'s default value is CvMat::FIND_FUNDAMENTAL_MAT_OPTION.
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*/
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VALUE
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rb_find_fundamental_mat_8point(int argc, VALUE *argv, VALUE klass)
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rb_find_fundamental_mat_8point(VALUE klass, VALUE points1, VALUE points2)
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{
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VALUE points1, points2, option, fundamental_matrix, status;
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int num = 0;
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rb_scan_args(argc, argv, "21", &points1, &points2, &option);
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option = FIND_FUNDAMENTAL_MAT_OPTION(option);
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fundamental_matrix = cCvMat::new_object(3, 3, CV_32FC1);
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if(FFM_WITH_STATUS(option)){
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status = cCvMat::new_object(cvGetSize(CVARR(points1)), CV_8UC1);
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num = cvFindFundamentalMat(CVMAT(points1), CVMAT(points2), CVMAT(fundamental_matrix), CV_FM_8POINT, 0, 0, CVMAT(status));
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return num == 0 ? Qnil : rb_ary_new3(2, fundamental_matrix, status);
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}else{
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num = cvFindFundamentalMat(CVMAT(points1), CVMAT(points2), CVMAT(fundamental_matrix), CV_FM_8POINT, 0, 0, NULL);
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return num == 0 ? Qnil : fundamental_matrix;
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}
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VALUE fundamental_matrix = cCvMat::new_object(3, 3, CVMAT(points1)->type);
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int num = cvFindFundamentalMat(CVMAT(points1), CVMAT(points2), CVMAT(fundamental_matrix),
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CV_FM_8POINT, 0, 0, NULL);
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return (num == 0) ? Qnil : fundamental_matrix;
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}
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/*
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@ -259,8 +259,8 @@ VALUE rb_optical_flow_bm(int argc, VALUE *argv, VALUE self);
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VALUE rb_optical_flow_pyr_lk(int argc, VALUE *argv, VALUE self);
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/* Epipolar Geometory */
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VALUE rb_find_fundamental_mat_7point(int argc, VALUE *argv, VALUE klass);
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VALUE rb_find_fundamental_mat_8point(int argc, VALUE *argv, VALUE klass);
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VALUE rb_find_fundamental_mat_7point(VALUE klass, VALUE points1, VALUE points2);
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VALUE rb_find_fundamental_mat_8point(VALUE klass, VALUE points1, VALUE points2);
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VALUE rb_find_fundamental_mat_ransac(int argc, VALUE *argv, VALUE klass);
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VALUE rb_find_fundamental_mat_lmeds(int argc, VALUE *argv, VALUE klass);
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VALUE rb_compute_correspond_epilines(VALUE klass, VALUE points, VALUE which_image, VALUE fundamental_matrix);
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@ -1846,6 +1846,96 @@ class TestCvMat < OpenCVTestCase
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def test_mahalonobis
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flunk('CvMat#mahalonobis is not implemented yet')
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end
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def test_find_fundamental_mat_7point
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points1 = [[488.362, 169.911],
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[449.488, 174.44],
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[408.565, 179.669],
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[364.512, 184.56],
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[491.483, 122.366],
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[451.512, 126.56],
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[409.502, 130.342]]
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points2 = [[526.605, 213.332],
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[470.485, 207.632],
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[417.5, 201.0],
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[367.485, 195.632],
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[530.673, 156.417],
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[473.749, 151.39],
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[419.503, 146.656]]
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mat1 = CvMat.new(7, 2, :cv64f, 1)
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mat2 = CvMat.new(7, 2, :cv64f, 1)
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points1.each_with_index { |pt, i|
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mat1[i, 0] = CvScalar.new(pt[0])
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mat1[i, 1] = CvScalar.new(pt[1])
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}
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points2.each_with_index { |pt, i|
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mat2[i, 0] = CvScalar.new(pt[0])
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mat2[i, 1] = CvScalar.new(pt[1])
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}
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f_mat = CvMat.find_fundamental_mat_7point(mat1, mat2)
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assert_equal(9, f_mat.rows)
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assert_equal(3, f_mat.cols)
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expected = [0.000009, 0.000029, -0.010343,
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-0.000033, 0.000000, 0.014590,
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0.004415, -0.013420, 1.000000,
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0.000000, 0.000001, -0.000223,
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-0.000001, 0.000036, -0.005309,
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-0.000097, -0.006463, 1.000000,
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0.000002, 0.000005, -0.001621,
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-0.000005, 0.000031, -0.002559,
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0.000527, -0.007424, 1.000000]
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expected.each_with_index { |val, i|
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assert_in_delta(val, f_mat[i][0], 1.0e-5)
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}
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end
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def test_find_fundamental_mat_8point
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points1 = [[488.362, 169.911],
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[449.488, 174.44],
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[408.565, 179.669],
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[364.512, 184.56],
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[491.483, 122.366],
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[451.512, 126.56],
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[409.502, 130.342],
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[365.5, 134]]
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points2 = [[526.605, 213.332],
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[470.485, 207.632],
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[417.5, 201.0],
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[367.485, 195.632],
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[530.673, 156.417],
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[473.749, 151.39],
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[419.503, 146.656],
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[368.669, 142.565]]
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mat1 = CvMat.new(8, 2, :cv64f, 1)
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mat2 = CvMat.new(8, 2, :cv64f, 1)
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points1.each_with_index { |pt, i|
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mat1[i, 0] = CvScalar.new(pt[0])
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mat1[i, 1] = CvScalar.new(pt[1])
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}
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points2.each_with_index { |pt, i|
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mat2[i, 0] = CvScalar.new(pt[0])
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mat2[i, 1] = CvScalar.new(pt[1])
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}
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f_mat = CvMat.find_fundamental_mat_8point(mat1, mat2)
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assert_equal(3, f_mat.rows)
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assert_equal(3, f_mat.cols)
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expected = [0.000001, 0.000004, -0.001127,
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-0.000005, 0.000038, -0.003778,
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0.000819, -0.008325, 1.000000]
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expected.each_with_index { |val, i|
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assert_in_delta(val, f_mat[i][0], 1.0e-5)
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}
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end
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end
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