CameraCalibration.cpp

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#include "galaxis/CameraCalibration.hpp"
#include <vector>
#include <opencv2/imgproc.hpp>
#include <iostream>
 
cv::Mat galaxis::camera::getOptimalCameraMatrix() {
  // https://docs.opencv.org/3.4/d9/d0c/group__calib3d.html#ga7a6c4e032c97f03ba747966e6ad862b1
  return cv::getOptimalNewCameraMatrix(matrixD_mtx, matrixK_dist, cv::Size(256,512), 1); //, cv::Size(256,512));
}
 
cv::Mat galaxis::camera::getPerspectiveTransform() {
  // top view
  // pts1 = np.float32( [[112.0,123.5],[437.0,130.0],[327.5,46.0],[213.0,44.5]])
  // pts2 = np.float32( [[148, 174], [148+256, 174], [148+256, 174-152], [148, 174-152]])
  // cv::Mat matrixTopView_1 = (cv::Mat1d(2, 4) << 112.0,123.5, 437.0,130.0, 327.5,46.0, 213.0,44.5);
  // cv::Mat matrixTopView_2 = (cv::Mat1d(2, 4) << 148, 174, 148+256, 174, 148+256, 174-152, 148, 174-152);
 
  // std::cout << matrixTopView_1.size() << std::endl;
  // std::cout << matrixTopView_2.size() << std::endl;
  // return cv::getPerspectiveTransform(matrixTopView_1, matrixTopView_2);
  
  // top view transform matrix:
  //   [[ 6.04105082e+01  1.70937149e+02 -1.63898624e+04]
  //  [-2.05272012e+00  1.60637541e+02 -6.10401861e+03]
  //  [-5.84629918e-03  6.25657111e-01  1.00000000e+00]]
  return (cv::Mat1d(3, 3) << 
    6.04105082e+01, 1.70937149e+02, -1.63898624e+04,
    -2.05272012e+00, 1.60637541e+02, -6.10401861e+03,
    -5.84629918e-03,  6.25657111e-01,  1.00000000e+00
  );
 
  // inverted top view transform matrix
  // [[ 1.57596937e-02, -4.12850966e-02,  6.29421326e+00],
  //      [ 1.49447281e-04, -1.40223872e-04,  1.59349124e+00],
  //      [-1.36686947e-06, -1.53632964e-04,  3.98187279e-02]]
 
  // backwards
  //   _, IM = cv2.invert(M)
  // x1 = 159
  // y1 = 99
  // coord = [x1, y1] + [1]
  // P = np.float32(coord)
 
  // x, y, z = np.dot(IM, P)
  // #Divide x and y by z to get 2D in frame {A}
  // new_x = x/z
  // new_y = y/z
}