カメラ混合パラメータの算出

Namespace: fvalgcli
Assembly: fvalgcli (in fvalgcli.dll) Version: 3.1.0.0 (3.1.0.11)

Syntax

C#
public static int fnFIE_calib_calc_homography_matrix(
	F_CAMERA_PARAM camera,
	FMATRIX_PTR rotation,
	FVECTOR_PTR translation,
	FMATRIX_PTR homography
)
Visual Basic
Public Shared Function fnFIE_calib_calc_homography_matrix ( 
	camera As F_CAMERA_PARAM,
	rotation As FMATRIX_PTR,
	translation As FVECTOR_PTR,
	homography As FMATRIX_PTR
) As Integer

Parameters

camera
Type: fvalgcli..::..F_CAMERA_PARAM
カメラ内部パラメータ構造体
rotation
Type: fvalgcli..::..FMATRIX_PTR
カメラ外部パラメータ（回転行列）
サイズ3x3の行列
translation
Type: fvalgcli..::..FVECTOR_PTR
カメラ外部パラメータ（並進ベクトル）
サイズ3のベクトル
homography
Type: fvalgcli..::..FMATRIX_PTR
カメラ混合パラメータ
サイズ3x3の行列

Return Value

Type: Int32
以下のエラーコードを返します。

エラーコード：
f_err内容
F_ERR_NONE正常終了
F_ERR_NOMEMORYメモリ不足エラー
F_ERR_INVALID_IMAGE画像オブジェクトの異常
F_ERR_INVALID_PARAMパラメータ異常
  • IntPtr.Zero が渡された
  • ホモグラフィ行列を右下の値で正規化できなかった
  • 不正なサイズの行列または、ベクトルが渡された
F_ERR_NO_LICENCEライセンスエラー、または未初期化エラー

Remarks

Examples

C# Copy imageCopy
//    $Revision: 1.1 $

using System;
using System.Collections.Generic;
using System.Text;
using fvalgcli;

namespace TC
{
    public partial class FIE
    {
        /// <summary>
        /// カメラ混合パラメータの算出.
        /// </summary>
        [FvPluginExecute]
        public void fnFIE_calib_calc_homography_matrix()
        {
            int status = (int)f_err.F_ERR_NONE;

            // カメラ内部パラメータ.
            F_CAMERA_PARAM camera = F_CAMERA_PARAM.init(916.396023110107, 910.774803134449,
                                                        1.12644931840078, 331.36766487411,
                                                        227.057842377842, -0.215845914024188,
                                                        0.0707690551914399);
            FMATRIX_PTR rotation = FMATRIX_PTR.Zero;        // 回転行列(3×3).
            FVECTOR_PTR translation = FVECTOR_PTR.Zero;        // 並進ベクトル(サイズ3).
            FMATRIX_PTR homography = FMATRIX_PTR.Zero;        // カメラ混合パラメータ(3×3).

            FMATRIX_PTR ans_homography = FMATRIX_PTR.Zero;    // 正解

            try
            {
                // 領域確保.
                rotation = FMATRIX_PTR.alloc(3, 3);
                translation = FVECTOR_PTR.alloc(3);
                homography = FMATRIX_PTR.alloc(3, 3);
                ans_homography = FMATRIX_PTR.alloc(3, 3);

                // 回転行列の設定.
                rotation[0, 0] = 0.701872649400947; rotation[0, 1] = 0.711149227959822; rotation[0, 2] = -0.0405161650842895;
                rotation[1, 0] = -0.45600054122869; rotation[1, 1] = 0.492293298893435; rotation[1, 2] = 0.741424854090932;
                rotation[2, 0] = 0.547209548913428; rotation[2, 1] = -0.501910433679923; rotation[2, 2] = 0.669811634820711;

                // 並進ベクトルの設定.
                translation[0] = -219.906613509532;
                translation[1] = -43.9758355889508;
                translation[2] = 534.901154220606;

                // 実行.
                status = api.fnFIE_calib_calc_homography_matrix(camera, rotation, translation, homography);
                Assert.IsTrue(status == (int)f_err.F_ERR_NONE, "エラーが発生しました。({0})", (f_err)status);

                // 正解値の設定.
                ans_homography[0, 0] = 1.54048497951311; ans_homography[0, 1] = 0.90845191790501; ans_homography[0, 2] = -45.4703378821082;
                ans_homography[1, 0] = -0.544148355806359; ans_homography[1, 1] = 0.625172762750728; ans_homography[1, 2] = 152.180301512599;
                ans_homography[2, 0] = 0.00102301059675863; ans_homography[2, 1] = -0.000938323706409594; ans_homography[2, 2] = 1.000;

                // 比較.
                ConsoleOut.WriteFunctionName(":\t");
                Console.Write(" ...");
                ConsoleOut.IsEqualMatrix(ans_homography, homography[0,0], homography[0,1], homography[0,2],
                                homography[1,0], homography[1,1], homography[1,2], homography[2,0], homography[2,1], homography[2,2]);
                Console.Write("\n");
            }
            finally
            {
                rotation.Dispose();
                translation.Dispose();
                homography.Dispose();
                ans_homography.Dispose();
            }
        }
    }
}

Visual Basic Copy imageCopy
'    $Revision: 1.1 $

Imports System.Collections.Generic
Imports System.Text
Imports fvalgcli

Public Partial Class FIE
    ''' <summary>
    ''' カメラ混合パラメータの算出.
    ''' </summary>
    <FvPluginExecute> _
    Public Sub fnFIE_calib_calc_homography_matrix()
        Dim status As Integer = CInt(f_err.F_ERR_NONE)

        ' カメラ内部パラメータ.
        Dim camera As F_CAMERA_PARAM = F_CAMERA_PARAM.init(916.396023110107, 910.774803134449, 1.12644931840078, 331.36766487411, 227.057842377842, -0.215845914024188, _
            0.0707690551914399)
        Dim rotation As FMATRIX_PTR = FMATRIX_PTR.Zero
        ' 回転行列(3×3).
        Dim translation As FVECTOR_PTR = FVECTOR_PTR.Zero
        ' 並進ベクトル(サイズ3).
        Dim homography As FMATRIX_PTR = FMATRIX_PTR.Zero
        ' カメラ混合パラメータ(3×3).
        Dim ans_homography As FMATRIX_PTR = FMATRIX_PTR.Zero
        ' 正解
        Try
            ' 領域確保.
            rotation = FMATRIX_PTR.alloc(3, 3)
            translation = FVECTOR_PTR.alloc(3)
            homography = FMATRIX_PTR.alloc(3, 3)
            ans_homography = FMATRIX_PTR.alloc(3, 3)

            ' 回転行列の設定.
            rotation(0, 0) = 0.701872649400947
            rotation(0, 1) = 0.711149227959822
            rotation(0, 2) = -0.0405161650842895
            rotation(1, 0) = -0.45600054122869
            rotation(1, 1) = 0.492293298893435
            rotation(1, 2) = 0.741424854090932
            rotation(2, 0) = 0.547209548913428
            rotation(2, 1) = -0.501910433679923
            rotation(2, 2) = 0.669811634820711

            ' 並進ベクトルの設定.
            translation(0) = -219.906613509532
            translation(1) = -43.9758355889508
            translation(2) = 534.901154220606

            ' 実行.
            status = api.fnFIE_calib_calc_homography_matrix(camera, rotation, translation, homography)
            Assert.IsTrue(status = CInt(f_err.F_ERR_NONE), "エラーが発生しました。({0})", CType(status, f_err))

            ' 正解値の設定.
            ans_homography(0, 0) = 1.54048497951311
            ans_homography(0, 1) = 0.90845191790501
            ans_homography(0, 2) = -45.4703378821082
            ans_homography(1, 0) = -0.544148355806359
            ans_homography(1, 1) = 0.625172762750728
            ans_homography(1, 2) = 152.180301512599
            ans_homography(2, 0) = 0.00102301059675863
            ans_homography(2, 1) = -0.000938323706409594
            ans_homography(2, 2) = 1.0

            ' 比較.
            ConsoleOut.WriteFunctionName(":" & vbTab)
            Console.Write(" ...")
            ConsoleOut.IsEqualMatrix(ans_homography, homography(0, 0), homography(0, 1), homography(0, 2), homography(1, 0), homography(1, 1), _
                homography(1, 2), homography(2, 0), homography(2, 1), homography(2, 2))
            Console.Write(vbLf)
        Finally
            rotation.Dispose()
            translation.Dispose()
            homography.Dispose()
            ans_homography.Dispose()
        End Try
    End Sub
End Class

See Also