OpenCvSharp.Cv2.TriangulatePoints C# (CSharp) Method

Cv2 Class Documentation ファイルを表示 Open project: shimat/opencvsharp

TriangulatePoints() public static method

Reconstructs points by triangulation.

public static TriangulatePoints ( double projMatr1, double projMatr2, IEnumerable projPoints1, IEnumerable projPoints2 ) : Vec4d[]
projMatr1	double	3x4 projection matrix of the first camera.
projMatr2	double	3x4 projection matrix of the second camera.
projPoints1	IEnumerable	2xN array of feature points in the first image. In case of c++ version /// it can be also a vector of feature points or two-channel matrix of size 1xN or Nx1.
projPoints2	IEnumerable	2xN array of corresponding points in the second image. In case of c++ version /// it can be also a vector of feature points or two-channel matrix of size 1xN or Nx1.
return	Vec4d[]

        public static Vec4d[] TriangulatePoints(
            double[,] projMatr1, double[,] projMatr2,
            IEnumerable<Point2d> projPoints1, IEnumerable<Point2d> projPoints2)
        {
            if (projMatr1 == null)
                throw new ArgumentNullException(nameof(projMatr1));
            if (projMatr2 == null)
                throw new ArgumentNullException(nameof(projMatr2));
            if (projPoints1 == null)
                throw new ArgumentNullException(nameof(projPoints1));
            if (projPoints2 == null)
                throw new ArgumentNullException(nameof(projPoints2));
            if (projMatr1.GetLength(0) != 3 && projMatr1.GetLength(1) != 4)
                throw new ArgumentException("projMatr1 != double[3,4]");
            if (projMatr2.GetLength(0) != 3 && projMatr2.GetLength(1) != 4)
                throw new ArgumentException("projMatr2 != double[3,4]");

            Point2d[] projPoints1Array = EnumerableEx.ToArray(projPoints1);
            Point2d[] projPoints2Array = EnumerableEx.ToArray(projPoints2);
            var points4D = new Vec4d[projPoints1Array.Length];

            NativeMethods.calib3d_triangulatePoints_array(
                projMatr1, projMatr2,
                projPoints1Array, projPoints1Array.Length,
                projPoints2Array, projPoints2Array.Length,
                points4D);

            return points4D;
        }
        #endregion