Added CvInvoke.InitCameraMatrix2D

Emgu.CV.Extern/calib3d/calib3d_c.cpp

@@ -262,6 +262,17 @@ void cveGetOptimalNewCameraMatrix(
 	cv::swap(m, *newCameraMatrix);
 }
 
+void cveInitCameraMatrix2D(
+	cv::_InputArray* objectPoints,
+	cv::_InputArray* imagePoints,
+	CvSize* imageSize,
+	double aspectRatio,
+	cv::Mat* cameraMatrix)
+{
+	cv::Mat m = cv::initCameraMatrix2D(*objectPoints, *imagePoints, *imageSize, aspectRatio);
+	cv::swap(m, *cameraMatrix);
+}
+
 /* Fisheye calibration */
 void cveFisheyeProjectPoints(cv::_InputArray* objectPoints, cv::_OutputArray* imagePoints, cv::_InputArray* rvec, cv::_InputArray* tvec,
    cv::_InputArray* K, cv::_InputArray* D, double alpha, cv::_OutputArray* jacobian)

Emgu.CV.Extern/calib3d/calib3d_c.h

@@ -103,6 +103,13 @@ CVAPI(void) cveGetOptimalNewCameraMatrix(
 	bool centerPrincipalPoint, 
 	cv::Mat* newCameraMatrix);
 
+CVAPI(void) cveInitCameraMatrix2D(
+	cv::_InputArray* objectPoints,
+	cv::_InputArray* imagePoints,
+	CvSize* imageSize, 
+	double aspectRatio, 
+	cv::Mat* cameraMatrix);
+
 /* Fisheye calibration */
 CVAPI(void) cveFisheyeProjectPoints(cv::_InputArray* objectPoints, cv::_OutputArray* imagePoints, cv::_InputArray* rvec, cv::_InputArray* tvec,
    cv::_InputArray* K, cv::_InputArray* D, double alpha, cv::_OutputArray* jacobian);

Emgu.CV/PInvoke/CvInvokeCalib3d.cs

@@ -299,6 +299,33 @@ namespace Emgu.CV
             bool centerPrincipalPoint,
             IntPtr newCameraMatrix);
 
+        /// <summary>
+        /// Finds an initial camera matrix from 3D-2D point correspondences.
+        /// </summary>
+        /// <param name="objectPoints">Vector of vectors of the calibration pattern points in the calibration pattern coordinate space.</param>
+        /// <param name="imagePoints">Vector of vectors of the projections of the calibration pattern points.</param>
+        /// <param name="imageSize">Image size in pixels used to initialize the principal point.</param>
+        /// <param name="aspectRatio">If it is zero or negative, both fx and fy are estimated independently. Otherwise, fx=fy*aspectRatio.</param>
+        /// <returns>An initial camera matrix for the camera calibration process.</returns>
+        /// <remarks>Currently, the function only supports planar calibration patterns, which are patterns where each object point has z-coordinate =0.</remarks>
+        public static Mat InitCameraMatrix2D(IInputArrayOfArrays objectPoints, IInputArrayOfArrays imagePoints, Size imageSize,
+            double aspectRatio = 1.0)
+        {
+            Mat m = new Mat();
+            using (InputArray iaObjectPoints = objectPoints.GetInputArray())
+            using (InputArray iaImagePoints = imagePoints.GetInputArray())
+                cveInitCameraMatrix2D(iaObjectPoints, iaImagePoints, ref imageSize, aspectRatio, m );
+            return m;
+        }
+
+        [DllImport(ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)]
+        private static extern void cveInitCameraMatrix2D(
+            IntPtr objectPoints,
+            IntPtr imagePoints,
+            ref Size imageSize,
+            double aspectRatio,
+            IntPtr cameraMatrix);
+
         /// <summary>
         /// Computes projections of 3D points to the image plane given intrinsic and extrinsic camera parameters. 
         /// Optionally, the function computes jacobians - matrices of partial derivatives of image points as functions of all the input parameters w.r.t. the particular parameters, intrinsic and/or extrinsic.