Added Emgu.CV.Stitching.CameraParams

Emgu.CV.Extern/CMakeLists.txt

@@ -2226,6 +2226,41 @@ ENDIF()
 	""
 	${HAVE_opencv_stitching})  
 
+   CREATE_OCV_CLASS_PROPERTY( 
+    "stitching/camera_params_property" 
+    "${CMAKE_CURRENT_SOURCE_DIR}/../Emgu.CV/Stitching/CameraParams.g.cs"
+    "cv::detail::CameraParams" 
+    "CameraParams" 
+    "focal;aspect;ppx;ppy;R" 
+    "double;double;double;double;cv::Mat" 
+    "element;element;element;element;element"
+    "Focal;Aspect;Ppx;Ppy;R" 
+    "double;double;double;double;Mat"
+    "The focal length;
+    The aspect ratio;
+    The principal point X;
+    The principal point Y;
+    The rotation Mat"
+    "Emgu.CV.Stitching"
+    "StitchingInvoke"
+    "CameraParams"
+	""
+    "#include \"stitching_c.h\""
+	""
+	""
+	${HAVE_opencv_stitching})  
+
+CREATE_VECTOR_CS(
+    "CameraParams" 
+    "cv::detail::CameraParams" 
+    "Emgu.CV.Stitching.CameraParams" 
+    "object_not_array" 
+    "${CMAKE_CURRENT_SOURCE_DIR}/../Emgu.CV/Util" 
+    Emgu.CV.Stitching 
+    "" 
+    "#include \"stitching_c.h\"" 
+    "" 
+    "defined(HAVE_OPENCV_STITCHING)")
 ############################### stitching code gen END ################################
 
 ############################### video code gen START ##############################

Emgu.CV.Extern/stitching/stitching_c.cpp

@@ -1341,4 +1341,33 @@ void cveSphericalWarperGpuRelease(cv::SphericalWarperGpu** warper)
 #else
 	throw_no_stitching();
 #endif	
-}
+}
+
+
+cv::detail::CameraParams* cveCameraParamsCreate()
+{
+#ifdef HAVE_OPENCV_STITCHING
+	return new cv::detail::CameraParams();
+#else
+	throw_no_stitching();
+#endif	
+}
+void cveCameraParamsRelease(cv::detail::CameraParams** params)
+{
+#ifdef HAVE_OPENCV_STITCHING
+	delete* params;
+	*params = 0;
+#else
+	throw_no_stitching();
+#endif	
+}
+
+void cveCameraParamsGetK(cv::detail::CameraParams* params, cv::_OutputArray* k)
+{
+#ifdef HAVE_OPENCV_STITCHING
+	cv::Mat m = params->K();
+	m.copyTo(*k);
+#else
+	throw_no_stitching();
+#endif		
+}

Emgu.CV.Extern/stitching/stitching_c.h

@@ -341,4 +341,8 @@ CVAPI(void) cveDetailSphericalWarperGpuRelease(cv::detail::SphericalWarperGpu**
 CVAPI(cv::SphericalWarperGpu*) cveSphericalWarperGpuCreate(cv::WarperCreator** warperCreator);
 CVAPI(void) cveSphericalWarperGpuRelease(cv::SphericalWarperGpu** warper);
 
+
+CVAPI(cv::detail::CameraParams*) cveCameraParamsCreate();
+CVAPI(void) cveCameraParamsRelease(cv::detail::CameraParams** params);
+CVAPI(void) cveCameraParamsGetK(cv::detail::CameraParams* params, cv::_OutputArray* k);
 #endif

Emgu.CV/Stitching/CameraParams.cs

@@ -0,0 +1,76 @@
+//----------------------------------------------------------------------------
+//  Copyright (C) 2004-2024 by EMGU Corporation. All rights reserved.       
+//----------------------------------------------------------------------------
+
+using System;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+using System.Text;
+using System.Drawing;
+
+using Emgu.CV.Structure;
+using Emgu.CV.Util;
+using Emgu.Util;
+
+namespace Emgu.CV.Stitching
+{
+    /// <summary>
+    /// Camera parameters used for stitching.
+    /// </summary>
+    public partial class CameraParams : UnmanagedObject
+    {
+        private readonly bool _needDispose;
+
+        /// <summary>
+        /// Create a default camera parameters
+        /// </summary>
+        public CameraParams()
+            :this(StitchingInvoke.cveCameraParamsCreate(), true)
+        {
+        }
+
+        internal CameraParams(IntPtr ptr, bool needDispose)
+        {
+            _ptr = ptr;
+            _needDispose = needDispose;
+        }
+
+
+        /// <summary>
+        /// Reset the unmanaged pointer associated to this object
+        /// </summary>
+        protected override void DisposeObject()
+        {
+            if (_needDispose && _ptr != IntPtr.Zero)
+                StitchingInvoke.cveCameraParamsRelease(ref _ptr);
+
+            _ptr = IntPtr.Zero;
+        }
+
+        /// <summary>
+        /// Construct the camera calibration matrix using the camera parameters
+        /// </summary>
+        /// <returns>The camera calibration matrix</returns>
+        public Mat K()
+        {
+            Mat m = new Mat();
+            using (OutputArray ioM = m.GetOutputArray())
+            {
+                StitchingInvoke.cveCameraParamsGetK(_ptr, ioM);
+                return m;
+            }
+        }
+    }
+
+    public static partial class StitchingInvoke
+    {
+        [DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)]
+        internal static extern IntPtr cveCameraParamsCreate();
+
+        [DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)]
+        internal static extern void cveCameraParamsRelease(ref IntPtr cameraParams);
+
+        [DllImport(CvInvoke.ExternLibrary, CallingConvention = CvInvoke.CvCallingConvention)]
+        internal static extern void cveCameraParamsGetK(IntPtr cameraParams, IntPtr k);
+    }
+}