1 2 // 3 // This file is auto-generated. Please don't modify it! 4 // 5 package org.opencv.calib3d; 6 7 import java.util.ArrayList; 8 import java.util.List; 9 import org.opencv.core.Mat; 10 import org.opencv.core.MatOfDouble; 11 import org.opencv.core.MatOfPoint2f; 12 import org.opencv.core.MatOfPoint3f; 13 import org.opencv.core.Point; 14 import org.opencv.core.Rect; 15 import org.opencv.core.Size; 16 import org.opencv.core.TermCriteria; 17 import org.opencv.utils.Converters; 18 19 public class Calib3d { 20 21 public static final int 22 CALIB_USE_INTRINSIC_GUESS = 1, 23 CALIB_RECOMPUTE_EXTRINSIC = 2, 24 CALIB_CHECK_COND = 4, 25 CALIB_FIX_SKEW = 8, 26 CALIB_FIX_K1 = 16, 27 CALIB_FIX_K2 = 32, 28 CALIB_FIX_K3 = 64, 29 CALIB_FIX_K4 = 128, 30 CALIB_FIX_INTRINSIC = 256, 31 CV_ITERATIVE = 0, 32 CV_EPNP = 1, 33 CV_P3P = 2, 34 CV_DLS = 3, 35 LMEDS = 4, 36 RANSAC = 8, 37 RHO = 16, 38 SOLVEPNP_ITERATIVE = 0, 39 SOLVEPNP_EPNP = 1, 40 SOLVEPNP_P3P = 2, 41 SOLVEPNP_DLS = 3, 42 SOLVEPNP_UPNP = 4, 43 CALIB_CB_ADAPTIVE_THRESH = 1, 44 CALIB_CB_NORMALIZE_IMAGE = 2, 45 CALIB_CB_FILTER_QUADS = 4, 46 CALIB_CB_FAST_CHECK = 8, 47 CALIB_CB_SYMMETRIC_GRID = 1, 48 CALIB_CB_ASYMMETRIC_GRID = 2, 49 CALIB_CB_CLUSTERING = 4, 50 CALIB_FIX_ASPECT_RATIO = 0x00002, 51 CALIB_FIX_PRINCIPAL_POINT = 0x00004, 52 CALIB_ZERO_TANGENT_DIST = 0x00008, 53 CALIB_FIX_FOCAL_LENGTH = 0x00010, 54 CALIB_FIX_K5 = 0x01000, 55 CALIB_FIX_K6 = 0x02000, 56 CALIB_RATIONAL_MODEL = 0x04000, 57 CALIB_THIN_PRISM_MODEL = 0x08000, 58 CALIB_FIX_S1_S2_S3_S4 = 0x10000, 59 CALIB_SAME_FOCAL_LENGTH = 0x00200, 60 CALIB_ZERO_DISPARITY = 0x00400, 61 FM_7POINT = 1, 62 FM_8POINT = 2, 63 FM_LMEDS = 4, 64 FM_RANSAC = 8; 65 66 67 // 68 // C++: void projectPoints(vector_Point3f objectPoints, vector_Point2f& imagePoints, Mat rvec, Mat tvec, Mat K, Mat D, double alpha = 0, Mat& jacobian = Mat()) 69 // 70 71 //javadoc: projectPoints(objectPoints, imagePoints, rvec, tvec, K, D, alpha, jacobian) 72 public static void projectPoints(MatOfPoint3f objectPoints, MatOfPoint2f imagePoints, Mat rvec, Mat tvec, Mat K, Mat D, double alpha, Mat jacobian) 73 { 74 Mat objectPoints_mat = objectPoints; 75 Mat imagePoints_mat = imagePoints; 76 projectPoints_0(objectPoints_mat.nativeObj, imagePoints_mat.nativeObj, rvec.nativeObj, tvec.nativeObj, K.nativeObj, D.nativeObj, alpha, jacobian.nativeObj); 77 78 return; 79 } 80 81 //javadoc: projectPoints(objectPoints, imagePoints, rvec, tvec, K, D) 82 public static void projectPoints(MatOfPoint3f objectPoints, MatOfPoint2f imagePoints, Mat rvec, Mat tvec, Mat K, Mat D) 83 { 84 Mat objectPoints_mat = objectPoints; 85 Mat imagePoints_mat = imagePoints; 86 projectPoints_1(objectPoints_mat.nativeObj, imagePoints_mat.nativeObj, rvec.nativeObj, tvec.nativeObj, K.nativeObj, D.nativeObj); 87 88 return; 89 } 90 91 92 // 93 // C++: void distortPoints(Mat undistorted, Mat& distorted, Mat K, Mat D, double alpha = 0) 94 // 95 96 //javadoc: distortPoints(undistorted, distorted, K, D, alpha) 97 public static void distortPoints(Mat undistorted, Mat distorted, Mat K, Mat D, double alpha) 98 { 99 100 distortPoints_0(undistorted.nativeObj, distorted.nativeObj, K.nativeObj, D.nativeObj, alpha); 101 102 return; 103 } 104 105 //javadoc: distortPoints(undistorted, distorted, K, D) 106 public static void distortPoints(Mat undistorted, Mat distorted, Mat K, Mat D) 107 { 108 109 distortPoints_1(undistorted.nativeObj, distorted.nativeObj, K.nativeObj, D.nativeObj); 110 111 return; 112 } 113 114 115 // 116 // C++: void undistortPoints(Mat distorted, Mat& undistorted, Mat K, Mat D, Mat R = Mat(), Mat P = Mat()) 117 // 118 119 //javadoc: undistortPoints(distorted, undistorted, K, D, R, P) 120 public static void undistortPoints(Mat distorted, Mat undistorted, Mat K, Mat D, Mat R, Mat P) 121 { 122 123 undistortPoints_0(distorted.nativeObj, undistorted.nativeObj, K.nativeObj, D.nativeObj, R.nativeObj, P.nativeObj); 124 125 return; 126 } 127 128 //javadoc: undistortPoints(distorted, undistorted, K, D) 129 public static void undistortPoints(Mat distorted, Mat undistorted, Mat K, Mat D) 130 { 131 132 undistortPoints_1(distorted.nativeObj, undistorted.nativeObj, K.nativeObj, D.nativeObj); 133 134 return; 135 } 136 137 138 // 139 // C++: void initUndistortRectifyMap(Mat K, Mat D, Mat R, Mat P, Size size, int m1type, Mat& map1, Mat& map2) 140 // 141 142 //javadoc: initUndistortRectifyMap(K, D, R, P, size, m1type, map1, map2) 143 public static void initUndistortRectifyMap(Mat K, Mat D, Mat R, Mat P, Size size, int m1type, Mat map1, Mat map2) 144 { 145 146 initUndistortRectifyMap_0(K.nativeObj, D.nativeObj, R.nativeObj, P.nativeObj, size.width, size.height, m1type, map1.nativeObj, map2.nativeObj); 147 148 return; 149 } 150 151 152 // 153 // C++: void undistortImage(Mat distorted, Mat& undistorted, Mat K, Mat D, Mat Knew = cv::Mat(), Size new_size = Size()) 154 // 155 156 //javadoc: undistortImage(distorted, undistorted, K, D, Knew, new_size) 157 public static void undistortImage(Mat distorted, Mat undistorted, Mat K, Mat D, Mat Knew, Size new_size) 158 { 159 160 undistortImage_0(distorted.nativeObj, undistorted.nativeObj, K.nativeObj, D.nativeObj, Knew.nativeObj, new_size.width, new_size.height); 161 162 return; 163 } 164 165 //javadoc: undistortImage(distorted, undistorted, K, D) 166 public static void undistortImage(Mat distorted, Mat undistorted, Mat K, Mat D) 167 { 168 169 undistortImage_1(distorted.nativeObj, undistorted.nativeObj, K.nativeObj, D.nativeObj); 170 171 return; 172 } 173 174 175 // 176 // C++: void estimateNewCameraMatrixForUndistortRectify(Mat K, Mat D, Size image_size, Mat R, Mat& P, double balance = 0.0, Size new_size = Size(), double fov_scale = 1.0) 177 // 178 179 //javadoc: estimateNewCameraMatrixForUndistortRectify(K, D, image_size, R, P, balance, new_size, fov_scale) 180 public static void estimateNewCameraMatrixForUndistortRectify(Mat K, Mat D, Size image_size, Mat R, Mat P, double balance, Size new_size, double fov_scale) 181 { 182 183 estimateNewCameraMatrixForUndistortRectify_0(K.nativeObj, D.nativeObj, image_size.width, image_size.height, R.nativeObj, P.nativeObj, balance, new_size.width, new_size.height, fov_scale); 184 185 return; 186 } 187 188 //javadoc: estimateNewCameraMatrixForUndistortRectify(K, D, image_size, R, P) 189 public static void estimateNewCameraMatrixForUndistortRectify(Mat K, Mat D, Size image_size, Mat R, Mat P) 190 { 191 192 estimateNewCameraMatrixForUndistortRectify_1(K.nativeObj, D.nativeObj, image_size.width, image_size.height, R.nativeObj, P.nativeObj); 193 194 return; 195 } 196 197 198 // 199 // C++: double calibrate(vector_Mat objectPoints, vector_Mat imagePoints, Size image_size, Mat& K, Mat& D, vector_Mat& rvecs, vector_Mat& tvecs, int flags = 0, TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON)) 200 // 201 202 //javadoc: calibrate(objectPoints, imagePoints, image_size, K, D, rvecs, tvecs, flags, criteria) 203 public static double calibrate(List<Mat> objectPoints, List<Mat> imagePoints, Size image_size, Mat K, Mat D, List<Mat> rvecs, List<Mat> tvecs, int flags, TermCriteria criteria) 204 { 205 Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints); 206 Mat imagePoints_mat = Converters.vector_Mat_to_Mat(imagePoints); 207 Mat rvecs_mat = new Mat(); 208 Mat tvecs_mat = new Mat(); 209 double retVal = calibrate_0(objectPoints_mat.nativeObj, imagePoints_mat.nativeObj, image_size.width, image_size.height, K.nativeObj, D.nativeObj, rvecs_mat.nativeObj, tvecs_mat.nativeObj, flags, criteria.type, criteria.maxCount, criteria.epsilon); 210 Converters.Mat_to_vector_Mat(rvecs_mat, rvecs); 211 rvecs_mat.release(); 212 Converters.Mat_to_vector_Mat(tvecs_mat, tvecs); 213 tvecs_mat.release(); 214 return retVal; 215 } 216 217 //javadoc: calibrate(objectPoints, imagePoints, image_size, K, D, rvecs, tvecs, flags) 218 public static double calibrate(List<Mat> objectPoints, List<Mat> imagePoints, Size image_size, Mat K, Mat D, List<Mat> rvecs, List<Mat> tvecs, int flags) 219 { 220 Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints); 221 Mat imagePoints_mat = Converters.vector_Mat_to_Mat(imagePoints); 222 Mat rvecs_mat = new Mat(); 223 Mat tvecs_mat = new Mat(); 224 double retVal = calibrate_1(objectPoints_mat.nativeObj, imagePoints_mat.nativeObj, image_size.width, image_size.height, K.nativeObj, D.nativeObj, rvecs_mat.nativeObj, tvecs_mat.nativeObj, flags); 225 Converters.Mat_to_vector_Mat(rvecs_mat, rvecs); 226 rvecs_mat.release(); 227 Converters.Mat_to_vector_Mat(tvecs_mat, tvecs); 228 tvecs_mat.release(); 229 return retVal; 230 } 231 232 //javadoc: calibrate(objectPoints, imagePoints, image_size, K, D, rvecs, tvecs) 233 public static double calibrate(List<Mat> objectPoints, List<Mat> imagePoints, Size image_size, Mat K, Mat D, List<Mat> rvecs, List<Mat> tvecs) 234 { 235 Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints); 236 Mat imagePoints_mat = Converters.vector_Mat_to_Mat(imagePoints); 237 Mat rvecs_mat = new Mat(); 238 Mat tvecs_mat = new Mat(); 239 double retVal = calibrate_2(objectPoints_mat.nativeObj, imagePoints_mat.nativeObj, image_size.width, image_size.height, K.nativeObj, D.nativeObj, rvecs_mat.nativeObj, tvecs_mat.nativeObj); 240 Converters.Mat_to_vector_Mat(rvecs_mat, rvecs); 241 rvecs_mat.release(); 242 Converters.Mat_to_vector_Mat(tvecs_mat, tvecs); 243 tvecs_mat.release(); 244 return retVal; 245 } 246 247 248 // 249 // C++: void stereoRectify(Mat K1, Mat D1, Mat K2, Mat D2, Size imageSize, Mat R, Mat tvec, Mat& R1, Mat& R2, Mat& P1, Mat& P2, Mat& Q, int flags, Size newImageSize = Size(), double balance = 0.0, double fov_scale = 1.0) 250 // 251 252 //javadoc: stereoRectify(K1, D1, K2, D2, imageSize, R, tvec, R1, R2, P1, P2, Q, flags, newImageSize, balance, fov_scale) 253 public static void stereoRectify(Mat K1, Mat D1, Mat K2, Mat D2, Size imageSize, Mat R, Mat tvec, Mat R1, Mat R2, Mat P1, Mat P2, Mat Q, int flags, Size newImageSize, double balance, double fov_scale) 254 { 255 256 stereoRectify_0(K1.nativeObj, D1.nativeObj, K2.nativeObj, D2.nativeObj, imageSize.width, imageSize.height, R.nativeObj, tvec.nativeObj, R1.nativeObj, R2.nativeObj, P1.nativeObj, P2.nativeObj, Q.nativeObj, flags, newImageSize.width, newImageSize.height, balance, fov_scale); 257 258 return; 259 } 260 261 //javadoc: stereoRectify(K1, D1, K2, D2, imageSize, R, tvec, R1, R2, P1, P2, Q, flags) 262 public static void stereoRectify(Mat K1, Mat D1, Mat K2, Mat D2, Size imageSize, Mat R, Mat tvec, Mat R1, Mat R2, Mat P1, Mat P2, Mat Q, int flags) 263 { 264 265 stereoRectify_1(K1.nativeObj, D1.nativeObj, K2.nativeObj, D2.nativeObj, imageSize.width, imageSize.height, R.nativeObj, tvec.nativeObj, R1.nativeObj, R2.nativeObj, P1.nativeObj, P2.nativeObj, Q.nativeObj, flags); 266 267 return; 268 } 269 270 271 // 272 // C++: double stereoCalibrate(vector_Mat objectPoints, vector_Mat imagePoints1, vector_Mat imagePoints2, Mat& K1, Mat& D1, Mat& K2, Mat& D2, Size imageSize, Mat& R, Mat& T, int flags = fisheye::CALIB_FIX_INTRINSIC, TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON)) 273 // 274 275 //javadoc: stereoCalibrate(objectPoints, imagePoints1, imagePoints2, K1, D1, K2, D2, imageSize, R, T, flags, criteria) 276 public static double stereoCalibrate(List<Mat> objectPoints, List<Mat> imagePoints1, List<Mat> imagePoints2, Mat K1, Mat D1, Mat K2, Mat D2, Size imageSize, Mat R, Mat T, int flags, TermCriteria criteria) 277 { 278 Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints); 279 Mat imagePoints1_mat = Converters.vector_Mat_to_Mat(imagePoints1); 280 Mat imagePoints2_mat = Converters.vector_Mat_to_Mat(imagePoints2); 281 double retVal = stereoCalibrate_0(objectPoints_mat.nativeObj, imagePoints1_mat.nativeObj, imagePoints2_mat.nativeObj, K1.nativeObj, D1.nativeObj, K2.nativeObj, D2.nativeObj, imageSize.width, imageSize.height, R.nativeObj, T.nativeObj, flags, criteria.type, criteria.maxCount, criteria.epsilon); 282 283 return retVal; 284 } 285 286 //javadoc: stereoCalibrate(objectPoints, imagePoints1, imagePoints2, K1, D1, K2, D2, imageSize, R, T, flags) 287 public static double stereoCalibrate(List<Mat> objectPoints, List<Mat> imagePoints1, List<Mat> imagePoints2, Mat K1, Mat D1, Mat K2, Mat D2, Size imageSize, Mat R, Mat T, int flags) 288 { 289 Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints); 290 Mat imagePoints1_mat = Converters.vector_Mat_to_Mat(imagePoints1); 291 Mat imagePoints2_mat = Converters.vector_Mat_to_Mat(imagePoints2); 292 double retVal = stereoCalibrate_1(objectPoints_mat.nativeObj, imagePoints1_mat.nativeObj, imagePoints2_mat.nativeObj, K1.nativeObj, D1.nativeObj, K2.nativeObj, D2.nativeObj, imageSize.width, imageSize.height, R.nativeObj, T.nativeObj, flags); 293 294 return retVal; 295 } 296 297 //javadoc: stereoCalibrate(objectPoints, imagePoints1, imagePoints2, K1, D1, K2, D2, imageSize, R, T) 298 public static double stereoCalibrate(List<Mat> objectPoints, List<Mat> imagePoints1, List<Mat> imagePoints2, Mat K1, Mat D1, Mat K2, Mat D2, Size imageSize, Mat R, Mat T) 299 { 300 Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints); 301 Mat imagePoints1_mat = Converters.vector_Mat_to_Mat(imagePoints1); 302 Mat imagePoints2_mat = Converters.vector_Mat_to_Mat(imagePoints2); 303 double retVal = stereoCalibrate_2(objectPoints_mat.nativeObj, imagePoints1_mat.nativeObj, imagePoints2_mat.nativeObj, K1.nativeObj, D1.nativeObj, K2.nativeObj, D2.nativeObj, imageSize.width, imageSize.height, R.nativeObj, T.nativeObj); 304 305 return retVal; 306 } 307 308 309 // 310 // C++: void decomposeProjectionMatrix(Mat projMatrix, Mat& cameraMatrix, Mat& rotMatrix, Mat& transVect, Mat& rotMatrixX = Mat(), Mat& rotMatrixY = Mat(), Mat& rotMatrixZ = Mat(), Mat& eulerAngles = Mat()) 311 // 312 313 //javadoc: decomposeProjectionMatrix(projMatrix, cameraMatrix, rotMatrix, transVect, rotMatrixX, rotMatrixY, rotMatrixZ, eulerAngles) 314 public static void decomposeProjectionMatrix(Mat projMatrix, Mat cameraMatrix, Mat rotMatrix, Mat transVect, Mat rotMatrixX, Mat rotMatrixY, Mat rotMatrixZ, Mat eulerAngles) 315 { 316 317 decomposeProjectionMatrix_0(projMatrix.nativeObj, cameraMatrix.nativeObj, rotMatrix.nativeObj, transVect.nativeObj, rotMatrixX.nativeObj, rotMatrixY.nativeObj, rotMatrixZ.nativeObj, eulerAngles.nativeObj); 318 319 return; 320 } 321 322 //javadoc: decomposeProjectionMatrix(projMatrix, cameraMatrix, rotMatrix, transVect) 323 public static void decomposeProjectionMatrix(Mat projMatrix, Mat cameraMatrix, Mat rotMatrix, Mat transVect) 324 { 325 326 decomposeProjectionMatrix_1(projMatrix.nativeObj, cameraMatrix.nativeObj, rotMatrix.nativeObj, transVect.nativeObj); 327 328 return; 329 } 330 331 332 // 333 // C++: void matMulDeriv(Mat A, Mat B, Mat& dABdA, Mat& dABdB) 334 // 335 336 //javadoc: matMulDeriv(A, B, dABdA, dABdB) 337 public static void matMulDeriv(Mat A, Mat B, Mat dABdA, Mat dABdB) 338 { 339 340 matMulDeriv_0(A.nativeObj, B.nativeObj, dABdA.nativeObj, dABdB.nativeObj); 341 342 return; 343 } 344 345 346 // 347 // C++: void composeRT(Mat rvec1, Mat tvec1, Mat rvec2, Mat tvec2, Mat& rvec3, Mat& tvec3, Mat& dr3dr1 = Mat(), Mat& dr3dt1 = Mat(), Mat& dr3dr2 = Mat(), Mat& dr3dt2 = Mat(), Mat& dt3dr1 = Mat(), Mat& dt3dt1 = Mat(), Mat& dt3dr2 = Mat(), Mat& dt3dt2 = Mat()) 348 // 349 350 //javadoc: composeRT(rvec1, tvec1, rvec2, tvec2, rvec3, tvec3, dr3dr1, dr3dt1, dr3dr2, dr3dt2, dt3dr1, dt3dt1, dt3dr2, dt3dt2) 351 public static void composeRT(Mat rvec1, Mat tvec1, Mat rvec2, Mat tvec2, Mat rvec3, Mat tvec3, Mat dr3dr1, Mat dr3dt1, Mat dr3dr2, Mat dr3dt2, Mat dt3dr1, Mat dt3dt1, Mat dt3dr2, Mat dt3dt2) 352 { 353 354 composeRT_0(rvec1.nativeObj, tvec1.nativeObj, rvec2.nativeObj, tvec2.nativeObj, rvec3.nativeObj, tvec3.nativeObj, dr3dr1.nativeObj, dr3dt1.nativeObj, dr3dr2.nativeObj, dr3dt2.nativeObj, dt3dr1.nativeObj, dt3dt1.nativeObj, dt3dr2.nativeObj, dt3dt2.nativeObj); 355 356 return; 357 } 358 359 //javadoc: composeRT(rvec1, tvec1, rvec2, tvec2, rvec3, tvec3) 360 public static void composeRT(Mat rvec1, Mat tvec1, Mat rvec2, Mat tvec2, Mat rvec3, Mat tvec3) 361 { 362 363 composeRT_1(rvec1.nativeObj, tvec1.nativeObj, rvec2.nativeObj, tvec2.nativeObj, rvec3.nativeObj, tvec3.nativeObj); 364 365 return; 366 } 367 368 369 // 370 // C++: void projectPoints(vector_Point3f objectPoints, Mat rvec, Mat tvec, Mat cameraMatrix, vector_double distCoeffs, vector_Point2f& imagePoints, Mat& jacobian = Mat(), double aspectRatio = 0) 371 // 372 373 //javadoc: projectPoints(objectPoints, rvec, tvec, cameraMatrix, distCoeffs, imagePoints, jacobian, aspectRatio) 374 public static void projectPoints(MatOfPoint3f objectPoints, Mat rvec, Mat tvec, Mat cameraMatrix, MatOfDouble distCoeffs, MatOfPoint2f imagePoints, Mat jacobian, double aspectRatio) 375 { 376 Mat objectPoints_mat = objectPoints; 377 Mat distCoeffs_mat = distCoeffs; 378 Mat imagePoints_mat = imagePoints; 379 projectPoints_2(objectPoints_mat.nativeObj, rvec.nativeObj, tvec.nativeObj, cameraMatrix.nativeObj, distCoeffs_mat.nativeObj, imagePoints_mat.nativeObj, jacobian.nativeObj, aspectRatio); 380 381 return; 382 } 383 384 //javadoc: projectPoints(objectPoints, rvec, tvec, cameraMatrix, distCoeffs, imagePoints) 385 public static void projectPoints(MatOfPoint3f objectPoints, Mat rvec, Mat tvec, Mat cameraMatrix, MatOfDouble distCoeffs, MatOfPoint2f imagePoints) 386 { 387 Mat objectPoints_mat = objectPoints; 388 Mat distCoeffs_mat = distCoeffs; 389 Mat imagePoints_mat = imagePoints; 390 projectPoints_3(objectPoints_mat.nativeObj, rvec.nativeObj, tvec.nativeObj, cameraMatrix.nativeObj, distCoeffs_mat.nativeObj, imagePoints_mat.nativeObj); 391 392 return; 393 } 394 395 396 // 397 // C++: bool solvePnP(vector_Point3f objectPoints, vector_Point2f imagePoints, Mat cameraMatrix, vector_double distCoeffs, Mat& rvec, Mat& tvec, bool useExtrinsicGuess = false, int flags = SOLVEPNP_ITERATIVE) 398 // 399 400 //javadoc: solvePnP(objectPoints, imagePoints, cameraMatrix, distCoeffs, rvec, tvec, useExtrinsicGuess, flags) 401 public static boolean solvePnP(MatOfPoint3f objectPoints, MatOfPoint2f imagePoints, Mat cameraMatrix, MatOfDouble distCoeffs, Mat rvec, Mat tvec, boolean useExtrinsicGuess, int flags) 402 { 403 Mat objectPoints_mat = objectPoints; 404 Mat imagePoints_mat = imagePoints; 405 Mat distCoeffs_mat = distCoeffs; 406 boolean retVal = solvePnP_0(objectPoints_mat.nativeObj, imagePoints_mat.nativeObj, cameraMatrix.nativeObj, distCoeffs_mat.nativeObj, rvec.nativeObj, tvec.nativeObj, useExtrinsicGuess, flags); 407 408 return retVal; 409 } 410 411 //javadoc: solvePnP(objectPoints, imagePoints, cameraMatrix, distCoeffs, rvec, tvec) 412 public static boolean solvePnP(MatOfPoint3f objectPoints, MatOfPoint2f imagePoints, Mat cameraMatrix, MatOfDouble distCoeffs, Mat rvec, Mat tvec) 413 { 414 Mat objectPoints_mat = objectPoints; 415 Mat imagePoints_mat = imagePoints; 416 Mat distCoeffs_mat = distCoeffs; 417 boolean retVal = solvePnP_1(objectPoints_mat.nativeObj, imagePoints_mat.nativeObj, cameraMatrix.nativeObj, distCoeffs_mat.nativeObj, rvec.nativeObj, tvec.nativeObj); 418 419 return retVal; 420 } 421 422 423 // 424 // C++: bool solvePnPRansac(vector_Point3f objectPoints, vector_Point2f imagePoints, Mat cameraMatrix, vector_double distCoeffs, Mat& rvec, Mat& tvec, bool useExtrinsicGuess = false, int iterationsCount = 100, float reprojectionError = 8.0, double confidence = 0.99, Mat& inliers = Mat(), int flags = SOLVEPNP_ITERATIVE) 425 // 426 427 //javadoc: solvePnPRansac(objectPoints, imagePoints, cameraMatrix, distCoeffs, rvec, tvec, useExtrinsicGuess, iterationsCount, reprojectionError, confidence, inliers, flags) 428 public static boolean solvePnPRansac(MatOfPoint3f objectPoints, MatOfPoint2f imagePoints, Mat cameraMatrix, MatOfDouble distCoeffs, Mat rvec, Mat tvec, boolean useExtrinsicGuess, int iterationsCount, float reprojectionError, double confidence, Mat inliers, int flags) 429 { 430 Mat objectPoints_mat = objectPoints; 431 Mat imagePoints_mat = imagePoints; 432 Mat distCoeffs_mat = distCoeffs; 433 boolean retVal = solvePnPRansac_0(objectPoints_mat.nativeObj, imagePoints_mat.nativeObj, cameraMatrix.nativeObj, distCoeffs_mat.nativeObj, rvec.nativeObj, tvec.nativeObj, useExtrinsicGuess, iterationsCount, reprojectionError, confidence, inliers.nativeObj, flags); 434 435 return retVal; 436 } 437 438 //javadoc: solvePnPRansac(objectPoints, imagePoints, cameraMatrix, distCoeffs, rvec, tvec) 439 public static boolean solvePnPRansac(MatOfPoint3f objectPoints, MatOfPoint2f imagePoints, Mat cameraMatrix, MatOfDouble distCoeffs, Mat rvec, Mat tvec) 440 { 441 Mat objectPoints_mat = objectPoints; 442 Mat imagePoints_mat = imagePoints; 443 Mat distCoeffs_mat = distCoeffs; 444 boolean retVal = solvePnPRansac_1(objectPoints_mat.nativeObj, imagePoints_mat.nativeObj, cameraMatrix.nativeObj, distCoeffs_mat.nativeObj, rvec.nativeObj, tvec.nativeObj); 445 446 return retVal; 447 } 448 449 450 // 451 // C++: Mat initCameraMatrix2D(vector_vector_Point3f objectPoints, vector_vector_Point2f imagePoints, Size imageSize, double aspectRatio = 1.0) 452 // 453 454 //javadoc: initCameraMatrix2D(objectPoints, imagePoints, imageSize, aspectRatio) 455 public static Mat initCameraMatrix2D(List<MatOfPoint3f> objectPoints, List<MatOfPoint2f> imagePoints, Size imageSize, double aspectRatio) 456 { 457 List<Mat> objectPoints_tmplm = new ArrayList<Mat>((objectPoints != null) ? objectPoints.size() : 0); 458 Mat objectPoints_mat = Converters.vector_vector_Point3f_to_Mat(objectPoints, objectPoints_tmplm); 459 List<Mat> imagePoints_tmplm = new ArrayList<Mat>((imagePoints != null) ? imagePoints.size() : 0); 460 Mat imagePoints_mat = Converters.vector_vector_Point2f_to_Mat(imagePoints, imagePoints_tmplm); 461 Mat retVal = new Mat(initCameraMatrix2D_0(objectPoints_mat.nativeObj, imagePoints_mat.nativeObj, imageSize.width, imageSize.height, aspectRatio)); 462 463 return retVal; 464 } 465 466 //javadoc: initCameraMatrix2D(objectPoints, imagePoints, imageSize) 467 public static Mat initCameraMatrix2D(List<MatOfPoint3f> objectPoints, List<MatOfPoint2f> imagePoints, Size imageSize) 468 { 469 List<Mat> objectPoints_tmplm = new ArrayList<Mat>((objectPoints != null) ? objectPoints.size() : 0); 470 Mat objectPoints_mat = Converters.vector_vector_Point3f_to_Mat(objectPoints, objectPoints_tmplm); 471 List<Mat> imagePoints_tmplm = new ArrayList<Mat>((imagePoints != null) ? imagePoints.size() : 0); 472 Mat imagePoints_mat = Converters.vector_vector_Point2f_to_Mat(imagePoints, imagePoints_tmplm); 473 Mat retVal = new Mat(initCameraMatrix2D_1(objectPoints_mat.nativeObj, imagePoints_mat.nativeObj, imageSize.width, imageSize.height)); 474 475 return retVal; 476 } 477 478 479 // 480 // C++: bool findChessboardCorners(Mat image, Size patternSize, vector_Point2f& corners, int flags = CALIB_CB_ADAPTIVE_THRESH + CALIB_CB_NORMALIZE_IMAGE) 481 // 482 483 //javadoc: findChessboardCorners(image, patternSize, corners, flags) 484 public static boolean findChessboardCorners(Mat image, Size patternSize, MatOfPoint2f corners, int flags) 485 { 486 Mat corners_mat = corners; 487 boolean retVal = findChessboardCorners_0(image.nativeObj, patternSize.width, patternSize.height, corners_mat.nativeObj, flags); 488 489 return retVal; 490 } 491 492 //javadoc: findChessboardCorners(image, patternSize, corners) 493 public static boolean findChessboardCorners(Mat image, Size patternSize, MatOfPoint2f corners) 494 { 495 Mat corners_mat = corners; 496 boolean retVal = findChessboardCorners_1(image.nativeObj, patternSize.width, patternSize.height, corners_mat.nativeObj); 497 498 return retVal; 499 } 500 501 502 // 503 // C++: void drawChessboardCorners(Mat& image, Size patternSize, vector_Point2f corners, bool patternWasFound) 504 // 505 506 //javadoc: drawChessboardCorners(image, patternSize, corners, patternWasFound) 507 public static void drawChessboardCorners(Mat image, Size patternSize, MatOfPoint2f corners, boolean patternWasFound) 508 { 509 Mat corners_mat = corners; 510 drawChessboardCorners_0(image.nativeObj, patternSize.width, patternSize.height, corners_mat.nativeObj, patternWasFound); 511 512 return; 513 } 514 515 516 // 517 // C++: bool findCirclesGrid(Mat image, Size patternSize, Mat& centers, int flags = CALIB_CB_SYMMETRIC_GRID, Ptr_FeatureDetector blobDetector = SimpleBlobDetector::create()) 518 // 519 520 //javadoc: findCirclesGrid(image, patternSize, centers, flags) 521 public static boolean findCirclesGrid(Mat image, Size patternSize, Mat centers, int flags) 522 { 523 524 boolean retVal = findCirclesGrid_0(image.nativeObj, patternSize.width, patternSize.height, centers.nativeObj, flags); 525 526 return retVal; 527 } 528 529 //javadoc: findCirclesGrid(image, patternSize, centers) 530 public static boolean findCirclesGrid(Mat image, Size patternSize, Mat centers) 531 { 532 533 boolean retVal = findCirclesGrid_1(image.nativeObj, patternSize.width, patternSize.height, centers.nativeObj); 534 535 return retVal; 536 } 537 538 539 // 540 // C++: double calibrateCamera(vector_Mat objectPoints, vector_Mat imagePoints, Size imageSize, Mat& cameraMatrix, Mat& distCoeffs, vector_Mat& rvecs, vector_Mat& tvecs, int flags = 0, TermCriteria criteria = TermCriteria( TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON)) 541 // 542 543 //javadoc: calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs, flags, criteria) 544 public static double calibrateCamera(List<Mat> objectPoints, List<Mat> imagePoints, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List<Mat> rvecs, List<Mat> tvecs, int flags, TermCriteria criteria) 545 { 546 Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints); 547 Mat imagePoints_mat = Converters.vector_Mat_to_Mat(imagePoints); 548 Mat rvecs_mat = new Mat(); 549 Mat tvecs_mat = new Mat(); 550 double retVal = calibrateCamera_0(objectPoints_mat.nativeObj, imagePoints_mat.nativeObj, imageSize.width, imageSize.height, cameraMatrix.nativeObj, distCoeffs.nativeObj, rvecs_mat.nativeObj, tvecs_mat.nativeObj, flags, criteria.type, criteria.maxCount, criteria.epsilon); 551 Converters.Mat_to_vector_Mat(rvecs_mat, rvecs); 552 rvecs_mat.release(); 553 Converters.Mat_to_vector_Mat(tvecs_mat, tvecs); 554 tvecs_mat.release(); 555 return retVal; 556 } 557 558 //javadoc: calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs, flags) 559 public static double calibrateCamera(List<Mat> objectPoints, List<Mat> imagePoints, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List<Mat> rvecs, List<Mat> tvecs, int flags) 560 { 561 Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints); 562 Mat imagePoints_mat = Converters.vector_Mat_to_Mat(imagePoints); 563 Mat rvecs_mat = new Mat(); 564 Mat tvecs_mat = new Mat(); 565 double retVal = calibrateCamera_1(objectPoints_mat.nativeObj, imagePoints_mat.nativeObj, imageSize.width, imageSize.height, cameraMatrix.nativeObj, distCoeffs.nativeObj, rvecs_mat.nativeObj, tvecs_mat.nativeObj, flags); 566 Converters.Mat_to_vector_Mat(rvecs_mat, rvecs); 567 rvecs_mat.release(); 568 Converters.Mat_to_vector_Mat(tvecs_mat, tvecs); 569 tvecs_mat.release(); 570 return retVal; 571 } 572 573 //javadoc: calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs) 574 public static double calibrateCamera(List<Mat> objectPoints, List<Mat> imagePoints, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List<Mat> rvecs, List<Mat> tvecs) 575 { 576 Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints); 577 Mat imagePoints_mat = Converters.vector_Mat_to_Mat(imagePoints); 578 Mat rvecs_mat = new Mat(); 579 Mat tvecs_mat = new Mat(); 580 double retVal = calibrateCamera_2(objectPoints_mat.nativeObj, imagePoints_mat.nativeObj, imageSize.width, imageSize.height, cameraMatrix.nativeObj, distCoeffs.nativeObj, rvecs_mat.nativeObj, tvecs_mat.nativeObj); 581 Converters.Mat_to_vector_Mat(rvecs_mat, rvecs); 582 rvecs_mat.release(); 583 Converters.Mat_to_vector_Mat(tvecs_mat, tvecs); 584 tvecs_mat.release(); 585 return retVal; 586 } 587 588 589 // 590 // C++: void calibrationMatrixValues(Mat cameraMatrix, Size imageSize, double apertureWidth, double apertureHeight, double& fovx, double& fovy, double& focalLength, Point2d& principalPoint, double& aspectRatio) 591 // 592 593 //javadoc: calibrationMatrixValues(cameraMatrix, imageSize, apertureWidth, apertureHeight, fovx, fovy, focalLength, principalPoint, aspectRatio) 594 public static void calibrationMatrixValues(Mat cameraMatrix, Size imageSize, double apertureWidth, double apertureHeight, double[] fovx, double[] fovy, double[] focalLength, Point principalPoint, double[] aspectRatio) 595 { 596 double[] fovx_out = new double[1]; 597 double[] fovy_out = new double[1]; 598 double[] focalLength_out = new double[1]; 599 double[] principalPoint_out = new double[2]; 600 double[] aspectRatio_out = new double[1]; 601 calibrationMatrixValues_0(cameraMatrix.nativeObj, imageSize.width, imageSize.height, apertureWidth, apertureHeight, fovx_out, fovy_out, focalLength_out, principalPoint_out, aspectRatio_out); 602 if(fovx!=null) fovx[0] = (double)fovx_out[0]; 603 if(fovy!=null) fovy[0] = (double)fovy_out[0]; 604 if(focalLength!=null) focalLength[0] = (double)focalLength_out[0]; 605 if(principalPoint!=null){ principalPoint.x = principalPoint_out[0]; principalPoint.y = principalPoint_out[1]; } 606 if(aspectRatio!=null) aspectRatio[0] = (double)aspectRatio_out[0]; 607 return; 608 } 609 610 611 // 612 // C++: double stereoCalibrate(vector_Mat objectPoints, vector_Mat imagePoints1, vector_Mat imagePoints2, Mat& cameraMatrix1, Mat& distCoeffs1, Mat& cameraMatrix2, Mat& distCoeffs2, Size imageSize, Mat& R, Mat& T, Mat& E, Mat& F, int flags = CALIB_FIX_INTRINSIC, TermCriteria criteria = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 1e-6)) 613 // 614 615 //javadoc: stereoCalibrate(objectPoints, imagePoints1, imagePoints2, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, imageSize, R, T, E, F, flags, criteria) 616 public static double stereoCalibrate(List<Mat> objectPoints, List<Mat> imagePoints1, List<Mat> imagePoints2, Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2, Size imageSize, Mat R, Mat T, Mat E, Mat F, int flags, TermCriteria criteria) 617 { 618 Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints); 619 Mat imagePoints1_mat = Converters.vector_Mat_to_Mat(imagePoints1); 620 Mat imagePoints2_mat = Converters.vector_Mat_to_Mat(imagePoints2); 621 double retVal = stereoCalibrate_3(objectPoints_mat.nativeObj, imagePoints1_mat.nativeObj, imagePoints2_mat.nativeObj, cameraMatrix1.nativeObj, distCoeffs1.nativeObj, cameraMatrix2.nativeObj, distCoeffs2.nativeObj, imageSize.width, imageSize.height, R.nativeObj, T.nativeObj, E.nativeObj, F.nativeObj, flags, criteria.type, criteria.maxCount, criteria.epsilon); 622 623 return retVal; 624 } 625 626 //javadoc: stereoCalibrate(objectPoints, imagePoints1, imagePoints2, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, imageSize, R, T, E, F, flags) 627 public static double stereoCalibrate(List<Mat> objectPoints, List<Mat> imagePoints1, List<Mat> imagePoints2, Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2, Size imageSize, Mat R, Mat T, Mat E, Mat F, int flags) 628 { 629 Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints); 630 Mat imagePoints1_mat = Converters.vector_Mat_to_Mat(imagePoints1); 631 Mat imagePoints2_mat = Converters.vector_Mat_to_Mat(imagePoints2); 632 double retVal = stereoCalibrate_4(objectPoints_mat.nativeObj, imagePoints1_mat.nativeObj, imagePoints2_mat.nativeObj, cameraMatrix1.nativeObj, distCoeffs1.nativeObj, cameraMatrix2.nativeObj, distCoeffs2.nativeObj, imageSize.width, imageSize.height, R.nativeObj, T.nativeObj, E.nativeObj, F.nativeObj, flags); 633 634 return retVal; 635 } 636 637 //javadoc: stereoCalibrate(objectPoints, imagePoints1, imagePoints2, cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, imageSize, R, T, E, F) 638 public static double stereoCalibrate(List<Mat> objectPoints, List<Mat> imagePoints1, List<Mat> imagePoints2, Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2, Size imageSize, Mat R, Mat T, Mat E, Mat F) 639 { 640 Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints); 641 Mat imagePoints1_mat = Converters.vector_Mat_to_Mat(imagePoints1); 642 Mat imagePoints2_mat = Converters.vector_Mat_to_Mat(imagePoints2); 643 double retVal = stereoCalibrate_5(objectPoints_mat.nativeObj, imagePoints1_mat.nativeObj, imagePoints2_mat.nativeObj, cameraMatrix1.nativeObj, distCoeffs1.nativeObj, cameraMatrix2.nativeObj, distCoeffs2.nativeObj, imageSize.width, imageSize.height, R.nativeObj, T.nativeObj, E.nativeObj, F.nativeObj); 644 645 return retVal; 646 } 647 648 649 // 650 // C++: void Rodrigues(Mat src, Mat& dst, Mat& jacobian = Mat()) 651 // 652 653 //javadoc: Rodrigues(src, dst, jacobian) 654 public static void Rodrigues(Mat src, Mat dst, Mat jacobian) 655 { 656 657 Rodrigues_0(src.nativeObj, dst.nativeObj, jacobian.nativeObj); 658 659 return; 660 } 661 662 //javadoc: Rodrigues(src, dst) 663 public static void Rodrigues(Mat src, Mat dst) 664 { 665 666 Rodrigues_1(src.nativeObj, dst.nativeObj); 667 668 return; 669 } 670 671 672 // 673 // C++: Mat findHomography(vector_Point2f srcPoints, vector_Point2f dstPoints, int method = 0, double ransacReprojThreshold = 3, Mat& mask = Mat(), int maxIters = 2000, double confidence = 0.995) 674 // 675 676 //javadoc: findHomography(srcPoints, dstPoints, method, ransacReprojThreshold, mask, maxIters, confidence) 677 public static Mat findHomography(MatOfPoint2f srcPoints, MatOfPoint2f dstPoints, int method, double ransacReprojThreshold, Mat mask, int maxIters, double confidence) 678 { 679 Mat srcPoints_mat = srcPoints; 680 Mat dstPoints_mat = dstPoints; 681 Mat retVal = new Mat(findHomography_0(srcPoints_mat.nativeObj, dstPoints_mat.nativeObj, method, ransacReprojThreshold, mask.nativeObj, maxIters, confidence)); 682 683 return retVal; 684 } 685 686 //javadoc: findHomography(srcPoints, dstPoints, method, ransacReprojThreshold) 687 public static Mat findHomography(MatOfPoint2f srcPoints, MatOfPoint2f dstPoints, int method, double ransacReprojThreshold) 688 { 689 Mat srcPoints_mat = srcPoints; 690 Mat dstPoints_mat = dstPoints; 691 Mat retVal = new Mat(findHomography_1(srcPoints_mat.nativeObj, dstPoints_mat.nativeObj, method, ransacReprojThreshold)); 692 693 return retVal; 694 } 695 696 //javadoc: findHomography(srcPoints, dstPoints) 697 public static Mat findHomography(MatOfPoint2f srcPoints, MatOfPoint2f dstPoints) 698 { 699 Mat srcPoints_mat = srcPoints; 700 Mat dstPoints_mat = dstPoints; 701 Mat retVal = new Mat(findHomography_2(srcPoints_mat.nativeObj, dstPoints_mat.nativeObj)); 702 703 return retVal; 704 } 705 706 707 // 708 // C++: Vec3d RQDecomp3x3(Mat src, Mat& mtxR, Mat& mtxQ, Mat& Qx = Mat(), Mat& Qy = Mat(), Mat& Qz = Mat()) 709 // 710 711 //javadoc: RQDecomp3x3(src, mtxR, mtxQ, Qx, Qy, Qz) 712 public static double[] RQDecomp3x3(Mat src, Mat mtxR, Mat mtxQ, Mat Qx, Mat Qy, Mat Qz) 713 { 714 715 double[] retVal = RQDecomp3x3_0(src.nativeObj, mtxR.nativeObj, mtxQ.nativeObj, Qx.nativeObj, Qy.nativeObj, Qz.nativeObj); 716 717 return retVal; 718 } 719 720 //javadoc: RQDecomp3x3(src, mtxR, mtxQ) 721 public static double[] RQDecomp3x3(Mat src, Mat mtxR, Mat mtxQ) 722 { 723 724 double[] retVal = RQDecomp3x3_1(src.nativeObj, mtxR.nativeObj, mtxQ.nativeObj); 725 726 return retVal; 727 } 728 729 730 // 731 // C++: void stereoRectify(Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2, Size imageSize, Mat R, Mat T, Mat& R1, Mat& R2, Mat& P1, Mat& P2, Mat& Q, int flags = CALIB_ZERO_DISPARITY, double alpha = -1, Size newImageSize = Size(), Rect* validPixROI1 = 0, Rect* validPixROI2 = 0) 732 // 733 734 //javadoc: stereoRectify(cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, imageSize, R, T, R1, R2, P1, P2, Q, flags, alpha, newImageSize, validPixROI1, validPixROI2) 735 public static void stereoRectify(Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2, Size imageSize, Mat R, Mat T, Mat R1, Mat R2, Mat P1, Mat P2, Mat Q, int flags, double alpha, Size newImageSize, Rect validPixROI1, Rect validPixROI2) 736 { 737 double[] validPixROI1_out = new double[4]; 738 double[] validPixROI2_out = new double[4]; 739 stereoRectify_2(cameraMatrix1.nativeObj, distCoeffs1.nativeObj, cameraMatrix2.nativeObj, distCoeffs2.nativeObj, imageSize.width, imageSize.height, R.nativeObj, T.nativeObj, R1.nativeObj, R2.nativeObj, P1.nativeObj, P2.nativeObj, Q.nativeObj, flags, alpha, newImageSize.width, newImageSize.height, validPixROI1_out, validPixROI2_out); 740 if(validPixROI1!=null){ validPixROI1.x = (int)validPixROI1_out[0]; validPixROI1.y = (int)validPixROI1_out[1]; validPixROI1.width = (int)validPixROI1_out[2]; validPixROI1.height = (int)validPixROI1_out[3]; } 741 if(validPixROI2!=null){ validPixROI2.x = (int)validPixROI2_out[0]; validPixROI2.y = (int)validPixROI2_out[1]; validPixROI2.width = (int)validPixROI2_out[2]; validPixROI2.height = (int)validPixROI2_out[3]; } 742 return; 743 } 744 745 //javadoc: stereoRectify(cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, imageSize, R, T, R1, R2, P1, P2, Q) 746 public static void stereoRectify(Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2, Size imageSize, Mat R, Mat T, Mat R1, Mat R2, Mat P1, Mat P2, Mat Q) 747 { 748 749 stereoRectify_3(cameraMatrix1.nativeObj, distCoeffs1.nativeObj, cameraMatrix2.nativeObj, distCoeffs2.nativeObj, imageSize.width, imageSize.height, R.nativeObj, T.nativeObj, R1.nativeObj, R2.nativeObj, P1.nativeObj, P2.nativeObj, Q.nativeObj); 750 751 return; 752 } 753 754 755 // 756 // C++: bool stereoRectifyUncalibrated(Mat points1, Mat points2, Mat F, Size imgSize, Mat& H1, Mat& H2, double threshold = 5) 757 // 758 759 //javadoc: stereoRectifyUncalibrated(points1, points2, F, imgSize, H1, H2, threshold) 760 public static boolean stereoRectifyUncalibrated(Mat points1, Mat points2, Mat F, Size imgSize, Mat H1, Mat H2, double threshold) 761 { 762 763 boolean retVal = stereoRectifyUncalibrated_0(points1.nativeObj, points2.nativeObj, F.nativeObj, imgSize.width, imgSize.height, H1.nativeObj, H2.nativeObj, threshold); 764 765 return retVal; 766 } 767 768 //javadoc: stereoRectifyUncalibrated(points1, points2, F, imgSize, H1, H2) 769 public static boolean stereoRectifyUncalibrated(Mat points1, Mat points2, Mat F, Size imgSize, Mat H1, Mat H2) 770 { 771 772 boolean retVal = stereoRectifyUncalibrated_1(points1.nativeObj, points2.nativeObj, F.nativeObj, imgSize.width, imgSize.height, H1.nativeObj, H2.nativeObj); 773 774 return retVal; 775 } 776 777 778 // 779 // C++: float rectify3Collinear(Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2, Mat cameraMatrix3, Mat distCoeffs3, vector_Mat imgpt1, vector_Mat imgpt3, Size imageSize, Mat R12, Mat T12, Mat R13, Mat T13, Mat& R1, Mat& R2, Mat& R3, Mat& P1, Mat& P2, Mat& P3, Mat& Q, double alpha, Size newImgSize, Rect* roi1, Rect* roi2, int flags) 780 // 781 782 //javadoc: rectify3Collinear(cameraMatrix1, distCoeffs1, cameraMatrix2, distCoeffs2, cameraMatrix3, distCoeffs3, imgpt1, imgpt3, imageSize, R12, T12, R13, T13, R1, R2, R3, P1, P2, P3, Q, alpha, newImgSize, roi1, roi2, flags) 783 public static float rectify3Collinear(Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2, Mat cameraMatrix3, Mat distCoeffs3, List<Mat> imgpt1, List<Mat> imgpt3, Size imageSize, Mat R12, Mat T12, Mat R13, Mat T13, Mat R1, Mat R2, Mat R3, Mat P1, Mat P2, Mat P3, Mat Q, double alpha, Size newImgSize, Rect roi1, Rect roi2, int flags) 784 { 785 Mat imgpt1_mat = Converters.vector_Mat_to_Mat(imgpt1); 786 Mat imgpt3_mat = Converters.vector_Mat_to_Mat(imgpt3); 787 double[] roi1_out = new double[4]; 788 double[] roi2_out = new double[4]; 789 float retVal = rectify3Collinear_0(cameraMatrix1.nativeObj, distCoeffs1.nativeObj, cameraMatrix2.nativeObj, distCoeffs2.nativeObj, cameraMatrix3.nativeObj, distCoeffs3.nativeObj, imgpt1_mat.nativeObj, imgpt3_mat.nativeObj, imageSize.width, imageSize.height, R12.nativeObj, T12.nativeObj, R13.nativeObj, T13.nativeObj, R1.nativeObj, R2.nativeObj, R3.nativeObj, P1.nativeObj, P2.nativeObj, P3.nativeObj, Q.nativeObj, alpha, newImgSize.width, newImgSize.height, roi1_out, roi2_out, flags); 790 if(roi1!=null){ roi1.x = (int)roi1_out[0]; roi1.y = (int)roi1_out[1]; roi1.width = (int)roi1_out[2]; roi1.height = (int)roi1_out[3]; } 791 if(roi2!=null){ roi2.x = (int)roi2_out[0]; roi2.y = (int)roi2_out[1]; roi2.width = (int)roi2_out[2]; roi2.height = (int)roi2_out[3]; } 792 return retVal; 793 } 794 795 796 // 797 // C++: Mat getOptimalNewCameraMatrix(Mat cameraMatrix, Mat distCoeffs, Size imageSize, double alpha, Size newImgSize = Size(), Rect* validPixROI = 0, bool centerPrincipalPoint = false) 798 // 799 800 //javadoc: getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, imageSize, alpha, newImgSize, validPixROI, centerPrincipalPoint) 801 public static Mat getOptimalNewCameraMatrix(Mat cameraMatrix, Mat distCoeffs, Size imageSize, double alpha, Size newImgSize, Rect validPixROI, boolean centerPrincipalPoint) 802 { 803 double[] validPixROI_out = new double[4]; 804 Mat retVal = new Mat(getOptimalNewCameraMatrix_0(cameraMatrix.nativeObj, distCoeffs.nativeObj, imageSize.width, imageSize.height, alpha, newImgSize.width, newImgSize.height, validPixROI_out, centerPrincipalPoint)); 805 if(validPixROI!=null){ validPixROI.x = (int)validPixROI_out[0]; validPixROI.y = (int)validPixROI_out[1]; validPixROI.width = (int)validPixROI_out[2]; validPixROI.height = (int)validPixROI_out[3]; } 806 return retVal; 807 } 808 809 //javadoc: getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, imageSize, alpha) 810 public static Mat getOptimalNewCameraMatrix(Mat cameraMatrix, Mat distCoeffs, Size imageSize, double alpha) 811 { 812 813 Mat retVal = new Mat(getOptimalNewCameraMatrix_1(cameraMatrix.nativeObj, distCoeffs.nativeObj, imageSize.width, imageSize.height, alpha)); 814 815 return retVal; 816 } 817 818 819 // 820 // C++: void convertPointsToHomogeneous(Mat src, Mat& dst) 821 // 822 823 //javadoc: convertPointsToHomogeneous(src, dst) 824 public static void convertPointsToHomogeneous(Mat src, Mat dst) 825 { 826 827 convertPointsToHomogeneous_0(src.nativeObj, dst.nativeObj); 828 829 return; 830 } 831 832 833 // 834 // C++: void convertPointsFromHomogeneous(Mat src, Mat& dst) 835 // 836 837 //javadoc: convertPointsFromHomogeneous(src, dst) 838 public static void convertPointsFromHomogeneous(Mat src, Mat dst) 839 { 840 841 convertPointsFromHomogeneous_0(src.nativeObj, dst.nativeObj); 842 843 return; 844 } 845 846 847 // 848 // C++: Mat findFundamentalMat(vector_Point2f points1, vector_Point2f points2, int method = FM_RANSAC, double param1 = 3., double param2 = 0.99, Mat& mask = Mat()) 849 // 850 851 //javadoc: findFundamentalMat(points1, points2, method, param1, param2, mask) 852 public static Mat findFundamentalMat(MatOfPoint2f points1, MatOfPoint2f points2, int method, double param1, double param2, Mat mask) 853 { 854 Mat points1_mat = points1; 855 Mat points2_mat = points2; 856 Mat retVal = new Mat(findFundamentalMat_0(points1_mat.nativeObj, points2_mat.nativeObj, method, param1, param2, mask.nativeObj)); 857 858 return retVal; 859 } 860 861 //javadoc: findFundamentalMat(points1, points2, method, param1, param2) 862 public static Mat findFundamentalMat(MatOfPoint2f points1, MatOfPoint2f points2, int method, double param1, double param2) 863 { 864 Mat points1_mat = points1; 865 Mat points2_mat = points2; 866 Mat retVal = new Mat(findFundamentalMat_1(points1_mat.nativeObj, points2_mat.nativeObj, method, param1, param2)); 867 868 return retVal; 869 } 870 871 //javadoc: findFundamentalMat(points1, points2) 872 public static Mat findFundamentalMat(MatOfPoint2f points1, MatOfPoint2f points2) 873 { 874 Mat points1_mat = points1; 875 Mat points2_mat = points2; 876 Mat retVal = new Mat(findFundamentalMat_2(points1_mat.nativeObj, points2_mat.nativeObj)); 877 878 return retVal; 879 } 880 881 882 // 883 // C++: Mat findEssentialMat(Mat points1, Mat points2, double focal = 1.0, Point2d pp = Point2d(0, 0), int method = RANSAC, double prob = 0.999, double threshold = 1.0, Mat& mask = Mat()) 884 // 885 886 //javadoc: findEssentialMat(points1, points2, focal, pp, method, prob, threshold, mask) 887 public static Mat findEssentialMat(Mat points1, Mat points2, double focal, Point pp, int method, double prob, double threshold, Mat mask) 888 { 889 890 Mat retVal = new Mat(findEssentialMat_0(points1.nativeObj, points2.nativeObj, focal, pp.x, pp.y, method, prob, threshold, mask.nativeObj)); 891 892 return retVal; 893 } 894 895 //javadoc: findEssentialMat(points1, points2, focal, pp, method, prob, threshold) 896 public static Mat findEssentialMat(Mat points1, Mat points2, double focal, Point pp, int method, double prob, double threshold) 897 { 898 899 Mat retVal = new Mat(findEssentialMat_1(points1.nativeObj, points2.nativeObj, focal, pp.x, pp.y, method, prob, threshold)); 900 901 return retVal; 902 } 903 904 //javadoc: findEssentialMat(points1, points2) 905 public static Mat findEssentialMat(Mat points1, Mat points2) 906 { 907 908 Mat retVal = new Mat(findEssentialMat_2(points1.nativeObj, points2.nativeObj)); 909 910 return retVal; 911 } 912 913 914 // 915 // C++: void decomposeEssentialMat(Mat E, Mat& R1, Mat& R2, Mat& t) 916 // 917 918 //javadoc: decomposeEssentialMat(E, R1, R2, t) 919 public static void decomposeEssentialMat(Mat E, Mat R1, Mat R2, Mat t) 920 { 921 922 decomposeEssentialMat_0(E.nativeObj, R1.nativeObj, R2.nativeObj, t.nativeObj); 923 924 return; 925 } 926 927 928 // 929 // C++: int recoverPose(Mat E, Mat points1, Mat points2, Mat& R, Mat& t, double focal = 1.0, Point2d pp = Point2d(0, 0), Mat& mask = Mat()) 930 // 931 932 //javadoc: recoverPose(E, points1, points2, R, t, focal, pp, mask) 933 public static int recoverPose(Mat E, Mat points1, Mat points2, Mat R, Mat t, double focal, Point pp, Mat mask) 934 { 935 936 int retVal = recoverPose_0(E.nativeObj, points1.nativeObj, points2.nativeObj, R.nativeObj, t.nativeObj, focal, pp.x, pp.y, mask.nativeObj); 937 938 return retVal; 939 } 940 941 //javadoc: recoverPose(E, points1, points2, R, t, focal, pp) 942 public static int recoverPose(Mat E, Mat points1, Mat points2, Mat R, Mat t, double focal, Point pp) 943 { 944 945 int retVal = recoverPose_1(E.nativeObj, points1.nativeObj, points2.nativeObj, R.nativeObj, t.nativeObj, focal, pp.x, pp.y); 946 947 return retVal; 948 } 949 950 //javadoc: recoverPose(E, points1, points2, R, t) 951 public static int recoverPose(Mat E, Mat points1, Mat points2, Mat R, Mat t) 952 { 953 954 int retVal = recoverPose_2(E.nativeObj, points1.nativeObj, points2.nativeObj, R.nativeObj, t.nativeObj); 955 956 return retVal; 957 } 958 959 960 // 961 // C++: void computeCorrespondEpilines(Mat points, int whichImage, Mat F, Mat& lines) 962 // 963 964 //javadoc: computeCorrespondEpilines(points, whichImage, F, lines) 965 public static void computeCorrespondEpilines(Mat points, int whichImage, Mat F, Mat lines) 966 { 967 968 computeCorrespondEpilines_0(points.nativeObj, whichImage, F.nativeObj, lines.nativeObj); 969 970 return; 971 } 972 973 974 // 975 // C++: void triangulatePoints(Mat projMatr1, Mat projMatr2, Mat projPoints1, Mat projPoints2, Mat& points4D) 976 // 977 978 //javadoc: triangulatePoints(projMatr1, projMatr2, projPoints1, projPoints2, points4D) 979 public static void triangulatePoints(Mat projMatr1, Mat projMatr2, Mat projPoints1, Mat projPoints2, Mat points4D) 980 { 981 982 triangulatePoints_0(projMatr1.nativeObj, projMatr2.nativeObj, projPoints1.nativeObj, projPoints2.nativeObj, points4D.nativeObj); 983 984 return; 985 } 986 987 988 // 989 // C++: void correctMatches(Mat F, Mat points1, Mat points2, Mat& newPoints1, Mat& newPoints2) 990 // 991 992 //javadoc: correctMatches(F, points1, points2, newPoints1, newPoints2) 993 public static void correctMatches(Mat F, Mat points1, Mat points2, Mat newPoints1, Mat newPoints2) 994 { 995 996 correctMatches_0(F.nativeObj, points1.nativeObj, points2.nativeObj, newPoints1.nativeObj, newPoints2.nativeObj); 997 998 return; 999 } 1000 1001 1002 // 1003 // C++: void filterSpeckles(Mat& img, double newVal, int maxSpeckleSize, double maxDiff, Mat& buf = Mat()) 1004 // 1005 1006 //javadoc: filterSpeckles(img, newVal, maxSpeckleSize, maxDiff, buf) 1007 public static void filterSpeckles(Mat img, double newVal, int maxSpeckleSize, double maxDiff, Mat buf) 1008 { 1009 1010 filterSpeckles_0(img.nativeObj, newVal, maxSpeckleSize, maxDiff, buf.nativeObj); 1011 1012 return; 1013 } 1014 1015 //javadoc: filterSpeckles(img, newVal, maxSpeckleSize, maxDiff) 1016 public static void filterSpeckles(Mat img, double newVal, int maxSpeckleSize, double maxDiff) 1017 { 1018 1019 filterSpeckles_1(img.nativeObj, newVal, maxSpeckleSize, maxDiff); 1020 1021 return; 1022 } 1023 1024 1025 // 1026 // C++: Rect getValidDisparityROI(Rect roi1, Rect roi2, int minDisparity, int numberOfDisparities, int SADWindowSize) 1027 // 1028 1029 //javadoc: getValidDisparityROI(roi1, roi2, minDisparity, numberOfDisparities, SADWindowSize) 1030 public static Rect getValidDisparityROI(Rect roi1, Rect roi2, int minDisparity, int numberOfDisparities, int SADWindowSize) 1031 { 1032 1033 Rect retVal = new Rect(getValidDisparityROI_0(roi1.x, roi1.y, roi1.width, roi1.height, roi2.x, roi2.y, roi2.width, roi2.height, minDisparity, numberOfDisparities, SADWindowSize)); 1034 1035 return retVal; 1036 } 1037 1038 1039 // 1040 // C++: void validateDisparity(Mat& disparity, Mat cost, int minDisparity, int numberOfDisparities, int disp12MaxDisp = 1) 1041 // 1042 1043 //javadoc: validateDisparity(disparity, cost, minDisparity, numberOfDisparities, disp12MaxDisp) 1044 public static void validateDisparity(Mat disparity, Mat cost, int minDisparity, int numberOfDisparities, int disp12MaxDisp) 1045 { 1046 1047 validateDisparity_0(disparity.nativeObj, cost.nativeObj, minDisparity, numberOfDisparities, disp12MaxDisp); 1048 1049 return; 1050 } 1051 1052 //javadoc: validateDisparity(disparity, cost, minDisparity, numberOfDisparities) 1053 public static void validateDisparity(Mat disparity, Mat cost, int minDisparity, int numberOfDisparities) 1054 { 1055 1056 validateDisparity_1(disparity.nativeObj, cost.nativeObj, minDisparity, numberOfDisparities); 1057 1058 return; 1059 } 1060 1061 1062 // 1063 // C++: void reprojectImageTo3D(Mat disparity, Mat& _3dImage, Mat Q, bool handleMissingValues = false, int ddepth = -1) 1064 // 1065 1066 //javadoc: reprojectImageTo3D(disparity, _3dImage, Q, handleMissingValues, ddepth) 1067 public static void reprojectImageTo3D(Mat disparity, Mat _3dImage, Mat Q, boolean handleMissingValues, int ddepth) 1068 { 1069 1070 reprojectImageTo3D_0(disparity.nativeObj, _3dImage.nativeObj, Q.nativeObj, handleMissingValues, ddepth); 1071 1072 return; 1073 } 1074 1075 //javadoc: reprojectImageTo3D(disparity, _3dImage, Q, handleMissingValues) 1076 public static void reprojectImageTo3D(Mat disparity, Mat _3dImage, Mat Q, boolean handleMissingValues) 1077 { 1078 1079 reprojectImageTo3D_1(disparity.nativeObj, _3dImage.nativeObj, Q.nativeObj, handleMissingValues); 1080 1081 return; 1082 } 1083 1084 //javadoc: reprojectImageTo3D(disparity, _3dImage, Q) 1085 public static void reprojectImageTo3D(Mat disparity, Mat _3dImage, Mat Q) 1086 { 1087 1088 reprojectImageTo3D_2(disparity.nativeObj, _3dImage.nativeObj, Q.nativeObj); 1089 1090 return; 1091 } 1092 1093 1094 // 1095 // C++: int estimateAffine3D(Mat src, Mat dst, Mat& out, Mat& inliers, double ransacThreshold = 3, double confidence = 0.99) 1096 // 1097 1098 //javadoc: estimateAffine3D(src, dst, out, inliers, ransacThreshold, confidence) 1099 public static int estimateAffine3D(Mat src, Mat dst, Mat out, Mat inliers, double ransacThreshold, double confidence) 1100 { 1101 1102 int retVal = estimateAffine3D_0(src.nativeObj, dst.nativeObj, out.nativeObj, inliers.nativeObj, ransacThreshold, confidence); 1103 1104 return retVal; 1105 } 1106 1107 //javadoc: estimateAffine3D(src, dst, out, inliers) 1108 public static int estimateAffine3D(Mat src, Mat dst, Mat out, Mat inliers) 1109 { 1110 1111 int retVal = estimateAffine3D_1(src.nativeObj, dst.nativeObj, out.nativeObj, inliers.nativeObj); 1112 1113 return retVal; 1114 } 1115 1116 1117 // 1118 // C++: int decomposeHomographyMat(Mat H, Mat K, vector_Mat& rotations, vector_Mat& translations, vector_Mat& normals) 1119 // 1120 1121 //javadoc: decomposeHomographyMat(H, K, rotations, translations, normals) 1122 public static int decomposeHomographyMat(Mat H, Mat K, List<Mat> rotations, List<Mat> translations, List<Mat> normals) 1123 { 1124 Mat rotations_mat = new Mat(); 1125 Mat translations_mat = new Mat(); 1126 Mat normals_mat = new Mat(); 1127 int retVal = decomposeHomographyMat_0(H.nativeObj, K.nativeObj, rotations_mat.nativeObj, translations_mat.nativeObj, normals_mat.nativeObj); 1128 Converters.Mat_to_vector_Mat(rotations_mat, rotations); 1129 rotations_mat.release(); 1130 Converters.Mat_to_vector_Mat(translations_mat, translations); 1131 translations_mat.release(); 1132 Converters.Mat_to_vector_Mat(normals_mat, normals); 1133 normals_mat.release(); 1134 return retVal; 1135 } 1136 1137 1138 1139 1140 // C++: void projectPoints(vector_Point3f objectPoints, vector_Point2f& imagePoints, Mat rvec, Mat tvec, Mat K, Mat D, double alpha = 0, Mat& jacobian = Mat()) 1141 private static native void projectPoints_0(long objectPoints_mat_nativeObj, long imagePoints_mat_nativeObj, long rvec_nativeObj, long tvec_nativeObj, long K_nativeObj, long D_nativeObj, double alpha, long jacobian_nativeObj); 1142 private static native void projectPoints_1(long objectPoints_mat_nativeObj, long imagePoints_mat_nativeObj, long rvec_nativeObj, long tvec_nativeObj, long K_nativeObj, long D_nativeObj); 1143 1144 // C++: void distortPoints(Mat undistorted, Mat& distorted, Mat K, Mat D, double alpha = 0) 1145 private static native void distortPoints_0(long undistorted_nativeObj, long distorted_nativeObj, long K_nativeObj, long D_nativeObj, double alpha); 1146 private static native void distortPoints_1(long undistorted_nativeObj, long distorted_nativeObj, long K_nativeObj, long D_nativeObj); 1147 1148 // C++: void undistortPoints(Mat distorted, Mat& undistorted, Mat K, Mat D, Mat R = Mat(), Mat P = Mat()) 1149 private static native void undistortPoints_0(long distorted_nativeObj, long undistorted_nativeObj, long K_nativeObj, long D_nativeObj, long R_nativeObj, long P_nativeObj); 1150 private static native void undistortPoints_1(long distorted_nativeObj, long undistorted_nativeObj, long K_nativeObj, long D_nativeObj); 1151 1152 // C++: void initUndistortRectifyMap(Mat K, Mat D, Mat R, Mat P, Size size, int m1type, Mat& map1, Mat& map2) 1153 private static native void initUndistortRectifyMap_0(long K_nativeObj, long D_nativeObj, long R_nativeObj, long P_nativeObj, double size_width, double size_height, int m1type, long map1_nativeObj, long map2_nativeObj); 1154 1155 // C++: void undistortImage(Mat distorted, Mat& undistorted, Mat K, Mat D, Mat Knew = cv::Mat(), Size new_size = Size()) 1156 private static native void undistortImage_0(long distorted_nativeObj, long undistorted_nativeObj, long K_nativeObj, long D_nativeObj, long Knew_nativeObj, double new_size_width, double new_size_height); 1157 private static native void undistortImage_1(long distorted_nativeObj, long undistorted_nativeObj, long K_nativeObj, long D_nativeObj); 1158 1159 // C++: void estimateNewCameraMatrixForUndistortRectify(Mat K, Mat D, Size image_size, Mat R, Mat& P, double balance = 0.0, Size new_size = Size(), double fov_scale = 1.0) 1160 private static native void estimateNewCameraMatrixForUndistortRectify_0(long K_nativeObj, long D_nativeObj, double image_size_width, double image_size_height, long R_nativeObj, long P_nativeObj, double balance, double new_size_width, double new_size_height, double fov_scale); 1161 private static native void estimateNewCameraMatrixForUndistortRectify_1(long K_nativeObj, long D_nativeObj, double image_size_width, double image_size_height, long R_nativeObj, long P_nativeObj); 1162 1163 // C++: double calibrate(vector_Mat objectPoints, vector_Mat imagePoints, Size image_size, Mat& K, Mat& D, vector_Mat& rvecs, vector_Mat& tvecs, int flags = 0, TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON)) 1164 private static native double calibrate_0(long objectPoints_mat_nativeObj, long imagePoints_mat_nativeObj, double image_size_width, double image_size_height, long K_nativeObj, long D_nativeObj, long rvecs_mat_nativeObj, long tvecs_mat_nativeObj, int flags, int criteria_type, int criteria_maxCount, double criteria_epsilon); 1165 private static native double calibrate_1(long objectPoints_mat_nativeObj, long imagePoints_mat_nativeObj, double image_size_width, double image_size_height, long K_nativeObj, long D_nativeObj, long rvecs_mat_nativeObj, long tvecs_mat_nativeObj, int flags); 1166 private static native double calibrate_2(long objectPoints_mat_nativeObj, long imagePoints_mat_nativeObj, double image_size_width, double image_size_height, long K_nativeObj, long D_nativeObj, long rvecs_mat_nativeObj, long tvecs_mat_nativeObj); 1167 1168 // C++: void stereoRectify(Mat K1, Mat D1, Mat K2, Mat D2, Size imageSize, Mat R, Mat tvec, Mat& R1, Mat& R2, Mat& P1, Mat& P2, Mat& Q, int flags, Size newImageSize = Size(), double balance = 0.0, double fov_scale = 1.0) 1169 private static native void stereoRectify_0(long K1_nativeObj, long D1_nativeObj, long K2_nativeObj, long D2_nativeObj, double imageSize_width, double imageSize_height, long R_nativeObj, long tvec_nativeObj, long R1_nativeObj, long R2_nativeObj, long P1_nativeObj, long P2_nativeObj, long Q_nativeObj, int flags, double newImageSize_width, double newImageSize_height, double balance, double fov_scale); 1170 private static native void stereoRectify_1(long K1_nativeObj, long D1_nativeObj, long K2_nativeObj, long D2_nativeObj, double imageSize_width, double imageSize_height, long R_nativeObj, long tvec_nativeObj, long R1_nativeObj, long R2_nativeObj, long P1_nativeObj, long P2_nativeObj, long Q_nativeObj, int flags); 1171 1172 // C++: double stereoCalibrate(vector_Mat objectPoints, vector_Mat imagePoints1, vector_Mat imagePoints2, Mat& K1, Mat& D1, Mat& K2, Mat& D2, Size imageSize, Mat& R, Mat& T, int flags = fisheye::CALIB_FIX_INTRINSIC, TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON)) 1173 private static native double stereoCalibrate_0(long objectPoints_mat_nativeObj, long imagePoints1_mat_nativeObj, long imagePoints2_mat_nativeObj, long K1_nativeObj, long D1_nativeObj, long K2_nativeObj, long D2_nativeObj, double imageSize_width, double imageSize_height, long R_nativeObj, long T_nativeObj, int flags, int criteria_type, int criteria_maxCount, double criteria_epsilon); 1174 private static native double stereoCalibrate_1(long objectPoints_mat_nativeObj, long imagePoints1_mat_nativeObj, long imagePoints2_mat_nativeObj, long K1_nativeObj, long D1_nativeObj, long K2_nativeObj, long D2_nativeObj, double imageSize_width, double imageSize_height, long R_nativeObj, long T_nativeObj, int flags); 1175 private static native double stereoCalibrate_2(long objectPoints_mat_nativeObj, long imagePoints1_mat_nativeObj, long imagePoints2_mat_nativeObj, long K1_nativeObj, long D1_nativeObj, long K2_nativeObj, long D2_nativeObj, double imageSize_width, double imageSize_height, long R_nativeObj, long T_nativeObj); 1176 1177 // C++: void decomposeProjectionMatrix(Mat projMatrix, Mat& cameraMatrix, Mat& rotMatrix, Mat& transVect, Mat& rotMatrixX = Mat(), Mat& rotMatrixY = Mat(), Mat& rotMatrixZ = Mat(), Mat& eulerAngles = Mat()) 1178 private static native void decomposeProjectionMatrix_0(long projMatrix_nativeObj, long cameraMatrix_nativeObj, long rotMatrix_nativeObj, long transVect_nativeObj, long rotMatrixX_nativeObj, long rotMatrixY_nativeObj, long rotMatrixZ_nativeObj, long eulerAngles_nativeObj); 1179 private static native void decomposeProjectionMatrix_1(long projMatrix_nativeObj, long cameraMatrix_nativeObj, long rotMatrix_nativeObj, long transVect_nativeObj); 1180 1181 // C++: void matMulDeriv(Mat A, Mat B, Mat& dABdA, Mat& dABdB) 1182 private static native void matMulDeriv_0(long A_nativeObj, long B_nativeObj, long dABdA_nativeObj, long dABdB_nativeObj); 1183 1184 // C++: void composeRT(Mat rvec1, Mat tvec1, Mat rvec2, Mat tvec2, Mat& rvec3, Mat& tvec3, Mat& dr3dr1 = Mat(), Mat& dr3dt1 = Mat(), Mat& dr3dr2 = Mat(), Mat& dr3dt2 = Mat(), Mat& dt3dr1 = Mat(), Mat& dt3dt1 = Mat(), Mat& dt3dr2 = Mat(), Mat& dt3dt2 = Mat()) 1185 private static native void composeRT_0(long rvec1_nativeObj, long tvec1_nativeObj, long rvec2_nativeObj, long tvec2_nativeObj, long rvec3_nativeObj, long tvec3_nativeObj, long dr3dr1_nativeObj, long dr3dt1_nativeObj, long dr3dr2_nativeObj, long dr3dt2_nativeObj, long dt3dr1_nativeObj, long dt3dt1_nativeObj, long dt3dr2_nativeObj, long dt3dt2_nativeObj); 1186 private static native void composeRT_1(long rvec1_nativeObj, long tvec1_nativeObj, long rvec2_nativeObj, long tvec2_nativeObj, long rvec3_nativeObj, long tvec3_nativeObj); 1187 1188 // C++: void projectPoints(vector_Point3f objectPoints, Mat rvec, Mat tvec, Mat cameraMatrix, vector_double distCoeffs, vector_Point2f& imagePoints, Mat& jacobian = Mat(), double aspectRatio = 0) 1189 private static native void projectPoints_2(long objectPoints_mat_nativeObj, long rvec_nativeObj, long tvec_nativeObj, long cameraMatrix_nativeObj, long distCoeffs_mat_nativeObj, long imagePoints_mat_nativeObj, long jacobian_nativeObj, double aspectRatio); 1190 private static native void projectPoints_3(long objectPoints_mat_nativeObj, long rvec_nativeObj, long tvec_nativeObj, long cameraMatrix_nativeObj, long distCoeffs_mat_nativeObj, long imagePoints_mat_nativeObj); 1191 1192 // C++: bool solvePnP(vector_Point3f objectPoints, vector_Point2f imagePoints, Mat cameraMatrix, vector_double distCoeffs, Mat& rvec, Mat& tvec, bool useExtrinsicGuess = false, int flags = SOLVEPNP_ITERATIVE) 1193 private static native boolean solvePnP_0(long objectPoints_mat_nativeObj, long imagePoints_mat_nativeObj, long cameraMatrix_nativeObj, long distCoeffs_mat_nativeObj, long rvec_nativeObj, long tvec_nativeObj, boolean useExtrinsicGuess, int flags); 1194 private static native boolean solvePnP_1(long objectPoints_mat_nativeObj, long imagePoints_mat_nativeObj, long cameraMatrix_nativeObj, long distCoeffs_mat_nativeObj, long rvec_nativeObj, long tvec_nativeObj); 1195 1196 // C++: bool solvePnPRansac(vector_Point3f objectPoints, vector_Point2f imagePoints, Mat cameraMatrix, vector_double distCoeffs, Mat& rvec, Mat& tvec, bool useExtrinsicGuess = false, int iterationsCount = 100, float reprojectionError = 8.0, double confidence = 0.99, Mat& inliers = Mat(), int flags = SOLVEPNP_ITERATIVE) 1197 private static native boolean solvePnPRansac_0(long objectPoints_mat_nativeObj, long imagePoints_mat_nativeObj, long cameraMatrix_nativeObj, long distCoeffs_mat_nativeObj, long rvec_nativeObj, long tvec_nativeObj, boolean useExtrinsicGuess, int iterationsCount, float reprojectionError, double confidence, long inliers_nativeObj, int flags); 1198 private static native boolean solvePnPRansac_1(long objectPoints_mat_nativeObj, long imagePoints_mat_nativeObj, long cameraMatrix_nativeObj, long distCoeffs_mat_nativeObj, long rvec_nativeObj, long tvec_nativeObj); 1199 1200 // C++: Mat initCameraMatrix2D(vector_vector_Point3f objectPoints, vector_vector_Point2f imagePoints, Size imageSize, double aspectRatio = 1.0) 1201 private static native long initCameraMatrix2D_0(long objectPoints_mat_nativeObj, long imagePoints_mat_nativeObj, double imageSize_width, double imageSize_height, double aspectRatio); 1202 private static native long initCameraMatrix2D_1(long objectPoints_mat_nativeObj, long imagePoints_mat_nativeObj, double imageSize_width, double imageSize_height); 1203 1204 // C++: bool findChessboardCorners(Mat image, Size patternSize, vector_Point2f& corners, int flags = CALIB_CB_ADAPTIVE_THRESH + CALIB_CB_NORMALIZE_IMAGE) 1205 private static native boolean findChessboardCorners_0(long image_nativeObj, double patternSize_width, double patternSize_height, long corners_mat_nativeObj, int flags); 1206 private static native boolean findChessboardCorners_1(long image_nativeObj, double patternSize_width, double patternSize_height, long corners_mat_nativeObj); 1207 1208 // C++: void drawChessboardCorners(Mat& image, Size patternSize, vector_Point2f corners, bool patternWasFound) 1209 private static native void drawChessboardCorners_0(long image_nativeObj, double patternSize_width, double patternSize_height, long corners_mat_nativeObj, boolean patternWasFound); 1210 1211 // C++: bool findCirclesGrid(Mat image, Size patternSize, Mat& centers, int flags = CALIB_CB_SYMMETRIC_GRID, Ptr_FeatureDetector blobDetector = SimpleBlobDetector::create()) 1212 private static native boolean findCirclesGrid_0(long image_nativeObj, double patternSize_width, double patternSize_height, long centers_nativeObj, int flags); 1213 private static native boolean findCirclesGrid_1(long image_nativeObj, double patternSize_width, double patternSize_height, long centers_nativeObj); 1214 1215 // C++: double calibrateCamera(vector_Mat objectPoints, vector_Mat imagePoints, Size imageSize, Mat& cameraMatrix, Mat& distCoeffs, vector_Mat& rvecs, vector_Mat& tvecs, int flags = 0, TermCriteria criteria = TermCriteria( TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON)) 1216 private static native double calibrateCamera_0(long objectPoints_mat_nativeObj, long imagePoints_mat_nativeObj, double imageSize_width, double imageSize_height, long cameraMatrix_nativeObj, long distCoeffs_nativeObj, long rvecs_mat_nativeObj, long tvecs_mat_nativeObj, int flags, int criteria_type, int criteria_maxCount, double criteria_epsilon); 1217 private static native double calibrateCamera_1(long objectPoints_mat_nativeObj, long imagePoints_mat_nativeObj, double imageSize_width, double imageSize_height, long cameraMatrix_nativeObj, long distCoeffs_nativeObj, long rvecs_mat_nativeObj, long tvecs_mat_nativeObj, int flags); 1218 private static native double calibrateCamera_2(long objectPoints_mat_nativeObj, long imagePoints_mat_nativeObj, double imageSize_width, double imageSize_height, long cameraMatrix_nativeObj, long distCoeffs_nativeObj, long rvecs_mat_nativeObj, long tvecs_mat_nativeObj); 1219 1220 // C++: void calibrationMatrixValues(Mat cameraMatrix, Size imageSize, double apertureWidth, double apertureHeight, double& fovx, double& fovy, double& focalLength, Point2d& principalPoint, double& aspectRatio) 1221 private static native void calibrationMatrixValues_0(long cameraMatrix_nativeObj, double imageSize_width, double imageSize_height, double apertureWidth, double apertureHeight, double[] fovx_out, double[] fovy_out, double[] focalLength_out, double[] principalPoint_out, double[] aspectRatio_out); 1222 1223 // C++: double stereoCalibrate(vector_Mat objectPoints, vector_Mat imagePoints1, vector_Mat imagePoints2, Mat& cameraMatrix1, Mat& distCoeffs1, Mat& cameraMatrix2, Mat& distCoeffs2, Size imageSize, Mat& R, Mat& T, Mat& E, Mat& F, int flags = CALIB_FIX_INTRINSIC, TermCriteria criteria = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 1e-6)) 1224 private static native double stereoCalibrate_3(long objectPoints_mat_nativeObj, long imagePoints1_mat_nativeObj, long imagePoints2_mat_nativeObj, long cameraMatrix1_nativeObj, long distCoeffs1_nativeObj, long cameraMatrix2_nativeObj, long distCoeffs2_nativeObj, double imageSize_width, double imageSize_height, long R_nativeObj, long T_nativeObj, long E_nativeObj, long F_nativeObj, int flags, int criteria_type, int criteria_maxCount, double criteria_epsilon); 1225 private static native double stereoCalibrate_4(long objectPoints_mat_nativeObj, long imagePoints1_mat_nativeObj, long imagePoints2_mat_nativeObj, long cameraMatrix1_nativeObj, long distCoeffs1_nativeObj, long cameraMatrix2_nativeObj, long distCoeffs2_nativeObj, double imageSize_width, double imageSize_height, long R_nativeObj, long T_nativeObj, long E_nativeObj, long F_nativeObj, int flags); 1226 private static native double stereoCalibrate_5(long objectPoints_mat_nativeObj, long imagePoints1_mat_nativeObj, long imagePoints2_mat_nativeObj, long cameraMatrix1_nativeObj, long distCoeffs1_nativeObj, long cameraMatrix2_nativeObj, long distCoeffs2_nativeObj, double imageSize_width, double imageSize_height, long R_nativeObj, long T_nativeObj, long E_nativeObj, long F_nativeObj); 1227 1228 // C++: void Rodrigues(Mat src, Mat& dst, Mat& jacobian = Mat()) 1229 private static native void Rodrigues_0(long src_nativeObj, long dst_nativeObj, long jacobian_nativeObj); 1230 private static native void Rodrigues_1(long src_nativeObj, long dst_nativeObj); 1231 1232 // C++: Mat findHomography(vector_Point2f srcPoints, vector_Point2f dstPoints, int method = 0, double ransacReprojThreshold = 3, Mat& mask = Mat(), int maxIters = 2000, double confidence = 0.995) 1233 private static native long findHomography_0(long srcPoints_mat_nativeObj, long dstPoints_mat_nativeObj, int method, double ransacReprojThreshold, long mask_nativeObj, int maxIters, double confidence); 1234 private static native long findHomography_1(long srcPoints_mat_nativeObj, long dstPoints_mat_nativeObj, int method, double ransacReprojThreshold); 1235 private static native long findHomography_2(long srcPoints_mat_nativeObj, long dstPoints_mat_nativeObj); 1236 1237 // C++: Vec3d RQDecomp3x3(Mat src, Mat& mtxR, Mat& mtxQ, Mat& Qx = Mat(), Mat& Qy = Mat(), Mat& Qz = Mat()) 1238 private static native double[] RQDecomp3x3_0(long src_nativeObj, long mtxR_nativeObj, long mtxQ_nativeObj, long Qx_nativeObj, long Qy_nativeObj, long Qz_nativeObj); 1239 private static native double[] RQDecomp3x3_1(long src_nativeObj, long mtxR_nativeObj, long mtxQ_nativeObj); 1240 1241 // C++: void stereoRectify(Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2, Size imageSize, Mat R, Mat T, Mat& R1, Mat& R2, Mat& P1, Mat& P2, Mat& Q, int flags = CALIB_ZERO_DISPARITY, double alpha = -1, Size newImageSize = Size(), Rect* validPixROI1 = 0, Rect* validPixROI2 = 0) 1242 private static native void stereoRectify_2(long cameraMatrix1_nativeObj, long distCoeffs1_nativeObj, long cameraMatrix2_nativeObj, long distCoeffs2_nativeObj, double imageSize_width, double imageSize_height, long R_nativeObj, long T_nativeObj, long R1_nativeObj, long R2_nativeObj, long P1_nativeObj, long P2_nativeObj, long Q_nativeObj, int flags, double alpha, double newImageSize_width, double newImageSize_height, double[] validPixROI1_out, double[] validPixROI2_out); 1243 private static native void stereoRectify_3(long cameraMatrix1_nativeObj, long distCoeffs1_nativeObj, long cameraMatrix2_nativeObj, long distCoeffs2_nativeObj, double imageSize_width, double imageSize_height, long R_nativeObj, long T_nativeObj, long R1_nativeObj, long R2_nativeObj, long P1_nativeObj, long P2_nativeObj, long Q_nativeObj); 1244 1245 // C++: bool stereoRectifyUncalibrated(Mat points1, Mat points2, Mat F, Size imgSize, Mat& H1, Mat& H2, double threshold = 5) 1246 private static native boolean stereoRectifyUncalibrated_0(long points1_nativeObj, long points2_nativeObj, long F_nativeObj, double imgSize_width, double imgSize_height, long H1_nativeObj, long H2_nativeObj, double threshold); 1247 private static native boolean stereoRectifyUncalibrated_1(long points1_nativeObj, long points2_nativeObj, long F_nativeObj, double imgSize_width, double imgSize_height, long H1_nativeObj, long H2_nativeObj); 1248 1249 // C++: float rectify3Collinear(Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2, Mat cameraMatrix3, Mat distCoeffs3, vector_Mat imgpt1, vector_Mat imgpt3, Size imageSize, Mat R12, Mat T12, Mat R13, Mat T13, Mat& R1, Mat& R2, Mat& R3, Mat& P1, Mat& P2, Mat& P3, Mat& Q, double alpha, Size newImgSize, Rect* roi1, Rect* roi2, int flags) 1250 private static native float rectify3Collinear_0(long cameraMatrix1_nativeObj, long distCoeffs1_nativeObj, long cameraMatrix2_nativeObj, long distCoeffs2_nativeObj, long cameraMatrix3_nativeObj, long distCoeffs3_nativeObj, long imgpt1_mat_nativeObj, long imgpt3_mat_nativeObj, double imageSize_width, double imageSize_height, long R12_nativeObj, long T12_nativeObj, long R13_nativeObj, long T13_nativeObj, long R1_nativeObj, long R2_nativeObj, long R3_nativeObj, long P1_nativeObj, long P2_nativeObj, long P3_nativeObj, long Q_nativeObj, double alpha, double newImgSize_width, double newImgSize_height, double[] roi1_out, double[] roi2_out, int flags); 1251 1252 // C++: Mat getOptimalNewCameraMatrix(Mat cameraMatrix, Mat distCoeffs, Size imageSize, double alpha, Size newImgSize = Size(), Rect* validPixROI = 0, bool centerPrincipalPoint = false) 1253 private static native long getOptimalNewCameraMatrix_0(long cameraMatrix_nativeObj, long distCoeffs_nativeObj, double imageSize_width, double imageSize_height, double alpha, double newImgSize_width, double newImgSize_height, double[] validPixROI_out, boolean centerPrincipalPoint); 1254 private static native long getOptimalNewCameraMatrix_1(long cameraMatrix_nativeObj, long distCoeffs_nativeObj, double imageSize_width, double imageSize_height, double alpha); 1255 1256 // C++: void convertPointsToHomogeneous(Mat src, Mat& dst) 1257 private static native void convertPointsToHomogeneous_0(long src_nativeObj, long dst_nativeObj); 1258 1259 // C++: void convertPointsFromHomogeneous(Mat src, Mat& dst) 1260 private static native void convertPointsFromHomogeneous_0(long src_nativeObj, long dst_nativeObj); 1261 1262 // C++: Mat findFundamentalMat(vector_Point2f points1, vector_Point2f points2, int method = FM_RANSAC, double param1 = 3., double param2 = 0.99, Mat& mask = Mat()) 1263 private static native long findFundamentalMat_0(long points1_mat_nativeObj, long points2_mat_nativeObj, int method, double param1, double param2, long mask_nativeObj); 1264 private static native long findFundamentalMat_1(long points1_mat_nativeObj, long points2_mat_nativeObj, int method, double param1, double param2); 1265 private static native long findFundamentalMat_2(long points1_mat_nativeObj, long points2_mat_nativeObj); 1266 1267 // C++: Mat findEssentialMat(Mat points1, Mat points2, double focal = 1.0, Point2d pp = Point2d(0, 0), int method = RANSAC, double prob = 0.999, double threshold = 1.0, Mat& mask = Mat()) 1268 private static native long findEssentialMat_0(long points1_nativeObj, long points2_nativeObj, double focal, double pp_x, double pp_y, int method, double prob, double threshold, long mask_nativeObj); 1269 private static native long findEssentialMat_1(long points1_nativeObj, long points2_nativeObj, double focal, double pp_x, double pp_y, int method, double prob, double threshold); 1270 private static native long findEssentialMat_2(long points1_nativeObj, long points2_nativeObj); 1271 1272 // C++: void decomposeEssentialMat(Mat E, Mat& R1, Mat& R2, Mat& t) 1273 private static native void decomposeEssentialMat_0(long E_nativeObj, long R1_nativeObj, long R2_nativeObj, long t_nativeObj); 1274 1275 // C++: int recoverPose(Mat E, Mat points1, Mat points2, Mat& R, Mat& t, double focal = 1.0, Point2d pp = Point2d(0, 0), Mat& mask = Mat()) 1276 private static native int recoverPose_0(long E_nativeObj, long points1_nativeObj, long points2_nativeObj, long R_nativeObj, long t_nativeObj, double focal, double pp_x, double pp_y, long mask_nativeObj); 1277 private static native int recoverPose_1(long E_nativeObj, long points1_nativeObj, long points2_nativeObj, long R_nativeObj, long t_nativeObj, double focal, double pp_x, double pp_y); 1278 private static native int recoverPose_2(long E_nativeObj, long points1_nativeObj, long points2_nativeObj, long R_nativeObj, long t_nativeObj); 1279 1280 // C++: void computeCorrespondEpilines(Mat points, int whichImage, Mat F, Mat& lines) 1281 private static native void computeCorrespondEpilines_0(long points_nativeObj, int whichImage, long F_nativeObj, long lines_nativeObj); 1282 1283 // C++: void triangulatePoints(Mat projMatr1, Mat projMatr2, Mat projPoints1, Mat projPoints2, Mat& points4D) 1284 private static native void triangulatePoints_0(long projMatr1_nativeObj, long projMatr2_nativeObj, long projPoints1_nativeObj, long projPoints2_nativeObj, long points4D_nativeObj); 1285 1286 // C++: void correctMatches(Mat F, Mat points1, Mat points2, Mat& newPoints1, Mat& newPoints2) 1287 private static native void correctMatches_0(long F_nativeObj, long points1_nativeObj, long points2_nativeObj, long newPoints1_nativeObj, long newPoints2_nativeObj); 1288 1289 // C++: void filterSpeckles(Mat& img, double newVal, int maxSpeckleSize, double maxDiff, Mat& buf = Mat()) 1290 private static native void filterSpeckles_0(long img_nativeObj, double newVal, int maxSpeckleSize, double maxDiff, long buf_nativeObj); 1291 private static native void filterSpeckles_1(long img_nativeObj, double newVal, int maxSpeckleSize, double maxDiff); 1292 1293 // C++: Rect getValidDisparityROI(Rect roi1, Rect roi2, int minDisparity, int numberOfDisparities, int SADWindowSize) 1294 private static native double[] getValidDisparityROI_0(int roi1_x, int roi1_y, int roi1_width, int roi1_height, int roi2_x, int roi2_y, int roi2_width, int roi2_height, int minDisparity, int numberOfDisparities, int SADWindowSize); 1295 1296 // C++: void validateDisparity(Mat& disparity, Mat cost, int minDisparity, int numberOfDisparities, int disp12MaxDisp = 1) 1297 private static native void validateDisparity_0(long disparity_nativeObj, long cost_nativeObj, int minDisparity, int numberOfDisparities, int disp12MaxDisp); 1298 private static native void validateDisparity_1(long disparity_nativeObj, long cost_nativeObj, int minDisparity, int numberOfDisparities); 1299 1300 // C++: void reprojectImageTo3D(Mat disparity, Mat& _3dImage, Mat Q, bool handleMissingValues = false, int ddepth = -1) 1301 private static native void reprojectImageTo3D_0(long disparity_nativeObj, long _3dImage_nativeObj, long Q_nativeObj, boolean handleMissingValues, int ddepth); 1302 private static native void reprojectImageTo3D_1(long disparity_nativeObj, long _3dImage_nativeObj, long Q_nativeObj, boolean handleMissingValues); 1303 private static native void reprojectImageTo3D_2(long disparity_nativeObj, long _3dImage_nativeObj, long Q_nativeObj); 1304 1305 // C++: int estimateAffine3D(Mat src, Mat dst, Mat& out, Mat& inliers, double ransacThreshold = 3, double confidence = 0.99) 1306 private static native int estimateAffine3D_0(long src_nativeObj, long dst_nativeObj, long out_nativeObj, long inliers_nativeObj, double ransacThreshold, double confidence); 1307 private static native int estimateAffine3D_1(long src_nativeObj, long dst_nativeObj, long out_nativeObj, long inliers_nativeObj); 1308 1309 // C++: int decomposeHomographyMat(Mat H, Mat K, vector_Mat& rotations, vector_Mat& translations, vector_Mat& normals) 1310 private static native int decomposeHomographyMat_0(long H_nativeObj, long K_nativeObj, long rotations_mat_nativeObj, long translations_mat_nativeObj, long normals_mat_nativeObj); 1311 1312 } 1313
