Initial commit of more stereo bindings

calib3d.cpp

@@ -84,3 +84,11 @@ Mat EstimateAffine2D(Point2fVector from, Point2fVector to) {
 Mat EstimateAffine2DWithParams(Point2fVector from, Point2fVector to, Mat inliers, int method, double ransacReprojThreshold, size_t maxIters, double confidence, size_t refineIters) {
     return new cv::Mat(cv::estimateAffine2D(*from, *to, *inliers, method, ransacReprojThreshold, maxIters, confidence, refineIters));
 }
+
+void TriangulatePoints(Mat projMatr1, Mat projMatr2, Point2fVector projPoints1, Point2fVector projPoints2, Mat points4D) {
+  return cv::triangulatePoints(*projMatr1, *projMatr2, *projPoints1, *projPoints2, *points4D);
+}
+
+void ConvertPointsFromHomogeneous(Mat src, Mat dst) {
+  return cv::convertPointsFromHomogeneous(*src, *dst);
+}

calib3d.go

@@ -264,3 +264,11 @@ func EstimateAffine2D(from, to Point2fVector) Mat {
 func EstimateAffine2DWithParams(from Point2fVector, to Point2fVector, inliers Mat, method int, ransacReprojThreshold float64, maxIters uint, confidence float64, refineIters uint) Mat {
 	return newMat(C.EstimateAffine2DWithParams(from.p, to.p, inliers.p, C.int(method), C.double(ransacReprojThreshold), C.size_t(maxIters), C.double(confidence), C.size_t(refineIters)))
 }
+
+func TriangulatePoints(projMatr1 Mat, projMatr2 Mat, projPoints1, projPoints2 Point2fVector, points4D *Mat) {
+  C.TriangulatePoints(projMatr1.Ptr(), projMatr2.Ptr(), projPoints1.p, projPoints2.p, points4D.Ptr())
+}
+
+func ConvertPointsFromHomogeneous(src Mat, dst *Mat) {
+	C.ConvertPointsFromHomogeneous(src.Ptr(), dst.Ptr())
+}

calib3d.h

@@ -30,6 +30,8 @@ Mat EstimateAffinePartial2D(Point2fVector from, Point2fVector to);
 Mat EstimateAffinePartial2DWithParams(Point2fVector from, Point2fVector to, Mat inliers, int method, double ransacReprojThreshold, size_t maxIters, double confidence, size_t refineIters);
 Mat EstimateAffine2D(Point2fVector from, Point2fVector to);
 Mat EstimateAffine2DWithParams(Point2fVector from, Point2fVector to, Mat inliers, int method, double ransacReprojThreshold, size_t maxIters, double confidence, size_t refineIters);
+void TriangulatePoints(Mat projMatr1, Mat projMatr2, Point2fVector projPoints1, Point2fVector projPoints2, Mat points4D);
+void ConvertPointsFromHomogeneous(Mat src, Mat dst);
 #ifdef __cplusplus
 }
 #endif

calib3d_test.go

@@ -668,3 +668,7 @@ func TestEstimateAffine2DWithParams(t *testing.T) {
 		t.Errorf("TestEstimateAffine2DWithParams(): unexpected rows = %v, want = %v", m.Rows(), 2)
 	}
 }
+
+func TestTriangulatePoints(t *testing.T) {
+
+}