public static Dictionary GetPredefinedDictionary(PredefinedDictionaryName name)
{
Dictionary dictionary = new Dictionary(au_getPredefinedDictionary(name));
dictionary.Name = name;
return(dictionary);
}
public ChArUcoImageContainer(int squaresX, int squaresY, float squareLength, float markerLength, PredefinedDictionaryName dictionary)
{
_SquaresX = squaresX;
_SquaresY = squaresY;
_SquareLength = squareLength;
_MarkerLength = markerLength;
_Dictionary = dictionary;
}
private void _Timer_Elapsed(object sender, ElapsedEventArgs e)
{
Parent.SyncContext.Post(o =>
{
if (AutoSnapshot)
{
int squaresX = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquaresX;
int squaresY = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquaresY;
float squareLength = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquareLength;
float markerLength = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.MarkerLength;
PredefinedDictionaryName dictionary = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.Dictionary;
ChArUcoImageContainer cauic = new ChArUcoImageContainer(squaresX, squaresY, squareLength, markerLength, dictionary);
cauic.OriginalImage = Parent.CameraViewModel.Image;
Images.Add(cauic);
}
}, null);
}
private Task DoTakeSnapshot(object o)
{
return(Task.Factory.StartNew(() =>
{
Parent.SyncContext.Post(c =>
{
int squaresX = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquaresX;
int squaresY = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquaresY;
float squareLength = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquareLength;
float markerLength = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.MarkerLength;
PredefinedDictionaryName dictionary = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.Dictionary;
ChArUcoImageContainer cauic = new ChArUcoImageContainer(squaresX, squaresY, squareLength, markerLength, dictionary);
cauic.OriginalImage = Parent.CameraViewModel.Image;
Images.Add(cauic);
}, null);
}));
}
/// <summary>
/// Returns one of the predefined dictionaries defined in PREDEFINED_DICTIONARY_NAME
/// </summary>
/// <param name="name"></param>
/// <returns></returns>
public static Dictionary GetPredefinedDictionary(PredefinedDictionaryName name)
{
NativeMethods.HandleException(
NativeMethods.aruco_getPredefinedDictionary((int)name, out IntPtr p));
return(new Dictionary(p));
}
private Task DoValidate(object o)
{
return(Task.Factory.StartNew(() =>
{
Parent.SyncContext.Post(async c =>
{
VectorOfInt allIds = new VectorOfInt();
VectorOfVectorOfPointF allCorners = new VectorOfVectorOfPointF();
VectorOfInt allCharucoIds = new VectorOfInt();
VectorOfPointF allCharucoCorners = new VectorOfPointF();
VectorOfInt markerCounterPerFrame = new VectorOfInt();
VectorOfInt charucoCounterPerFrame = new VectorOfInt();
int squaresX = 0;
int squaresY = 0;
float squareLength = 0f;
float markerLength = 0f;
PredefinedDictionaryName dictionary = PredefinedDictionaryName.Dict4X4_50;
System.Drawing.Size size = new System.Drawing.Size();
bool fisheye = false;
Parent.SyncContext.Send(async d =>
{
fisheye = Parent.CameraViewModel.FishEyeCalibration;
squaresX = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquaresX;
squaresY = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquaresY;
squareLength = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquareLength;
markerLength = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.MarkerLength;
dictionary = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.Dictionary;
size = new System.Drawing.Size(Parent.CameraViewModel.ImageWidth, Parent.CameraViewModel.ImageHeight);
foreach (ChArUcoImageContainer image in Images)
{
if (image.MarkerCorners != null && image.CharucoCorners.Size > 4)
{
allIds.Push(image.MarkerIds);
allCorners.Push(image.MarkerCorners);
allCharucoIds.Push(image.CharucoIds);
allCharucoCorners.Push(image.CharucoCorners);
markerCounterPerFrame.Push(new int[] { image.MarkerCorners.Size });
charucoCounterPerFrame.Push(new int[] { image.CharucoCorners.Size });
}
}
}, null);
if (markerCounterPerFrame.Size > 0)
{
MetroDialogSettings settings = new MetroDialogSettings()
{
AnimateShow = false,
AnimateHide = false
};
var controller = await Parent.DialogCoordinator.ShowProgressAsync(Parent, "Please wait...", "Validate parameter now!", settings: Parent.MetroDialogSettings);
controller.SetIndeterminate();
controller.SetCancelable(false);
bool error = false;
double rms = 0.0;
try
{
Mat cameraMatrix = new Mat(3, 3, Emgu.CV.CvEnum.DepthType.Cv64F, 1);
Mat distCoeffs = new Mat(1, Parent.CameraViewModel.FishEyeCalibration ? 4 : _DistCoeffs.Count, Emgu.CV.CvEnum.DepthType.Cv64F, 1);
cameraMatrix.SetValue(0, 0, Fx);
cameraMatrix.SetValue(1, 1, Fy);
cameraMatrix.SetValue(0, 1, Fx * Alpha);
cameraMatrix.SetValue(0, 2, Cx);
cameraMatrix.SetValue(1, 2, Cy);
cameraMatrix.SetValue(2, 2, 1.0f);
for (int i = 0; i < distCoeffs.Cols && (Parent.CameraViewModel.FishEyeCalibration ? i < 4 : true); i++)
{
distCoeffs.SetValue(0, i, _DistCoeffs[i]);
}
rms = ChArUcoCalibration.ValidateCharuco(squaresX, squaresY, squareLength, markerLength, dictionary, size, allCharucoIds, allCharucoCorners, charucoCounterPerFrame, fisheye, delegate(byte[] input)
{
return Parent.IOProxy.GetRemoteChessboardCorner(input);
}, cameraMatrix, distCoeffs);
}
catch (Exception ex)
{
error = true;
}
await controller.CloseAsync();
if (!error)
{
var con = await Parent.DialogCoordinator.ShowMessageAsync(Parent, "Result", string.Format("RMS: {0}", rms), MessageDialogStyle.Affirmative, null);
}
else
{
await Parent.DialogCoordinator.ShowMessageAsync(Parent, "Error", "Error during validation!");
}
}
else
{
await Parent.DialogCoordinator.ShowMessageAsync(Parent, "Error", "Not enough valide input frames available!");
}
}, null);
}));
}
private Task DoLoadFromFile(object o)
{
return(Task.Factory.StartNew(() =>
{
Parent.SyncContext.Post(c =>
{
CustomDialog customDialog = new CustomDialog()
{
Title = "Select calibration file"
};
var dataContext = new ReplaySelectDialogModel(obj =>
{
Parent.SyncContext.Post(d =>
{
Task.Factory.StartNew(async() =>
{
ReplaySelectDialogModel replaySelectDialogModel = obj as ReplaySelectDialogModel;
if (replaySelectDialogModel.SelectedFile != null)
{
MetroDialogSettings settings = new MetroDialogSettings()
{
AnimateShow = false,
AnimateHide = false
};
var controller = await Parent.DialogCoordinator.ShowProgressAsync(Parent, "Please wait...", "Loading calibration images!", settings: Parent.MetroDialogSettings);
controller.SetCancelable(false);
controller.SetIndeterminate();
string file = null;
string outputPath = null;
Parent.SyncContext.Send(async d2 =>
{
file = replaySelectDialogModel.SelectedFile.FullPath;
outputPath = Path.Combine(Path.GetTempPath(), "firefly", Guid.NewGuid().ToString());
}, null);
RawDataReader reader = new RawDataReader(file, RawReaderMode.Camera0);
reader.Open();
MemoryImageExporter exporter = new MemoryImageExporter();
exporter.AddFromReader(reader, delegate(double percent)
{
double value = percent;
value = value > 1 ? 1 : value;
controller.SetProgress(value);
});
reader.Close();
Parent.SyncContext.Post(d2 =>
{
int i = 0;
int count = exporter.Images.Count;
foreach (Mat m in exporter.Images)
{
//double value = 0.5 + i / count * 0.5;
//value = value > 1 ? 1 : value;
//controller.SetProgress(value);
if (i++ % 20 == 0)
{
int squaresX = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquaresX;
int squaresY = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquaresY;
float squareLength = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquareLength;
float markerLength = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.MarkerLength;
PredefinedDictionaryName dictionary = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.Dictionary;
ChArUcoImageContainer cauic = new ChArUcoImageContainer(squaresX, squaresY, squareLength, markerLength, dictionary);
CvImageContainer container = new CvImageContainer();
container.CvImage = m;
cauic.OriginalImage = container;
Images.Add(cauic);
}
}
controller.CloseAsync();
}, null);
}
}, TaskCreationOptions.LongRunning);
Parent.DialogCoordinator.HideMetroDialogAsync(Parent, customDialog);
}, null);
});
Parent.ReplayViewModel.Refresh();
dataContext.FilesForReplay.AddRange(Parent.ReplayViewModel.FilesForReplay.Where(x => !x.Item1.IsRemote));
customDialog.Content = new ReplaySelectDialog {
DataContext = dataContext
};
Parent.DialogCoordinator.ShowMetroDialogAsync(Parent, customDialog);
}, null);
}));
}
private Task DoCalibrate(object o)
{
return(Task.Factory.StartNew(async() =>
{
VectorOfInt allIds = new VectorOfInt();
VectorOfVectorOfPointF allCorners = new VectorOfVectorOfPointF();
VectorOfInt allCharucoIds = new VectorOfInt();
VectorOfPointF allCharucoCorners = new VectorOfPointF();
VectorOfInt markerCounterPerFrame = new VectorOfInt();
VectorOfInt charucoCounterPerFrame = new VectorOfInt();
int squaresX = 0;
int squaresY = 0;
float squareLength = 0f;
float markerLength = 0f;
PredefinedDictionaryName dictionary = PredefinedDictionaryName.Dict4X4_50;
System.Drawing.Size size = new System.Drawing.Size();
bool fisheye = false;
Parent.SyncContext.Send(async c =>
{
fisheye = Parent.CameraViewModel.FishEyeCalibration;
squaresX = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquaresX;
squaresY = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquaresY;
squareLength = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquareLength;
markerLength = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.MarkerLength;
size = Parent.CameraViewModel.Image.CvImage.Size;
dictionary = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.Dictionary;
foreach (ChArUcoImageContainer image in Images)
{
if (image.MarkerCorners != null && image.CharucoCorners.Size > 4)
{
allIds.Push(image.MarkerIds);
allCorners.Push(image.MarkerCorners);
allCharucoIds.Push(image.CharucoIds);
allCharucoCorners.Push(image.CharucoCorners);
markerCounterPerFrame.Push(new int[] { image.MarkerCorners.Size });
charucoCounterPerFrame.Push(new int[] { image.CharucoCorners.Size });
}
}
}, null);
if (markerCounterPerFrame.Size > 0)
{
MetroDialogSettings settings = new MetroDialogSettings()
{
AnimateShow = true,
AnimateHide = true
};
var controller = await Parent.DialogCoordinator.ShowProgressAsync(Parent, "Please wait...", "Calculating calibration parameter now!", settings: settings);
controller.SetIndeterminate();
controller.SetCancelable(false);
bool error = false;
(Mat cameraMatrix, Mat distCoeffs, double rms)result = (null, null, 0.0);
try
{
result = ChArUcoCalibration.CalibrateCharuco(squaresX, squaresY, squareLength, markerLength, dictionary, size, allCharucoIds, allCharucoCorners, charucoCounterPerFrame, fisheye, delegate(byte[] input)
{
return Parent.IOProxy.GetRemoteChessboardCorner(input);
});
}
catch (Exception ex)
{
error = true;
}
await controller.CloseAsync();
if (!error)
{
var con = await Parent.DialogCoordinator.ShowMessageAsync(Parent, "Result", string.Format("RMS: {0}\nDo you want to save?", result.rms), MessageDialogStyle.AffirmativeAndNegative, null);
if (con == MessageDialogResult.Affirmative)
{
Parent.SyncContext.Post(async c =>
{
Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Fx = result.cameraMatrix.GetValue(0, 0);
Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Fy = result.cameraMatrix.GetValue(1, 1);
Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Cx = result.cameraMatrix.GetValue(0, 2);
Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Cy = result.cameraMatrix.GetValue(1, 2);
Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Alpha = result.cameraMatrix.GetValue(0, 1) / result.cameraMatrix.GetValue(0, 0);;
Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.DistCoeffs.Clear();
if (Parent.CameraViewModel.FishEyeCalibration)
{
for (int i = 0; i < result.distCoeffs.Rows && i < 8; i++)
{
Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.DistCoeffs.Add(result.distCoeffs.GetValue(i, 0));
}
}
else
{
for (int i = 0; i < result.distCoeffs.Cols && i < 8; i++)
{
Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.DistCoeffs.Add(result.distCoeffs.GetValue(0, i));
}
}
Parent.UpdateSettings(false);
}, null);
}
}
else
{
await Parent.DialogCoordinator.ShowMessageAsync(Parent, "Error", "Error during calibration!");
}
}
else
{
await Parent.DialogCoordinator.ShowMessageAsync(Parent, "Error", "Not enough valide input frames available!");
}
}));
}
public static (Mat cameraMatrix, Mat distCoeffs, double rms) CalibrateCharuco(int squaresX, int squaresY, float squareLength, float markerLength, PredefinedDictionaryName dictionary, Size imageSize, VectorOfInt charucoIds, VectorOfPointF charucoCorners, VectorOfInt markerCounterPerFrame, bool fisheye, Func <byte[], byte[]> GetRemoteChessboardCorner)
{
Mat cameraMatrix = new Mat(3, 3, Emgu.CV.CvEnum.DepthType.Cv64F, 1);
Mat distCoeffs = new Mat(1, 4, Emgu.CV.CvEnum.DepthType.Cv64F, 1);
double rms = 0.0;
VectorOfVectorOfPoint3D32F processedObjectPoints = new VectorOfVectorOfPoint3D32F();
VectorOfVectorOfPointF processedImagePoints = new VectorOfVectorOfPointF();
int k = 0;
for (int i = 0; i < markerCounterPerFrame.Size; i++)
{
int nMarkersInThisFrame = markerCounterPerFrame[i];
VectorOfPointF currentImgPoints = new VectorOfPointF();
VectorOfPoint3D32F currentObjPoints = new VectorOfPoint3D32F();
for (int j = 0; j < nMarkersInThisFrame; j++)
{
currentImgPoints.Push(new PointF[] { charucoCorners[k] });
currentObjPoints.Push(new MCvPoint3D32f[] { GetChessboardCorner(squaresX, squaresY, squareLength, markerLength, charucoIds[k], dictionary, GetRemoteChessboardCorner) });
k++;
}
processedImagePoints.Push(currentImgPoints);
processedObjectPoints.Push(currentObjPoints);
}
VectorOfPoint3D32F rvecs = new VectorOfPoint3D32F();
VectorOfPoint3D32F tvecs = new VectorOfPoint3D32F();
if (fisheye)
{
Fisheye.Calibrate(processedObjectPoints, processedImagePoints, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs, Fisheye.CalibrationFlag.FixSkew | Fisheye.CalibrationFlag.RecomputeExtrinsic, new MCvTermCriteria(400, double.Epsilon));
}
else
{
CvInvoke.CalibrateCamera(processedObjectPoints, processedImagePoints, imageSize, cameraMatrix, distCoeffs, new Mat(), new Mat(), CalibType.FixK3, new MCvTermCriteria(30, 1e-4));
}
rms = Validate(processedObjectPoints, processedImagePoints, cameraMatrix, distCoeffs, rvecs, tvecs, fisheye);
return(cameraMatrix, distCoeffs, rms);
}
/// <summary>
/// Create a Dictionary using predefined values
/// </summary>
/// <param name="name">The name of the predefined dictionary</param>
public Dictionary(PredefinedDictionaryName name)
{
_ptr = ArucoInvoke.cveArucoGetPredefinedDictionary(name);
}
static extern IntPtr au_getPredefinedDictionary(PredefinedDictionaryName name);
public static Mat DrawBoard(int squaresX, int squaresY, float squareLength, float markerLength, Size imageSize, int margin, PredefinedDictionaryName dictionary)
{
return(DrawBoard(CreateBoard(squaresX, squaresY, squareLength, markerLength, new Dictionary(dictionary)), imageSize, margin));
}
public static (VectorOfInt markerIds, VectorOfVectorOfPointF markerCorners, VectorOfInt charucoIds, VectorOfPointF charucoCorners) Detect(Mat image, int squaresX, int squaresY, float squareLength, float markerLength, PredefinedDictionaryName dictionary)
{
VectorOfInt markerIds = new VectorOfInt();
VectorOfVectorOfPointF markerCorners = new VectorOfVectorOfPointF();
VectorOfInt charucoIds = new VectorOfInt();
VectorOfPointF charucoCorners = new VectorOfPointF();
VectorOfVectorOfPointF rejectedMarkerCorners = new VectorOfVectorOfPointF();
DetectorParameters decParameters = DetectorParameters.GetDefault();
ArucoInvoke.DetectMarkers(image, new Dictionary(dictionary), markerCorners, markerIds, decParameters, rejectedMarkerCorners);
ArucoInvoke.RefineDetectedMarkers(image, CreateBoard(squaresX, squaresY, squareLength, markerLength, new Dictionary(dictionary)), markerCorners, markerIds, rejectedMarkerCorners, null, null, 10, 3, true, null, decParameters);
if (markerIds.Size > 0)
{
ArucoInvoke.InterpolateCornersCharuco(markerCorners, markerIds, image, CreateBoard(squaresX, squaresY, squareLength, markerLength, new Dictionary(dictionary)), charucoCorners, charucoIds, null, null, 2);
}
return(markerIds, markerCorners, charucoIds, charucoCorners);
}
private static MCvPoint3D32f GetChessboardCorner(int squaresX, int squaresY, float squareLength, float markerLength, int markerId, PredefinedDictionaryName dictionary, Func <byte[], byte[]> getRemoteChessboardCorner)
{
MCvPoint3D32f result = new MCvPoint3D32f();
byte[] inputData = new byte[6 * 4];
Array.Copy(BitConverter.GetBytes(squaresX), 0, inputData, 0, sizeof(int));
Array.Copy(BitConverter.GetBytes(squaresY), 0, inputData, 4, sizeof(int));
Array.Copy(BitConverter.GetBytes(squareLength), 0, inputData, 8, sizeof(float));
Array.Copy(BitConverter.GetBytes(markerLength), 0, inputData, 12, sizeof(float));
Array.Copy(BitConverter.GetBytes(markerId), 0, inputData, 16, sizeof(int));
Array.Copy(BitConverter.GetBytes((int)dictionary), 0, inputData, 20, sizeof(int));
byte[] outputData = getRemoteChessboardCorner(inputData);
result.X = BitConverter.ToSingle(outputData, 0);
result.Y = BitConverter.ToSingle(outputData, 4);
result.Z = BitConverter.ToSingle(outputData, 8);
return(result);
}
/// <summary>
/// Create a Dictionary using predefined values
/// </summary>
/// <param name="name">The name of the predefined dictionary</param>
public Dictionary(PredefinedDictionaryName name)
{
//_predefined = true;
_ptr = ArucoInvoke.cveArucoGetPredefinedDictionary(name, ref _sharedPtr);
}
/// <summary>
/// Create a Dictionary using predefined values
/// </summary>
/// <param name="name">The name of the predefined dictionary</param>
public Dictionary(PredefinedDictionaryName name)
{
_ptr = ArucoInvoke.cveArucoGetPredefinedDictionary(name);
}
/// <summary>
/// Returns one of the predefined dictionaries defined in PREDEFINED_DICTIONARY_NAME
/// </summary>
/// <param name="name"></param>
/// <returns></returns>
public static Dictionary GetPredefinedDictionary(PredefinedDictionaryName name)
{
IntPtr ptr = NativeMethods.aruco_getPredefinedDictionary((int)name);
return(new Dictionary(ptr));
}
public static double ValidateCharuco(int squaresX, int squaresY, float squareLength, float markerLength, PredefinedDictionaryName dictionary, Size imageSize, VectorOfInt charucoIds, VectorOfPointF charucoCorners, VectorOfInt markerCounterPerFrame, bool fisheye, Func <byte[], byte[]> GetRemoteChessboardCorner, Mat cameraMatrix, Mat distCoeffs)
{
VectorOfVectorOfPoint3D32F processedObjectPoints = new VectorOfVectorOfPoint3D32F();
VectorOfVectorOfPointF processedImagePoints = new VectorOfVectorOfPointF();
VectorOfPoint3D32F rvecs = new VectorOfPoint3D32F();
VectorOfPoint3D32F tvecs = new VectorOfPoint3D32F();
int k = 0;
for (int i = 0; i < markerCounterPerFrame.Size; i++)
{
int nMarkersInThisFrame = markerCounterPerFrame[i];
VectorOfPointF currentImgPoints = new VectorOfPointF();
VectorOfPointF currentImgPointsUndistort = new VectorOfPointF();
VectorOfInt currentIds = new VectorOfInt();
VectorOfPoint3D32F currentObjPoints = new VectorOfPoint3D32F();
Mat tvec = new Mat();
Mat rvec = new Mat();
for (int j = 0; j < nMarkersInThisFrame; j++)
{
currentImgPoints.Push(new PointF[] { charucoCorners[k] });
currentIds.Push(new int[] { charucoIds[k] });
currentObjPoints.Push(new MCvPoint3D32f[] { GetChessboardCorner(squaresX, squaresY, squareLength, markerLength, charucoIds[k], dictionary, GetRemoteChessboardCorner) });
k++;
}
Mat distCoeffsNew = new Mat(1, 4, DepthType.Cv64F, 1);
distCoeffsNew.SetValue(0, 0, 0);
distCoeffsNew.SetValue(0, 1, 0);
distCoeffsNew.SetValue(0, 2, 0);
distCoeffsNew.SetValue(0, 3, 0);
Fisheye.UndistorPoints(currentImgPoints, currentImgPointsUndistort, cameraMatrix, distCoeffs, Mat.Eye(3, 3, DepthType.Cv64F, 1), Mat.Eye(3, 3, DepthType.Cv64F, 1));
if (ArucoInvoke.EstimatePoseCharucoBoard(currentImgPointsUndistort, currentIds, CreateBoard(squaresX, squaresY, squareLength, markerLength, new Dictionary(dictionary)), Mat.Eye(3, 3, DepthType.Cv64F, 1), distCoeffsNew, rvec, tvec))
{
rvecs.Push(new MCvPoint3D32f[] { new MCvPoint3D32f((float)rvec.GetValue(0, 0), (float)rvec.GetValue(1, 0), (float)rvec.GetValue(2, 0)) });
tvecs.Push(new MCvPoint3D32f[] { new MCvPoint3D32f((float)tvec.GetValue(0, 0), (float)tvec.GetValue(1, 0), (float)tvec.GetValue(2, 0)) });
processedImagePoints.Push(currentImgPoints);
processedObjectPoints.Push(currentObjPoints);
}
}
return(Validate(processedObjectPoints, processedImagePoints, cameraMatrix, distCoeffs, rvecs, tvecs, fisheye));
}
