private double CalibrateCameraCharuco(List <List <Mat> > allCorners, List <Mat> allIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List <Mat> rvecs = null, List <Mat> tvecs = null, int calibrationFlags = 0, int minMarkers = 2)
{
// prepare data for charuco calibration
int nFrames = allCorners.Count;
List <Mat> allCharucoCorners = new List <Mat>();
List <Mat> allCharucoIds = new List <Mat>();
List <Mat> filteredImages = new List <Mat>();
for (int i = 0; i < nFrames; ++i)
{
// interpolate using camera parameters
Mat currentCharucoCorners = new Mat();
Mat currentCharucoIds = new Mat();
Aruco.interpolateCornersCharuco(allCorners[i], allIds[i], allImgs[i], board, currentCharucoCorners, currentCharucoIds, cameraMatrix, distCoeffs, minMarkers);
if (charucoIds.total() > 0)
{
allCharucoCorners.Add(currentCharucoCorners);
allCharucoIds.Add(currentCharucoIds);
filteredImages.Add(allImgs[i]);
}
else
{
currentCharucoCorners.Dispose();
currentCharucoIds.Dispose();
}
}
if (allCharucoCorners.Count < 1)
{
Debug.Log("Not enough corners for calibration.");
return(-1);
}
if (rvecs == null)
{
rvecs = new List <Mat>();
}
if (tvecs == null)
{
tvecs = new List <Mat>();
}
return(Aruco.calibrateCameraCharuco(allCharucoCorners, allCharucoIds, board, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs, calibrationFlags));
}