/// <summary>
/// Пытается произвести калибровку камеры
/// </summary>
/// <returns>Результат калибровки</returns>
public bool TryToCalibrate(out CoordinatesTransformer transformer)
{
CvPoint2D32f[] imageCornersArray;
transformer = new CoordinatesTransformer();
// Пытаемся найти углы шахматной доски
if (FindCorners(out imageCornersArray))
{
// Преобразуем массивы точек в матрицы
CvMat imageCorners = new CvMat(imageCornersArray.Length, 1, MatrixType.F32C2, imageCornersArray);
CvMat numCorners = new CvMat(1, 1, MatrixType.S32C1, new CvScalar(imageCornersArray.Length));
// Определяем нужно-ли считать коэффициенты дисторсии
CalibrationFlag flag = UseUndistort ? CalibrationFlag.RationalModel : CalibrationFlag.ZeroTangentDist | CalibrationFlag.FixK1 | CalibrationFlag.FixK2;
// Производим калибровку
Cv.CalibrateCamera2
(
generateCorners(),
imageCorners,
numCorners,
chessBoard.Size,
transformer.Intrinsic,
transformer.Distortion,
transformer.Rotation,
transformer.Translation,
flag
);
// Определяем прямоугольник в котором произведена калибровка
CalibratedZone[0] = imageCornersArray[0];
CalibratedZone[1] = imageCornersArray[CornersPattern.Width - 1];
CalibratedZone[2] = imageCornersArray.Last();
CalibratedZone[3] = imageCornersArray[CornersPattern.Width * (CornersPattern.Height - 1)];
// Расчитываем матрицу перехода
calculateTransformationMatrix(transformer);
return(true);
}
return(false);
}
public static extern void cvStereoCalibrate(IntPtr object_points, IntPtr image_points1, IntPtr image_points2, IntPtr npoints,
IntPtr camera_matrix1, IntPtr dist_coeffs1, IntPtr camera_matrix2, IntPtr dist_coeffs2,
CvSize image_size, IntPtr R, IntPtr T, IntPtr E, IntPtr F,
CvTermCriteria term_crit, CalibrationFlag flags);
public static extern void cvCalibrateCamera2(IntPtr object_points, IntPtr image_points, IntPtr point_counts, CvSize image_size,
IntPtr intrinsic_matrix, IntPtr distortion_coeffs, IntPtr rotation_vectors, IntPtr translation_vectors, CalibrationFlag flags);
/// <summary>
/// finds intrinsic and extrinsic parameters of a stereo camera
/// </summary>
/// <param name="objectPoints">Vector of vectors of the calibration pattern points.</param>
/// <param name="imagePoints1">Vector of vectors of the projections of the calibration pattern points, observed by the first camera.</param>
/// <param name="imagePoints2">Vector of vectors of the projections of the calibration pattern points, observed by the second camera.</param>
/// <param name="cameraMatrix1">Input/output first camera matrix</param>
/// <param name="distCoeffs1">Input/output vector of distortion coefficients (k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]]) of 4, 5, or 8 elements.
/// The output vector length depends on the flags.</param>
/// <param name="cameraMatrix2"> Input/output second camera matrix. The parameter is similar to cameraMatrix1 .</param>
/// <param name="distCoeffs2">Input/output lens distortion coefficients for the second camera. The parameter is similar to distCoeffs1 .</param>
/// <param name="imageSize">Size of the image used only to initialize intrinsic camera matrix.</param>
/// <param name="R">Output rotation matrix between the 1st and the 2nd camera coordinate systems.</param>
/// <param name="T">Output translation vector between the coordinate systems of the cameras.</param>
/// <param name="E">Output essential matrix.</param>
/// <param name="F">Output fundamental matrix.</param>
/// <param name="criteria">Termination criteria for the iterative optimization algorithm.</param>
/// <param name="flags">Different flags that may be zero or a combination of the CalibrationFlag values</param>
/// <returns></returns>
public static double StereoCalibrate(IEnumerable<IEnumerable<Point3d>> objectPoints,
IEnumerable<IEnumerable<Point2d>> imagePoints1,
IEnumerable<IEnumerable<Point2d>> imagePoints2,
double[,] cameraMatrix1, double[] distCoeffs1,
double[,] cameraMatrix2, double[] distCoeffs2,
Size imageSize, OutputArray R,
OutputArray T, OutputArray E, OutputArray F,
TermCriteria? criteria = null,
CalibrationFlag flags = CalibrationFlag.FixIntrinsic)
{
if (objectPoints == null)
throw new ArgumentNullException("objectPoints");
if (imagePoints1 == null)
throw new ArgumentNullException("imagePoints1");
if (imagePoints2 == null)
throw new ArgumentNullException("imagePoints2");
if (cameraMatrix1 == null)
throw new ArgumentNullException("cameraMatrix1");
if (distCoeffs1 == null)
throw new ArgumentNullException("distCoeffs1");
if (cameraMatrix2 == null)
throw new ArgumentNullException("cameraMatrix2");
if (distCoeffs2 == null)
throw new ArgumentNullException("distCoeffs2");
TermCriteria criteria0 = criteria.GetValueOrDefault(
new TermCriteria(CriteriaType.Iteration | CriteriaType.Epsilon, 30, 1e-6));
using (var op = new ArrayAddress2<Point3d>(objectPoints))
using (var ip1 = new ArrayAddress2<Point2d>(imagePoints1))
using (var ip2 = new ArrayAddress2<Point2d>(imagePoints2))
{
return NativeMethods.calib3d_stereoCalibrate_array(
op.Pointer, op.Dim1Length, op.Dim2Lengths,
ip1.Pointer, ip1.Dim1Length, ip1.Dim2Lengths,
ip2.Pointer, ip2.Dim1Length, ip2.Dim2Lengths,
cameraMatrix1, distCoeffs1, distCoeffs1.Length,
cameraMatrix2, distCoeffs2, distCoeffs2.Length,
imageSize, ToPtr(R), ToPtr(T), ToPtr(E), ToPtr(F),
criteria0, (int)flags);
}
}
/// <summary>
/// finds intrinsic and extrinsic parameters of a stereo camera
/// </summary>
/// <param name="objectPoints">Vector of vectors of the calibration pattern points.</param>
/// <param name="imagePoints1">Vector of vectors of the projections of the calibration pattern points, observed by the first camera.</param>
/// <param name="imagePoints2">Vector of vectors of the projections of the calibration pattern points, observed by the second camera.</param>
/// <param name="cameraMatrix1">Input/output first camera matrix</param>
/// <param name="distCoeffs1">Input/output vector of distortion coefficients (k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]]) of 4, 5, or 8 elements.
/// The output vector length depends on the flags.</param>
/// <param name="cameraMatrix2"> Input/output second camera matrix. The parameter is similar to cameraMatrix1 .</param>
/// <param name="distCoeffs2">Input/output lens distortion coefficients for the second camera. The parameter is similar to distCoeffs1 .</param>
/// <param name="imageSize">Size of the image used only to initialize intrinsic camera matrix.</param>
/// <param name="R">Output rotation matrix between the 1st and the 2nd camera coordinate systems.</param>
/// <param name="T">Output translation vector between the coordinate systems of the cameras.</param>
/// <param name="E">Output essential matrix.</param>
/// <param name="F">Output fundamental matrix.</param>
/// <param name="criteria">Termination criteria for the iterative optimization algorithm.</param>
/// <param name="flags">Different flags that may be zero or a combination of the CalibrationFlag values</param>
/// <returns></returns>
public static double StereoCalibrate(IEnumerable<InputArray> objectPoints,
IEnumerable<InputArray> imagePoints1,
IEnumerable<InputArray> imagePoints2,
InputOutputArray cameraMatrix1, InputOutputArray distCoeffs1,
InputOutputArray cameraMatrix2, InputOutputArray distCoeffs2,
Size imageSize, OutputArray R,
OutputArray T, OutputArray E, OutputArray F,
TermCriteria? criteria = null,
CalibrationFlag flags = CalibrationFlag.FixIntrinsic)
{
if (objectPoints == null)
throw new ArgumentNullException("objectPoints");
if (imagePoints1 == null)
throw new ArgumentNullException("imagePoints1");
if (imagePoints2 == null)
throw new ArgumentNullException("imagePoints2");
if (cameraMatrix1 == null)
throw new ArgumentNullException("cameraMatrix1");
if (distCoeffs1 == null)
throw new ArgumentNullException("distCoeffs1");
if (cameraMatrix2 == null)
throw new ArgumentNullException("cameraMatrix2");
if (distCoeffs2 == null)
throw new ArgumentNullException("distCoeffs2");
cameraMatrix1.ThrowIfDisposed();
distCoeffs1.ThrowIfDisposed();
cameraMatrix2.ThrowIfDisposed();
distCoeffs2.ThrowIfDisposed();
cameraMatrix1.ThrowIfNotReady();
cameraMatrix2.ThrowIfNotReady();
distCoeffs1.ThrowIfNotReady();
distCoeffs2.ThrowIfNotReady();
IntPtr[] opPtrs = EnumerableEx.SelectPtrs(objectPoints);
IntPtr[] ip1Ptrs = EnumerableEx.SelectPtrs(imagePoints1);
IntPtr[] ip2Ptrs = EnumerableEx.SelectPtrs(imagePoints2);
TermCriteria criteria0 = criteria.GetValueOrDefault(
new TermCriteria(CriteriaType.Iteration | CriteriaType.Epsilon, 30, 1e-6));
double result =
NativeMethods.calib3d_stereoCalibrate_InputArray(
opPtrs, opPtrs.Length,
ip1Ptrs, ip1Ptrs.Length, ip2Ptrs, ip2Ptrs.Length,
cameraMatrix1.CvPtr, distCoeffs1.CvPtr,
cameraMatrix2.CvPtr, distCoeffs2.CvPtr,
imageSize, ToPtr(R), ToPtr(T), ToPtr(E), ToPtr(F),
criteria0, (int)flags
);
cameraMatrix1.Fix();
distCoeffs1.Fix();
cameraMatrix2.Fix();
distCoeffs2.Fix();
if (R != null)
R.Fix();
if (T != null)
T.Fix();
if (E != null)
E.Fix();
if (F != null)
F.Fix();
return result;
}
/// <summary>
/// finds intrinsic and extrinsic camera parameters from several fews of a known calibration pattern.
/// </summary>
/// <param name="objectPoints">In the new interface it is a vector of vectors of calibration pattern points in the calibration pattern coordinate space.
/// The outer vector contains as many elements as the number of the pattern views. If the same calibration pattern is shown in each view and
/// it is fully visible, all the vectors will be the same. Although, it is possible to use partially occluded patterns, or even different patterns
/// in different views. Then, the vectors will be different. The points are 3D, but since they are in a pattern coordinate system, then,
/// if the rig is planar, it may make sense to put the model to a XY coordinate plane so that Z-coordinate of each input object point is 0.
/// In the old interface all the vectors of object points from different views are concatenated together.</param>
/// <param name="imagePoints">In the new interface it is a vector of vectors of the projections of calibration pattern points.
/// imagePoints.Count() and objectPoints.Count() and imagePoints[i].Count() must be equal to objectPoints[i].Count() for each i.</param>
/// <param name="imageSize">Size of the image used only to initialize the intrinsic camera matrix.</param>
/// <param name="cameraMatrix">Output 3x3 floating-point camera matrix.
/// If CV_CALIB_USE_INTRINSIC_GUESS and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be
/// initialized before calling the function.</param>
/// <param name="distCoeffs">Output vector of distortion coefficients (k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]]) of 4, 5, or 8 elements.</param>
/// <param name="rvecs">Output vector of rotation vectors (see Rodrigues() ) estimated for each pattern view. That is, each k-th rotation vector
/// together with the corresponding k-th translation vector (see the next output parameter description) brings the calibration pattern
/// from the model coordinate space (in which object points are specified) to the world coordinate space, that is, a real position of the
/// calibration pattern in the k-th pattern view (k=0.. M -1)</param>
/// <param name="tvecs">Output vector of translation vectors estimated for each pattern view.</param>
/// <param name="flags">Different flags that may be zero or a combination of the CalibrationFlag values</param>
/// <param name="criteria">Termination criteria for the iterative optimization algorithm.</param>
/// <returns></returns>
public static double CalibrateCamera(
IEnumerable<IEnumerable<Point3d>> objectPoints,
IEnumerable<IEnumerable<Point2d>> imagePoints,
Size imageSize,
double[,] cameraMatrix,
double[] distCoeffs,
out Vec3d[] rvecs,
out Vec3d[] tvecs,
CalibrationFlag flags = CalibrationFlag.Zero,
TermCriteria? criteria = null)
{
if (objectPoints == null)
throw new ArgumentNullException("objectPoints");
if (objectPoints == null)
throw new ArgumentNullException("objectPoints");
if (cameraMatrix == null)
throw new ArgumentNullException("cameraMatrix");
if (distCoeffs == null)
throw new ArgumentNullException("distCoeffs");
TermCriteria criteria0 = criteria.GetValueOrDefault(
new TermCriteria(CriteriaType.Iteration | CriteriaType.Epsilon, 30, Double.Epsilon));
using (var op = new ArrayAddress2<Point3d>(objectPoints))
using (var ip = new ArrayAddress2<Point2d>(imagePoints))
using (var rvecsVec = new VectorOfMat())
using (var tvecsVec = new VectorOfMat())
{
double ret = NativeMethods.calib3d_calibrateCamera_vector(
op.Pointer, op.Dim1Length, op.Dim2Lengths,
ip.Pointer, ip.Dim1Length, ip.Dim2Lengths,
imageSize, cameraMatrix, distCoeffs, distCoeffs.Length,
rvecsVec.CvPtr, tvecsVec.CvPtr, (int)flags, criteria0);
Mat[] rvecsM = rvecsVec.ToArray();
Mat[] tvecsM = tvecsVec.ToArray();
rvecs = EnumerableEx.SelectToArray(rvecsM, m => m.Get<Vec3d>(0));
tvecs = EnumerableEx.SelectToArray(tvecsM, m => m.Get<Vec3d>(0));
return ret;
}
}
/// <summary>
/// finds intrinsic and extrinsic camera parameters from several fews of a known calibration pattern.
/// </summary>
/// <param name="objectPoints">In the new interface it is a vector of vectors of calibration pattern points in the calibration pattern coordinate space.
/// The outer vector contains as many elements as the number of the pattern views. If the same calibration pattern is shown in each view and
/// it is fully visible, all the vectors will be the same. Although, it is possible to use partially occluded patterns, or even different patterns
/// in different views. Then, the vectors will be different. The points are 3D, but since they are in a pattern coordinate system, then,
/// if the rig is planar, it may make sense to put the model to a XY coordinate plane so that Z-coordinate of each input object point is 0.
/// In the old interface all the vectors of object points from different views are concatenated together.</param>
/// <param name="imagePoints">In the new interface it is a vector of vectors of the projections of calibration pattern points.
/// imagePoints.Count() and objectPoints.Count() and imagePoints[i].Count() must be equal to objectPoints[i].Count() for each i.</param>
/// <param name="imageSize">Size of the image used only to initialize the intrinsic camera matrix.</param>
/// <param name="cameraMatrix">Output 3x3 floating-point camera matrix.
/// If CV_CALIB_USE_INTRINSIC_GUESS and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be
/// initialized before calling the function.</param>
/// <param name="distCoeffs">Output vector of distortion coefficients (k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]]) of 4, 5, or 8 elements.</param>
/// <param name="rvecs">Output vector of rotation vectors (see Rodrigues() ) estimated for each pattern view. That is, each k-th rotation vector
/// together with the corresponding k-th translation vector (see the next output parameter description) brings the calibration pattern
/// from the model coordinate space (in which object points are specified) to the world coordinate space, that is, a real position of the
/// calibration pattern in the k-th pattern view (k=0.. M -1)</param>
/// <param name="tvecs">Output vector of translation vectors estimated for each pattern view.</param>
/// <param name="flags">Different flags that may be zero or a combination of the CalibrationFlag values</param>
/// <param name="criteria">Termination criteria for the iterative optimization algorithm.</param>
/// <returns></returns>
public static double CalibrateCamera(
IEnumerable<Mat> objectPoints,
IEnumerable<Mat> imagePoints,
Size imageSize,
InputOutputArray cameraMatrix,
InputOutputArray distCoeffs,
out Mat[] rvecs,
out Mat[] tvecs,
CalibrationFlag flags = CalibrationFlag.Zero,
TermCriteria? criteria = null)
{
if (objectPoints == null)
throw new ArgumentNullException("objectPoints");
if (objectPoints == null)
throw new ArgumentNullException("objectPoints");
if (cameraMatrix == null)
throw new ArgumentNullException("cameraMatrix");
if (distCoeffs == null)
throw new ArgumentNullException("distCoeffs");
cameraMatrix.ThrowIfNotReady();
distCoeffs.ThrowIfNotReady();
TermCriteria criteria0 = criteria.GetValueOrDefault(
new TermCriteria(CriteriaType.Iteration | CriteriaType.Epsilon, 30, Double.Epsilon));
IntPtr[] objectPointsPtrs = EnumerableEx.SelectPtrs(objectPoints);
IntPtr[] imagePointsPtrs = EnumerableEx.SelectPtrs(imagePoints);
double ret;
using (var rvecsVec = new VectorOfMat())
using (var tvecsVec = new VectorOfMat())
{
ret = NativeMethods.calib3d_calibrateCamera_InputArray(
objectPointsPtrs, objectPointsPtrs.Length,
imagePointsPtrs, objectPointsPtrs.Length,
imageSize, cameraMatrix.CvPtr, distCoeffs.CvPtr,
rvecsVec.CvPtr, tvecsVec.CvPtr, (int)flags, criteria0);
rvecs = rvecsVec.ToArray();
tvecs = tvecsVec.ToArray();
}
cameraMatrix.Fix();
distCoeffs.Fix();
return ret;
}
/// <summary>
/// Performs stereo calibration.
/// </summary>
/// <param name="objectPoints">Vector of vectors of the calibration pattern points.</param>
/// <param name="imagePoints1">Vector of vectors of the projections of the calibration pattern points, observed by the first camera.</param>
/// <param name="imagePoints2">Vector of vectors of the projections of the calibration pattern points, observed by the second camera.</param>
/// <param name="K1">Input/output first camera matrix.If FixIntrinsic is specified, some or all of the matrix components must be initialized.</param>
/// <param name="D1">Input/output vector of distortion coefficients (k1,k2,k3,k4) of 4 elements.</param>
/// <param name="K2">Input/output second camera matrix. The parameter is similar to <paramref name="K1"/> </param>
/// <param name="D2">Input/output lens distortion coefficients for the second camera. The parameter is similar to <paramref name="D1"/></param>
/// <param name="imageSize">Size of the image used only to initialize intrinsic camera matrix.</param>
/// <param name="R">Output rotation matrix between the 1st and the 2nd camera coordinate systems.</param>
/// <param name="T">Output translation vector between the coordinate systems of the cameras.</param>
/// <param name="flags">Fish eye calibration flags</param>
/// <param name="criteria">Termination criteria for the iterative optimization algorithm.</param>
public static void StereoCalibrate(IInputArray objectPoints, IInputArray imagePoints1,
IInputArray imagePoints2, IInputOutputArray K1, IInputOutputArray D1, IInputOutputArray K2,
IInputOutputArray D2, Size imageSize, IOutputArray R, IOutputArray T, CalibrationFlag flags, MCvTermCriteria criteria)
{
using (InputArray iaObjectPoints = objectPoints.GetInputArray())
using (InputArray iaImagePoints1 = imagePoints1.GetInputArray())
using (InputArray iaImagePoints2 = imagePoints2.GetInputArray())
using (InputOutputArray ioaK1 = K1.GetInputOutputArray())
using (InputOutputArray ioaD1 = D1.GetInputOutputArray())
using (InputOutputArray ioaK2 = K2.GetInputOutputArray())
using (InputOutputArray ioaD2 = D2.GetInputOutputArray())
using (OutputArray oaR = R.GetOutputArray())
using (OutputArray oaT = T.GetOutputArray())
{
CvInvoke.cveFisheyeStereoCalibrate(iaObjectPoints, iaImagePoints1, iaImagePoints2, ioaK1, ioaD1, ioaK2, ioaD2,
ref imageSize, oaR, oaT, (int)flags, ref criteria);
}
}
/// <summary>
/// Performs camera calibaration.
/// </summary>
/// <param name="objectPoints">vector of vectors of calibration pattern points in the calibration pattern coordinate space.</param>
/// <param name="imagePoints">vector of vectors of the projections of calibration pattern points. imagePoints.size() and objectPoints.size() and imagePoints[i].size() must be equal to objectPoints[i].size() for each i.</param>
/// <param name="imageSize">Size of the image used only to initialize the intrinsic camera matrix.</param>
/// <param name="K">Output 3x3 floating-point camera matrix. If UseIntrisicGuess is specified, some or all of fx, fy, cx, cy must be initialized before calling the function. </param>
/// <param name="D">Output vector of distortion coefficients (k1,k2,k3,k4).</param>
/// <param name="rvecs">Output vector of rotation vectors (see Rodrigues ) estimated for each pattern view. That is, each k-th rotation vector together with the corresponding k-th translation vector (see the next output parameter description) brings the calibration pattern from the model coordinate space (in which object points are specified) to the world coordinate space, that is, a real position of the calibration pattern in the k-th pattern view (k=0.. M -1).</param>
/// <param name="tvecs">Output vector of translation vectors estimated for each pattern view.</param>
/// <param name="flags">Different flags</param>
/// <param name="criteria">Termination criteria for the iterative optimization algorithm.</param>
public static void Calibrate(IInputArray objectPoints, IInputArray imagePoints, Size imageSize,
IInputOutputArray K, IInputOutputArray D, IOutputArray rvecs, IOutputArray tvecs, CalibrationFlag flags,
MCvTermCriteria criteria)
{
using (InputArray iaObjectPoints = objectPoints.GetInputArray())
using (InputArray iaImagePoints = imagePoints.GetInputArray())
using (InputOutputArray ioaK = K.GetInputOutputArray())
using (InputOutputArray ioaD = D.GetInputOutputArray())
using (OutputArray oaRvecs = rvecs.GetOutputArray())
using (OutputArray oaTvecs = tvecs.GetOutputArray())
{
CvInvoke.cveFisheyeCalibrate(iaObjectPoints, iaImagePoints, ref imageSize, ioaK, ioaD, oaRvecs, oaTvecs,
(int)flags, ref criteria);
}
}
/// <summary>
/// Performs stereo calibration.
/// </summary>
/// <param name="objectPoints">Vector of vectors of the calibration pattern points.</param>
/// <param name="imagePoints1">Vector of vectors of the projections of the calibration pattern points, observed by the first camera.</param>
/// <param name="imagePoints2">Vector of vectors of the projections of the calibration pattern points, observed by the second camera.</param>
/// <param name="K1">Input/output first camera matrix.If FixIntrinsic is specified, some or all of the matrix components must be initialized.</param>
/// <param name="D1">Input/output vector of distortion coefficients (k1,k2,k3,k4) of 4 elements.</param>
/// <param name="K2">Input/output second camera matrix. The parameter is similar to <paramref name="K1"/> </param>
/// <param name="D2">Input/output lens distortion coefficients for the second camera. The parameter is similar to <paramref name="D1"/></param>
/// <param name="imageSize">Size of the image used only to initialize intrinsic camera matrix.</param>
/// <param name="R">Output rotation matrix between the 1st and the 2nd camera coordinate systems.</param>
/// <param name="T">Output translation vector between the coordinate systems of the cameras.</param>
/// <param name="flags">Fish eye calibration flags</param>
/// <param name="criteria">Termination criteria for the iterative optimization algorithm.</param>
public static double StereoCalibrate(IInputArray objectPoints, IInputArray imagePoints1,
IInputArray imagePoints2, IInputOutputArray K1, IInputOutputArray D1, IInputOutputArray K2,
IInputOutputArray D2, Size imageSize, IOutputArray R, IOutputArray T, CalibrationFlag flags, MCvTermCriteria criteria)
{
using (InputArray iaObjectPoints = objectPoints.GetInputArray())
using (InputArray iaImagePoints1 = imagePoints1.GetInputArray())
using (InputArray iaImagePoints2 = imagePoints2.GetInputArray())
using (InputOutputArray ioaK1 = K1.GetInputOutputArray())
using (InputOutputArray ioaD1 = D1.GetInputOutputArray())
using (InputOutputArray ioaK2 = K2.GetInputOutputArray())
using (InputOutputArray ioaD2 = D2.GetInputOutputArray())
using (OutputArray oaR = R.GetOutputArray())
using (OutputArray oaT = T.GetOutputArray())
{
return(CvInvoke.cveFisheyeStereoCalibrate(
iaObjectPoints,
iaImagePoints1,
iaImagePoints2,
ioaK1,
ioaD1,
ioaK2,
ioaD2,
ref imageSize,
oaR,
oaT,
(int)flags,
ref criteria));
}
}
/// <summary>
/// Performs camera calibration.
/// </summary>
/// <param name="objectPoints">vector of vectors of calibration pattern points in the calibration pattern coordinate space.</param>
/// <param name="imagePoints">vector of vectors of the projections of calibration pattern points. imagePoints.size() and objectPoints.size() and imagePoints[i].size() must be equal to objectPoints[i].size() for each i.</param>
/// <param name="imageSize">Size of the image used only to initialize the intrinsic camera matrix.</param>
/// <param name="K">Output 3x3 floating-point camera matrix. If UseIntrisicGuess is specified, some or all of fx, fy, cx, cy must be initialized before calling the function. </param>
/// <param name="D">Output vector of distortion coefficients (k1,k2,k3,k4).</param>
/// <param name="rvecs">Output vector of rotation vectors (see Rodrigues ) estimated for each pattern view. That is, each k-th rotation vector together with the corresponding k-th translation vector (see the next output parameter description) brings the calibration pattern from the model coordinate space (in which object points are specified) to the world coordinate space, that is, a real position of the calibration pattern in the k-th pattern view (k=0.. M -1).</param>
/// <param name="tvecs">Output vector of translation vectors estimated for each pattern view.</param>
/// <param name="flags">Different flags</param>
/// <param name="criteria">Termination criteria for the iterative optimization algorithm.</param>
public static double Calibrate(IInputArray objectPoints, IInputArray imagePoints, Size imageSize,
IInputOutputArray K, IInputOutputArray D, IOutputArray rvecs, IOutputArray tvecs, CalibrationFlag flags,
MCvTermCriteria criteria)
{
using (InputArray iaObjectPoints = objectPoints.GetInputArray())
using (InputArray iaImagePoints = imagePoints.GetInputArray())
using (InputOutputArray ioaK = K.GetInputOutputArray())
using (InputOutputArray ioaD = D.GetInputOutputArray())
using (OutputArray oaRvecs = rvecs.GetOutputArray())
using (OutputArray oaTvecs = tvecs.GetOutputArray())
{
return(CvInvoke.cveFisheyeCalibrate(
iaObjectPoints,
iaImagePoints,
ref imageSize,
ioaK,
ioaD,
oaRvecs,
oaTvecs,
(int)flags,
ref criteria));
}
}
