private static double Validate(VectorOfVectorOfPoint3D32F processedObjectPoints, VectorOfVectorOfPointF processedImagePoints, Mat cameraMatrix, Mat distCoeffs, VectorOfPoint3D32F rvecs, VectorOfPoint3D32F tvecs, bool fisheye)
{
double error = 0;
int totalpoints = 0;
if (fisheye)
{
for (int i = 0; i < processedObjectPoints.Size; i++)
{
VectorOfPoint3D32F objectFramePoints = processedObjectPoints[i];
VectorOfPointF imageFramePoints = processedImagePoints[i];
RotationVector3D tvec = new RotationVector3D(new double[] { tvecs[i].X, tvecs[i].Y, tvecs[i].Z });
RotationVector3D rvec = new RotationVector3D(new double[] { rvecs[i].X, rvecs[i].Y, rvecs[i].Z });
VectorOfPointF newImageFramePoints = new VectorOfPointF();
Fisheye.ProjectPoints(objectFramePoints, newImageFramePoints, rvec, tvec, cameraMatrix, distCoeffs);
for (int j = 0; j < newImageFramePoints.Size; j++)
{
PointF x1 = newImageFramePoints[j];
PointF x2 = imageFramePoints[j];
totalpoints++;
error += Math.Pow(x1.X - x2.X, 2) + Math.Pow(x1.Y - x2.Y, 2);
}
}
}
return(Math.Sqrt(error / totalpoints));
}
