public bool ToOpenCV(ref Mat sensorMat, ref MatOfDouble distCoeffsMat, int width, int height)
{
if (!ValidateAspect(width, height))
{
return(false);
}
if (sensorMat == null || sensorMat.IsDisposed || sensorMat.rows() != 3 || sensorMat.cols() != 3)
{
sensorMat = Mat.eye(3, 3, CvType.CV_64F);
}
if (distCoeffsMat == null || distCoeffsMat.IsDisposed || distCoeffsMat.total() != distortionCoeffs.Length)
{
distCoeffsMat = new MatOfDouble(new Mat(1, distortionCoeffs.Length, CvType.CV_64F)); // This seems to be the only way to get distCoeffs.Length columns.
}
// Assuming the rest of the matrix is identity.
sensorMat.WriteValue(fx * width, 0, 0);
sensorMat.WriteValue(fy * height, 1, 1);
sensorMat.WriteValue(cx * width, 0, 2);
sensorMat.WriteValue(cy * height, 1, 2);
for (int i = 0; i < distortionCoeffs.Length; i++)
{
distCoeffsMat.WriteValue(distortionCoeffs[i], i);
}
return(true);
}
public void UpdateFromOpenCV(Mat sensorMat, MatOfDouble distCoeffsMat, int width, int height, float rmsError)
{
if (distortionCoeffs == null || distCoeffsMat.IsDisposed || distortionCoeffs.Length != distCoeffsMat.total())
{
distortionCoeffs = new double[distCoeffsMat.total()];
}
fx = sensorMat.ReadValue(0, 0) / (double)width;
fy = sensorMat.ReadValue(1, 1) / (double)height;
cx = sensorMat.ReadValue(0, 2) / (double)width;
cy = sensorMat.ReadValue(1, 2) / (double)height;
aspect = width / (double)height;
this.rmsError = rmsError;
for (int i = 0; i < distortionCoeffs.Length; i++)
{
distortionCoeffs[i] = distCoeffsMat.ReadValue(i);
}
}
private void DrawFrame(Mat grayMat, Mat bgrMat)
{
Imgproc.cvtColor(grayMat, bgrMat, Imgproc.COLOR_GRAY2BGR);
switch (markerType)
{
default:
case MarkerType.ChArUcoBoard:
// detect markers.
Aruco.detectMarkers(grayMat, dictionary, corners, ids, detectorParams, rejectedCorners, camMatrix, distCoeffs);
// refine marker detection.
if (refineMarkerDetection)
{
Aruco.refineDetectedMarkers(grayMat, charucoBoard, corners, ids, rejectedCorners, camMatrix, distCoeffs, 10f, 3f, true, recoveredIdxs, detectorParams);
}
// if at least one marker detected
if (ids.total() > 0)
{
Aruco.interpolateCornersCharuco(corners, ids, grayMat, charucoBoard, charucoCorners, charucoIds, camMatrix, distCoeffs, charucoMinMarkers);
// draw markers.
Aruco.drawDetectedMarkers(bgrMat, corners, ids, new Scalar(0, 255, 0, 255));
// if at least one charuco corner detected
if (charucoIds.total() > 0)
{
Aruco.drawDetectedCornersCharuco(bgrMat, charucoCorners, charucoIds, new Scalar(0, 0, 255, 255));
}
}
break;
case MarkerType.ChessBoard:
case MarkerType.CirclesGlid:
case MarkerType.AsymmetricCirclesGlid:
// detect markers.
MatOfPoint2f points = new MatOfPoint2f();
bool found = false;
switch (markerType)
{
default:
case MarkerType.ChessBoard:
found = Calib3d.findChessboardCorners(grayMat, new Size((int)squaresX, (int)squaresY), points, Calib3d.CALIB_CB_ADAPTIVE_THRESH | Calib3d.CALIB_CB_FAST_CHECK | Calib3d.CALIB_CB_NORMALIZE_IMAGE);
break;
case MarkerType.CirclesGlid:
found = Calib3d.findCirclesGrid(grayMat, new Size((int)squaresX, (int)squaresY), points, Calib3d.CALIB_CB_SYMMETRIC_GRID);
break;
case MarkerType.AsymmetricCirclesGlid:
found = Calib3d.findCirclesGrid(grayMat, new Size((int)squaresX, (int)squaresY), points, Calib3d.CALIB_CB_ASYMMETRIC_GRID);
break;
}
if (found)
{
if (markerType == MarkerType.ChessBoard)
{
Imgproc.cornerSubPix(grayMat, points, new Size(5, 5), new Size(-1, -1), new TermCriteria(TermCriteria.EPS + TermCriteria.COUNT, 30, 0.1));
}
// draw markers.
Calib3d.drawChessboardCorners(bgrMat, new Size((int)squaresX, (int)squaresY), points, found);
}
break;
}
double[] camMatrixArr = new double[(int)camMatrix.total()];
camMatrix.get(0, 0, camMatrixArr);
double[] distCoeffsArr = new double[(int)distCoeffs.total()];
distCoeffs.get(0, 0, distCoeffsArr);
int ff = Imgproc.FONT_HERSHEY_SIMPLEX;
double fs = 0.4;
Scalar c = new Scalar(255, 255, 255, 255);
int t = 0;
int lt = Imgproc.LINE_AA;
bool blo = false;
int frameCount = (markerType == MarkerType.ChArUcoBoard) ? allCorners.Count : imagePoints.Count;
Imgproc.putText(bgrMat, frameCount + " FRAME CAPTURED", new Point(bgrMat.cols() - 300, 20), ff, fs, c, t, lt, blo);
Imgproc.putText(bgrMat, "IMAGE_WIDTH: " + bgrMat.width(), new Point(bgrMat.cols() - 300, 40), ff, fs, c, t, lt, blo);
Imgproc.putText(bgrMat, "IMAGE_HEIGHT: " + bgrMat.height(), new Point(bgrMat.cols() - 300, 60), ff, fs, c, t, lt, blo);
Imgproc.putText(bgrMat, "CALIBRATION_FLAGS: " + calibrationFlags, new Point(bgrMat.cols() - 300, 80), ff, fs, c, t, lt, blo);
Imgproc.putText(bgrMat, "CAMERA_MATRIX: ", new Point(bgrMat.cols() - 300, 100), ff, fs, c, t, lt, blo);
for (int i = 0; i < camMatrixArr.Length; i = i + 3)
{
Imgproc.putText(bgrMat, " " + camMatrixArr[i] + ", " + camMatrixArr[i + 1] + ", " + camMatrixArr[i + 2] + ",", new Point(bgrMat.cols() - 300, 120 + 20 * i / 3), ff, fs, c, t, lt, blo);
}
Imgproc.putText(bgrMat, "DISTORTION_COEFFICIENTS: ", new Point(bgrMat.cols() - 300, 180), ff, fs, c, t, lt, blo);
for (int i = 0; i < distCoeffsArr.Length; ++i)
{
Imgproc.putText(bgrMat, " " + distCoeffsArr[i] + ",", new Point(bgrMat.cols() - 300, 200 + 20 * i), ff, fs, c, t, lt, blo);
}
Imgproc.putText(bgrMat, "AVG_REPROJECTION_ERROR: " + repErr, new Point(bgrMat.cols() - 300, 300), ff, fs, c, t, lt, blo);
if (frameCount == 0)
{
Imgproc.putText(bgrMat, "To calibration start, please press the calibration button or do air tap gesture!", new Point(5, bgrMat.rows() - 10), Imgproc.FONT_HERSHEY_SIMPLEX, 0.5, new Scalar(255, 255, 255, 255), 1, Imgproc.LINE_AA, false);
}
}
