public static Mat Correct(Mat img, LensParams lensParams)
{
Mat output = img.Clone();
Fisheye.UndistorImage(img, output, lensParams.GetMatrixK(), lensParams.GetMatrixD());
return(output);
}
public static void Calibrate(string[] imgFiles, out LensParams lensParams)
{
Size patternSize = new Size(CHESS_PATTERN_WIDTH, CHESS_PATTERN_HEIGHT);
VectorOfVectorOfPoint3D32F objPoints = new VectorOfVectorOfPoint3D32F();
VectorOfVectorOfPointF imagePoints = new VectorOfVectorOfPointF();
Size imageSize = Size.Empty;
foreach (string file in imgFiles)
{
Mat img = CvInvoke.Imread(file, ImreadModes.Grayscale);
if (imageSize == Size.Empty)
{
imageSize = new Size(img.Width, img.Height);
}
//CvInvoke.Imshow("input", img);
VectorOfPointF corners = new VectorOfPointF(patternSize.Width * patternSize.Height);
bool find = CvInvoke.FindChessboardCorners(img, patternSize, corners);
if (find)
{
MCvPoint3D32f[] points = new MCvPoint3D32f[patternSize.Width * patternSize.Height];
int loopIndex = 0;
for (int i = 0; i < patternSize.Height; i++)
{
for (int j = 0; j < patternSize.Width; j++)
{
points[loopIndex++] = new MCvPoint3D32f(j, i, 0);
}
}
objPoints.Push(new VectorOfPoint3D32F(points));
imagePoints.Push(corners);
}
}
Matrix <double> K = new Matrix <double>(3, 3);
Matrix <double> D = new Matrix <double>(4, 1);
Mat rotation = new Mat();
Mat translation = new Mat();
Fisheye.Calibrate(objPoints,
imagePoints,
imageSize,
K,
D,
rotation,
translation,
Fisheye.CalibrationFlag.CheckCond,
new MCvTermCriteria(30, 0.1)
);
lensParams = new LensParams(K, D);
}