public void calibrate()
{
List <Mat> rvecs = new List <Mat>();
List <Mat> tvecs = new List <Mat>();
Mat reprojectionErrors = new Mat();
List <Mat> objectPoints = new List <Mat>();
objectPoints.Add(Mat.Zeros(mCornersSize, 1, CvType.Cv32fc3));
calcBoardCornerPositions(objectPoints[0]);
for (int i = 1; i < mCornersBuffer.Count; i++)
{
objectPoints.Add(objectPoints[0]);
}
Calib3d.CalibrateCamera(objectPoints, mCornersBuffer, mImageSize,
mCameraMatrix, mDistortionCoefficients, rvecs, tvecs, mFlags);
mIsCalibrated = Core.CheckRange(mCameraMatrix) &&
Core.CheckRange(mDistortionCoefficients);
mRms = computeReprojectionErrors(objectPoints, rvecs, tvecs, reprojectionErrors);
Log.Info(TAG, String.Format("Average re-projection error: %f", mRms));
Log.Info(TAG, "Camera matrix: " + mCameraMatrix.Dump());
Log.Info(TAG, "Distortion coefficients: " + mDistortionCoefficients.Dump());
}
