public static void SaveCalibration(Stream stream, Mat camMat, Emgu.CV.Util.VectorOfFloat distCoeffs)
{
var P = camMat.ToImage <Arthmetic, double>();
TextWriter writer = new StreamWriter(stream);
writer.WriteLine(P[0, 0]);
writer.WriteLine(P[1, 1]);
writer.WriteLine(P[0, 2]);
writer.WriteLine(P[1, 2]);
for (int i = 0; i < distCoeffs.Size; ++i)
{
writer.WriteLine(distCoeffs[i]);
}
writer.Close();
}
private void calcPosition()
{
camMat = new Mat(3, 3, Emgu.CV.CvEnum.DepthType.Cv64F, 1);
distCoeffs = new Emgu.CV.Util.VectorOfFloat();
MCvPoint3D32f[][] mCvPoint3D32F = new MCvPoint3D32f[allPonits.Count][];
for (int l = 0; l < allPonits.Count; l++)
{
mCvPoint3D32F[l] = new MCvPoint3D32f[44];
for (int i = 0; i < 4; i++)
{
for (int j = 0; j < 11; j++)
{
int pos = (i + j * 4);
mCvPoint3D32F[l][pos] = new MCvPoint3D32f((10 - j) * 35.0f / 2.0f, i * 35.0f + (j % 2) * 35.0f / 2.0f, 0.0f);
}
}
}
var sizeImg = imageList.First().Size;
double err = Emgu.CV.CvInvoke.CalibrateCamera(mCvPoint3D32F, allPonits.ToArray(), sizeImg, camMat, distCoeffs, Emgu.CV.CvEnum.CalibType.Default, new MCvTermCriteria(100, 0.001), out Mat[] R, out Mat[] T);
public static void LoadCalibration(Stream stream, out Mat camMat, out Emgu.CV.Util.VectorOfFloat distCoeffs)
{
var P = new Image <Arthmetic, double>(3, 3);
var dist = new float[5];
TextReader reader = new StreamReader(stream);
P[0, 0] = double.Parse(reader.ReadLine());
P[1, 1] = double.Parse(reader.ReadLine());
P[0, 2] = double.Parse(reader.ReadLine());
P[1, 2] = double.Parse(reader.ReadLine());
P[2, 2] = 1.0;
for (int i = 0; i < 5; ++i)
{
dist[i] = (float)double.Parse(reader.ReadLine());
}
reader.Close();
camMat = P.Mat;
distCoeffs = new Emgu.CV.Util.VectorOfFloat(dist);
}
