private void Calibrate()
{
Debug.Log("Calibrating Async.....");
// calibrationMutex.WaitOne();
if (OnCalibrationStarted != null)
{
CalibrateCamera.OnCalibrationStarted();
}
//prepare the data which the calibration process will fill up
int maxSize = (int)Mathf.Max(imageWidth, imageHeight);
double fx = maxSize;
double fy = maxSize;
double cx = (double)imageWidth / 2;
double cy = (double)imageHeight / 2;
double[,] k = new double[3, 3]
{
{ fx, 0d, cx },
{ 0d, fy, cy },
{ 0d, 0d, 1d }
};
double[] d = new double[5];
double projectionError = -1;
Vec3d[] rvec = new Vec3d[boardWidth * boardHeight];
Vec3d[] tvec = new Vec3d[boardWidth * boardHeight];
Size boardSize = new Size(boardWidth, boardHeight);
try
{
// calibrate the camera
projectionError = Cv2.CalibrateCamera(objPoints, CornerPoints, new Size(imageWidth, imageHeight), k, d,
out rvec, out tvec,
calibrationFlags, TermCriteria.Both(30, 0.1));
Debug.Log("Error: " + projectionError);
}
catch (Exception e)
{
ResetCalibrationImmediate();
Debug.Log("restarting...");
}
//register the data and save them
calibrationData.RegisterMatrix(k);
calibrationData.RegisterDistortionCoefficients(d);
calibrationData.projectionError = projectionError;
string s = "";
for (int i = 0; i < d.Length; i++)
{
s += d[i] + " ";
}
Debug.Log(s);
Debug.Log("Finished!!");
if (OnCalibrationFinished != null)
{
OnCalibrationFinished(calibrationData);
}
//calibrationMutex.ReleaseMutex();
}