// find calibrates camera with collected data found by UFindCharucoBoardCorners method
unsafe public static UCameraCalibrationData UCalibrateCameraCharuco(int width, int height, CharucoBoardParameters boardParameters, DoubleVectorIntMarshaller allCharucoIds, DoubleVectorPoint2FMarshaller allCharucoCorners)
{
MatDoubleMarshaller distCoeffs = new MatDoubleMarshaller();
MatDoubleMarshaller cameraMatrix = new MatDoubleMarshaller();
double reProjectionError = CalibrateCameraCharuco(
height,
width,
boardParameters.squaresW,
boardParameters.squaresH,
boardParameters.squareLength,
boardParameters.markerLength,
allCharucoIds.NativeDataPointer,
allCharucoCorners.NativeDataPointer,
cameraMatrix.NativeDataPointer,
distCoeffs.NativeDataPointer
);
UCameraCalibrationData calibrationData = new UCameraCalibrationData(
distCoeffs,
cameraMatrix,
reProjectionError
);
return(calibrationData);
}
// public static UCameraCalibrationData UStaticCalibrateCameraData()
// {
// MatDoubleMarshaller distCoeffs = new MatDoubleMarshaller();
// MatDoubleMarshaller cameraMatrix = new MatDoubleMarshaller();
// StaticCameraCalibData(
// cameraMatrix.NativeDataPointer,
// distCoeffs.NativeDataPointer,
// true
// );
// UCameraCalibrationData calibrationData = new UCameraCalibrationData(
// distCoeffs,
// cameraMatrix
// );
// return calibrationData;
// }
// unsafe public static UCameraCalibrationData UCalibrateCamera(Color32[] texture, int width, int height, DoubleVectorIntMarshaller allCharucoIds, DoubleVectorPoint2FMarshaller allCharucoCorners)
// {
// var watch = System.Diagnostics.Stopwatch.StartNew();
// // IntPtr distCoeffs = OpenCVMarshal.CreateMatPointer();
// MatDoubleMarshaller distCoeffs = new MatDoubleMarshaller();
// // IntPtr cameraMatrix = OpenCVMarshal.CreateMatPointer();
// MatDoubleMarshaller cameraMatrix = new MatDoubleMarshaller();
// fixed (Color32* texP = texture)
// {
// CalibrateCamera(
// texP,
// width,
// height,
// allCharucoIds.NativeDataPointer,
// allCharucoCorners.NativeDataPointer,
// cameraMatrix.NativeDataPointer,
// distCoeffs.NativeDataPointer
// );
// }
// UCameraCalibrationData calibrationData = new UCameraCalibrationData(
// distCoeffs,
// cameraMatrix
// );
// watch.Stop();
// var elapsedMs = watch.ElapsedMilliseconds;
// return calibrationData;
// }
unsafe public static UCameraCalibrationData UCalibrateCameraCharuco(int width, int height, CharucoBoardParameters boardParameters, DoubleVectorIntMarshaller allCharucoIds, DoubleVectorPoint2FMarshaller allCharucoCorners)
{
var watch = System.Diagnostics.Stopwatch.StartNew();
// IntPtr distCoeffs = OpenCVMarshal.CreateMatPointer();
MatDoubleMarshaller distCoeffs = new MatDoubleMarshaller();
// IntPtr cameraMatrix = OpenCVMarshal.CreateMatPointer();
MatDoubleMarshaller cameraMatrix = new MatDoubleMarshaller();
double reProjectionError = CalibrateCameraCharuco(
height,
width,
boardParameters.squaresW,
boardParameters.squaresH,
boardParameters.squareLength,
boardParameters.markerLength,
allCharucoIds.NativeDataPointer,
allCharucoCorners.NativeDataPointer,
cameraMatrix.NativeDataPointer,
distCoeffs.NativeDataPointer
);
UCameraCalibrationData calibrationData = new UCameraCalibrationData(
distCoeffs,
cameraMatrix,
reProjectionError
);
watch.Stop();
var elapsedMs = watch.ElapsedMilliseconds;
return(calibrationData);
}
