public static double CalibrateCameraCharuco(Std.VectorVectorPoint2f charucoCorners, Std.VectorVectorInt charucoIds, CharucoBoard board,
Cv.Size imageSize, Cv.Mat cameraMatrix, Cv.Mat distCoeffs, out Std.VectorMat rvecs, out Std.VectorMat tvecs, Cv.Calib flags = 0)
{
Cv.TermCriteria criteria = new Cv.TermCriteria(Cv.TermCriteria.Type.Count | Cv.TermCriteria.Type.Eps, 30, Cv.EPSILON);
return(CalibrateCameraCharuco(charucoCorners, charucoIds, board, imageSize, cameraMatrix, distCoeffs, out rvecs, out tvecs, flags, criteria));
}
// Methods
protected override void UpdateCalibrationFlags()
{
calibrationFlags = 0;
if (UseIntrinsicGuess)
{
calibrationFlags |= Cv.Calib.UseIntrinsicGuess;
}
if (FixPrincipalPoint)
{
calibrationFlags |= Cv.Calib.FixPrincipalPoint;
}
if (FixKDistorsionCoefficients[0])
{
calibrationFlags |= Cv.Calib.FixK1;
}
if (FixKDistorsionCoefficients[1])
{
calibrationFlags |= Cv.Calib.FixK2;
}
if (FixKDistorsionCoefficients[2])
{
calibrationFlags |= Cv.Calib.FixK3;
}
if (FixKDistorsionCoefficients[3])
{
calibrationFlags |= Cv.Calib.FixK4;
}
if (FixKDistorsionCoefficients[4])
{
calibrationFlags |= Cv.Calib.FixK5;
}
if (FixKDistorsionCoefficients[5])
{
calibrationFlags |= Cv.Calib.FixK6;
}
if (FixAspectRatio)
{
calibrationFlags |= Cv.Calib.FixAspectRatio;
}
if (ZeroTangentialDistorsion)
{
calibrationFlags |= Cv.Calib.ZeroTangentDist;
}
if (RationalModel)
{
calibrationFlags |= Cv.Calib.RationalModel;
}
if (ThinPrismModel)
{
calibrationFlags |= Cv.Calib.ThinPrismModel;
}
if (FixS1_S2_S3_S4)
{
calibrationFlags |= Cv.Calib.FixS1S2S3S4;
}
if (TiltedModel)
{
calibrationFlags |= Cv.Calib.TiltedModel;
}
if (FixTauxTauy)
{
calibrationFlags |= Cv.Calib.FixTauxTauy;
}
if (FixFocalLength)
{
calibrationFlags |= Cv.Calib.FixFocalLength;
}
if (FixIntrinsic)
{
calibrationFlags |= Cv.Calib.FixIntrinsic;
}
if (SameFocalLength)
{
calibrationFlags |= Cv.Calib.SameFocalLength;
}
}
public static double CalibrateCameraCharuco(Std.VectorVectorPoint2f charucoCorners, Std.VectorVectorInt charucoIds, CharucoBoard board,
Cv.Size imageSize, Cv.Mat cameraMatrix, Cv.Mat distCoeffs, out Std.VectorMat rvecs, out Std.VectorMat tvecs, Cv.Calib flags,
Cv.TermCriteria criteria)
{
Cv.Exception exception = new Cv.Exception();
IntPtr rvecsPtr, tvecsPtr;
double reProjectionError = au_calibrateCameraCharuco(charucoCorners.CppPtr, charucoIds.CppPtr, board.CppPtr, imageSize.CppPtr,
cameraMatrix.CppPtr, distCoeffs.CppPtr, out rvecsPtr, out tvecsPtr, (int)flags, criteria.CppPtr, exception.CppPtr);
rvecs = new Std.VectorMat(rvecsPtr);
tvecs = new Std.VectorMat(tvecsPtr);
exception.Check();
return(reProjectionError);
}
