/// <summary>
/// Generate a intrinsic/extrinsic calibration from an initial set of four marker points.
/// </summary>
/// <param name="finals">List of ellipses</param>
/// <param name="marker_ids">Ellipse ids of detected marker-ellipses</param>
/// <param name="icp">Resulting intrinsic calibration</param>
/// <param name="ecp">Resulting extrinsic calibration</param>
/// <param name="size">Image size</param>
private void ApproximatePlane(List <DetectedEllipse> finals, int[] marker_ids, out Emgu.CV.IntrinsicCameraParameters icp, out Emgu.CV.ExtrinsicCameraParameters ecp, System.Drawing.Size size)
{
// Currently the marker points correspond to corner points in the rectangular pattern.
Vector[] object_points = new Vector[] {
this.ObjectPoints[0],
this.ObjectPoints[_number_circle_centers.Width - 1],
this.ObjectPoints[_number_circle_centers.Width * (_number_circle_centers.Height - 1)],
this.ObjectPoints[_number_circle_centers.Width * _number_circle_centers.Height - 1]
};
System.Drawing.PointF[] image_points =
marker_ids.Select(id => { return(finals[id].Ellipse.MCvBox2D.center); }).ToArray();
Parsley.Core.IntrinsicCalibration ic = new Parsley.Core.IntrinsicCalibration(object_points, size);
ic.AddView(image_points);
icp = ic.Calibrate();
Parsley.Core.ExtrinsicCalibration ec = new Parsley.Core.ExtrinsicCalibration(object_points, icp);
ecp = ec.Calibrate(image_points);
}
/// <summary>
/// Generate a intrinsic/extrinsic calibration from an initial set of four marker points.
/// </summary>
/// <param name="finals">List of ellipses</param>
/// <param name="marker_ids">Ellipse ids of detected marker-ellipses</param>
/// <param name="icp">Resulting intrinsic calibration</param>
/// <param name="ecp">Resulting extrinsic calibration</param>
/// <param name="size">Image size</param>
private void ApproximatePlane(List<DetectedEllipse> finals, int[] marker_ids, out Emgu.CV.IntrinsicCameraParameters icp, out Emgu.CV.ExtrinsicCameraParameters ecp, System.Drawing.Size size) {
// Currently the marker points correspond to corner points in the rectangular pattern.
Vector[] object_points = new Vector[] {
this.ObjectPoints[0],
this.ObjectPoints[_number_circle_centers.Width - 1],
this.ObjectPoints[_number_circle_centers.Width * (_number_circle_centers.Height-1)],
this.ObjectPoints[_number_circle_centers.Width * _number_circle_centers.Height - 1]};
System.Drawing.PointF[] image_points =
marker_ids.Select(id => { return finals[id].Ellipse.MCvBox2D.center; }).ToArray();
Parsley.Core.IntrinsicCalibration ic = new Parsley.Core.IntrinsicCalibration(object_points, size);
ic.AddView(image_points);
icp = ic.Calibrate();
Parsley.Core.ExtrinsicCalibration ec = new Parsley.Core.ExtrinsicCalibration(object_points, icp);
ecp = ec.Calibrate(image_points);
}