private double computeReprojectionErrors(List <Mat> objectPoints,
List <Mat> rvecs, List <Mat> tvecs, Mat perViewErrors)
{
MatOfPoint2f cornersProjected = new MatOfPoint2f();
double totalError = 0;
double error;
float[] viewErrors = new float[objectPoints.Count];
MatOfDouble distortionCoefficients = new MatOfDouble(mDistortionCoefficients);
int totalPoints = 0;
for (int i = 0; i < objectPoints.Count; i++)
{
MatOfPoint3f points = new MatOfPoint3f(objectPoints[i]);
Calib3d.ProjectPoints(points, rvecs[i], tvecs[i],
mCameraMatrix, distortionCoefficients, cornersProjected);
error = Core.Norm(mCornersBuffer[i], cornersProjected, Core.NormL2);
int n = objectPoints[i].Rows();
viewErrors[i] = (float)Math.Sqrt(error * error / n);
totalError += error * error;
totalPoints += n;
}
perViewErrors.Create(objectPoints.Count, 1, CvType.Cv32fc1);
perViewErrors.Put(0, 0, viewErrors);
return(Math.Sqrt(totalError / totalPoints));
}