static void Main()
{
try
{
Console.WriteLine("Finding cameras");
var zivid = new Zivid.NET.Application();
var cameras = zivid.Cameras;
Console.WriteLine("Number of cameras found: {0}", cameras.Count);
foreach (var camera in cameras)
{
Console.WriteLine("Connecting to camera: {0}", camera.Info.SerialNumber);
camera.Connect();
}
var detectionResults = new List <DetectionResult>();
foreach (var camera in cameras)
{
Console.WriteLine("Capturing frame with camera: {0}", camera.Info.SerialNumber);
using (var frame = AssistedCapture(camera))
{
Console.WriteLine("Detecting checkerboard in point cloud");
var detectionResult = Detector.DetectFeaturePoints(frame.PointCloud);
if (detectionResult)
{
detectionResults.Add(detectionResult);
}
else
{
throw new System.InvalidOperationException(
"Could not detect checkerboard. Please ensure it is visible from all cameras.");
}
}
}
Console.WriteLine("Performing Multi-camera calibration");
var result = Calibrator.CalibrateMultiCamera(detectionResults);
if (result)
{
Console.WriteLine("Multi-camera calibration OK.");
var transforms = result.Transforms();
var residuals = result.Residuals();
for (int i = 0; i < transforms.Length; i++)
{
PrintMatrix(transforms[i]);
Console.WriteLine(residuals[i]
.ToString());
}
}
else
{
Console.WriteLine("Multi-camera calibration FAILED.");
}
}
catch (Exception ex)
{
Console.WriteLine("Error: {0}", ex.Message);
Environment.ExitCode = 1;
}
}