public bool calibrate(float squareEdge, Size patternSize, string[] images)
{
VectorOfVectorOfPointF corners = findCorners(squareEdge, patternSize, images);
if (corners.Size == 0)
{
Console.WriteLine("Cannot find chessboard!");
return(false);
}
VectorOfPoint3D32F chessboard = getChessboardCorners(squareEdge, patternSize);
VectorOfVectorOfPoint3D32F objectPoints = new VectorOfVectorOfPoint3D32F();
for (int i = corners.Size; i > 0; i--)
{
objectPoints.Push(chessboard);
}
CameraParam param = new CameraParam();
// set mats
Mat rotationMat = new Mat();
Mat translationMat = new Mat();
Image <Gray, Byte> image = new Image <Gray, Byte>(images[0]);
imgSize = image.Size;
CvInvoke.CalibrateCamera(
objectPoints,
corners,
image.Size,
param.cameraMatrix.Mat,
param.distortionCoeffs.Mat,
rotationMat,
translationMat,
CalibType.Default,
new MCvTermCriteria(30, 0.1));
cameraParam.Clear();
cameraParam.Add(param);
return(_isCalibrated = true);
}
public bool calibrate(float squareEdge, Size patternSize, string[] imagesLeft, string[] imagesRight)
{
List <VectorOfVectorOfPointF> listCorners = findCorners(squareEdge, patternSize, imagesLeft, imagesRight);
if (listCorners.Last().Size == 0)
{
Console.WriteLine("Cannot find chessboard!");
return(false);
}
VectorOfPoint3D32F chessboard = getChessboardCorners(squareEdge, patternSize);
VectorOfVectorOfPoint3D32F objectPoints = new VectorOfVectorOfPoint3D32F();
for (int i = listCorners.Last().Size; i > 0; i--)
{
objectPoints.Push(chessboard);
}
Image <Gray, Byte> image = new Image <Gray, Byte>(imagesLeft[0]);
CameraParam camLeft = new CameraParam();
CameraParam camRight = new CameraParam();
CvInvoke.StereoCalibrate(
objectPoints,
listCorners[0],
listCorners[1],
camLeft.cameraMatrix.Mat,
camLeft.distortionCoeffs.Mat,
camRight.cameraMatrix.Mat,
camRight.distortionCoeffs.Mat,
image.Size,
R, T, E, F,
CalibType.Default,
new MCvTermCriteria(30, 0.1e5));
Rectangle roi1 = Rectangle.Empty, roi2 = Rectangle.Empty;
CvInvoke.StereoRectify(
camLeft.cameraMatrix.Mat,
camLeft.distortionCoeffs.Mat,
camRight.cameraMatrix.Mat,
camRight.distortionCoeffs.Mat,
image.Size,
R, T,
camLeft.rotationMatrix.Mat,
camRight.rotationMatrix.Mat,
camLeft.translationMatrix.Mat,
camRight.translationMatrix.Mat,
disparityMatrix,
StereoRectifyType.Default,
-1, Size.Empty,
ref roi1,
ref roi2);
cameraParam.Clear();
cameraParam.Add(camLeft);
cameraParam.Add(camRight);
rectTransforms = getRectifyTransforms();
Matrix <double> p = new Matrix <double>(new double[, ] {
{ image.Size.Width / 2 }, { image.Size.Height / 2 }, { 1 }
});
Matrix <double> px = rectTransforms[0].Mul(p);
double[,] dL = p.Sub(px.Mul(1 / px[2, 0])).Data;
px = rectTransforms[1].Mul(p);
double[,] dR = p.Sub(px.Mul(1 / px[2, 0])).Data;
rectTransforms = getRectifyTransforms(dL, dR);
rectMask[0] = getRectMask(image.Size, rectTransforms[0]);
rectMask[1] = getRectMask(image.Size, rectTransforms[1]);
_isStereo = true;
return(_isCalibrated = true);
}
