private double CalibrateCameraAruco(List <List <Mat> > allCorners, List <Mat> allIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List <Mat> rvecs = null, List <Mat> tvecs = null, int calibrationFlags = 0)
{
// prepare data for calibration
int nFrames = allCorners.Count;
int allLen = 0;
int[] markerCounterPerFrameArr = new int[allCorners.Count];
for (int i = 0; i < nFrames; ++i)
{
markerCounterPerFrameArr[i] = allCorners[i].Count;
allLen += allCorners[i].Count;
}
int[] allIdsConcatenatedArr = new int[allLen];
int index = 0;
for (int j = 0; j < allIds.Count; ++j)
{
int[] idsArr = new int[(int)allIds[j].total()];
allIds[j].get(0, 0, idsArr);
for (int k = 0; k < idsArr.Length; ++k)
{
allIdsConcatenatedArr[index + k] = (int)idsArr[k];
}
index += idsArr.Length;
}
using (Mat allIdsConcatenated = new Mat(1, allLen, CvType.CV_32SC1))
using (Mat markerCounterPerFrame = new Mat(1, nFrames, CvType.CV_32SC1))
{
List <Mat> allCornersConcatenated = new List <Mat>();
foreach (var c in allCorners)
{
foreach (var m in c)
{
allCornersConcatenated.Add(m);
}
}
allIdsConcatenated.put(0, 0, allIdsConcatenatedArr);
markerCounterPerFrame.put(0, 0, markerCounterPerFrameArr);
if (rvecs == null)
{
rvecs = new List <Mat>();
}
if (tvecs == null)
{
tvecs = new List <Mat>();
}
return(Aruco.calibrateCameraAruco(allCornersConcatenated, allIdsConcatenated, markerCounterPerFrame, board, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs, calibrationFlags));
}
}
