/// <summary>
/// Initializes and configure the <see cref="CameraParametersController.CameraParameters"/>.
/// </summary>
/// <param name="calibrationFlags">The calibration flags that will be used in <see cref="Calibrate"/>.</param>
protected virtual void InitializeCameraParameters(CameraCalibrationFlags calibrationFlags = null)
{
if (calibrationFlags != null && calibrationFlags.UseIntrinsicGuess)
{
if (CameraParametersController.CameraParameters == null || CameraParametersController.CameraParameters.CameraMatrices == null)
{
throw new Exception("CalibrationFlags.UseIntrinsicGuess flag is set but CameraParameters is null or has no valid values. Set" +
" CameraParametersFilename or deactivate this flag.");
}
}
else
{
CameraParametersController.Initialize(ArucoCamera.CameraNumber);
for (int cameraId = 0; cameraId < ArucoCamera.CameraNumber; cameraId++)
{
CameraParametersController.CameraParameters.CameraMatrices[cameraId] = new Cv.Mat();
CameraParametersController.CameraParameters.DistCoeffs[cameraId] = new Cv.Mat();
CameraParametersController.CameraParameters.OmnidirXis[cameraId] = new Cv.Mat();
}
}
CameraParametersController.CameraParameters.CalibrationFlagsValue = (calibrationFlags != null) ? calibrationFlags.CalibrationFlagsValue : default(int);
for (int cameraId = 0; cameraId < ArucoCamera.CameraNumber; cameraId++)
{
CameraParametersController.CameraParameters.ImageHeights[cameraId] = calibrationImageSizes[cameraId].Height;
CameraParametersController.CameraParameters.ImageWidths[cameraId] = calibrationImageSizes[cameraId].Width;
}
}
internal static extern double cvCalibrateCamera2(
Mat object_points,
Mat image_points,
Mat point_counts,
Size image_size,
Mat camera_matrix,
Mat distortion_coeffs,
Mat rotation_vectors,
Mat translation_vectors,
CameraCalibrationFlags flags,
TermCriteria term_crit);
// ArucoCameraCalibration methods
protected override void InitializeCameraParameters(CameraCalibrationFlags calibrationFlags)
{
base.InitializeCameraParameters(CalibrationFlags);
if (CalibrationFlags.FixAspectRatio)
{
for (int cameraId = 0; cameraId < ArucoCamera.CameraNumber; cameraId++)
{
CameraParametersController.CameraParameters.CameraMatrices[cameraId] = new Cv.Mat(3, 3, Cv.Type.CV_64F, new double[9] {
CalibrationFlags.FixAspectRatioValue, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0
});
}
CameraParametersController.CameraParameters.FixAspectRatioValue = CalibrationFlags.FixAspectRatioValue;
}
}
