public void UpdateFromOpenCV(Mat sensorMat, MatOfDouble distCoeffsMat, int width, int height, float rmsError)
{
if (distortionCoeffs == null || distCoeffsMat.IsDisposed || distortionCoeffs.Length != distCoeffsMat.total())
{
distortionCoeffs = new double[distCoeffsMat.total()];
}
fx = sensorMat.ReadValue(0, 0) / (double)width;
fy = sensorMat.ReadValue(1, 1) / (double)height;
cx = sensorMat.ReadValue(0, 2) / (double)width;
cy = sensorMat.ReadValue(1, 2) / (double)height;
aspect = width / (double)height;
this.rmsError = rmsError;
for (int i = 0; i < distortionCoeffs.Length; i++)
{
distortionCoeffs[i] = distCoeffsMat.ReadValue(i);
}
}
