private void CalcChessboardCorners(Size patternSize, float squareSize, MatOfPoint3f corners, int markerType)
{
if ((int)(patternSize.width * patternSize.height) != corners.rows())
{
Debug.Log("Invalid corners size.");
corners.create((int)(patternSize.width * patternSize.height), 1, CvType.CV_32FC3);
}
const int cn = 3;
float[] cornersArr = new float[corners.rows() * cn];
int width = (int)patternSize.width;
int height = (int)patternSize.height;
switch (markerType)
{
case (int)MarkerType.ChessBoard:
case (int)MarkerType.CirclesGlid:
for (int i = 0; i < height; ++i)
{
for (int j = 0; j < width; ++j)
{
cornersArr [(i * width * cn) + (j * cn)] = j * squareSize;
cornersArr [(i * width * cn) + (j * cn) + 1] = i * squareSize;
cornersArr [(i * width * cn) + (j * cn) + 2] = 0;
}
}
corners.put(0, 0, cornersArr);
break;
case (int)MarkerType.AsymmetricCirclesGlid:
for (int i = 0; i < height; ++i)
{
for (int j = 0; j < width; ++j)
{
cornersArr [(i * width * cn) + (j * cn)] = (2 * j + i % 2) * squareSize;
cornersArr [(i * width * cn) + (j * cn) + 1] = i * squareSize;
cornersArr [(i * width * cn) + (j * cn) + 2] = 0;
}
}
corners.put(0, 0, cornersArr);
break;
default:
Debug.Log("Unknown marker type.");
break;
}
}