public void FishEyeCalibrate()
{
var patternSize = new Size(10, 7);
using (var image = Image("calibration/00.jpg"))
using (var corners = new MatOfPoint2f())
{
Cv2.FindChessboardCorners(image, patternSize, corners);
var objectPointsArray = Create3DChessboardCorners(patternSize, 1.0f).ToArray();
var imagePointsArray = corners.ToArray();
using (var objectPoints = MatOfPoint3f.FromArray(objectPointsArray))
using (var imagePoints = MatOfPoint2f.FromArray(imagePointsArray))
using (var cameraMatrix = new MatOfDouble(Mat.Eye(3, 3, MatType.CV_64FC1)))
using (var distCoeffs = new MatOfDouble())
{
var rms = Cv2.FishEye.Calibrate(new[] { objectPoints }, new[] { imagePoints }, image.Size(), cameraMatrix,
distCoeffs, out var rotationVectors, out var translationVectors,
FishEyeCalibrationFlags.None);
var distCoeffValues = distCoeffs.ToArray();
Assert.Equal(55.15, rms, 2);
Assert.Contains(distCoeffValues, d => Math.Abs(d) > 1e-20);
Assert.NotEmpty(rotationVectors);
Assert.NotEmpty(translationVectors);
}
}
}
public void BuildPatternFromImage(Mat image, Pattern pattern)
{
// Store original image in pattern structure
pattern.size = new Size(image.Cols, image.Rows);
pattern.frame = image.Clone();
GetGray(image, pattern.grayImg);
// Build 2d and 3d contours (3d contour lie in XY plane since it's planar)
List <Point2f> points2dList = new List <Point2f>(4);
List <Point3f> points3dList = new List <Point3f>(4);
// Image dimensions
float w = image.Cols;
float h = image.Rows;
// Normalized dimensions:
points2dList.Add(new Point2f(0, 0));
points2dList.Add(new Point2f(w, 0));
points2dList.Add(new Point2f(w, h));
points2dList.Add(new Point2f(0, h));
pattern.points2d = MatOfPoint2f.FromArray(points2dList);
points3dList.Add(new Point3f(-0.5f, -0.5f, 0));
points3dList.Add(new Point3f(+0.5f, -0.5f, 0));
points3dList.Add(new Point3f(+0.5f, +0.5f, 0));
points3dList.Add(new Point3f(-0.5f, +0.5f, 0));
pattern.points3d = MatOfPoint3f.FromArray(points3dList);
ExtractFeatures(pattern.grayImg, ref pattern.keypoints, pattern.descriptors);
Train(pattern);
}