public void CalibrateCV(ChessBoard cb, out Matrix cameraMat, out Matrix distCoeffs)
{
var worldCoordinates = cb.boardLocalCoordinates_cv;
List <List <Point3f> > worldpoints = new List <List <Point3f> >();
for (int i = 0; i < images.Count; i++)
{
worldpoints.Add(cb.boardLocalCoordinates_cv.ToList());
}
double[,] cameraMat2 = new double[3, 3];
var imagepoints = images.Select(x => x.ImagePoints);
Matrix cameramat = new Matrix(3, 3);
distCoeffs = new Matrix(4, 1);
Mat[] rvecs, tvecs;
CVI.CalibrateCamera(worldpoints.Select(x => x.ToArray()).ToArray(), imagepoints.ToArray(), images.First().imageSize,
cameramat, distCoeffs, CalibType.Default, new MCvTermCriteria(),
out rvecs, out tvecs);
cameraMat = cameramat;
}
/// <summary>
/// Estimates intrinsic camera parameters and extrinsic parameters for each of the views
/// </summary>
/// <param name="objectPoints">The 3D location of the object points. The first index is the index of image, second index is the index of the point</param>
/// <param name="imagePoints">The 2D image location of the points. The first index is the index of the image, second index is the index of the point</param>
/// <param name="imageSize">The size of the image, used only to initialize intrinsic camera matrix</param>
/// <param name="intrinsicParam">The intrisinc parameters, might contains some initial values. The values will be modified by this function.</param>
/// <param name="calibrationType">cCalibration type</param>
/// <param name="termCriteria">The termination criteria</param>
/// <param name="extrinsicParams">The output array of extrinsic parameters.</param>
/// <returns>The final reprojection error</returns>
public static double CalibrateCamera(
MCvPoint3D32f[][] objectPoints,
PointF[][] imagePoints,
Size imageSize,
IntrinsicCameraParameters intrinsicParam,
CvEnum.CalibType calibrationType,
MCvTermCriteria termCriteria,
out ExtrinsicCameraParameters[] extrinsicParams)
{
Debug.Assert(objectPoints.Length == imagePoints.Length, "The number of images for objects points should be equal to the number of images for image points");
int imageCount = objectPoints.Length;
using (VectorOfVectorOfPoint3D32F vvObjPts = new VectorOfVectorOfPoint3D32F(objectPoints))
using (VectorOfVectorOfPointF vvImgPts = new VectorOfVectorOfPointF(imagePoints))
{
double reprojectionError = -1;
using (VectorOfMat rotationVectors = new VectorOfMat())
using (VectorOfMat translationVectors = new VectorOfMat())
{
Mat cameraMat = new Mat();
Mat distorCoeff = new Mat();
reprojectionError = CvInvoke.CalibrateCamera(
vvObjPts,
vvImgPts,
imageSize,
intrinsicParam.IntrinsicMatrix,
intrinsicParam.DistortionCoeffs,
rotationVectors,
translationVectors,
calibrationType,
termCriteria);
extrinsicParams = new ExtrinsicCameraParameters[imageCount];
for (int i = 0; i < imageCount; i++)
{
ExtrinsicCameraParameters p = new ExtrinsicCameraParameters();
using (Mat matR = rotationVectors[i])
matR.CopyTo(p.RotationVector);
using (Mat matT = translationVectors[i])
matT.CopyTo(p.TranslationVector);
extrinsicParams[i] = p;
}
}
return(reprojectionError);
}
}
public void CalibrateCV(ChessBoard cb, out PinholeCamera[] cameras)
{
var worldCoordinates = cb.boardLocalCoordinates_cv;
List <List <Point3f> > worldpoints = new List <List <Point3f> >();
for (int i = 0; i < images.Count; i++)
{
worldpoints.Add(cb.boardLocalCoordinates_cv.ToList());
}
double[,] cameraMat2 = new double[3, 3];
var imagepoints = images.Select(x => x.ImagePoints);
Matrix cameramat = new Matrix(3, 3);
Matrix distcoeffs = new Matrix(4, 1);
Mat[] rvecs, tvecs;
CVI.CalibrateCamera(worldpoints.Select(x => x.ToArray()).ToArray(), imagepoints.ToArray(), images.First().imageSize,
cameramat, distcoeffs, CalibType.Default, new MCvTermCriteria(),
out rvecs, out tvecs);
cameras = new PinholeCamera[images.Count];
for (int i = 0; i < rvecs.Length; i++)
{
var rvec = rvecs[i];
var tvec = tvecs[i];
cameras[i] = new PinholeCamera();
var cam = cameras[i];
var rot = new RotationVector3D();
rvec.CopyTo(rot);
var worldMat = new Matrix4d();
}
for (int i = 0; i < cameras.Length; i++)
{
worldpoints.Add(cb.boardLocalCoordinates_cv.ToList());
}
}
