| private cvCalibrateCamera2 ( IntPtr objectPoints, IntPtr imagePoints, IntPtr pointCounts, Size imageSize, IntPtr intrinsicMatrix, IntPtr distortionCoeffs, IntPtr rotationVectors, IntPtr translationVectors, CvEnum flags ) : double | ||
| objectPoints | IntPtr | |
| imagePoints | IntPtr | |
| pointCounts | IntPtr | |
| imageSize | Size | |
| intrinsicMatrix | IntPtr | |
| distortionCoeffs | IntPtr | |
| rotationVectors | IntPtr | |
| translationVectors | IntPtr | |
| flags | CvEnum | |
| Результат | double | |
/// <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.CALIB_TYPE 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;
#region get the array that represent the point counts
int[] pointCounts = new int[objectPoints.Length];
for (int i = 0; i < objectPoints.Length; i++)
{
Debug.Assert(objectPoints[i].Length == imagePoints[i].Length, String.Format("Number of 3D points and image points should be equal in the {0}th image", i));
pointCounts[i] = objectPoints[i].Length;
}
#endregion
double reprojectionError = -1;
using (Matrix <float> objectPointMatrix = ToMatrix(objectPoints))
using (Matrix <float> imagePointMatrix = ToMatrix(imagePoints))
using (Matrix <int> pointCountsMatrix = new Matrix <int>(pointCounts))
using (Matrix <double> rotationVectors = new Matrix <double>(imageCount, 3))
using (Matrix <double> translationVectors = new Matrix <double>(imageCount, 3))
{
reprojectionError = CvInvoke.cvCalibrateCamera2(
objectPointMatrix.Ptr,
imagePointMatrix.Ptr,
pointCountsMatrix.Ptr,
imageSize,
intrinsicParam.IntrinsicMatrix,
intrinsicParam.DistortionCoeffs,
rotationVectors,
translationVectors,
calibrationType,
termCriteria);
extrinsicParams = new ExtrinsicCameraParameters[imageCount];
IntPtr matPtr = Marshal.AllocHGlobal(StructSize.MCvMat);
for (int i = 0; i < imageCount; i++)
{
ExtrinsicCameraParameters p = new ExtrinsicCameraParameters();
CvInvoke.cvGetRow(rotationVectors.Ptr, matPtr, i);
CvInvoke.cvTranspose(matPtr, p.RotationVector.Ptr);
CvInvoke.cvGetRow(translationVectors.Ptr, matPtr, i);
CvInvoke.cvTranspose(matPtr, p.TranslationVector.Ptr);
extrinsicParams[i] = p;
}
Marshal.FreeHGlobal(matPtr);
}
return(reprojectionError);
}
