public virtual void Draw(Mat src, Mat dst)
{
var points = new MatOfPoint2f();
var patternSize = new Size((int)SizeX, (int)SizeY);
var found = false;
switch (boardType)
{
case BoardType.ChessBoard:
found = Calib3d.findChessboardCorners(src, patternSize, points, Calib3d.CALIB_CB_ADAPTIVE_THRESH | Calib3d.CALIB_CB_FAST_CHECK | Calib3d.CALIB_CB_NORMALIZE_IMAGE);
break;
case BoardType.CirclesGrid:
found = Calib3d.findCirclesGrid(src, patternSize, points, Calib3d.CALIB_CB_SYMMETRIC_GRID);
break;
case BoardType.AsymmetricCirclesGrid:
found = Calib3d.findCirclesGrid(src, patternSize, points, Calib3d.CALIB_CB_ASYMMETRIC_GRID);
break;
}
if (found)
{
if (boardType == BoardType.ChessBoard)
{
Imgproc.cornerSubPix(src, points, new Size(5, 5), new Size(-1, -1), new TermCriteria(TermCriteria.EPS + TermCriteria.COUNT, 30, 0.1));
}
Calib3d.drawChessboardCorners(dst, patternSize, points, found);
}
}
public static bool FindAsymmetricCirclesGrid(Mat grayTexMat, Vector2Int patternSize, ref MatOfPoint2f centerPoints)
{
Vector2IntToSize(patternSize, ref _tempSize);
if (centerPoints == null)
{
centerPoints = new MatOfPoint2f();
}
return(Calib3d.findCirclesGrid(grayTexMat, _tempSize, centerPoints, Calib3d.CALIB_CB_ASYMMETRIC_GRID));
}
private double CaptureFrame(Mat frameMat)
{
double repErr = -1;
switch (markerType)
{
default:
case MarkerType.ChArUcoBoard:
List <Mat> corners = new List <Mat>();
Mat ids = new Mat();
Aruco.detectMarkers(frameMat, dictionary, corners, ids, detectorParams, rejectedCorners, camMatrix, distCoeffs);
if (refineMarkerDetection)
{
Aruco.refineDetectedMarkers(frameMat, charucoBoard, corners, ids, rejectedCorners, camMatrix, distCoeffs, 10f, 3f, true, recoveredIdxs, detectorParams);
}
if (ids.total() > 0)
{
Debug.Log("Frame captured.");
allCorners.Add(corners);
allIds.Add(ids);
allImgs.Add(frameMat);
}
else
{
Debug.Log("Invalid frame.");
frameMat.Dispose();
if (ids != null)
{
ids.Dispose();
}
foreach (var item in corners)
{
item.Dispose();
}
corners.Clear();
return(-1);
}
// calibrate camera using aruco markers
//double arucoRepErr = CalibrateCameraAruco (allCorners, allIds, charucoBoard, frameMat.size(), camMatrix, distCoeffs, rvecs, tvecs, calibrationFlags);
//Debug.Log ("arucoRepErr: " + arucoRepErr);
// calibrate camera using charuco
repErr = CalibrateCameraCharuco(allCorners, allIds, charucoBoard, frameMat.size(), camMatrix, distCoeffs, rvecs, tvecs, calibrationFlags, calibrationFlags);
break;
case MarkerType.ChessBoard:
case MarkerType.CirclesGlid:
case MarkerType.AsymmetricCirclesGlid:
MatOfPoint2f points = new MatOfPoint2f();
Size patternSize = new Size((int)squaresX, (int)squaresY);
bool found = false;
switch (markerType)
{
default:
case MarkerType.ChessBoard:
found = Calib3d.findChessboardCorners(frameMat, patternSize, points, Calib3d.CALIB_CB_ADAPTIVE_THRESH | Calib3d.CALIB_CB_FAST_CHECK | Calib3d.CALIB_CB_NORMALIZE_IMAGE);
break;
case MarkerType.CirclesGlid:
found = Calib3d.findCirclesGrid(frameMat, patternSize, points, Calib3d.CALIB_CB_SYMMETRIC_GRID);
break;
case MarkerType.AsymmetricCirclesGlid:
found = Calib3d.findCirclesGrid(frameMat, patternSize, points, Calib3d.CALIB_CB_ASYMMETRIC_GRID);
break;
}
if (found)
{
Debug.Log("Frame captured.");
if (markerType == MarkerType.ChessBoard)
{
Imgproc.cornerSubPix(frameMat, points, new Size(5, 5), new Size(-1, -1), new TermCriteria(TermCriteria.EPS + TermCriteria.COUNT, 30, 0.1));
}
imagePoints.Add(points);
allImgs.Add(frameMat);
}
else
{
Debug.Log("Invalid frame.");
frameMat.Dispose();
if (points != null)
{
points.Dispose();
}
return(-1);
}
if (imagePoints.Count < 1)
{
Debug.Log("Not enough points for calibration.");
repErr = -1;
}
else
{
MatOfPoint3f objectPoint = new MatOfPoint3f(new Mat(imagePoints[0].rows(), 1, CvType.CV_32FC3));
CalcChessboardCorners(patternSize, squareSize, objectPoint, markerType);
List <Mat> objectPoints = new List <Mat>();
for (int i = 0; i < imagePoints.Count; ++i)
{
objectPoints.Add(objectPoint);
}
repErr = Calib3d.calibrateCamera(objectPoints, imagePoints, frameMat.size(), camMatrix, distCoeffs, rvecs, tvecs, calibrationFlags);
objectPoint.Dispose();
}
break;
}
Debug.Log("repErr: " + repErr);
Debug.Log("camMatrix: " + camMatrix.dump());
Debug.Log("distCoeffs: " + distCoeffs.dump());
return(repErr);
}
private void DrawFrame(Mat grayMat, Mat bgrMat)
{
Imgproc.cvtColor(grayMat, bgrMat, Imgproc.COLOR_GRAY2BGR);
switch (markerType)
{
default:
case MarkerType.ChArUcoBoard:
// detect markers.
Aruco.detectMarkers(grayMat, dictionary, corners, ids, detectorParams, rejectedCorners, camMatrix, distCoeffs);
// refine marker detection.
if (refineMarkerDetection)
{
Aruco.refineDetectedMarkers(grayMat, charucoBoard, corners, ids, rejectedCorners, camMatrix, distCoeffs, 10f, 3f, true, recoveredIdxs, detectorParams);
}
// if at least one marker detected
if (ids.total() > 0)
{
Aruco.interpolateCornersCharuco(corners, ids, grayMat, charucoBoard, charucoCorners, charucoIds, camMatrix, distCoeffs, charucoMinMarkers);
// draw markers.
Aruco.drawDetectedMarkers(bgrMat, corners, ids, new Scalar(0, 255, 0, 255));
// if at least one charuco corner detected
if (charucoIds.total() > 0)
{
Aruco.drawDetectedCornersCharuco(bgrMat, charucoCorners, charucoIds, new Scalar(0, 0, 255, 255));
}
}
break;
case MarkerType.ChessBoard:
case MarkerType.CirclesGlid:
case MarkerType.AsymmetricCirclesGlid:
// detect markers.
MatOfPoint2f points = new MatOfPoint2f();
bool found = false;
switch (markerType)
{
default:
case MarkerType.ChessBoard:
found = Calib3d.findChessboardCorners(grayMat, new Size((int)squaresX, (int)squaresY), points, Calib3d.CALIB_CB_ADAPTIVE_THRESH | Calib3d.CALIB_CB_FAST_CHECK | Calib3d.CALIB_CB_NORMALIZE_IMAGE);
break;
case MarkerType.CirclesGlid:
found = Calib3d.findCirclesGrid(grayMat, new Size((int)squaresX, (int)squaresY), points, Calib3d.CALIB_CB_SYMMETRIC_GRID);
break;
case MarkerType.AsymmetricCirclesGlid:
found = Calib3d.findCirclesGrid(grayMat, new Size((int)squaresX, (int)squaresY), points, Calib3d.CALIB_CB_ASYMMETRIC_GRID);
break;
}
if (found)
{
if (markerType == MarkerType.ChessBoard)
{
Imgproc.cornerSubPix(grayMat, points, new Size(5, 5), new Size(-1, -1), new TermCriteria(TermCriteria.EPS + TermCriteria.COUNT, 30, 0.1));
}
// draw markers.
Calib3d.drawChessboardCorners(bgrMat, new Size((int)squaresX, (int)squaresY), points, found);
}
break;
}
double[] camMatrixArr = new double[(int)camMatrix.total()];
camMatrix.get(0, 0, camMatrixArr);
double[] distCoeffsArr = new double[(int)distCoeffs.total()];
distCoeffs.get(0, 0, distCoeffsArr);
int ff = Imgproc.FONT_HERSHEY_SIMPLEX;
double fs = 0.4;
Scalar c = new Scalar(255, 255, 255, 255);
int t = 0;
int lt = Imgproc.LINE_AA;
bool blo = false;
int frameCount = (markerType == MarkerType.ChArUcoBoard) ? allCorners.Count : imagePoints.Count;
Imgproc.putText(bgrMat, frameCount + " FRAME CAPTURED", new Point(bgrMat.cols() - 300, 20), ff, fs, c, t, lt, blo);
Imgproc.putText(bgrMat, "IMAGE_WIDTH: " + bgrMat.width(), new Point(bgrMat.cols() - 300, 40), ff, fs, c, t, lt, blo);
Imgproc.putText(bgrMat, "IMAGE_HEIGHT: " + bgrMat.height(), new Point(bgrMat.cols() - 300, 60), ff, fs, c, t, lt, blo);
Imgproc.putText(bgrMat, "CALIBRATION_FLAGS: " + calibrationFlags, new Point(bgrMat.cols() - 300, 80), ff, fs, c, t, lt, blo);
Imgproc.putText(bgrMat, "CAMERA_MATRIX: ", new Point(bgrMat.cols() - 300, 100), ff, fs, c, t, lt, blo);
for (int i = 0; i < camMatrixArr.Length; i = i + 3)
{
Imgproc.putText(bgrMat, " " + camMatrixArr[i] + ", " + camMatrixArr[i + 1] + ", " + camMatrixArr[i + 2] + ",", new Point(bgrMat.cols() - 300, 120 + 20 * i / 3), ff, fs, c, t, lt, blo);
}
Imgproc.putText(bgrMat, "DISTORTION_COEFFICIENTS: ", new Point(bgrMat.cols() - 300, 180), ff, fs, c, t, lt, blo);
for (int i = 0; i < distCoeffsArr.Length; ++i)
{
Imgproc.putText(bgrMat, " " + distCoeffsArr[i] + ",", new Point(bgrMat.cols() - 300, 200 + 20 * i), ff, fs, c, t, lt, blo);
}
Imgproc.putText(bgrMat, "AVG_REPROJECTION_ERROR: " + repErr, new Point(bgrMat.cols() - 300, 300), ff, fs, c, t, lt, blo);
if (frameCount == 0)
{
Imgproc.putText(bgrMat, "To calibration start, please press the calibration button or do air tap gesture!", new Point(5, bgrMat.rows() - 10), Imgproc.FONT_HERSHEY_SIMPLEX, 0.5, new Scalar(255, 255, 255, 255), 1, Imgproc.LINE_AA, false);
}
}
public virtual double Calibrate(Mat mat)
{
var repError = -1.0;
var points = new MatOfPoint2f();
var patternSize = new Size((int)SizeX, (int)SizeY);
var found = false;
switch (boardType)
{
case BoardType.ChessBoard:
found = Calib3d.findChessboardCorners(mat, patternSize, points, Calib3d.CALIB_CB_ADAPTIVE_THRESH | Calib3d.CALIB_CB_FAST_CHECK | Calib3d.CALIB_CB_NORMALIZE_IMAGE);
break;
case BoardType.CirclesGrid:
found = Calib3d.findCirclesGrid(mat, patternSize, points, Calib3d.CALIB_CB_SYMMETRIC_GRID);
break;
case BoardType.AsymmetricCirclesGrid:
found = Calib3d.findCirclesGrid(mat, patternSize, points, Calib3d.CALIB_CB_ASYMMETRIC_GRID);
break;
}
if (found)
{
if (boardType == BoardType.ChessBoard)
{
Imgproc.cornerSubPix(mat, points, new Size(5, 5), new Size(-1, -1), new TermCriteria(TermCriteria.EPS + TermCriteria.COUNT, 30, 0.1));
}
imagePoints.Add(points);
}
else
{
Debug.Log("Invalid frame.");
if (points != null)
{
points.Dispose();
}
ErrorEvent?.Invoke("Invalid frame.");
return(repError);
}
if (imagePoints.Count < 1)
{
Debug.Log("Not enough points for calibration.");
ErrorEvent?.Invoke("Not enough points for calibration.");
return(repError);
}
else
{
var objectPoint = new MatOfPoint3f(new Mat(imagePoints[0].rows(), 1, CvType.CV_32FC3));
CalcCorners(patternSize, squareSize, objectPoint);
var objectPoints = new List <Mat>();
for (int i = 0; i < imagePoints.Count; ++i)
{
objectPoints.Add(objectPoint);
}
repError = Calib3d.calibrateCamera(objectPoints, imagePoints, mat.size(), cameraMatrix, distCoeffs, rvecs, tvecs);
CalibrationEvent?.Invoke(repError);
objectPoint.Dispose();
}
Debug.Log("-----calibrate-----");
Debug.Log("repErr: " + repError);
Debug.Log("camMatrix: " + cameraMatrix.dump());
Debug.Log("distCoeffs: " + distCoeffs.dump());
return(repError);
}
