public static void Run(string[] args)
{
var xefPath = @"C:\XEF\cam2_cal.xef";
var xef = new Xef(xefPath);
//Load computer vision (CV) color file
var colorCV = xef.LoadCvColorFrame(0);
colorCV.DrawAruco().ShowNoWait();
var cameraSpace = xef.LoadCVCameraSpace(2);
var(tx, markers) = Calibrator.Calibrate(colorCV, cameraSpace);
var pose = tx
.CameraSpaceToWorldTx
.ToMat();
var camSpaceTx = cameraSpace.Transform(pose)
.ToCamSpacePoints();
//Save as XYZRGB file (open in MeshLab to view)
XYZRGB.Export(camSpaceTx, colorCV.GetBRGABytes(), @"C:\XEF\cam2_cal.txt");
markers = markers.OrderByDescending(m => m.MaskSum.Val0).Take(4).ToList();
var markerPoints = new CvCameraSpace();
markers.ForEach(m => markerPoints.Add(m.KxCenter));
var txMarkers = markerPoints.Transform(pose);
XYZRGB.Export(txMarkers, new Scalar(255, 0, 0), @"C:\XEF\cam2_cal_markers.txt");
}
public static void Run()
{
var xefPath = @"C:\XEF\cam1_cal.xef";
var xef = new Xef(xefPath);
//Load computer vision (CV) color file
var colorCV = xef.LoadCvColorFrame(0);
var cameraSpace = xef.LoadCVCameraSpace(0);
var pose = Calibrator.Calibrate(colorCV, cameraSpace)
.Transform
.CameraSpaceToWorldTx
.ToMat();
cameraSpace.Transform(pose);
//Save as XYZRGB file (open in MeshLab to view)
XYZRGB.Export(cameraSpace.ToCamSpacePoints(), colorCV.GetBRGABytes(), @"C:\XEF\cam1_cal.txt");
}