public static StereoImage<Bgr, byte> DrawChessboardCorners(StereoImage<Bgr, byte> stereoImage, CalibrationCorners corners)
{
var colors = new Bgr[corners.LeftCorners.Length];
var random = new Random();
for (var i = 0; i < colors.Length; ++i)
{
colors[i] = new Bgr(random.Next(0, 255), random.Next(0, 255), random.Next(0, 255));
}
DrawChessboardCorners(stereoImage.LeftImage, corners.LeftCorners, colors);
DrawChessboardCorners(stereoImage.RightImage, corners.RightCorners, colors);
return stereoImage;
}
public static StereoImage <Bgr, byte> DrawChessboardCorners(StereoImage <Bgr, byte> stereoImage, CalibrationCorners corners)
{
var colors = new Bgr[corners.LeftCorners.Length];
var random = new Random();
for (var i = 0; i < colors.Length; ++i)
{
colors[i] = new Bgr(random.Next(0, 255), random.Next(0, 255), random.Next(0, 255));
}
DrawChessboardCorners(stereoImage.LeftImage, corners.LeftCorners, colors);
DrawChessboardCorners(stereoImage.RightImage, corners.RightCorners, colors);
return(stereoImage);
}
public static CalibrationStereoResult Calibrate(CalibrationSettings settings, CalibrationCorners[] corners)
{
var calibrationResult = new CalibrationStereoResult(settings);
var points = new MCvPoint3D32f[calibrationResult.Settings.Count][];
for (var k = 0; k < calibrationResult.Settings.Count; ++k)
{
var objects = new List<MCvPoint3D32f>();
for (var i = 0; i < settings.ChessboardHeight; ++i)
for (var j = 0; j < settings.ChessboardWidth; ++j)
objects.Add(new MCvPoint3D32f(j*settings.CellWidth, i*settings.CellHeight, 0.0F));
points[k] = objects.ToArray();
}
ExtrinsicCameraParameters extrinsicParameters;
Matrix<double> fundamental;
Matrix<double> essential;
//If Emgu.CV.CvEnum.CALIB_TYPE == CV_CALIB_USE_INTRINSIC_GUESS and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be initialized before calling the function
//if you use FIX_ASPECT_RATIO and FIX_FOCAL_LEGNTH options, these values needs to be set in the intrinsic parameters before the CalibrateCamera function is called. Otherwise 0 values are used as default.
CameraCalibration.StereoCalibrate(
points,
corners.Select(_ => _.LeftCorners).ToArray(),
corners.Select(_ => _.RightCorners).ToArray(),
calibrationResult.Camera1Result.IntrinsicParameters,
calibrationResult.Camera2Result.IntrinsicParameters,
calibrationResult.Settings.ImageSize,
CALIB_TYPE.DEFAULT,
new MCvTermCriteria(0.1e5),
out extrinsicParameters,
out fundamental,
out essential);
var rec1 = new Rectangle();
var rec2 = new Rectangle();
CvInvoke.cvStereoRectify(
calibrationResult.Camera1Result.IntrinsicParameters.IntrinsicMatrix,
calibrationResult.Camera2Result.IntrinsicParameters.IntrinsicMatrix,
calibrationResult.Camera1Result.IntrinsicParameters.DistortionCoeffs,
calibrationResult.Camera2Result.IntrinsicParameters.DistortionCoeffs,
calibrationResult.Settings.ImageSize,
extrinsicParameters.RotationVector.RotationMatrix,
extrinsicParameters.TranslationVector,
calibrationResult.Camera1Result.R,
calibrationResult.Camera2Result.R,
calibrationResult.Camera1Result.P,
calibrationResult.Camera2Result.P,
calibrationResult.Q,
STEREO_RECTIFY_TYPE.DEFAULT,
0,
calibrationResult.Settings.ImageSize,
ref rec1,
ref rec2);
calibrationResult.Camera1Result.Rectangle = rec1;
calibrationResult.Camera2Result.Rectangle = rec2;
return calibrationResult;
}
public CalibrationSample(StereoImage<Bgr, byte> image, CalibrationCorners corners)
{
StereoImage = image;
Corners = corners;
IsCornersInitialized = true;
}