// find calibrates camera with collected data found by UFindCharucoBoardCorners method unsafe public static UCameraCalibrationData UCalibrateCameraCharuco(int width, int height, CharucoBoardParameters boardParameters, DoubleVectorIntMarshaller allCharucoIds, DoubleVectorPoint2FMarshaller allCharucoCorners) { MatDoubleMarshaller distCoeffs = new MatDoubleMarshaller(); MatDoubleMarshaller cameraMatrix = new MatDoubleMarshaller(); double reProjectionError = CalibrateCameraCharuco( height, width, boardParameters.squaresW, boardParameters.squaresH, boardParameters.squareLength, boardParameters.markerLength, allCharucoIds.NativeDataPointer, allCharucoCorners.NativeDataPointer, cameraMatrix.NativeDataPointer, distCoeffs.NativeDataPointer ); UCameraCalibrationData calibrationData = new UCameraCalibrationData( distCoeffs, cameraMatrix, reProjectionError ); return(calibrationData); }
// public static UCameraCalibrationData UStaticCalibrateCameraData() // { // MatDoubleMarshaller distCoeffs = new MatDoubleMarshaller(); // MatDoubleMarshaller cameraMatrix = new MatDoubleMarshaller(); // StaticCameraCalibData( // cameraMatrix.NativeDataPointer, // distCoeffs.NativeDataPointer, // true // ); // UCameraCalibrationData calibrationData = new UCameraCalibrationData( // distCoeffs, // cameraMatrix // ); // return calibrationData; // } // unsafe public static UCameraCalibrationData UCalibrateCamera(Color32[] texture, int width, int height, DoubleVectorIntMarshaller allCharucoIds, DoubleVectorPoint2FMarshaller allCharucoCorners) // { // var watch = System.Diagnostics.Stopwatch.StartNew(); // // IntPtr distCoeffs = OpenCVMarshal.CreateMatPointer(); // MatDoubleMarshaller distCoeffs = new MatDoubleMarshaller(); // // IntPtr cameraMatrix = OpenCVMarshal.CreateMatPointer(); // MatDoubleMarshaller cameraMatrix = new MatDoubleMarshaller(); // fixed (Color32* texP = texture) // { // CalibrateCamera( // texP, // width, // height, // allCharucoIds.NativeDataPointer, // allCharucoCorners.NativeDataPointer, // cameraMatrix.NativeDataPointer, // distCoeffs.NativeDataPointer // ); // } // UCameraCalibrationData calibrationData = new UCameraCalibrationData( // distCoeffs, // cameraMatrix // ); // watch.Stop(); // var elapsedMs = watch.ElapsedMilliseconds; // return calibrationData; // } unsafe public static UCameraCalibrationData UCalibrateCameraCharuco(int width, int height, CharucoBoardParameters boardParameters, DoubleVectorIntMarshaller allCharucoIds, DoubleVectorPoint2FMarshaller allCharucoCorners) { var watch = System.Diagnostics.Stopwatch.StartNew(); // IntPtr distCoeffs = OpenCVMarshal.CreateMatPointer(); MatDoubleMarshaller distCoeffs = new MatDoubleMarshaller(); // IntPtr cameraMatrix = OpenCVMarshal.CreateMatPointer(); MatDoubleMarshaller cameraMatrix = new MatDoubleMarshaller(); double reProjectionError = CalibrateCameraCharuco( height, width, boardParameters.squaresW, boardParameters.squaresH, boardParameters.squareLength, boardParameters.markerLength, allCharucoIds.NativeDataPointer, allCharucoCorners.NativeDataPointer, cameraMatrix.NativeDataPointer, distCoeffs.NativeDataPointer ); UCameraCalibrationData calibrationData = new UCameraCalibrationData( distCoeffs, cameraMatrix, reProjectionError ); watch.Stop(); var elapsedMs = watch.ElapsedMilliseconds; return(calibrationData); }