카메라 캘

using OpenCvSharp;
using System;
using System.Collections.Generic;

class CameraCalibration
{
    static void Main()
    {
        TermCriteria criteria = new TermCriteria(CriteriaTypes.Eps | CriteriaTypes.MaxIter, 30, 0.001);
        Size patternSize = new Size(7, 6);
        double squareSize = 20.0;  // Assuming millimeters
        
        List<Point3f[]> objectPoints = new List<Point3f[]>();
        List<Point2f[]> imagePoints = new List<Point2f[]>();

        Point3f[] objp = new Point3f[patternSize.Width * patternSize.Height];
        for (int y = 0; y < patternSize.Height; y++)
        {
            for (int x = 0; x < patternSize.Width; x++)
            {
                objp[y * patternSize.Width + x] = new Point3f(x * squareSize, y * squareSize, 0);
            }
        }

        string[] images = System.IO.Directory.GetFiles("calibration_images", "*.jpg");

        foreach (string fname in images)
        {
            using Mat img = Cv2.ImRead(fname, ImreadModes.Color);
            using Mat gray = new Mat();
            Cv2.CvtColor(img, gray, ColorConversionCodes.BGR2GRAY);

            Point2f[] corners;
            bool found = Cv2.FindChessboardCorners(gray, patternSize, out corners);

            if (found)
            {
                objectPoints.Add(objp);

                Cv2.CornerSubPix(gray, corners, new Size(11, 11), new Size(-1, -1), criteria);

                imagePoints.Add(corners);
            }
        }

        Mat cameraMatrix = new Mat(3, 3, MatType.CV_64FC1);
        Mat distCoeffs = new Mat(8, 1, MatType.CV_64FC1);
        Vec3d[] rotationVectors;
        Vec3d[] translationVectors;

        double error = Cv2.CalibrateCamera(objectPoints, imagePoints, gray.Size(), cameraMatrix, distCoeffs, out rotationVectors, out translationVectors);

        Console.WriteLine($"Reprojection error: {error}");
    }
}