[C#/OpenCvSharp] キャリブレーション

var src = new Mat(@".\dot_Bobbin_img.png", ImreadModes.Grayscale);

var patternSize = new Size(18, 13);

var centers = new Mat();
var found = Cv2.FindCirclesGrid(src, patternSize, centers, FindCirclesGridFlags.SymmetricGrid);

var points_img = new Mat();
Cv2.CvtColor(src.Clone(), points_img, ColorConversionCodes.GRAY2BGR);

Cv2.DrawChessboardCorners(points_img, patternSize, centers, true);

Cv2.ImShow("points", points_img);
Cv2.WaitKey();

int left_margin = 26;
int top_margin = 18;
int interval = 44;

var object_points = new Mat<Point3f>();
for (int j = 0; j < patternSize.Height; j++)
{
    for (int i = 0; i < patternSize.Width; i++)
    {
        object_points.Add(new Point3f(left_margin + i * interval, top_margin + j * interval, 0));
    }
}

var imageSize = src.Size();

var cameraMatrix = new Mat<double>(3, 3);
var distCoeffs = new Mat<double>(5, 1);

Cv2.CalibrateCamera(new[] { object_points }, new[] { centers }, imageSize, cameraMatrix, distCoeffs, out Mat[] rvecs, out Mat[] tvecs);

var newImageSize = new Size();
var newCameraMatrix = Cv2.GetOptimalNewCameraMatrix(cameraMatrix, distCoeffs, imageSize, 1, newImageSize, out Rect validPixROI);

var data = new Mat(@".\dot_Bobbin_img.png", ImreadModes.Grayscale);

var temp_img = new Mat();
Cv2.Undistort(data, temp_img, cameraMatrix, distCoeffs, newCameraMatrix);

var rotation = new Mat();
Cv2.Rodrigues(rvecs[0], rotation);

var transRot = new Mat<double>(3, 3);
rotation.Col(0).CopyTo(transRot.Col(0));
rotation.Col(1).CopyTo(transRot.Col(1));

var transData = new double[3,3] { { 0, 0, tvecs[0].At<double>(0) },{ 0, 0, tvecs[0].At<double>(1) }, { 0, 0, tvecs[0].At<double>(2) } };
var translate = InputArray.Create(transData).GetMat();
translate.Col(2).CopyTo(transRot.Col(2));

var dst_img = new Mat();
var m = newCameraMatrix * transRot;
Cv2.WarpPerspective(temp_img, dst_img, m, newImageSize, InterpolationFlags.WarpInverseMap);

Cv2.ImShow("temp", temp_img);
Cv2.WaitKey();

Cv2.ImShow("dst", dst_img);