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custom buttons for plugins
calibration functions for Leeform

Plugins/LindtLeerformPlugin/Services/CameraCalibrationService.cs

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+using LindtLeerformPlugin.Models;
+using OpenCvSharp;
+
+namespace LindtLeerformPlugin.Services;
+
+public static class CameraCalibrationService
+{
+    public static CalibrationData Calibrate(string imageDirectory, Size patternSize)
+    {
+        var imageFiles = Directory.GetFiles(imageDirectory, "*.png");
+        if (imageFiles.Length == 0)
+            throw new InvalidOperationException($"No PNG images found in {imageDirectory}");
+
+        var objectPointsList = new List<Mat>();
+        var imagePointsList = new List<Mat>();
+        Size imageSize = default;
+
+        int cornerCount = patternSize.Width * patternSize.Height;
+        var objPts = new Point3f[cornerCount];
+        for (int row = 0; row < patternSize.Height; row++)
+            for (int col = 0; col < patternSize.Width; col++)
+                objPts[row * patternSize.Width + col] = new Point3f(col, row, 0);
+
+        int found = 0;
+        foreach (var file in imageFiles)
+        {
+            using var image = Cv2.ImRead(file);
+            using var gray = new Mat();
+            Cv2.CvtColor(image, gray, ColorConversionCodes.BGR2GRAY);
+            imageSize = new Size(image.Width, image.Height);
+
+            if (Cv2.FindChessboardCorners(gray, patternSize, out var corners,
+                    ChessboardFlags.AdaptiveThresh | ChessboardFlags.FastCheck))
+            {
+                Cv2.CornerSubPix(gray, corners,
+                    new Size(11, 11), new Size(-1, -1),
+                    new TermCriteria(CriteriaTypes.Eps | CriteriaTypes.MaxIter, 30, 0.001));
+
+                var objMat = new Mat(cornerCount, 1, MatType.CV_32FC3);
+                for (int i = 0; i < cornerCount; i++)
+                    objMat.Set(i, 0, objPts[i]);
+                objectPointsList.Add(objMat);
+
+                var imgMat = new Mat(corners.Length, 1, MatType.CV_32FC2);
+                for (int i = 0; i < corners.Length; i++)
+                    imgMat.Set(i, 0, corners[i]);
+                imagePointsList.Add(imgMat);
+
+                found++;
+            }
+        }
+
+        if (found == 0)
+            throw new InvalidOperationException("Checkerboard corners not found in any image");
+
+        var cameraMatrix = new Mat();
+        var distCoeffs = new Mat();
+        double rms = Cv2.CalibrateCamera(
+            objectPointsList, imagePointsList, imageSize,
+            cameraMatrix, distCoeffs,
+            out _, out _);
+
+        var data = new CalibrationData
+        {
+            CameraMatrix = MatToArray(cameraMatrix),
+            DistCoeffs = MatToArray(distCoeffs),
+            RmsError = rms,
+            ImageWidth = imageSize.Width,
+            ImageHeight = imageSize.Height
+        };
+
+        cameraMatrix.Dispose();
+        distCoeffs.Dispose();
+        foreach (var m in objectPointsList) m.Dispose();
+        foreach (var m in imagePointsList) m.Dispose();
+
+        return data;
+    }
+
+    public static (Mat cameraMatrix, Mat distCoeffs) LoadCalibrationMats(CalibrationData data)
+    {
+        var cameraMatrix = new Mat(3, 3, MatType.CV_64F);
+        for (int i = 0; i < 9; i++)
+            cameraMatrix.Set(i / 3, i % 3, data.CameraMatrix[i]);
+
+        var distCoeffs = new Mat(1, data.DistCoeffs.Length, MatType.CV_64F);
+        for (int i = 0; i < data.DistCoeffs.Length; i++)
+            distCoeffs.Set(0, i, data.DistCoeffs[i]);
+
+        return (cameraMatrix, distCoeffs);
+    }
+
+    private static double[] MatToArray(Mat mat)
+    {
+        var total = mat.Rows * mat.Cols;
+        var arr = new double[total];
+        for (int i = 0; i < total; i++)
+            arr[i] = mat.At<double>(i / mat.Cols, i % mat.Cols);
+        return arr;
+    }
+}