java类org.opencv.core.Size的实例源码

/**
 * This helper method can be called by subclasses to select camera preview size.
 * It goes over the list of the supported preview sizes and selects the maximum one which
 * fits both values set via setMaxFrameSize() and surface frame allocated for this view
 * @param supportedSizes
 * @param surfaceWidth
 * @param surfaceHeight
 * @return optimal frame size
 */
protected Size calculateCameraFrameSize(List<?> supportedSizes, ListItemAccessor accessor, int surfaceWidth, int surfaceHeight) {
    int calcWidth = 0;
    int calcHeight = 0;

    int maxAllowedWidth = (mMaxWidth != MAX_UNSPECIFIED && mMaxWidth < surfaceWidth)? mMaxWidth : surfaceWidth;
    int maxAllowedHeight = (mMaxHeight != MAX_UNSPECIFIED && mMaxHeight < surfaceHeight)? mMaxHeight : surfaceHeight;

    for (Object size : supportedSizes) {
        int width = accessor.getWidth(size);
        int height = accessor.getHeight(size);

        if (width <= maxAllowedWidth && height <= maxAllowedHeight) {
            if (width >= calcWidth && height >= calcHeight) {
                calcWidth = (int) width;
                calcHeight = (int) height;
            }
        }
    }

    return new Size(calcWidth, calcHeight);
}

/**
 * Scales an image to an approximate size. The scale will always be equal
 * on the x and y axis, regardless of the approxSize.
 *
 * @param img          The image
 * @param approxSize   The target size
 * @param maximize     If maximize is true, then if the approxSize aspect ratio
 *                     does not match the target, then the largest possible image
 *                     would be used. If false (default), the the smallest image
 *                     would be used.
 * @param integerScale If true (default), then only integer scale factors would be used.
 *                     Otherwise, any scale factor can be used.
 */
private static double makeScale(Mat img, Size approxSize, boolean maximize, boolean integerScale) {
    Size imageSize = img.size();
    double ratioWidth = approxSize.width / imageSize.width;
    double ratioHeight = approxSize.height / imageSize.height;
    double ratio = maximize ? Math.max(ratioWidth, ratioHeight) : Math.min(ratioWidth, ratioHeight);
    if (MathUtil.equal(ratio, 1))
        return 1;
    if (integerScale) {
        //The scale factor is always greater than 1
        double scale = (ratio < 1) ? 1 / ratio : ratio;
        //If you are actually increasing the size of the object, use ceiling()
        //Otherwise, use floor()
        scale = maximize ^ (ratio < 1) ? Math.ceil(scale) : Math.floor(scale);
        //Get the actual ratio again
        return (ratio < 1) ? 1 / scale : scale;
    } else {
        return ratio;
    }
}

public static double stereoCalibrate(List<Mat> objectPoints, List<Mat> imagePoints1, List<Mat> imagePoints2, Mat K1, Mat D1, Mat K2, Mat D2, Size imageSize, Mat R, Mat T, int flags, TermCriteria criteria)
{
    Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints);
    Mat imagePoints1_mat = Converters.vector_Mat_to_Mat(imagePoints1);
    Mat imagePoints2_mat = Converters.vector_Mat_to_Mat(imagePoints2);
    double retVal = stereoCalibrate_3(objectPoints_mat.nativeObj, imagePoints1_mat.nativeObj, imagePoints2_mat.nativeObj, K1.nativeObj, D1.nativeObj, K2.nativeObj, D2.nativeObj, imageSize.width, imageSize.height, R.nativeObj, T.nativeObj, flags, criteria.type, criteria.maxCount, criteria.epsilon);

    return retVal;
}

public static int buildOpticalFlowPyramid(Mat img, List<Mat> pyramid, Size winSize, int maxLevel)
{
    Mat pyramid_mat = new Mat();
    int retVal = buildOpticalFlowPyramid_1(img.nativeObj, pyramid_mat.nativeObj, winSize.width, winSize.height, maxLevel);
    Converters.Mat_to_vector_Mat(pyramid_mat, pyramid);
    pyramid_mat.release();
    return retVal;
}

public static void cornerSubPix(Mat image, MatOfPoint2f corners, Size winSize, Size zeroZone, TermCriteria criteria)
{
    Mat corners_mat = corners;
    cornerSubPix_0(image.nativeObj, corners_mat.nativeObj, winSize.width, winSize.height, zeroZone.width, zeroZone.height, criteria.type, criteria.maxCount, criteria.epsilon);

    return;
}

public static double calibrate(List<Mat> objectPoints, List<Mat> imagePoints, Size image_size, Mat K, Mat D, List<Mat> rvecs, List<Mat> tvecs, int flags)
{
    Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints);
    Mat imagePoints_mat = Converters.vector_Mat_to_Mat(imagePoints);
    Mat rvecs_mat = new Mat();
    Mat tvecs_mat = new Mat();
    double retVal = calibrate_1(objectPoints_mat.nativeObj, imagePoints_mat.nativeObj, image_size.width, image_size.height, K.nativeObj, D.nativeObj, rvecs_mat.nativeObj, tvecs_mat.nativeObj, flags);
    Converters.Mat_to_vector_Mat(rvecs_mat, rvecs);
    rvecs_mat.release();
    Converters.Mat_to_vector_Mat(tvecs_mat, tvecs);
    tvecs_mat.release();
    return retVal;
}

public static double stereoCalibrate(List<Mat> objectPoints, List<Mat> imagePoints1, List<Mat> imagePoints2, Mat K1, Mat D1, Mat K2, Mat D2, Size imageSize, Mat R, Mat T, int flags, TermCriteria criteria)
{
    Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints);
    Mat imagePoints1_mat = Converters.vector_Mat_to_Mat(imagePoints1);
    Mat imagePoints2_mat = Converters.vector_Mat_to_Mat(imagePoints2);
    double retVal = stereoCalibrate_3(objectPoints_mat.nativeObj, imagePoints1_mat.nativeObj, imagePoints2_mat.nativeObj, K1.nativeObj, D1.nativeObj, K2.nativeObj, D2.nativeObj, imageSize.width, imageSize.height, R.nativeObj, T.nativeObj, flags, criteria.type, criteria.maxCount, criteria.epsilon);

    return retVal;
}

public static double stereoCalibrate(List<Mat> objectPoints, List<Mat> imagePoints1, List<Mat> imagePoints2, Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2, Size imageSize, Mat R, Mat T, Mat E, Mat F, int flags, TermCriteria criteria)
{
    Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints);
    Mat imagePoints1_mat = Converters.vector_Mat_to_Mat(imagePoints1);
    Mat imagePoints2_mat = Converters.vector_Mat_to_Mat(imagePoints2);
    double retVal = stereoCalibrate_0(objectPoints_mat.nativeObj, imagePoints1_mat.nativeObj, imagePoints2_mat.nativeObj, cameraMatrix1.nativeObj, distCoeffs1.nativeObj, cameraMatrix2.nativeObj, distCoeffs2.nativeObj, imageSize.width, imageSize.height, R.nativeObj, T.nativeObj, E.nativeObj, F.nativeObj, flags, criteria.type, criteria.maxCount, criteria.epsilon);

    return retVal;
}

public static void ellipse2Poly(Point center, Size axes, int angle, int arcStart, int arcEnd, int delta, MatOfPoint pts)
{
    Mat pts_mat = pts;
    ellipse2Poly_0(center.x, center.y, axes.width, axes.height, angle, arcStart, arcEnd, delta, pts_mat.nativeObj);

    return;
}

public static double stereoCalibrate(List<Mat> objectPoints, List<Mat> imagePoints1, List<Mat> imagePoints2, Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2, Size imageSize, Mat R, Mat T, Mat E, Mat F, int flags, TermCriteria criteria)
{
    Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints);
    Mat imagePoints1_mat = Converters.vector_Mat_to_Mat(imagePoints1);
    Mat imagePoints2_mat = Converters.vector_Mat_to_Mat(imagePoints2);
    double retVal = stereoCalibrate_0(objectPoints_mat.nativeObj, imagePoints1_mat.nativeObj, imagePoints2_mat.nativeObj, cameraMatrix1.nativeObj, distCoeffs1.nativeObj, cameraMatrix2.nativeObj, distCoeffs2.nativeObj, imageSize.width, imageSize.height, R.nativeObj, T.nativeObj, E.nativeObj, F.nativeObj, flags, criteria.type, criteria.maxCount, criteria.epsilon);

    return retVal;
}

public  void detectMultiScale2(Mat image, MatOfRect objects, MatOfInt numDetections, double scaleFactor, int minNeighbors, int flags, Size minSize, Size maxSize)
{
    Mat objects_mat = objects;
    Mat numDetections_mat = numDetections;
    detectMultiScale2_0(nativeObj, image.nativeObj, objects_mat.nativeObj, numDetections_mat.nativeObj, scaleFactor, minNeighbors, flags, minSize.width, minSize.height, maxSize.width, maxSize.height);

    return;
}

public static Mat getOptimalNewCameraMatrix(Mat cameraMatrix, Mat distCoeffs, Size imageSize, double alpha, Size newImgSize, Rect validPixROI, boolean centerPrincipalPoint)
{
    double[] validPixROI_out = new double[4];
    Mat retVal = new Mat(getOptimalNewCameraMatrix_0(cameraMatrix.nativeObj, distCoeffs.nativeObj, imageSize.width, imageSize.height, alpha, newImgSize.width, newImgSize.height, validPixROI_out, centerPrincipalPoint));
    if(validPixROI!=null){ validPixROI.x = (int)validPixROI_out[0]; validPixROI.y = (int)validPixROI_out[1]; validPixROI.width = (int)validPixROI_out[2]; validPixROI.height = (int)validPixROI_out[3]; } 
    return retVal;
}

public static double calibrate(List<Mat> objectPoints, List<Mat> imagePoints, Size image_size, Mat K, Mat D, List<Mat> rvecs, List<Mat> tvecs)
{
    Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints);
    Mat imagePoints_mat = Converters.vector_Mat_to_Mat(imagePoints);
    Mat rvecs_mat = new Mat();
    Mat tvecs_mat = new Mat();
    double retVal = calibrate_2(objectPoints_mat.nativeObj, imagePoints_mat.nativeObj, image_size.width, image_size.height, K.nativeObj, D.nativeObj, rvecs_mat.nativeObj, tvecs_mat.nativeObj);
    Converters.Mat_to_vector_Mat(rvecs_mat, rvecs);
    rvecs_mat.release();
    Converters.Mat_to_vector_Mat(tvecs_mat, tvecs);
    tvecs_mat.release();
    return retVal;
}

public static void drawChessboardCorners(Mat image, Size patternSize, MatOfPoint2f corners, boolean patternWasFound)
{
    Mat corners_mat = corners;
    drawChessboardCorners_0(image.nativeObj, patternSize.width, patternSize.height, corners_mat.nativeObj, patternWasFound);

    return;
}

public static double calibrateCameraExtended(List<Mat> objectPoints, List<Mat> imagePoints, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List<Mat> rvecs, List<Mat> tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors)
{
    Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints);
    Mat imagePoints_mat = Converters.vector_Mat_to_Mat(imagePoints);
    Mat rvecs_mat = new Mat();
    Mat tvecs_mat = new Mat();
    double retVal = calibrateCameraExtended_2(objectPoints_mat.nativeObj, imagePoints_mat.nativeObj, imageSize.width, imageSize.height, cameraMatrix.nativeObj, distCoeffs.nativeObj, rvecs_mat.nativeObj, tvecs_mat.nativeObj, stdDeviationsIntrinsics.nativeObj, stdDeviationsExtrinsics.nativeObj, perViewErrors.nativeObj);
    Converters.Mat_to_vector_Mat(rvecs_mat, rvecs);
    rvecs_mat.release();
    Converters.Mat_to_vector_Mat(tvecs_mat, tvecs);
    tvecs_mat.release();
    return retVal;
}

public static void stereoRectify(Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2, Size imageSize, Mat R, Mat T, Mat R1, Mat R2, Mat P1, Mat P2, Mat Q, int flags, double alpha, Size newImageSize, Rect validPixROI1, Rect validPixROI2)
{
    double[] validPixROI1_out = new double[4];
    double[] validPixROI2_out = new double[4];
    stereoRectify_0(cameraMatrix1.nativeObj, distCoeffs1.nativeObj, cameraMatrix2.nativeObj, distCoeffs2.nativeObj, imageSize.width, imageSize.height, R.nativeObj, T.nativeObj, R1.nativeObj, R2.nativeObj, P1.nativeObj, P2.nativeObj, Q.nativeObj, flags, alpha, newImageSize.width, newImageSize.height, validPixROI1_out, validPixROI2_out);
    if(validPixROI1!=null){ validPixROI1.x = (int)validPixROI1_out[0]; validPixROI1.y = (int)validPixROI1_out[1]; validPixROI1.width = (int)validPixROI1_out[2]; validPixROI1.height = (int)validPixROI1_out[3]; } 
    if(validPixROI2!=null){ validPixROI2.x = (int)validPixROI2_out[0]; validPixROI2.y = (int)validPixROI2_out[1]; validPixROI2.width = (int)validPixROI2_out[2]; validPixROI2.height = (int)validPixROI2_out[3]; } 
    return;
}

public static double stereoCalibrate(List<Mat> objectPoints, List<Mat> imagePoints1, List<Mat> imagePoints2, Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2, Size imageSize, Mat R, Mat T, Mat E, Mat F, int flags)
{
    Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints);
    Mat imagePoints1_mat = Converters.vector_Mat_to_Mat(imagePoints1);
    Mat imagePoints2_mat = Converters.vector_Mat_to_Mat(imagePoints2);
    double retVal = stereoCalibrate_1(objectPoints_mat.nativeObj, imagePoints1_mat.nativeObj, imagePoints2_mat.nativeObj, cameraMatrix1.nativeObj, distCoeffs1.nativeObj, cameraMatrix2.nativeObj, distCoeffs2.nativeObj, imageSize.width, imageSize.height, R.nativeObj, T.nativeObj, E.nativeObj, F.nativeObj, flags);

    return retVal;
}

public static double calibrateCamera(List<Mat> objectPoints, List<Mat> imagePoints, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List<Mat> rvecs, List<Mat> tvecs, int flags)
{
    Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints);
    Mat imagePoints_mat = Converters.vector_Mat_to_Mat(imagePoints);
    Mat rvecs_mat = new Mat();
    Mat tvecs_mat = new Mat();
    double retVal = calibrateCamera_1(objectPoints_mat.nativeObj, imagePoints_mat.nativeObj, imageSize.width, imageSize.height, cameraMatrix.nativeObj, distCoeffs.nativeObj, rvecs_mat.nativeObj, tvecs_mat.nativeObj, flags);
    Converters.Mat_to_vector_Mat(rvecs_mat, rvecs);
    rvecs_mat.release();
    Converters.Mat_to_vector_Mat(tvecs_mat, tvecs);
    tvecs_mat.release();
    return retVal;
}

public static double stereoCalibrate(List<Mat> objectPoints, List<Mat> imagePoints1, List<Mat> imagePoints2, Mat cameraMatrix1, Mat distCoeffs1, Mat cameraMatrix2, Mat distCoeffs2, Size imageSize, Mat R, Mat T, Mat E, Mat F, int flags)
{
    Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints);
    Mat imagePoints1_mat = Converters.vector_Mat_to_Mat(imagePoints1);
    Mat imagePoints2_mat = Converters.vector_Mat_to_Mat(imagePoints2);
    double retVal = stereoCalibrate_1(objectPoints_mat.nativeObj, imagePoints1_mat.nativeObj, imagePoints2_mat.nativeObj, cameraMatrix1.nativeObj, distCoeffs1.nativeObj, cameraMatrix2.nativeObj, distCoeffs2.nativeObj, imageSize.width, imageSize.height, R.nativeObj, T.nativeObj, E.nativeObj, F.nativeObj, flags);

    return retVal;
}

public static double calibrateCameraExtended(List<Mat> objectPoints, List<Mat> imagePoints, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List<Mat> rvecs, List<Mat> tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors, int flags)
{
    Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints);
    Mat imagePoints_mat = Converters.vector_Mat_to_Mat(imagePoints);
    Mat rvecs_mat = new Mat();
    Mat tvecs_mat = new Mat();
    double retVal = calibrateCameraExtended_1(objectPoints_mat.nativeObj, imagePoints_mat.nativeObj, imageSize.width, imageSize.height, cameraMatrix.nativeObj, distCoeffs.nativeObj, rvecs_mat.nativeObj, tvecs_mat.nativeObj, stdDeviationsIntrinsics.nativeObj, stdDeviationsExtrinsics.nativeObj, perViewErrors.nativeObj, flags);
    Converters.Mat_to_vector_Mat(rvecs_mat, rvecs);
    rvecs_mat.release();
    Converters.Mat_to_vector_Mat(tvecs_mat, tvecs);
    tvecs_mat.release();
    return retVal;
}

public static int buildOpticalFlowPyramid(Mat img, List<Mat> pyramid, Size winSize, int maxLevel, boolean withDerivatives, int pyrBorder, int derivBorder, boolean tryReuseInputImage)
{
    Mat pyramid_mat = new Mat();
    int retVal = buildOpticalFlowPyramid_0(img.nativeObj, pyramid_mat.nativeObj, winSize.width, winSize.height, maxLevel, withDerivatives, pyrBorder, derivBorder, tryReuseInputImage);
    Converters.Mat_to_vector_Mat(pyramid_mat, pyramid);
    pyramid_mat.release();
    return retVal;
}

public static void drawChessboardCorners(Mat image, Size patternSize, MatOfPoint2f corners, boolean patternWasFound)
{
    Mat corners_mat = corners;
    drawChessboardCorners_0(image.nativeObj, patternSize.width, patternSize.height, corners_mat.nativeObj, patternWasFound);

    return;
}

/**
 * Resize, crop and rotate the camera preview frame
 *
 * @param bytes  preview data
 * @param width  original width
 * @param height original height
 * @param params image processing parameters
 * @return
 */
public static Bitmap rotateCropAndResizePreview(byte[] bytes, int width, int height, PreviewResizeParams params)
{
    Size finalSize = new Size(params.newWidth, params.newHeight);
    Rect cropRect = new Rect(params.cropX, params.cropY, params.cropWidth, params.cropHeight);

    Mat rawMat = new Mat(height * 3 / 2, width, CvType.CV_8UC1); // YUV data
    rawMat.put(0, 0, bytes);
    Mat rgbMat = new Mat(height, width, CvType.CV_8UC4); // RGBA image
    Imgproc.cvtColor(rawMat, rgbMat, Imgproc.COLOR_YUV2RGBA_NV21);

    //rotate clockwise
    Mat rotatedMat = rotateFrame(rgbMat, params.rotation);

    //crop rect from image
    Mat croppedMat = new Mat(rotatedMat, cropRect);

    //resize
    if (finalSize.area() > 0)
        Imgproc.resize(croppedMat, croppedMat, finalSize);


    Bitmap bmp = Bitmap.createBitmap(croppedMat.cols(), croppedMat.rows(), Bitmap.Config.ARGB_8888);
    Utils.matToBitmap(croppedMat, bmp);

    return bmp;
}

public static boolean findChessboardCorners(Mat image, Size patternSize, MatOfPoint2f corners)
{
    Mat corners_mat = corners;
    boolean retVal = findChessboardCorners_1(image.nativeObj, patternSize.width, patternSize.height, corners_mat.nativeObj);

    return retVal;
}

public static void calcOpticalFlowPyrLK(Mat prevImg, Mat nextImg, MatOfPoint2f prevPts, MatOfPoint2f nextPts, MatOfByte status, MatOfFloat err, Size winSize, int maxLevel, TermCriteria criteria, int flags, double minEigThreshold)
{
    Mat prevPts_mat = prevPts;
    Mat nextPts_mat = nextPts;
    Mat status_mat = status;
    Mat err_mat = err;
    calcOpticalFlowPyrLK_0(prevImg.nativeObj, nextImg.nativeObj, prevPts_mat.nativeObj, nextPts_mat.nativeObj, status_mat.nativeObj, err_mat.nativeObj, winSize.width, winSize.height, maxLevel, criteria.type, criteria.maxCount, criteria.epsilon, flags, minEigThreshold);

    return;
}

public static double calibrateCameraExtended(List<Mat> objectPoints, List<Mat> imagePoints, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List<Mat> rvecs, List<Mat> tvecs, Mat stdDeviationsIntrinsics, Mat stdDeviationsExtrinsics, Mat perViewErrors, int flags)
{
    Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints);
    Mat imagePoints_mat = Converters.vector_Mat_to_Mat(imagePoints);
    Mat rvecs_mat = new Mat();
    Mat tvecs_mat = new Mat();
    double retVal = calibrateCameraExtended_1(objectPoints_mat.nativeObj, imagePoints_mat.nativeObj, imageSize.width, imageSize.height, cameraMatrix.nativeObj, distCoeffs.nativeObj, rvecs_mat.nativeObj, tvecs_mat.nativeObj, stdDeviationsIntrinsics.nativeObj, stdDeviationsExtrinsics.nativeObj, perViewErrors.nativeObj, flags);
    Converters.Mat_to_vector_Mat(rvecs_mat, rvecs);
    rvecs_mat.release();
    Converters.Mat_to_vector_Mat(tvecs_mat, tvecs);
    tvecs_mat.release();
    return retVal;
}

public static double calibrateCameraCharuco(List<Mat> charucoCorners, List<Mat> charucoIds, CharucoBoard board, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List<Mat> rvecs, List<Mat> tvecs, int flags)
{
    Mat charucoCorners_mat = Converters.vector_Mat_to_Mat(charucoCorners);
    Mat charucoIds_mat = Converters.vector_Mat_to_Mat(charucoIds);
    Mat rvecs_mat = new Mat();
    Mat tvecs_mat = new Mat();
    double retVal = calibrateCameraCharuco_1(charucoCorners_mat.nativeObj, charucoIds_mat.nativeObj, board.nativeObj, imageSize.width, imageSize.height, cameraMatrix.nativeObj, distCoeffs.nativeObj, rvecs_mat.nativeObj, tvecs_mat.nativeObj, flags);
    Converters.Mat_to_vector_Mat(rvecs_mat, rvecs);
    rvecs_mat.release();
    Converters.Mat_to_vector_Mat(tvecs_mat, tvecs);
    tvecs_mat.release();
    return retVal;
}

public static double calibrate(List<Mat> objectPoints, List<Mat> imagePoints, Size image_size, Mat K, Mat D, List<Mat> rvecs, List<Mat> tvecs)
{
    Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints);
    Mat imagePoints_mat = Converters.vector_Mat_to_Mat(imagePoints);
    Mat rvecs_mat = new Mat();
    Mat tvecs_mat = new Mat();
    double retVal = calibrate_2(objectPoints_mat.nativeObj, imagePoints_mat.nativeObj, image_size.width, image_size.height, K.nativeObj, D.nativeObj, rvecs_mat.nativeObj, tvecs_mat.nativeObj);
    Converters.Mat_to_vector_Mat(rvecs_mat, rvecs);
    rvecs_mat.release();
    Converters.Mat_to_vector_Mat(tvecs_mat, tvecs);
    tvecs_mat.release();
    return retVal;
}

public static Mat initCameraMatrix2D(List<MatOfPoint3f> objectPoints, List<MatOfPoint2f> imagePoints, Size imageSize, double aspectRatio)
{
    List<Mat> objectPoints_tmplm = new ArrayList<Mat>((objectPoints != null) ? objectPoints.size() : 0);
    Mat objectPoints_mat = Converters.vector_vector_Point3f_to_Mat(objectPoints, objectPoints_tmplm);
    List<Mat> imagePoints_tmplm = new ArrayList<Mat>((imagePoints != null) ? imagePoints.size() : 0);
    Mat imagePoints_mat = Converters.vector_vector_Point2f_to_Mat(imagePoints, imagePoints_tmplm);
    Mat retVal = new Mat(initCameraMatrix2D_0(objectPoints_mat.nativeObj, imagePoints_mat.nativeObj, imageSize.width, imageSize.height, aspectRatio));

    return retVal;
}

public static double calibrateCamera(List<Mat> objectPoints, List<Mat> imagePoints, Size imageSize, Mat cameraMatrix, Mat distCoeffs, List<Mat> rvecs, List<Mat> tvecs)
{
    Mat objectPoints_mat = Converters.vector_Mat_to_Mat(objectPoints);
    Mat imagePoints_mat = Converters.vector_Mat_to_Mat(imagePoints);
    Mat rvecs_mat = new Mat();
    Mat tvecs_mat = new Mat();
    double retVal = calibrateCamera_2(objectPoints_mat.nativeObj, imagePoints_mat.nativeObj, imageSize.width, imageSize.height, cameraMatrix.nativeObj, distCoeffs.nativeObj, rvecs_mat.nativeObj, tvecs_mat.nativeObj);
    Converters.Mat_to_vector_Mat(rvecs_mat, rvecs);
    rvecs_mat.release();
    Converters.Mat_to_vector_Mat(tvecs_mat, tvecs);
    tvecs_mat.release();
    return retVal;
}