/* Form on line of calibration data that represents one calibration point in the format
* expected by Tsai3D calibration program */
private string GetCalibrationPointString(Camera cam, CalibrationModel model, int pointIndex)
{
string res =
model.GetPoint(pointIndex).X + " " + model.GetPoint(pointIndex).Y + " " + model.GetPoint(pointIndex).Z + " " + cam.points[pointIndex].X + " " + cam.points[pointIndex].Y;
return(res);
}
/* Assumes square model with 4 points */
void Calibrate(int numAcquisitionsPerView, int numViews, double maxDisplacementX, double maxDisplacementY, double maxDisplacementZ)
{
CalibrationModel model = new CalibrationModel(17.5);
double stepX = (maxDisplacementX / numAcquisitionsPerView);
double stepY = (maxDisplacementY / numAcquisitionsPerView);
double stepZ = (maxDisplacementZ / numViews);
CalibrationView[] views = new CalibrationView[numViews];
int viewIdx = 0;
for (double z = 0; z < maxDisplacementZ; z += stepZ, viewIdx++)
{
for (double y = 0; y < maxDisplacementY; y += stepY)
{
for (double x = 0; x < maxDisplacementX; x += stepX)
{
modelControlX.Move(x);
modelControlY.Move(y);
modelControlZ.Move(z);
model.Move(x, y, z);
for (int i = 0; i < 4; i++)
{
views[viewIdx].AddPoint(camera[0].points[i], camera[1].points[i], model.GetPoint(i));
}
}
}
}
Stereo.CalibrateMultipleViews(views);
}
private void Calibrate1()
{
int directionX = 1;
int directionY = 1;
double stepX = 0.1;
double stepY = 0.1;
double stepZ = 0.1;
double maxX = 2.1;
double maxY = 2.1;
for (double z = 0; z < 0.6; z += stepZ)
{
for (double y = 0; y < maxY; y += stepY)
{
for (double x = 0; x < maxX; x += stepX)
{
model.Move(directionX * stepX, 0, 0);
file.WriteLine(model.GetPoint(0).X + " " + model.GetPoint(0).Y + " " + model.GetPoint(0).Z + " " + left.points[0].X + " " + left.points[0].Y + " " + right.points[0].X + " " + right.points[0].Y);
}
file.Flush();
directionX *= -1;
maxX = (directionX < 0) ? 1.8 : 2.1;
model.Move(0, directionY * stepY, 0);
}
directionY *= -1;
maxY = (directionX < 0) ? 1.8 : 2.1;
model.Move(0, 0, stepZ);
}
file.Flush();
file.Close();
}