//called when data for any output pin is requested
public void Evaluate(int SpreadMax)
{
if (FPinInDo[0])
{
bool useVVVVCoords = FPinInCoordSystem[0] == TCoordinateSystem.VVVV;
SpreadMax = Math.Max(FPinInObject.SliceCount, FPinInImage.SliceCount);
FPinOutExtrinsics.SliceCount = SpreadMax;
FPinOutStatus.SliceCount = SpreadMax;
for (int i = 0; i < SpreadMax; i++)
{
try
{
if (FPinInObject[i].SliceCount == 0 || FPinInImage[i].SliceCount == 0)
{
throw new Exception("No datapoints");
}
if (FPinInImage[i].SliceCount == 1)
{
throw new Exception("Only 1 image point is being input per board, check SliceCount!");
}
if (FPinInObject[i].SliceCount == 1)
{
throw new Exception("Only 1 object point is being input per board, check SliceCount!");
}
if (FPinInIntrinsics[i].intrinsics == null)
{
throw new Exception("Waiting for camera calibration intrinsics");
}
ExtrinsicCameraParameters extrinsics = CameraCalibration.FindExtrinsicCameraParams2(MatrixUtils.ObjectPoints(FPinInObject[i], useVVVVCoords), MatrixUtils.ImagePoints(FPinInImage[i]), FPinInIntrinsics[i].intrinsics);
FPinOutExtrinsics[i] = new Extrinsics(extrinsics);
if (useVVVVCoords)
{
FPinOutView[i] = MatrixUtils.ConvertToVVVV(FPinOutExtrinsics[i].Matrix);
}
else
{
FPinOutView[i] = FPinOutExtrinsics[i].Matrix;
}
FPinOutStatus[i] = "OK";
}
catch (Exception e)
{
FPinOutStatus[i] = e.Message;
}
}
}
}
//called when data for any output pin is requested
public void Evaluate(int SpreadMax)
{
if (FPinInDo[0])
{
int nPointsPerImage = FPinInObject.SliceCount;
bool useVVVVCoords = FPinInCoordSystem[0] == TCoordinateSystem.VVVV;
if (nPointsPerImage == 0)
{
FStatus[0] = "Insufficient points";
return;
}
int nImages = FPinInImage.SliceCount / nPointsPerImage;
MCvPoint3D32f[][] objectPoints = new MCvPoint3D32f[nImages][];
PointF[][] imagePoints = new PointF[nImages][];
Size imageSize = new Size((int)FPinInSensorSize[0].x, (int)FPinInSensorSize[0].y);
CALIB_TYPE flags = new CALIB_TYPE();
IntrinsicCameraParameters intrinsicParam = new IntrinsicCameraParameters();
ExtrinsicCameraParameters[] extrinsicsPerView;
GetFlags(out flags);
if (flags.HasFlag(CALIB_TYPE.CV_CALIB_USE_INTRINSIC_GUESS))
{
if (FPinInIntrinsics[0] == null)
{
Matrix <double> mat = intrinsicParam.IntrinsicMatrix;
mat[0, 0] = FPinInSensorSize[0].x / 2.0d;
mat[1, 1] = FPinInSensorSize[0].y / 2.0d;
mat[0, 2] = FPinInSensorSize[0].x / 2.0d;
mat[1, 2] = FPinInSensorSize[0].y / 2.0d;
mat[2, 2] = 1;
}
else
{
intrinsicParam.DistortionCoeffs = FPinInIntrinsics[0].intrinsics.DistortionCoeffs.Clone();
intrinsicParam.IntrinsicMatrix = FPinInIntrinsics[0].intrinsics.IntrinsicMatrix.Clone();
}
}
imagePoints = MatrixUtils.ImagePoints(FPinInImage, nPointsPerImage);
for (int i = 0; i < nImages; i++)
{
objectPoints[i] = MatrixUtils.ObjectPoints(FPinInObject, useVVVVCoords);
}
try
{
FPinOutError[0] = CameraCalibration.CalibrateCamera(objectPoints, imagePoints, imageSize, intrinsicParam, flags, out extrinsicsPerView);
Intrinsics intrinsics = new Intrinsics(intrinsicParam, imageSize);
FPinOutIntrinsics[0] = intrinsics;
if (useVVVVCoords)
{
FPinOutProjection[0] = intrinsics.Matrix;
}
else
{
FPinOutProjection[0] = intrinsics.Matrix;
}
FPinOutExtrinsics.SliceCount = nImages;
FPinOutView.SliceCount = nImages;
for (int i = 0; i < nImages; i++)
{
Extrinsics extrinsics = new Extrinsics(extrinsicsPerView[i]);
FPinOutExtrinsics[i] = extrinsics;
if (useVVVVCoords)
{
FPinOutView[i] = MatrixUtils.ConvertToVVVV(extrinsics.Matrix);
}
else
{
FPinOutView[i] = extrinsics.Matrix;
}
}
FPinOutSuccess[0] = true;
FStatus[0] = "OK";
}
catch (Exception e) {
FPinOutSuccess[0] = false;
FStatus[0] = e.Message;
}
}
}
