public CalibrationUtil(Camera cam)
{
this.cam = cam;
objectPoints = new MCvPoint3D32f[1][];
objectPoints[0] = new MCvPoint3D32f[0];
imagePoints = new PointF[1][];
imagePoints[0] = new PointF[0];
intrinsics = new IntrinsicCameraParameters();
imageSize = new Size(Screen.width, Screen.height);
//Settings based on Mapamok default settings
calibrationType = CALIB_TYPE.CV_CALIB_USE_INTRINSIC_GUESS
| CALIB_TYPE.CV_CALIB_FIX_PRINCIPAL_POINT //required to work properly !!
| CALIB_TYPE.CV_CALIB_FIX_ASPECT_RATIO
| CALIB_TYPE.CV_CALIB_FIX_K1
| CALIB_TYPE.CV_CALIB_FIX_K2
| CALIB_TYPE.CV_CALIB_FIX_K3
| CALIB_TYPE.CV_CALIB_FIX_K4
| CALIB_TYPE.CV_CALIB_FIX_K5
| CALIB_TYPE.CV_CALIB_ZERO_TANGENT_DIST
;
termCriteria = new MCvTermCriteria();
}
public Calibration(Camera mainCamera)
{
_mainCamera = mainCamera;
_termCriteria = new MCvTermCriteria();
_flags = CALIB_TYPE.CV_CALIB_USE_INTRINSIC_GUESS | CALIB_TYPE.CV_CALIB_FIX_K1 | CALIB_TYPE.CV_CALIB_FIX_K2 | CALIB_TYPE.CV_CALIB_FIX_K3 | CALIB_TYPE.CV_CALIB_FIX_K4 | CALIB_TYPE.CV_CALIB_FIX_K5 | CALIB_TYPE.CV_CALIB_ZERO_TANGENT_DIST;
_size = new Size(Screen.width, Screen.height);
}
public Calibration(Camera mainCamera)
{
_mainCamera = mainCamera;
_termCriteria = new MCvTermCriteria();
_flags = CALIB_TYPE.CV_CALIB_USE_INTRINSIC_GUESS | CALIB_TYPE.CV_CALIB_FIX_K1 | CALIB_TYPE.CV_CALIB_FIX_K2 | CALIB_TYPE.CV_CALIB_FIX_K3 | CALIB_TYPE.CV_CALIB_FIX_K4 | CALIB_TYPE.CV_CALIB_FIX_K5 | CALIB_TYPE.CV_CALIB_ZERO_TANGENT_DIST;
_size = new Size(Screen.width, Screen.height);
}
private void GetFlags(out CALIB_TYPE flags)
{
flags = 0;
foreach (var flag in FPinInFlags)
{
flags |= flag;
}
}
private void UpdateFromCalibrationFlags()
{
CALIB_TYPE calibrationFlags = m_Model.CalibrationFlags;
m_UseIntrinsicGuessCheckBox.Checked = (calibrationFlags & CALIB_TYPE.CV_CALIB_USE_INTRINSIC_GUESS) > 0;
m_FixPrincipalPointCheckBox.Checked = (calibrationFlags & CALIB_TYPE.CV_CALIB_FIX_PRINCIPAL_POINT) > 0;
m_FixAspectRatioCheckBox.Checked = (calibrationFlags & CALIB_TYPE.CV_CALIB_FIX_ASPECT_RATIO) > 0;
m_FixFocalLengthCheckBox.Checked = (calibrationFlags & CALIB_TYPE.CV_CALIB_FIX_FOCAL_LENGTH) > 0;
m_FixK1CheckBox.Checked = (calibrationFlags & CALIB_TYPE.CV_CALIB_FIX_K1) > 0;
m_FixK2CheckBox.Checked = (calibrationFlags & CALIB_TYPE.CV_CALIB_FIX_K2) > 0;
m_FixK3CheckBox.Checked = (calibrationFlags & CALIB_TYPE.CV_CALIB_FIX_K3) > 0;
m_ZeroTangentialDistortionCheckBox.Checked = (calibrationFlags & CALIB_TYPE.CV_CALIB_ZERO_TANGENT_DIST) > 0;
}
//called when data for any output pin is requested
public void Evaluate(int SpreadMax)
{
if (FPinInDo[0])
{
int nPointsPerImage = FPinInObject.SliceCount;
if (nPointsPerImage == 0)
{
FStatus[0] = "Insufficient points";
return;
}
int nImages = Math.Max(FPinInImage1.SliceCount, FPinInImage2.SliceCount) / nPointsPerImage;
CALIB_TYPE flags = CALIB_TYPE.DEFAULT;
MCvTermCriteria termCrit = new MCvTermCriteria(100, 0.001);
MCvPoint3D32f[][] objectPoints = new MCvPoint3D32f[nImages][];
PointF[][] imagePoints1 = new PointF[nImages][];
PointF[][] imagePoints2 = new PointF[nImages][];
Size imageSize = new Size((int)FPinInSensorSize[0].x, (int)FPinInSensorSize[0].y);
ExtrinsicCameraParameters interCameraExtrinsics;
Matrix <double> foundamentalMatrix;
Matrix <double> essentialMatrix;
IntrinsicCameraParameters intrinsics1 = FPinInIntrinsics1[0].intrinsics;
IntrinsicCameraParameters intrinsics2 = FPinInIntrinsics2[0].intrinsics;
imagePoints1 = MatrixUtils.ImagePoints(FPinInImage1, nPointsPerImage);
imagePoints2 = MatrixUtils.ImagePoints(FPinInImage2, nPointsPerImage);
for (int i = 0; i < nImages; i++)
{
objectPoints[i] = MatrixUtils.ObjectPoints(FPinInObject, true);
}
try
{
CameraCalibration.StereoCalibrate(objectPoints, imagePoints1, imagePoints2, intrinsics1, intrinsics2, imageSize, flags, termCrit, out interCameraExtrinsics, out foundamentalMatrix, out essentialMatrix);
Extrinsics extrinsics = new Extrinsics(interCameraExtrinsics);
FPinOutExtrinsics[0] = extrinsics;
FPinOutTransform[0] = extrinsics.Matrix;
FPinOutSuccess[0] = true;
FStatus[0] = "OK";
}
catch (Exception e) {
FPinOutSuccess[0] = false;
FStatus[0] = e.Message;
}
}
}
private void OnClibrationFlagsCheckChanged(object sender, EventArgs e)
{
CALIB_TYPE calibrationFlags = CALIB_TYPE.DEFAULT;
if (m_UseIntrinsicGuessCheckBox.Checked)
{
calibrationFlags |= CALIB_TYPE.CV_CALIB_USE_INTRINSIC_GUESS;
}
if (m_FixPrincipalPointCheckBox.Checked)
{
calibrationFlags |= CALIB_TYPE.CV_CALIB_FIX_PRINCIPAL_POINT;
}
if (m_FixAspectRatioCheckBox.Checked)
{
calibrationFlags |= CALIB_TYPE.CV_CALIB_FIX_ASPECT_RATIO;
}
if (m_FixFocalLengthCheckBox.Checked)
{
calibrationFlags |= CALIB_TYPE.CV_CALIB_FIX_FOCAL_LENGTH;
}
if (m_FixK1CheckBox.Checked)
{
calibrationFlags |= CALIB_TYPE.CV_CALIB_FIX_K1;
}
if (m_FixK2CheckBox.Checked)
{
calibrationFlags |= CALIB_TYPE.CV_CALIB_FIX_K2;
}
if (m_FixK3CheckBox.Checked)
{
calibrationFlags |= CALIB_TYPE.CV_CALIB_FIX_K3;
}
if (m_ZeroTangentialDistortionCheckBox.Checked)
{
calibrationFlags |= CALIB_TYPE.CV_CALIB_ZERO_TANGENT_DIST;
}
m_Model.CalibrationFlags = calibrationFlags;
}
private void GetFlags(out CALIB_TYPE flags)
{
flags = 0;
if (FPinInIntrinsicGuess[0])
{
flags |= CALIB_TYPE.CV_CALIB_USE_INTRINSIC_GUESS;
}
if (FPinInFixAspectRatio[0])
{
flags |= CALIB_TYPE.CV_CALIB_FIX_ASPECT_RATIO;
}
if (FPinInFixPincipalPoint[0])
{
flags |= CALIB_TYPE.CV_CALIB_FIX_PRINCIPAL_POINT;
}
if (FPinInZeroTangent[0])
{
flags |= CALIB_TYPE.CV_CALIB_ZERO_TANGENT_DIST;
}
if (FPinInFixFocalLength[0])
{
flags |= CALIB_TYPE.CV_CALIB_FIX_FOCAL_LENGTH;
}
if (FPinInFixDistortion[0])
{
flags |= (CALIB_TYPE.CV_CALIB_FIX_K1 | CALIB_TYPE.CV_CALIB_FIX_K2 | CALIB_TYPE.CV_CALIB_FIX_K3 | CALIB_TYPE.CV_CALIB_FIX_K4 | CALIB_TYPE.CV_CALIB_FIX_K5 | CALIB_TYPE.CV_CALIB_FIX_K6);
}
if (FPinInRationalModel[0])
{
flags |= CALIB_TYPE.CV_CALIB_RATIONAL_MODEL;
}
}
//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;
}
}
}
public CalibrateDialogModel(MainModel mainModel)
{
m_MainModel = mainModel;
InitializeCameraParameters();
m_CalibrationFlags = CALIB_TYPE.CV_CALIB_FIX_ASPECT_RATIO | CALIB_TYPE.CV_CALIB_FIX_K3 | CALIB_TYPE.CV_CALIB_ZERO_TANGENT_DIST;
}
// Use this for initialization
void Start()
{
//init variables
unityObjectPoints = new Vector3[1][];
unityObjectPoints [0] = new Vector3[numPoints];
unityImagePoints = new Vector2[1][];
unityImagePoints [0] = new Vector2[numPoints];
objectPoints = new MCvPoint3D32f[1][];
objectPoints [0] = new MCvPoint3D32f[numPoints];
imagePoints = new PointF[1][];
imagePoints [0] = new PointF[numPoints];
imageSize = new Size (Screen.width, Screen.height);
intrinsics = new IntrinsicCameraParameters ();
//Settings based on Mapamok default settings
calibrationType = CALIB_TYPE.CV_CALIB_USE_INTRINSIC_GUESS
| CALIB_TYPE.CV_CALIB_FIX_PRINCIPAL_POINT //required to work properly !!
| CALIB_TYPE.CV_CALIB_FIX_ASPECT_RATIO
| CALIB_TYPE.CV_CALIB_FIX_K1
| CALIB_TYPE.CV_CALIB_FIX_K2
| CALIB_TYPE.CV_CALIB_FIX_K3
| CALIB_TYPE.CV_CALIB_FIX_K4
| CALIB_TYPE.CV_CALIB_FIX_K5
| CALIB_TYPE.CV_CALIB_ZERO_TANGENT_DIST
;
termCriteria = new MCvTermCriteria();
//used for CV Matrix to unity camera position
setPointsFromObject (calibObject);
}
private void GetFlags(out CALIB_TYPE flags)
{
flags = 0;
if (FPinInIntrinsicGuess[0])
flags |= CALIB_TYPE.CV_CALIB_USE_INTRINSIC_GUESS;
if (FPinInFixAspectRatio[0])
flags |= CALIB_TYPE.CV_CALIB_FIX_ASPECT_RATIO;
if (FPinInFixPincipalPoint[0])
flags |= CALIB_TYPE.CV_CALIB_FIX_PRINCIPAL_POINT;
if (FPinInZeroTangent[0])
flags |= CALIB_TYPE.CV_CALIB_ZERO_TANGENT_DIST;
if (FPinInFixFocalLength[0])
flags |= CALIB_TYPE.CV_CALIB_FIX_FOCAL_LENGTH;
if (FPinInFixDistortion[0])
flags |= (CALIB_TYPE.CV_CALIB_FIX_K1 | CALIB_TYPE.CV_CALIB_FIX_K2 | CALIB_TYPE.CV_CALIB_FIX_K3 | CALIB_TYPE.CV_CALIB_FIX_K4 | CALIB_TYPE.CV_CALIB_FIX_K5 | CALIB_TYPE.CV_CALIB_FIX_K6);
if (FPinInRationalModel[0])
flags |= CALIB_TYPE.CV_CALIB_RATIONAL_MODEL;
}
public DistortionParameters Calibrate()
{
CALIB_TYPE flags =
//CALIB_TYPE.CV_CALIB_FIX_ASPECT_RATIO |
//CALIB_TYPE.CV_CALIB_FIX_FOCAL_LENGTH |
//CALIB_TYPE.CV_CALIB_FIX_PRINCIPAL_POINT |
//CALIB_TYPE.CV_CALIB_FIX_K3 |
(CALIB_TYPE)16384; // CV_CALIB_RATIONAL_MODEL
int imageCount = allImagePoints.Length;
int[] pointCounts = new int[allObjectPoints.Length];
for (int i = 0; i < allObjectPoints.Length; i++)
{
// TODO: Check that both image and object have the same number of points for this image.
pointCounts[i] = allObjectPoints[i].Length;
}
IntrinsicCameraParameters icp = new IntrinsicCameraParameters();
MCvTermCriteria termCriteria = new MCvTermCriteria();
termCriteria.type = TERMCRIT.CV_TERMCRIT_ITER | TERMCRIT.CV_TERMCRIT_EPS;
termCriteria.max_iter = 30;
termCriteria.epsilon = 0.001;
using (Matrix <float> objectPointMatrix = EmguHelper.ToMatrix(allObjectPoints))
using (Matrix <float> imagePointMatrix = EmguHelper.ToMatrix(allImagePoints))
using (Matrix <int> pointCountsMatrix = new Matrix <int>(pointCounts))
using (Matrix <double> rotationVectors = new Matrix <double>(imageCount, 3))
using (Matrix <double> translationVectors = new Matrix <double>(imageCount, 3))
{
CvInvoke.cvCalibrateCamera2(
objectPointMatrix.Ptr,
imagePointMatrix.Ptr,
pointCountsMatrix.Ptr,
imageSize,
icp.IntrinsicMatrix,
icp.DistortionCoeffs,
rotationVectors,
translationVectors,
flags,
termCriteria);
}
double k1 = icp.DistortionCoeffs[0, 0];
double k2 = icp.DistortionCoeffs[1, 0];
double k3 = icp.DistortionCoeffs[4, 0];
double p1 = icp.DistortionCoeffs[2, 0];
double p2 = icp.DistortionCoeffs[3, 0];
double fx = icp.IntrinsicMatrix[0, 0];
double fy = icp.IntrinsicMatrix[1, 1];
double cx = icp.IntrinsicMatrix[0, 2];
double cy = icp.IntrinsicMatrix[1, 2];
DistortionParameters parameters = new DistortionParameters(icp);
log.DebugFormat("Distortion coefficients: k1:{0:0.000}, k2:{1:0.000}, k3:{2:0.000}, p1:{3:0.000}, p2:{4:0.000}.", k1, k2, k3, p1, p2);
log.DebugFormat("Camera intrinsics: fx:{0:0.000}, fy:{1:0.000}, cx:{2:0.000}, cy:{3:0.000}", fx, fy, cx, cy);
return(parameters);
}
//called when data for any output pin is requested
public void Evaluate(int SpreadMax)
{
if (FPinInDo[0])
{
int nPointsPerImage = FPinInObject.SliceCount;
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(FPinInSensorSize[0], FPinInSensorSize[1]);
CALIB_TYPE flags = new CALIB_TYPE();
IntrinsicCameraParameters intrinsicParam = new IntrinsicCameraParameters();
ExtrinsicCameraParameters[] extrinsicsPerView;
GetFlags(out flags);
if (FPinInIntrinsicGuess[0])
{
Matrix <double> mat = intrinsicParam.IntrinsicMatrix;
mat[0, 0] = FPinInSensorSize[0];
mat[1, 1] = FPinInSensorSize[1];
mat[0, 2] = FPinInSensorSize[0] / 2.0d;
mat[1, 2] = FPinInSensorSize[1] / 2.0d;
mat[2, 2] = 1;
}
for (int i = 0; i < nImages; i++)
{
objectPoints[i] = new MCvPoint3D32f[nPointsPerImage];
imagePoints[i] = new PointF[nPointsPerImage];
for (int j = 0; j < nPointsPerImage; j++)
{
objectPoints[i][j].x = (float)FPinInObject[j].x;
objectPoints[i][j].y = (float)FPinInObject[j].y;
objectPoints[i][j].z = (float)FPinInObject[j].z;
imagePoints[i][j].X = (float)FPinInImage[i * nPointsPerImage + j].x;
imagePoints[i][j].Y = (float)FPinInImage[i * nPointsPerImage + j].y;
}
}
try
{
FPinOutError[0] = CameraCalibration.CalibrateCamera(objectPoints, imagePoints, imageSize, intrinsicParam, flags, out extrinsicsPerView);
FPinOutIntinsics[0] = intrinsicParam;
FPinOutExtrinsics.SliceCount = nImages;
for (int i = 0; i < nImages; i++)
{
FPinOutExtrinsics[i] = extrinsicsPerView[i];
}
FStatus[0] = "OK";
}
catch (Exception e) {
FStatus[0] = e.Message;
}
}
}
private void GetFlags(out CALIB_TYPE flags)
{
flags = 0;
foreach (var flag in FPinInFlags)
flags |= flag;
}
//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;
}
}
}
//called when data for any output pin is requested
public void Evaluate(int SpreadMax)
{
if (FPinInDo[0])
{
int nPointsPerImage = FPinInObject.SliceCount;
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(FPinInSensorSize[0], FPinInSensorSize[1]);
CALIB_TYPE flags = new CALIB_TYPE();
IntrinsicCameraParameters intrinsicParam = new IntrinsicCameraParameters();
ExtrinsicCameraParameters[] extrinsicsPerView;
GetFlags(out flags);
if (FPinInIntrinsicGuess[0])
{
Matrix<double> mat = intrinsicParam.IntrinsicMatrix;
mat[0, 0] = FPinInSensorSize[0];
mat[1, 1] = FPinInSensorSize[1];
mat[0, 2] = FPinInSensorSize[0] / 2.0d;
mat[1, 2] = FPinInSensorSize[1] / 2.0d;
mat[2, 2] = 1;
}
for (int i=0; i<nImages; i++)
{
objectPoints[i] = new MCvPoint3D32f[nPointsPerImage];
imagePoints[i] = new PointF[nPointsPerImage];
for (int j=0; j<nPointsPerImage; j++)
{
objectPoints[i][j].x = (float)FPinInObject[j].x;
objectPoints[i][j].y = (float)FPinInObject[j].y;
objectPoints[i][j].z = (float)FPinInObject[j].z;
imagePoints[i][j].X = (float)FPinInImage[i*nPointsPerImage + j].x;
imagePoints[i][j].Y = (float)FPinInImage[i*nPointsPerImage + j].y;
}
}
try
{
FPinOutError[0] = CameraCalibration.CalibrateCamera(objectPoints, imagePoints, imageSize, intrinsicParam, flags, out extrinsicsPerView);
FPinOutIntinsics[0] = intrinsicParam;
FPinOutExtrinsics.SliceCount = nImages;
for (int i = 0; i < nImages; i++)
FPinOutExtrinsics[i] = extrinsicsPerView[i];
FStatus[0] = "OK";
}
catch (Exception e) {
FStatus[0] = e.Message;
}
}
}
