Example #1
0
        //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;
                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;
                }
            }
        }
		//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;
				}
			}

		}
Example #4
0
		//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;
					}
				}
			}
		}