private void SetupCalibration()
{
leftCaptureDevice = new DirectShowCapture2();
leftCaptureDevice.InitVideoCapture(leftDeviceID, FrameRate._30Hz, Resolution._640x480,
ImageFormat.R8G8B8_24, false);
// Add left video capture device to the scene for rendering left eye image
scene.AddVideoCaptureDevice(leftCaptureDevice);
rightCaptureDevice = new DirectShowCapture2();
rightCaptureDevice.InitVideoCapture(rightDeviceID, FrameRate._30Hz, Resolution._640x480,
ImageFormat.R8G8B8_24, false);
// Add right video capture device to the scene for rendering right eye image
scene.AddVideoCaptureDevice(rightCaptureDevice);
// Create holders for retrieving the captured video images
leftImagePtr = Marshal.AllocHGlobal(leftCaptureDevice.Width * leftCaptureDevice.Height * 3);
rightImagePtr = Marshal.AllocHGlobal(rightCaptureDevice.Width * rightCaptureDevice.Height * 3);
// Associate each video devices to each eye
scene.LeftEyeVideoID = 0;
scene.RightEyeVideoID = 1;
scene.ShowCameraImage = true;
float markerSize = 32.4f;
// Initialize a marker tracker for tracking an marker array used for calibration
markerTracker = new ALVARMarkerTracker();
markerTracker.MaxMarkerError = 0.02f;
markerTracker.ZNearPlane = 0.1f;
markerTracker.ZFarPlane = 1000;
markerTracker.InitTracker(leftCaptureDevice.Width, leftCaptureDevice.Height, LEFT_CALIB, markerSize);
((StereoCamera)scene.CameraNode.Camera).LeftProjection = markerTracker.CameraProjection;
// Add another marker detector for tracking right video capture device
ALVARDllBridge.alvar_add_marker_detector(markerSize, 5, 2);
ALVARDllBridge.alvar_add_camera(RIGHT_CALIB, rightCaptureDevice.Width, rightCaptureDevice.Height);
double[] projMat = new double[16];
double cameraFovX = 0, cameraFovY = 0;
ALVARDllBridge.alvar_get_camera_params(1, projMat, ref cameraFovX, ref cameraFovY, 1000, 0.1f);
((StereoCamera)scene.CameraNode.Camera).RightProjection = new Matrix(
(float)projMat[0], (float)projMat[1], (float)projMat[2], (float)projMat[3],
(float)projMat[4], (float)projMat[5], (float)projMat[6], (float)projMat[7],
(float)projMat[8], (float)projMat[9], (float)projMat[10], (float)projMat[11],
(float)projMat[12], (float)projMat[13], (float)projMat[14], (float)projMat[15]);
// Add a marker array to be tracked
markerID = markerTracker.AssociateMarker("ALVARGroundArray.xml");
relativeTransforms = new List <Matrix>();
}
/// <summary>
/// Initilizes the marker tracker with a set of configuration parameters.
/// </summary>
/// <param name="configs">
/// There are two ways to pass the parameters. One way is to pass in the order of
/// (int imageWidth, int imageHeight, String cameraCalibFilename, double markerSize,
/// int markerRes, double margin), and the other way is (int imageWidth, int imageHeight,
/// String cameraCalibFilename, double markerSize).
/// </param>
public void InitTracker(params Object[] configs)
{
if (configs.Length != 3)
{
throw new MarkerException(GetInitTrackerUsage());
}
int img_width = 0;
int img_height = 0;
try
{
img_width = (int)configs[0];
img_height = (int)configs[1];
configFilename = (String)configs[2];
}
catch (Exception)
{
throw new MarkerException(GetInitTrackerUsage());
}
ALVARDllBridge.alvar_init();
int ret = ALVARDllBridge.alvar_add_camera(configFilename, img_width, img_height);
if (ret < 0)
{
throw new MarkerException("Camera calibration file is either not specified or not found");
}
ALVARDllBridge.alvar_add_fern_estimator(configFilename, img_width, img_height);
double[] projMat = new double[16];
ALVARDllBridge.alvar_get_camera_params(0, projMat, ref cameraFovX, ref cameraFovY, zFarPlane, zNearPlane);
camProjMat = new Matrix(
(float)projMat[0], (float)projMat[1], (float)projMat[2], (float)projMat[3],
(float)projMat[4], (float)projMat[5], (float)projMat[6], (float)projMat[7],
(float)projMat[8], (float)projMat[9], (float)projMat[10], (float)projMat[11],
(float)projMat[12], (float)projMat[13], (float)projMat[14], (float)projMat[15]);
initialized = true;
}
/// <summary>
/// Initilizes the marker tracker with a set of configuration parameters.
/// </summary>
/// <param name="configs">
/// There are two ways to pass the parameters. One way is to pass in the order of
/// (int imageWidth, int imageHeight, String cameraCalibFilename, double markerSize,
/// int markerRes, double margin), and the other way is (int imageWidth, int imageHeight,
/// String cameraCalibFilename, double markerSize).
/// </param>
public void InitTracker(params Object[] configs)
{
if (!(configs.Length == 4 || configs.Length == 6))
{
throw new MarkerException(GetInitTrackerUsage());
}
int markerRes = 5;
double markerSize = 1, margin = 2;
int img_width = 0;
int img_height = 0;
if (configs.Length == 4)
{
try
{
img_width = (int)configs[0];
img_height = (int)configs[1];
configFilename = (String)configs[2];
markerSize = Double.Parse(configs[3].ToString());
}
catch (Exception)
{
throw new MarkerException(GetInitTrackerUsage());
}
}
else
{
try
{
img_width = (int)configs[0];
img_height = (int)configs[1];
configFilename = (String)configs[2];
markerSize = Double.Parse(configs[3].ToString());
markerRes = (int)configs[4];
margin = Double.Parse(configs[5].ToString());
}
catch (Exception)
{
throw new MarkerException(GetInitTrackerUsage());
}
}
ALVARDllBridge.alvar_init();
int ret = ALVARDllBridge.alvar_add_camera(configFilename, img_width, img_height);
if (ret < 0)
{
throw new MarkerException("Camera calibration file is either not specified or not found");
}
cameraID = ret;
double[] projMat = new double[16];
ALVARDllBridge.alvar_get_camera_params(cameraID, projMat, ref cameraFovX, ref cameraFovY, zFarPlane, zNearPlane);
camProjMat = new Matrix(
(float)projMat[0], (float)projMat[1], (float)projMat[2], (float)projMat[3],
(float)projMat[4], (float)projMat[5], (float)projMat[6], (float)projMat[7],
(float)projMat[8], (float)projMat[9], (float)projMat[10], (float)projMat[11],
(float)projMat[12], (float)projMat[13], (float)projMat[14], (float)projMat[15]);
detectorID = ALVARDllBridge.alvar_add_marker_detector(markerSize, markerRes, margin);
initialized = true;
}