//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;
}
}
}
//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;
}
}
}
}