/// <summary>
/// load stereo calibration parameters from file
/// </summary>
/// <param name="calibrationFilename"></param>
public void loadCalibration(String calibrationFilename)
{
if (File.Exists(calibrationFilename))
{
calibration = new calibrationStereo();
calibration.Load(calibrationFilename);
calibration.updateCalibrationMaps();
stereovision_contours.roll = calibration.positionOrientation.roll;
}
else calibration = null;
}
public scanMatching[] scanmatch; // simple scan matching
/// <summary>
/// constructor
/// </summary>
/// <param name="no_of_stereo_cameras">
/// A <see cref="System.Int32"/>
/// The number of stereo cameras
/// </param>
public stereoHead(int no_of_stereo_cameras) : base(0,0,0)
{
this.no_of_stereo_cameras = no_of_stereo_cameras;
// create feature lists
features = new stereoFeatures[no_of_stereo_cameras];
// store filenames of the images for each camera
imageFilename = new String[no_of_stereo_cameras * 2];
// create the cameras
cameraPosition = new pos3D[no_of_stereo_cameras];
// calibration data
calibration = new calibrationStereo[no_of_stereo_cameras];
// create objects for each stereo camera
for (int cam = 0; cam < no_of_stereo_cameras; cam++)
{
calibration[cam] = new calibrationStereo();
cameraPosition[cam] = new pos3D(0, 0, 0);
features[cam] = null; // new stereoFeatures();
}
// sensor models
sensormodel = new rayModelLookup[no_of_stereo_cameras];
//scan matching
scanmatch = new scanMatching[no_of_stereo_cameras];
/*
if (no_of_cameras == 4) initQuadCam();
if (no_of_cameras == 2) initDualCam();
if (no_of_cameras == 1) initSingleStereoCamera(false);
*/
}
/// <summary>
/// reset the calibration
/// </summary>
private void ResetCalibration()
{
calibration_region_of_interest r_left = cam.leftcam.ROI;
calibration_region_of_interest r_right = cam.rightcam.ROI;
String DriverName = cam.DriverName;
cam = new calibrationStereo();
cam.DriverName = DriverName;
cam.leftcam.rotation = 0;
cam.rightcam.rotation = 0;
cam.leftcam.ROI = r_left;
cam.rightcam.ROI = r_right;
cam.baseline = Convert.ToSingle(txtBaseline.Text);
cam.setCentreSpotPosition(cmbCentreSpotPosition.SelectedIndex);
cam.leftcam.camera_dist_to_pattern_centre_mm = Convert.ToInt32(txtDistToCentre.Text);
cam.rightcam.camera_dist_to_pattern_centre_mm = cam.leftcam.camera_dist_to_pattern_centre_mm;
cam.leftcam.camera_height_mm = Convert.ToInt32(txtCameraHeight.Text);
cam.rightcam.camera_height_mm = cam.leftcam.camera_height_mm;
cam.rightcam.separation_factor = cam.leftcam.separation_factor;
cam.leftcam.camera_FOV_degrees = Convert.ToSingle(txtFOV.Text);
cam.rightcam.camera_FOV_degrees = cam.leftcam.camera_FOV_degrees;
cam.leftcam.calibration_pattern_spacing_mm = Convert.ToSingle(txtPatternSpacing.Text);
cam.rightcam.calibration_pattern_spacing_mm = cam.leftcam.calibration_pattern_spacing_mm;
}
/// <summary>
/// set the calibration data
/// </summary>
/// <param name="calib"></param>
public void setCalibration(calibrationStereo calib)
{
stereointerface.setCalibration(calib);
}
/// <summary>
/// set the calibration data
/// </summary>
/// <param name="calib"></param>
public void setCalibration(calibrationStereo calib)
{
calibration = calib;
stereovision_contours.roll = calibration.positionOrientation.roll;
}