/// <summary>
/// Initializes and configure the <see cref="CameraParametersController.CameraParameters"/>.
/// </summary>
/// <param name="calibrationFlags">The calibration flags that will be used in <see cref="Calibrate"/>.</param>
protected virtual void InitializeCameraParameters(CameraCalibrationFlags calibrationFlags = null)
{
if (calibrationFlags != null && calibrationFlags.UseIntrinsicGuess)
{
if (CameraParametersController.CameraParameters == null || CameraParametersController.CameraParameters.CameraMatrices == null)
{
throw new Exception("CalibrationFlags.UseIntrinsicGuess flag is set but CameraParameters is null or has no valid values. Set" +
" CameraParametersFilename or deactivate this flag.");
}
}
else
{
CameraParametersController.Initialize(ArucoCamera.CameraNumber);
for (int cameraId = 0; cameraId < ArucoCamera.CameraNumber; cameraId++)
{
CameraParametersController.CameraParameters.CameraMatrices[cameraId] = new Cv.Mat();
CameraParametersController.CameraParameters.DistCoeffs[cameraId] = new Cv.Mat();
CameraParametersController.CameraParameters.OmnidirXis[cameraId] = new Cv.Mat();
}
}
CameraParametersController.CameraParameters.CalibrationFlagsValue = (calibrationFlags != null) ? calibrationFlags.CalibrationFlagsValue : default(int);
for (int cameraId = 0; cameraId < ArucoCamera.CameraNumber; cameraId++)
{
CameraParametersController.CameraParameters.ImageHeights[cameraId] = calibrationImageSizes[cameraId].Height;
CameraParametersController.CameraParameters.ImageWidths[cameraId] = calibrationImageSizes[cameraId].Width;
}
}
/// <summary>
/// Calibrates each camera of the <see cref="ArucoObjectDetector.ArucoCamera"/> system using the detected markers added with
/// <see cref="AddCurrentFrameForCalibration()"/>, the <see cref="CameraParameters"/>, the <see cref="ArucoCameraUndistortion"/> and save
/// the results on a calibration file. Stereo calibrations will be additionally executed on these results for every camera pair in
/// <see cref="StereoCalibrationCameraPairs"/>.
/// </summary>
public virtual void Calibrate()
{
if (!IsConfigured)
{
throw new Exception("Configure the calibration controller before starting the calibration.");
}
// Update state
calibratingMutex.WaitOne();
{
IsCalibrated = false;
CalibrationRunning = true;
}
calibratingMutex.ReleaseMutex();
// Check if there is enough captured frames for calibration
Aruco.CharucoBoard charucoBoard = CalibrationBoard.Board as Aruco.CharucoBoard;
for (int cameraId = 0; cameraId < ArucoCamera.CameraNumber; cameraId++)
{
if (charucoBoard == null && MarkerIds[cameraId].Size() < 3)
{
throw new Exception("Need at least three frames captured for the camera " + (cameraId + 1) + "/" + ArucoCamera.CameraNumber
+ " to calibrate.");
}
else if (charucoBoard != null && MarkerIds[cameraId].Size() < 4)
{
throw new Exception("Need at least four frames captured for the camera " + (cameraId + 1) + "/" + ArucoCamera.CameraNumber
+ " to calibrate with a ChAruco board.");
}
}
InitializeCameraParameters(); // Initialize and configure the camera parameters
// Get objet and image calibration points from detected ids and corners
Std.VectorVectorPoint2f[] imagePoints = new Std.VectorVectorPoint2f[ArucoCamera.CameraNumber];
Std.VectorVectorPoint3f[] objectPoints = new Std.VectorVectorPoint3f[ArucoCamera.CameraNumber];
for (int cameraId = 0; cameraId < ArucoCamera.CameraNumber; cameraId++)
{
imagePoints[cameraId] = new Std.VectorVectorPoint2f();
objectPoints[cameraId] = new Std.VectorVectorPoint3f();
uint frameCount = MarkerCorners[cameraId].Size();
for (uint frame = 0; frame < frameCount; frame++)
{
Std.VectorPoint2f frameImagePoints;
Std.VectorPoint3f frameObjectPoints;
if (charucoBoard == null)
{
// Using a grid board
Aruco.GetBoardObjectAndImagePoints(CalibrationBoard.Board, MarkerCorners[cameraId].At(frame), MarkerIds[cameraId].At(frame),
out frameObjectPoints, out frameImagePoints);
}
else
{
// Using a charuco board
Std.VectorInt charucoIds;
Aruco.InterpolateCornersCharuco(MarkerCorners[cameraId].At(frame), MarkerIds[cameraId].At(frame), CalibrationImages[cameraId].At(frame),
charucoBoard, out frameImagePoints, out charucoIds);
// Join the object points corresponding to the detected markers
frameObjectPoints = new Std.VectorPoint3f();
uint markerCount = charucoIds.Size();
for (uint marker = 0; marker < markerCount; marker++)
{
uint pointId = (uint)charucoIds.At(marker);
Cv.Point3f objectPoint = charucoBoard.ChessboardCorners.At(pointId);
frameObjectPoints.PushBack(objectPoint);
}
}
imagePoints[cameraId].PushBack(frameImagePoints);
objectPoints[cameraId].PushBack(frameObjectPoints);
}
}
// Calibrate the Aruco camera
Calibrate(imagePoints, objectPoints);
// Save the camera parameters
CameraParametersController.CameraParametersFilename = ArucoCamera.Name + " - "
+ CameraParametersController.CameraParameters.CalibrationDateTime.ToString("yyyy-MM-dd_HH-mm-ss") + ".xml";
CameraParametersController.Save();
// Update state
calibratingMutex.WaitOne();
{
IsCalibrated = true;
}
calibratingMutex.ReleaseMutex();
}
