private void CreateFromBundlerFile(string configFile)
{
string text = System.IO.File.ReadAllText(configFile);
string[] lines = text.Split('\r');
int numCameras = int.Parse(lines[1].Split(' ')[0]);
int numPoints = int.Parse(lines[1].Split(' ')[1]);
for (int i = 0; i < numCameras; i++)
{
//Extract the focal length and the radial distrortion cooefficients
string[] line1split = lines[2 + i*5].Split(' ');
float focalLength = float.Parse(line1split[0]);
float k1 = float.Parse(line1split[1]);
float k2 = float.Parse(line1split[2]);
//Camera Rotation matrix
//m1, m2, m3
//m4, m5, m6
//m7, m8, m9
string[] line2split = lines[3 + i * 5].Split(' ');
float m1 = float.Parse(line2split[0]);
float m2 = float.Parse(line2split[1]);
float m3 = float.Parse(line2split[2]);
string[] line3split = lines[4 + i * 5].Split(' ');
float m4 = float.Parse(line3split[0]);
float m5 = float.Parse(line3split[1]);
float m6 = float.Parse(line3split[2]);
string[] line4split = lines[5 + i * 5].Split(' ');
float m7 = float.Parse(line4split[0]);
float m8 = float.Parse(line4split[1]);
float m9 = float.Parse(line4split[2]);
//Camera Translation Matrix
string[] line5split = lines[6 + i * 5].Split(' ');
float t1 = float.Parse(line5split[0]);
float t2 = float.Parse(line5split[1]);
float t3 = float.Parse(line5split[2]);
//Create the new camera and store:
Matrix RotationMatrix = new Matrix(m1, m2, m3, 0, m4, m5, m6, 0, m7, m8, m9, 0, 0, 0 , 0, 1);
Vector3 TranslationVector = new Vector3(t1, t2, t3);
RegisteredCamera thisCamera = new RegisteredCamera(focalLength, k1, k2, RotationMatrix, TranslationVector, 480, 640);
//thisCamera.TrackedPoints.Add(new TrackedImagePoint(320, 240));
//thisCamera.TrackedPoints.Add(new TrackedImagePoint(320, -240));
//thisCamera.TrackedPoints.Add(new TrackedImagePoint(-320, 240));
//thisCamera.TrackedPoints.Add(new TrackedImagePoint(-320, -240));
//thisCamera.TrackedPoints.Add(new TrackedImagePoint(0, 0));
//Add some matched image points, to check the calibration...
System.IO.DirectoryInfo thisDIR = System.IO.Directory.GetParent(configFile);
System.IO.DirectoryInfo upDIR = System.IO.Directory.GetParent(thisDIR.ToString());
string sDIR = upDIR.ToString();
string keyText = System.IO.File.ReadAllText(sDIR + "\\" + i + ".key");
string[] keyLines = keyText.Split('\r');
for (int y = 0; y < 20; y++)
{
string[] matchcoords = keyLines[1+(y*8)].Split(' ');
float matchY = float.Parse(matchcoords[0]);
float matchX = float.Parse(matchcoords[1]);
thisCamera.TrackedPoints.Add(new TrackedImagePoint(matchX, matchY));
}
Cameras.Add(thisCamera);
}
int startLine = 1 + 6 + (numCameras - 1) * 5;
CameraMatches cameraMatches = new CameraMatches();
//Get the model points
for (int i = 0; i < numPoints; i++)
{
string[] linesplit = lines[startLine + i * 3].Split(' ');
float x = float.Parse(linesplit[0]);
float y = float.Parse(linesplit[1]);
float z = float.Parse(linesplit[2]);
Point3D thisPoint = new Point3D(x, y, z);
cameraMatches.points.Add(thisPoint);
}
modelPoints = cameraMatches;
}
private void CreateFromBundlerFile(string configFile)
{
string text = System.IO.File.ReadAllText(configFile);
string[] lines = text.Split('\r');
int numCameras = int.Parse(lines[1].Split(' ')[0]);
int numPoints = int.Parse(lines[1].Split(' ')[1]);
for (int i = 0; i < numCameras; i++)
{
//Extract the focal length and the radial distrortion cooefficients
string[] line1split = lines[2 + i * 5].Split(' ');
float focalLength = float.Parse(line1split[0]);
float k1 = float.Parse(line1split[1]);
float k2 = float.Parse(line1split[2]);
//Camera Rotation matrix
//m1, m2, m3
//m4, m5, m6
//m7, m8, m9
string[] line2split = lines[3 + i * 5].Split(' ');
float m1 = float.Parse(line2split[0]);
float m2 = float.Parse(line2split[1]);
float m3 = float.Parse(line2split[2]);
string[] line3split = lines[4 + i * 5].Split(' ');
float m4 = float.Parse(line3split[0]);
float m5 = float.Parse(line3split[1]);
float m6 = float.Parse(line3split[2]);
string[] line4split = lines[5 + i * 5].Split(' ');
float m7 = float.Parse(line4split[0]);
float m8 = float.Parse(line4split[1]);
float m9 = float.Parse(line4split[2]);
//Camera Translation Matrix
string[] line5split = lines[6 + i * 5].Split(' ');
float t1 = float.Parse(line5split[0]);
float t2 = float.Parse(line5split[1]);
float t3 = float.Parse(line5split[2]);
//Create the new camera and store:
Matrix RotationMatrix = new Matrix(m1, m2, m3, 0, m4, m5, m6, 0, m7, m8, m9, 0, 0, 0, 0, 1);
Vector3 TranslationVector = new Vector3(t1, t2, t3);
RegisteredCamera thisCamera = new RegisteredCamera(focalLength, k1, k2, RotationMatrix, TranslationVector, 480, 640);
//thisCamera.TrackedPoints.Add(new TrackedImagePoint(320, 240));
//thisCamera.TrackedPoints.Add(new TrackedImagePoint(320, -240));
//thisCamera.TrackedPoints.Add(new TrackedImagePoint(-320, 240));
//thisCamera.TrackedPoints.Add(new TrackedImagePoint(-320, -240));
//thisCamera.TrackedPoints.Add(new TrackedImagePoint(0, 0));
//Add some matched image points, to check the calibration...
System.IO.DirectoryInfo thisDIR = System.IO.Directory.GetParent(configFile);
System.IO.DirectoryInfo upDIR = System.IO.Directory.GetParent(thisDIR.ToString());
string sDIR = upDIR.ToString();
string keyText = System.IO.File.ReadAllText(sDIR + "\\" + i + ".key");
string[] keyLines = keyText.Split('\r');
for (int y = 0; y < 20; y++)
{
string[] matchcoords = keyLines[1 + (y * 8)].Split(' ');
float matchY = float.Parse(matchcoords[0]);
float matchX = float.Parse(matchcoords[1]);
thisCamera.TrackedPoints.Add(new TrackedImagePoint(matchX, matchY));
}
Cameras.Add(thisCamera);
}
int startLine = 1 + 6 + (numCameras - 1) * 5;
CameraMatches cameraMatches = new CameraMatches();
//Get the model points
for (int i = 0; i < numPoints; i++)
{
string[] linesplit = lines[startLine + i * 3].Split(' ');
float x = float.Parse(linesplit[0]);
float y = float.Parse(linesplit[1]);
float z = float.Parse(linesplit[2]);
Point3D thisPoint = new Point3D(x, y, z);
cameraMatches.points.Add(thisPoint);
}
modelPoints = cameraMatches;
}