public double Calibrate(Size resolution)
{
MCvPoint3D32f[][] objectPoints = new MCvPoint3D32f[1][];
PointF[][] imagePoints = new PointF[1][];
int count = this.FObjectPoints.Count;
objectPoints[0] = new MCvPoint3D32f[count];
imagePoints[0] = new PointF[count];
for (int i = 0; i < count; i++)
{
objectPoints[0][i] = FObjectPoints[i];
imagePoints[0][i] = FImagePoints[i];
}
IntrinsicCameraParameters intrinsicParam = new IntrinsicCameraParameters();
ExtrinsicCameraParameters[] extrinsicParams;
Matrix<double> mat = intrinsicParam.IntrinsicMatrix;
mat[0, 0] = resolution.Width;
mat[1, 1] = resolution.Height;
mat[0, 2] = resolution.Width / 2.0d;
mat[1, 2] = resolution.Height / 2.0d;
mat[2, 2] = 1;
CALIB_TYPE flags;
flags = CALIB_TYPE.CV_CALIB_FIX_K1 | CALIB_TYPE.CV_CALIB_FIX_K2 | CALIB_TYPE.CV_CALIB_FIX_K3 | CALIB_TYPE.CV_CALIB_FIX_K4 | CALIB_TYPE.CV_CALIB_FIX_K5 | CALIB_TYPE.CV_CALIB_FIX_K6 | CALIB_TYPE.CV_CALIB_USE_INTRINSIC_GUESS | CALIB_TYPE.CV_CALIB_ZERO_TANGENT_DIST;
double error = CameraCalibration.CalibrateCamera(objectPoints, imagePoints, resolution, intrinsicParam, flags, out extrinsicParams);
this.FIntrinsics = new Intrinsics(intrinsicParam, resolution);
this.FExtrinsics = new Extrinsics(extrinsicParams[0]);
return error;
}
//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);
}
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)
{
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]), MatrixUtils.ImagePoints(FPinInImage[i]), FPinInIntrinsics[i].intrinsics);
FPinOutExtrinsics[i] = new Extrinsics(extrinsics);
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 = FPinInImage.SliceCount / nPointsPerImage;
MCvPoint3D32f[][] objectPoints = new MCvPoint3D32f[nImages][];
PointF[][] imagePoints = new PointF[nImages][];
Size imageSize = new Size( (int) FPinInSensorSize[0].x, (int) FPinInSensorSize[0].y);
CALIB_TYPE flags = new CALIB_TYPE();
IntrinsicCameraParameters intrinsicParam = new IntrinsicCameraParameters();
ExtrinsicCameraParameters[] extrinsicsPerView;
GetFlags(out flags);
if (flags.HasFlag(CALIB_TYPE.CV_CALIB_USE_INTRINSIC_GUESS))
{
if (FPinInIntrinsics[0] == null)
{
Matrix<double> mat = intrinsicParam.IntrinsicMatrix;
mat[0, 0] = FPinInSensorSize[0].x;
mat[1, 1] = FPinInSensorSize[0].y;
mat[0, 2] = FPinInSensorSize[0].x / 2.0d;
mat[1, 2] = FPinInSensorSize[0].y / 2.0d;
mat[2, 2] = 1;
}
else
{
intrinsicParam = FPinInIntrinsics[0].intrinsics;
}
}
imagePoints = MatrixUtils.ImagePoints(FPinInImage, nPointsPerImage);
for (int i=0; i<nImages; i++)
{
objectPoints[i] = new MCvPoint3D32f[nPointsPerImage];
for (int j=0; j<nPointsPerImage; j++)
{
objectPoints[i] = MatrixUtils.ObjectPoints(FPinInObject);
}
}
try
{
FPinOutError[0] = CameraCalibration.CalibrateCamera(objectPoints, imagePoints, imageSize, intrinsicParam, flags, out extrinsicsPerView);
Intrinsics intrinsics = new Intrinsics(intrinsicParam, imageSize);
FPinOutIntrinsics[0] = intrinsics;
FPinOutProjection[0] = intrinsics.Matrix;
FPinOutExtrinsics.SliceCount = nImages;
FPinOutView.SliceCount = nImages;
for (int i = 0; i < nImages; i++)
{
Extrinsics extrinsics = new Extrinsics(extrinsicsPerView[i]);
FPinOutExtrinsics[i] = extrinsics;
FPinOutView[i] = extrinsics.Matrix;
}
if (FPinInCoordSystem[0] == TCoordinateSystem.VVVV)
{
for (int i=0; i<FPinOutView.SliceCount; i++)
FPinOutView[i] = MatrixUtils.ConvertToVVVV(FPinOutView[i]);
}
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);
}
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 = FPinInImage.SliceCount / nPointsPerImage;
MCvPoint3D32f[][] objectPoints = new MCvPoint3D32f[nImages][];
PointF[][] imagePoints = new PointF[nImages][];
Size imageSize = new Size((int)FPinInSensorSize[0].x, (int)FPinInSensorSize[0].y);
CALIB_TYPE flags = new CALIB_TYPE();
IntrinsicCameraParameters intrinsicParam = new IntrinsicCameraParameters();
ExtrinsicCameraParameters[] extrinsicsPerView;
GetFlags(out flags);
if (flags.HasFlag(CALIB_TYPE.CV_CALIB_USE_INTRINSIC_GUESS))
{
if (FPinInIntrinsics[0] == null)
{
Matrix <double> mat = intrinsicParam.IntrinsicMatrix;
mat[0, 0] = FPinInSensorSize[0].x;
mat[1, 1] = FPinInSensorSize[0].y;
mat[0, 2] = FPinInSensorSize[0].x / 2.0d;
mat[1, 2] = FPinInSensorSize[0].y / 2.0d;
mat[2, 2] = 1;
}
else
{
intrinsicParam = FPinInIntrinsics[0].intrinsics;
}
}
imagePoints = MatrixUtils.ImagePoints(FPinInImage, nPointsPerImage);
for (int i = 0; i < nImages; i++)
{
objectPoints[i] = new MCvPoint3D32f[nPointsPerImage];
for (int j = 0; j < nPointsPerImage; j++)
{
objectPoints[i] = MatrixUtils.ObjectPoints(FPinInObject);
}
}
try
{
FPinOutError[0] = CameraCalibration.CalibrateCamera(objectPoints, imagePoints, imageSize, intrinsicParam, flags, out extrinsicsPerView);
Intrinsics intrinsics = new Intrinsics(intrinsicParam, imageSize);
FPinOutIntrinsics[0] = intrinsics;
FPinOutProjection[0] = intrinsics.Matrix;
FPinOutExtrinsics.SliceCount = nImages;
FPinOutView.SliceCount = nImages;
for (int i = 0; i < nImages; i++)
{
Extrinsics extrinsics = new Extrinsics(extrinsicsPerView[i]);
FPinOutExtrinsics[i] = extrinsics;
FPinOutView[i] = extrinsics.Matrix;
}
if (FPinInCoordSystem[0] == TCoordinateSystem.VVVV)
{
for (int i = 0; i < FPinOutView.SliceCount; i++)
{
FPinOutView[i] = MatrixUtils.ConvertToVVVV(FPinOutView[i]);
}
}
FPinOutSuccess[0] = true;
FStatus[0] = "OK";
}
catch (Exception e) {
FPinOutSuccess[0] = false;
FStatus[0] = e.Message;
}
}
}