private float CalculateUnitsPerPixel(CameraVsPhysicalPoint neighbor)
{
float physicalDistance = (float)Math.Sqrt(
(neighbor.PhysicalPoint.X - this.PhysicalPoint.X) * (neighbor.PhysicalPoint.X - this.PhysicalPoint.X) +
(neighbor.PhysicalPoint.Y - this.PhysicalPoint.Y) * (neighbor.PhysicalPoint.Y - this.PhysicalPoint.Y));
float pixelDistance = (float)Math.Sqrt(
(neighbor.CameraPoint.X - this.CameraPoint.X) * (neighbor.CameraPoint.X - this.CameraPoint.X) +
(neighbor.CameraPoint.Y - this.CameraPoint.Y) * (neighbor.CameraPoint.Y - this.CameraPoint.Y));
return physicalDistance / pixelDistance;
}
private float CalculateUnitsPerPixel(CameraVsPhysicalPoint neighbor)
{
float physicalDistance = (float)Math.Sqrt(
(neighbor.PhysicalPoint.X - this.PhysicalPoint.X) * (neighbor.PhysicalPoint.X - this.PhysicalPoint.X) +
(neighbor.PhysicalPoint.Y - this.PhysicalPoint.Y) * (neighbor.PhysicalPoint.Y - this.PhysicalPoint.Y));
float pixelDistance = (float)Math.Sqrt(
(neighbor.CameraPoint.X - this.CameraPoint.X) * (neighbor.CameraPoint.X - this.CameraPoint.X) +
(neighbor.CameraPoint.Y - this.CameraPoint.Y) * (neighbor.CameraPoint.Y - this.CameraPoint.Y));
return(physicalDistance / pixelDistance);
}
public CalibrationPoint(
CameraVsPhysicalPoint center,
CameraVsPhysicalPoint left,
CameraVsPhysicalPoint right,
CameraVsPhysicalPoint above,
CameraVsPhysicalPoint below)
{
this.CameraPoint = center.CameraPoint;
this.PhysicalPoint = center.PhysicalPoint;
this.UnitsPerPixelX = CalculateUnitsPerPixelX(left, right);
this.UnitsPerPixelY = CalculateUnitsPerPixelY(above, below);
}
public CalibrationPoint(
CameraVsPhysicalPoint center,
CameraVsPhysicalPoint left,
CameraVsPhysicalPoint right,
CameraVsPhysicalPoint above,
CameraVsPhysicalPoint below)
{
this.CameraPoint = center.CameraPoint;
this.PhysicalPoint = center.PhysicalPoint;
this.UnitsPerPixelX = CalculateUnitsPerPixelX(left, right);
this.UnitsPerPixelY = CalculateUnitsPerPixelY(above, below);
}
public CameraVsPhysicalPoint[,] GetCameraVsPhysicalPoints()
{
CameraVsPhysicalPoint[,] cameraVsPhysicalPoints = new CameraVsPhysicalPoint[this.XCount, this.YCount];
for (int i = 0; i < this.XCount; i++)
{
for (int j = 0; j < this.YCount; j++)
{
PointF physicalCenter = GetPhysicalCenter(i, j);
MCvBox2D box = m_InsideRectangles[i, j];
cameraVsPhysicalPoints[i, j] = new CameraVsPhysicalPoint(
box.center,
physicalCenter);
}
}
return cameraVsPhysicalPoints;
}
public CameraVsPhysicalPoint[,] GetCameraVsPhysicalPoints()
{
CameraVsPhysicalPoint[,] cameraVsPhysicalPoints = new CameraVsPhysicalPoint[this.XCount, this.YCount];
for (int i = 0; i < this.XCount; i++)
{
for (int j = 0; j < this.YCount; j++)
{
PointF physicalCenter = GetPhysicalCenter(i, j);
MCvBox2D box = m_InsideRectangles[i, j];
cameraVsPhysicalPoints[i, j] = new CameraVsPhysicalPoint(
box.center,
physicalCenter);
}
}
return(cameraVsPhysicalPoints);
}
private float CalculateUnitsPerPixelY(CameraVsPhysicalPoint above, CameraVsPhysicalPoint below)
{
// above or below but not both can be null
float pointsUsed = 0;
float unitsPerPixelY = 0;
if (above != null)
{
pointsUsed += 1;
unitsPerPixelY += CalculateUnitsPerPixel(above);
}
if (below != null)
{
pointsUsed += 1;
unitsPerPixelY += CalculateUnitsPerPixel(below);
}
return(unitsPerPixelY / pointsUsed);
}
private float CalculateUnitsPerPixelX(CameraVsPhysicalPoint left, CameraVsPhysicalPoint right)
{
// left or right but not both can be null
float pointsUsed = 0;
float unitsPerPixelX = 0;
if (left != null)
{
pointsUsed += 1;
unitsPerPixelX += CalculateUnitsPerPixel(left);
}
if (right != null)
{
pointsUsed += 1;
unitsPerPixelX += CalculateUnitsPerPixel(right);
}
return(unitsPerPixelX / pointsUsed);
}
private float CalculateUnitsPerPixelX(CameraVsPhysicalPoint left, CameraVsPhysicalPoint right)
{
// left or right but not both can be null
float pointsUsed = 0;
float unitsPerPixelX = 0;
if (left != null)
{
pointsUsed += 1;
unitsPerPixelX += CalculateUnitsPerPixel(left);
}
if (right != null)
{
pointsUsed += 1;
unitsPerPixelX += CalculateUnitsPerPixel(right);
}
return unitsPerPixelX / pointsUsed;
}
public void Initialize(CameraVsPhysicalPoint[,] cameraVsPhysicalPoints)
{
m_XCount = cameraVsPhysicalPoints.GetLength(0);
m_YCount = cameraVsPhysicalPoints.GetLength(1);
m_CalibrationPoints = new CalibrationPoint[m_XCount, m_YCount];
CameraVsPhysicalPoint center, left, right, above, below;
for (int i = 0; i < m_XCount; i++)
{
for (int j = 0; j < m_YCount; j++)
{
center = cameraVsPhysicalPoints[i,j];
left = (i == 0 ? null : cameraVsPhysicalPoints[i - 1, j]);
right = (i == m_XCount - 1 ? null : cameraVsPhysicalPoints[i + 1, j]);
above = (j == 0 ? null : cameraVsPhysicalPoints[i, j - 1]);
below = (j == m_YCount - 1 ? null : cameraVsPhysicalPoints[i, j + 1]);
m_CalibrationPoints[i, j] = new CalibrationPoint(center, left, right, above, below);
}
}
}
private float CalculateUnitsPerPixelY(CameraVsPhysicalPoint above, CameraVsPhysicalPoint below)
{
// above or below but not both can be null
float pointsUsed = 0;
float unitsPerPixelY = 0;
if (above != null)
{
pointsUsed += 1;
unitsPerPixelY += CalculateUnitsPerPixel(above);
}
if (below != null)
{
pointsUsed += 1;
unitsPerPixelY += CalculateUnitsPerPixel(below);
}
return unitsPerPixelY / pointsUsed;
}
private void Print(CameraVsPhysicalPoint[,] cameraVsPhysicalPoints)
{
int xCount = cameraVsPhysicalPoints.GetLength(0);
int yCount = cameraVsPhysicalPoints.GetLength(1);
Debug.WriteLine("---- cameraVsPhysicalPoints ----");
for (int i = 0; i < xCount; i++)
{
for (int j = 0; j < yCount; j++)
{
CameraVsPhysicalPoint point = cameraVsPhysicalPoints[i,j];
string line = String.Format(
"{0},{1} {2:###},{3:###} {4:###},{5:###}",
i, j, point.PhysicalPoint.X, point.PhysicalPoint.Y, point.CameraPoint.X, point.CameraPoint.Y);
Debug.WriteLine(line);
}
}
}