// Methods
/// <summary>
/// Check if the properties are properly set.
/// </summary>
public void PropertyCheck(ArucoCamera arucoCamera)
{
// Check for camera ids
if (CameraId1 >= arucoCamera.CameraNumber)
{
throw new ArgumentOutOfRangeException("CameraId1", "The id of the first camera is higher than the number of the cameras.");
}
if (CameraId2 >= arucoCamera.CameraNumber)
{
throw new ArgumentOutOfRangeException("CameraId2", "The id of the second camera is higher than the number of the cameras.");
}
// Check for equality of image sizes
if (arucoCamera.ImageTextures[CameraId1].width != arucoCamera.ImageTextures[CameraId2].width ||
arucoCamera.ImageTextures[CameraId1].height != arucoCamera.ImageTextures[CameraId2].height)
{
throw new Exception("The two cameras must have the same image size.");
}
// Check for the calibration flags
calibrationFlagsPinholeController = CalibrationFlagsController as CalibrationFlagsPinholeController;
calibrationFlagsOmnidirController = CalibrationFlagsController as CalibrationFlagsOmnidirController;
if (CalibrationFlagsController == null ||
(calibrationFlagsPinholeController == null && calibrationFlagsOmnidirController == null))
{
throw new ArgumentNullException("CalibrationFlagsController", "This property needs to be set to configure the calibrator.");
}
else if (arucoCamera.UndistortionType == UndistortionType.Pinhole && calibrationFlagsPinholeController == null)
{
throw new ArgumentException("CalibrationFlagsController", "The camera is set for the pinhole undistortion, but the calibration flags are"
+ " not. Use CalibrationFlagsPinholeController instead.");
}
else if (new[] { UndistortionType.OmnidirPerspective, UndistortionType.OmnidirCylindrical, UndistortionType.OmnidirLonglati,
UndistortionType.OmnidirStereographic }.Contains(arucoCamera.UndistortionType) && calibrationFlagsOmnidirController == null)
{
throw new ArgumentException("CalibrationFlagsController", "The camera is set for an omnidir undistortion, but the calibration flags are"
+ " not. Use CalibrationFlagsOmnidirController instead.");
}
}
// ArucoDetector Methods
/// <summary>
/// Check if the properties are properly set and and reset the calibration.
/// </summary>
protected override void PreConfigure()
{
// Check for the board
if (CalibrationBoard == null)
{
throw new ArgumentNullException("CalibrationBoard", "This property needs to be set to configure the calibrator.");
}
// Check for the calibration flags
calibrationFlagsPinholeController = CalibrationFlagsController as CalibrationFlagsPinholeController;
calibrationFlagsOmnidirController = CalibrationFlagsController as CalibrationFlagsOmnidirController;
if (CalibrationFlagsController == null ||
(calibrationFlagsPinholeController == null && calibrationFlagsOmnidirController == null))
{
throw new ArgumentNullException("CalibrationFlagsController", "This property needs to be set to configure the calibrator.");
}
else if (ArucoCamera.UndistortionType == UndistortionType.Pinhole && calibrationFlagsPinholeController == null)
{
throw new ArgumentException("CalibrationFlagsController", "The camera is set for the pinhole undistortion, but the calibration flags are"
+ " not. Use CalibrationFlagsPinholeController instead.");
}
else if (new[] { UndistortionType.OmnidirPerspective, UndistortionType.OmnidirCylindrical, UndistortionType.OmnidirLonglati,
UndistortionType.OmnidirStereographic }.Contains(ArucoCamera.UndistortionType) && calibrationFlagsOmnidirController == null)
{
throw new ArgumentException("CalibrationFlagsController", "The camera is set for an omnidir undistortion, but the calibration flags are"
+ " not. Use CalibrationFlagsOmnidirController instead.");
}
// Check for the stereo calibration properties
foreach (var stereoCameraPair in StereoCalibrationCameraPairs)
{
stereoCameraPair.PropertyCheck(ArucoCamera);
}
ResetCalibration();
}
