+++ /dev/null
-/*M///////////////////////////////////////////////////////////////////////////////////////
-//
-// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
-//
-// By downloading, copying, installing or using the software you agree to this license.
-// If you do not agree to this license, do not download, install,
-// copy or use the software.
-//
-//
-// Intel License Agreement
-// For Open Source Computer Vision Library
-//
-// Copyright (C) 2000, Intel Corporation, all rights reserved.
-// Third party copyrights are property of their respective owners.
-//
-// Redistribution and use in source and binary forms, with or without modification,
-// are permitted provided that the following conditions are met:
-//
-// * Redistribution's of source code must retain the above copyright notice,
-// this list of conditions and the following disclaimer.
-//
-// * Redistribution's in binary form must reproduce the above copyright notice,
-// this list of conditions and the following disclaimer in the documentation
-// and/or other materials provided with the distribution.
-//
-// * The name of Intel Corporation may not be used to endorse or promote products
-// derived from this software without specific prior written permission.
-//
-// This software is provided by the copyright holders and contributors "as is" and
-// any express or implied warranties, including, but not limited to, the implied
-// warranties of merchantability and fitness for a particular purpose are disclaimed.
-// In no event shall the Intel Corporation or contributors be liable for any direct,
-// indirect, incidental, special, exemplary, or consequential damages
-// (including, but not limited to, procurement of substitute goods or services;
-// loss of use, data, or profits; or business interruption) however caused
-// and on any theory of liability, whether in contract, strict liability,
-// or tort (including negligence or otherwise) arising in any way out of
-// the use of this software, even if advised of the possibility of such damage.
-//
-//M*/
-
-#pragma warning( disable: 4201 4710 )
-
-#define MIRROR_POINTS
-
-#include <windows.h>
-#include <cvstreams.h>
-#include <initguid.h>
-#include <olectl.h>
-#if (1100 > _MSC_VER)
-#include <olectlid.h>
-#endif
-#include "iCalibFilter.h"
-#include "CalibFilterprop.h"
-#include "CalibFilter.h"
-#include "CalibFilteruids.h"
-#include <assert.h>
-#include "math.h"
-#include <stdio.h>
-#include "Calib3DWindow.h"
-#include "CV.h"
-
-// setup data
-const AMOVIESETUP_MEDIATYPE sudPinTypes =
-{
- &MEDIATYPE_Video, // Major type
- &MEDIASUBTYPE_NULL // Minor type
-};
-
-const AMOVIESETUP_PIN psudPins[] =
-{
- {
- L"Input", // String pin name
- FALSE, // Is it rendered
- FALSE, // Is it an output
- FALSE, // Allowed none
- FALSE, // Allowed many
- &CLSID_NULL, // Connects to filter
- L"Output", // Connects to pin
- 1, // Number of types
- &sudPinTypes }, // The pin details
- { L"Output", // String pin name
- FALSE, // Is it rendered
- TRUE, // Is it an output
- FALSE, // Allowed none
- FALSE, // Allowed many
- &CLSID_NULL, // Connects to filter
- L"Input", // Connects to pin
- 1, // Number of types
- &sudPinTypes // The pin details
- }
-};
-
-
-const AMOVIESETUP_FILTER sudCCalibFilter =
-{
- &CLSID_CCalibFilter, // Filter CLSID
- L"CalibFilter", // Filter name
- MERIT_DO_NOT_USE, // Its merit
- 2, // Number of pins
- psudPins // Pin details
-};
-
-
-// List of class IDs and creator functions for the class factory. This
-// provides the link between the OLE entry point in the DLL and an object
-// being created. The class factory will call the static CreateInstance
-
-CFactoryTemplate g_Templates[2] = {
-
- { L"CalibFilter"
- , &CLSID_CCalibFilter
- , CCalibFilter::CreateInstance
- , NULL
- , &sudCCalibFilter }
- ,
- { L"CalibFilter Property Page"
- , &CLSID_CCalibFilterPropertyPage
- , CCalibFilterProperties::CreateInstance }
-};
-int g_cTemplates = sizeof(g_Templates) / sizeof(g_Templates[0]);
-
-static DWORD WINAPI _3DWindowThreadProc( void* window );
-
-/* Constructor */
-CCalibFilter::CCalibFilter(TCHAR *tszName,LPUNKNOWN punk,HRESULT *phr) :
- CTransInPlaceFilter(tszName, punk, CLSID_CCalibFilter,phr),
- CPersistStream(punk, phr)
-{
- m_initial_params.etalon_type = CalibEtalon_ChessBoard;
-
- m_initial_params.etalon_params[0] = 6;
- m_initial_params.etalon_params[1] = 8;
- m_initial_params.etalon_params[2] = 3;
- m_initial_params.etalon_params_count = 3;
-
- m_initial_params.show_feature_points_flag = 1;
- m_initial_params.frame_interval = 1000;
- m_initial_params.frames_to_collect = 10;
- m_initial_params.frames_collected = 0;
- m_initial_params.frames_passed = 0;
- m_initial_params.calib_state = CalibState_Initial;
- m_initial_params.last_frame_time = -1e6f;
-
- m_initial_params.enable_undistortion = 0;
- m_initial_params.show_3d_window = 1;
-
- m_params = m_initial_params;
-
- m_max_points = 0;
- m_imagePoints = 0;
- m_objectPoints = 0;
- m_transVects = 0;
- m_rotMatrs = 0;
-
- m_gray_img = cvCreateImage( cvSize(1,1), IPL_DEPTH_8U, 1 );
- m_thresh_img = cvCreateImage( cvSize(1,1), IPL_DEPTH_8U, 1 );
- m_rgb_img = cvCreateImage( cvSize(1,1), IPL_DEPTH_8U, 3 );
- m_undist_img = cvCreateImage( cvSize(1,1), IPL_DEPTH_8U, 3 );
-
- memset( &m_undistort_params, 0, sizeof(m_undistort_params));
- m_undistort_data = 0;
-
- m_window3D = 0;
-
- DWORD threadId;
- m_thread = CreateThread( 0, 0, _3DWindowThreadProc, &m_window3D, 0, &threadId );
-}
-
-CvSize CCalibFilter::GetEtalonSize()
-{
- return cvSize( cvRound(m_params.etalon_params[0]) - 1,
- cvRound(m_params.etalon_params[1]) - 1 );
-}
-
-/* a whole life of 3D window in the single routine */
-DWORD WINAPI _3DWindowThreadProc( void* window )
-{
- CCalib3DWindow* window3D = new CCalib3DWindow;
- *((CCalib3DWindow**)window) = window3D;
-
- MSG msg;
-
- // Main message loop:
- while( GetMessage(&msg, NULL, 0, 0))
- {
- TranslateMessage(&msg);
- DispatchMessage(&msg);
- }
-
- *((CCalib3DWindow**)window) = 0;
- delete window3D;
- return 0;
-}
-
-CCalibFilter::~CCalibFilter()
-{
- SendMessage( m_window3D->m_hwnd, WM_CLOSE, 0, 0 );
- WaitForSingleObject( m_thread, 100 );
- CloseHandle( m_thread );
-}
-
-
-/* CreateInstance */
-CUnknown * WINAPI CCalibFilter::CreateInstance(LPUNKNOWN punk, HRESULT *phr)
-{
- CCalibFilter *pNewObject = new CCalibFilter(NAME("CalibFilter"), punk, phr);
- if( !pNewObject ) *phr = E_OUTOFMEMORY;
- return pNewObject;
-}
-
-/* NonDelegatingQueryInterface */
-STDMETHODIMP CCalibFilter::NonDelegatingQueryInterface(REFIID riid, void **ppv)
-{
- CheckPointer(ppv,E_POINTER);
-
- if( riid == IID_ICalibFilter )
- return GetInterface((ICalibFilter *) this, ppv);
- else if( riid == IID_ISpecifyPropertyPages )
- return GetInterface((ISpecifyPropertyPages *) this, ppv);
- else if( riid == IID_IPersistStream )
- return GetInterface((IPersistStream *) this, ppv);
- else
- return CTransInPlaceFilter::NonDelegatingQueryInterface(riid, ppv);
-}
-
-
-/* CheckReallocBuffers */
-void CCalibFilter::CheckReallocBuffers( IplImage* rgb_img )
-{
- CvSize etalon_size = GetEtalonSize();
- int etalon_points = etalon_size.width*etalon_size.height;
-
- if( m_gray_img->imageData == 0 ||
- m_gray_img->width != rgb_img->width ||
- m_gray_img->height != rgb_img->height )
- {
- cvReleaseImageData( m_gray_img );
- cvInitImageHeader( m_gray_img, cvSize(rgb_img->width, rgb_img->height),
- IPL_DEPTH_8U, 1, IPL_ORIGIN_TL, 4 );
- cvCreateImageData( m_gray_img );
-
- cvReleaseImageData( m_thresh_img );
- cvInitImageHeader( m_thresh_img, cvSize(rgb_img->width, rgb_img->height),
- IPL_DEPTH_8U, 1, IPL_ORIGIN_TL, 4 );
- cvCreateImageData( m_thresh_img );
-
- cvReleaseImageData( m_undist_img );
- cvInitImageHeader( m_undist_img, cvSize(rgb_img->width, rgb_img->height),
- IPL_DEPTH_8U, 3, IPL_ORIGIN_TL, 4 );
-
- cvCreateImageData( m_undist_img );
- }
-
- if( etalon_points * m_params.frames_to_collect > m_max_points )
- {
- int new_max_points = etalon_points * (m_params.frames_to_collect + 1) + 128;
- CvPoint2D32f* imagePoints = (CvPoint2D32f*)malloc( new_max_points *
- sizeof(CvPoint2D32f));
-
- memcpy( imagePoints, m_imagePoints, m_max_points * sizeof(CvPoint2D32f));
-
- free( m_imagePoints );
- free( m_objectPoints );
- free( m_transVects );
- free( m_rotMatrs );
-
- m_imagePoints = imagePoints;
- m_objectPoints = (CvPoint3D32f*)malloc( new_max_points * sizeof(CvPoint3D32f) );
- m_transVects = (CvPoint3D32f*)malloc( new_max_points * sizeof(CvPoint2D32f) );
- m_rotMatrs = (float*)malloc( new_max_points * 9 * sizeof(float));
- m_numsPoints = (int*)calloc( m_params.frames_to_collect,sizeof(int));
-
- m_max_points = new_max_points;
- }
-}
-
-
-void CCalibFilter::DrawEtalon( IplImage* rgb_img, CvPoint2D32f* corners,
- int corner_count, CvSize etalon_size,
- int draw_ordered )
-{
- const int r = 4;
- int i;
-
- if( corner_count == etalon_size.width * etalon_size.height && draw_ordered )
- {
- int x, y;
- CvPoint prev_pt = { 0, 0};
- const int line_max = 7;
- CvScalar line_colors[line_max];
-
- line_colors[0] = CV_RGB(255,0,0);
- line_colors[1] = CV_RGB(255,128,0);
- line_colors[2] = CV_RGB(200,200,0);
- line_colors[3] = CV_RGB(0,255,0);
- line_colors[4] = CV_RGB(0,200,200);
- line_colors[5] = CV_RGB(0,0,255);
- line_colors[6] = CV_RGB(255,0,255);
-
- for( y = 0, i = 0; y < etalon_size.height; y++ )
- {
- CvScalar color = line_colors[y % line_max];
- for( x = 0; x < etalon_size.width; x++, i++ )
- {
- CvPoint pt;
- pt.x = cvRound(corners[i].x);
- pt.y = cvRound(corners[i].y);
-
- if( i != 0 )
- cvLine( rgb_img, prev_pt, pt, color, 1, CV_AA, 0 );
-
- cvLine( rgb_img, cvPoint( pt.x - r, pt.y - r ),
- cvPoint( pt.x + r, pt.y + r ), color, 1, CV_AA, 0 );
- cvLine( rgb_img, cvPoint( pt.x - r, pt.y + r),
- cvPoint( pt.x + r, pt.y - r), color, 1, CV_AA, 0 );
- cvCircle( rgb_img, pt, r+1, color, 1, CV_AA, 0 );
- prev_pt = pt;
- }
- }
- }
- else
- {
- CvScalar color = CV_RGB(255,0,0);
- for( i = 0; i < corner_count; i++ )
- {
- CvPoint pt;
- pt.x = cvRound(corners[i].x);
- pt.y = cvRound(corners[i].y);
- cvLine( rgb_img, cvPoint( pt.x - r, pt.y - r ),
- cvPoint( pt.x + r, pt.y + r ), color, 1, CV_AA, 0 );
- cvLine( rgb_img, cvPoint( pt.x - r, pt.y + r),
- cvPoint( pt.x + r, pt.y - r), color, 1, CV_AA, 0 );
- cvCircle( rgb_img, pt, r+1, color, 1, CV_AA, 0 );
- }
- }
-}
-
-
-void CCalibFilter::FillEtalonObjPoints( CvPoint3D32f* obj_points,
- CvSize etalon_size,
- float square_size )
-{
- int x, y, i;
-
- for( y = 0, i = 0; y < etalon_size.height; y++ )
- {
- for( x = 0; x < etalon_size.width; x++, i++ )
- {
- obj_points[i].x = square_size * x;
- obj_points[i].y = square_size * y;
- obj_points[i].z = 0;
- }
- }
-}
-
-
-#ifdef MIRROR_POINTS
-void MirrorPoints( CvPoint2D32f* points, int frames, CvSize etalon_size, CvSize imgSize )
-{
- int i, j, k;
- for( i = 0; i < frames; i++ )
- {
- int start = i*etalon_size.width*etalon_size.height;
-
- for( j = 0; j < etalon_size.height; j++ )
- {
- for( k = 0; k < etalon_size.width/2; k++ )
- {
- CvPoint2D32f temp;
- CV_SWAP( points[start + j*etalon_size.width + k],
- points[start + (j+1)*etalon_size.width - k - 1], temp );
- }
-
- for( k = 0; k < etalon_size.width; k++ )
- {
- points[start + j*etalon_size.width + k].y = imgSize.height -
- points[start + j*etalon_size.width + k].y;
- }
- }
- }
-}
-#else
-void MirrorPoints( CvPoint2D32f*, int, CvSize )
-{
-}
-#endif
-
-/* ProcessFrame */
-void CCalibFilter::ProcessFrame( IplImage* rgb_img, double frame_time )
-{
- bool find_corners = m_initial_params.show_3d_window ||
- m_params.calib_state == CalibState_CalibrationProcess;
- bool chess_found = false;
- CvSize etalon_size = GetEtalonSize();
- int etalon_points = etalon_size.width * etalon_size.height;
- CvSize size;
- cvGetImageRawData(rgb_img, 0, 0, &size);
- CheckReallocBuffers( rgb_img );
-
- CvPoint2D32f* pt_ptr = m_imagePoints + m_params.frames_collected * etalon_points;
-
- if( find_corners )
- {
- /* Begin of find etalon points */
- int count = etalon_points;// + 10;
-
- cvCvtColor( rgb_img, m_gray_img, CV_BGR2GRAY );
-
- /*********************************************************/
- ////////////// FIND CHECKERBOARD CORNERS //////////////
- ///////////////////////////////////////////////////////////
-
- chess_found = cvFindChessBoardCornerGuesses( m_gray_img, m_thresh_img, 0,
- etalon_size, pt_ptr, &count ) != 0;
- if( count != 0 )
- {
- cvFindCornerSubPix(
- m_gray_img, pt_ptr, count, cvSize(5,5), cvSize(-1,-1),
- cvTermCriteria( CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 10, 0.01f ));
- }
-
- DrawEtalon( rgb_img, pt_ptr, count, etalon_size, chess_found );
- }
-
- if( m_params.calib_state == CalibState_Calibrated )
- {
- /* Calibration finished */
- if( m_initial_params.show_3d_window && chess_found )
- {/* We must show 3D etalon and compute extrinsic parameters */
- float rotVect[3];
- //float Jacobian[27];
-
- /* Collect object points */
- FillEtalonObjPoints( m_objectPoints, etalon_size,
- m_params.etalon_params[2] );
-
- MirrorPoints( pt_ptr, 1, etalon_size, size );
-
- cvFindExtrinsicCameraParams( etalon_points,
- size,
- pt_ptr,
- m_objectPoints,
- m_camera.focalLength,
- (CvPoint2D32f&)m_camera.principalPoint,
- m_camera.distortion,
- rotVect,
- m_camera.transVect );
-
- {
- CvMat rmat = cvMat( 3, 3, CV_32FC1, m_camera.rotMatr );
- CvMat rvec = cvMat( 3, 1, CV_32FC1, rotVect );
- //CvMat jacob = cvMat( 3, 9, CV_32FC1, Jacobian );
-
- /* Calc rotation matrix by via Rodrigues Transform */
- cvRodrigues( &rmat, &rvec, 0, CV_RODRIGUES_V2M );
- }
- Update3DWindow();
- }
-
- if( m_initial_params.enable_undistortion )
- {
- /* Apply undistortion */
- if( memcmp( m_camera.matrix, m_undistort_params.matrix, sizeof(m_camera.matrix)) != 0 ||
- memcmp( m_camera.distortion, m_undistort_params.distortion, sizeof(m_camera.distortion)) != 0 )
- {
- memcpy( &m_undistort_params, &m_camera, sizeof(m_camera));
-
- if( !m_undistort_data || m_undistort_data->width != rgb_img->width ||
- m_undistort_data->height != rgb_img->height )
- {
- cvReleaseImage( &m_undistort_data );
- }
- m_undistort_data = cvCreateImage( cvSize( rgb_img->width, rgb_img->height ),
- IPL_DEPTH_32S, 3 );
- }
-
- {
- CvMat a = cvMat( 3, 3, CV_32F, m_undistort_params.matrix );
- CvMat dist = cvMat( 1, 4, CV_32F, m_undistort_params.distortion );
- cvUndistort2( rgb_img, m_undist_img, &a, &dist );
- }
- cvCopyImage(m_undist_img, rgb_img);
- }
- } /* Check if Calibration not finished and the etalon is recognized */
-
- if( m_params.calib_state == CalibState_CalibrationProcess && chess_found &&
- frame_time >= m_params.last_frame_time + m_params.frame_interval )
- {
- m_params.last_frame_time = frame_time;
- m_params.frames_collected++;
-
- cvXorS( rgb_img, cvScalarAll( 255 ), rgb_img );
-
- if( m_params.frames_collected == m_params.frames_to_collect )
- {
- /* all frames are collected. Now will calibrate */
- CalculateCameraParams( size );
- m_params.calib_state = CalibState_Calibrated;
-
- SetDirty(TRUE);
-
- }/* End calibration */
- } /* Else point accumulation */
-}
-
-
-
-void CCalibFilter::CalculateCameraParams( CvSize size )
-{
- int frame;
- CvSize etalon_size = GetEtalonSize();
- int etalon_points = etalon_size.width * etalon_size.height;
-
- FillEtalonObjPoints( m_objectPoints, etalon_size,
- m_params.etalon_params[2] );
-
- for( frame = 1; frame < m_params.frames_collected; frame++ )
- {
- memcpy( m_objectPoints + etalon_points*frame, m_objectPoints,
- etalon_points * sizeof(m_objectPoints[0]));
- }
-
- /* Set etalon points counters */
- for( frame = 0; frame < m_params.frames_collected; frame++ )
- {
- m_numsPoints[frame] = etalon_points;
- }
-
- MirrorPoints( m_imagePoints, m_params.frames_collected, etalon_size, size );
-
- /* Calirate camera */
- cvCalibrateCamera( m_params.frames_collected, m_numsPoints,
- size, m_imagePoints, m_objectPoints,
- m_camera.distortion, m_camera.matrix,
- (float*)m_transVects, m_rotMatrs, 0 );
-
- /* Copy some camera parameters */
- m_camera.focalLength[0] = m_camera.matrix[0];
- m_camera.focalLength[1] = m_camera.matrix[4];
-
- m_camera.principalPoint[0] = m_camera.matrix[2];
- m_camera.principalPoint[1] = m_camera.matrix[5];
-}
-
-
-double CCalibFilter::GetFrameTime( IMediaSample* pSample )
-{
- double result = GetTickCount();
- return result;
-}
-
-
-/* Transform */
-HRESULT CCalibFilter::Transform(IMediaSample *pSample)
-{
- CalibState state = m_params.calib_state;
-
- switch( state )
- {
- case CalibState_Initial:
- {
-
- CAutoLock cAutoLock(&m_CCalibFilterLock);
- m_params = m_initial_params;
- m_params.calib_state = CalibState_NotCalibrated;
- }
- case CalibState_NotCalibrated:
- case CalibState_Calibrated:
- case CalibState_CalibrationProcess:
- {
- AM_MEDIA_TYPE* pType = &m_pInput->CurrentMediaType();
- VIDEOINFOHEADER *pvi = (VIDEOINFOHEADER *) pType->pbFormat;
-
- uchar* rgb_data;
- CvSize size = cvSize( pvi->bmiHeader.biWidth, abs(pvi->bmiHeader.biHeight) );
- int step = (size.width*3 + 3) & -4;
- pSample->GetPointer(&rgb_data);
- assert( pvi->bmiHeader.biBitCount == 24 );
-
- cvInitImageHeader( m_rgb_img, size, IPL_DEPTH_8U, 3, IPL_ORIGIN_TL, 4 );
- cvSetImageData( m_rgb_img, rgb_data, step );
-
- ProcessFrame( m_rgb_img, GetFrameTime( pSample ));
- ++m_params.frames_passed;
- }
- break;
- default:
- assert(0);
- }
-
- return NOERROR;
-}
-
-
-/* CheckInputType */
-HRESULT CCalibFilter::CheckInputType(const CMediaType *mtIn)
-{
- // Check this is a VIDEOINFO type
- if( *mtIn->FormatType() != FORMAT_VideoInfo )
- {
- return E_INVALIDARG;
- }
-
- if( !IsEqualGUID(*mtIn->Subtype(), MEDIASUBTYPE_RGB24 ))
- {
- return E_FAIL;
- }
- return NOERROR;
-
-}
-
-
-/* CheckTransform */
-HRESULT CCalibFilter::CheckTransform(const CMediaType *mtIn,const CMediaType *mtOut)
-{
- HRESULT hr;
- if (FAILED(hr = CheckInputType(mtIn))) return hr;
-
- // format must be a VIDEOINFOHEADER
- if (*mtOut->FormatType() != FORMAT_VideoInfo) return E_INVALIDARG;
-
- // formats must be big enough
- if (mtIn->FormatLength() < sizeof(VIDEOINFOHEADER) ||
- mtOut->FormatLength() < sizeof(VIDEOINFOHEADER))
- return E_INVALIDARG;
-
- VIDEOINFO *pInput = (VIDEOINFO *) mtIn->Format();
- VIDEOINFO *pOutput = (VIDEOINFO *) mtOut->Format();
-
- if( pInput->bmiHeader.biBitCount != 24 )
- {
- return E_FAIL;
- }
-
- if (memcmp(&pInput->bmiHeader,&pOutput->bmiHeader,sizeof(BITMAPINFOHEADER)) == 0)
- return NOERROR;
-
- return E_INVALIDARG;
-}
-
-
-/* DecideBufferSize */
-HRESULT CCalibFilter::DecideBufferSize(IMemAllocator *pAlloc,ALLOCATOR_PROPERTIES *pProperties)
-{
- if( !m_pInput->IsConnected()) return E_UNEXPECTED;
-
- ASSERT(pAlloc);
- ASSERT(pProperties);
- return NOERROR;
-}
-
-
-/* GetMediaType */
-HRESULT CCalibFilter::GetMediaType(int iPosition, CMediaType *pMediaType)
-{
- if( !m_pInput->IsConnected()) return E_UNEXPECTED;
- if( iPosition < 0 ) return E_INVALIDARG;
-
- /* Do we have more items to offer */
- if( iPosition > 0 ) return VFW_S_NO_MORE_ITEMS;
-
- *pMediaType = m_pInput->CurrentMediaType();
- return NOERROR;
-
-}
-
-/****************************************************************************************\
-* Interface methods *
-\****************************************************************************************/
-
-STDMETHODIMP CCalibFilter::get_EtalonParams(
- CalibEtalonType* etalon_type,
- float* etalon_params,
- long* etalon_params_count)
-{
- int params_to_copy = m_initial_params.etalon_params_count;
- *etalon_type = m_initial_params.etalon_type;
-
- if( etalon_params )
- {
- if( params_to_copy > *etalon_params_count )
- params_to_copy = *etalon_params_count;
-
- memcpy( etalon_params, m_initial_params.etalon_params,
- params_to_copy*sizeof(float) );
- *etalon_params_count = params_to_copy;
- }
-
- return NOERROR;
-}
-
-
-STDMETHODIMP CCalibFilter::set_EtalonParams(
- CalibEtalonType etalon_type,
- float* etalon_params,
- long etalon_params_count)
-{
- CAutoLock cAutoLock(&m_CCalibFilterLock);
-
- if( etalon_type != CalibEtalon_ChessBoard ||
- etalon_params_count != 3 ) return E_INVALIDARG;
-
- m_initial_params.etalon_type = etalon_type;
- m_initial_params.etalon_params_count = etalon_params_count;
- memcpy( m_initial_params.etalon_params, etalon_params,
- etalon_params_count*sizeof(float) );
-
- SetDirty(TRUE);
-
- return NOERROR;
-}
-
-STDMETHODIMP CCalibFilter::get_FrameInterval( long* count )
-{
- *count = m_params.frame_interval;
- return NOERROR;
-}
-
-STDMETHODIMP CCalibFilter::set_FrameInterval( long count )
-{
- CAutoLock cAutoLock(&m_CCalibFilterLock);
- if( count < 1 ) count = 1;
- m_initial_params.frame_interval = m_params.frame_interval = count;
-
- SetDirty(TRUE);
-
- return NOERROR;
-}
-
-
-STDMETHODIMP CCalibFilter::get_FramesToCollect(
- long* frames)
-{
- *frames = m_params.frames_to_collect;
- return NOERROR;
-}
-
-/************************************/
-
-STDMETHODIMP CCalibFilter::get_EnableUndistortion(
- long* enable)
-{
- *enable = m_params.enable_undistortion;
- return NOERROR;
-}
-
-STDMETHODIMP CCalibFilter::set_EnableUndistortion(
- long enable)
-{
- CAutoLock cAutoLock(&m_CCalibFilterLock);
-
- m_initial_params.enable_undistortion = m_params.enable_undistortion = enable;
-
- SetDirty(TRUE);
-
- return NOERROR;
-}
-
-
-STDMETHODIMP CCalibFilter::get_Show3DWindow(
- long* enable)
-{
- *enable = m_params.show_3d_window;
- return NOERROR;
-}
-
-STDMETHODIMP CCalibFilter::set_Show3DWindow(
- long enable)
-{
- CAutoLock cAutoLock(&m_CCalibFilterLock);
-
- m_initial_params.show_3d_window = m_params.show_3d_window = enable;
-
- m_window3D->Show( enable != 0 );
-
- SetDirty(TRUE);
-
- return NOERROR;
-}
-
-STDMETHODIMP CCalibFilter::SaveCameraParams()
-{
- if( m_params.calib_state == CalibState_Calibrated)
- {
- OPENFILENAME lpofn;
- char fileName[MAX_PATH] = "";
-
- lpofn.lStructSize = sizeof(OPENFILENAME);
- lpofn.hwndOwner = 0;
- lpofn.hInstance = 0;
- lpofn.lpstrFilter = "Camera parameters (*.txt)\0*.txt\0";
- lpofn.lpstrCustomFilter = 0;
- lpofn.nMaxCustFilter = 0;
- lpofn.nFilterIndex = 1;
- lpofn.lpstrFile = fileName;
- lpofn.nMaxFile = MAX_PATH;
- lpofn.lpstrFileTitle = 0;
- lpofn.nMaxFileTitle = 0;
- lpofn.lpstrInitialDir = 0;
- lpofn.lpstrTitle = 0;
- lpofn.Flags = OFN_OVERWRITEPROMPT;
- lpofn.nFileOffset = 0;
- lpofn.nFileExtension = 0;
- lpofn.lpstrDefExt = "txt";
- lpofn.lCustData = 0;
- lpofn.lpfnHook = 0;
- lpofn.lpTemplateName = 0;
-
- GetSaveFileName(&lpofn);
- if( strlen(fileName) != 0)
- {
- FILE *file = fopen(fileName,"wt");
- if( file != 0)
- {
- int i, j;
- fprintf(file,"Camera Matrix:\n");
- for( i = 0; i < 3; i++ )
- {
- for( j = 0; j < 3; j++ )
- {
- fprintf( file,"M[%d.%d]=%20.7f", i, j, m_camera.matrix[i*3+j]);
- }
- fprintf(file,"\n");
- }
-
- fprintf(file,"\n\nDistortion:\n");
- for( i = 0; i < 4; i++ )
- fprintf(file,"D[%d]=%f\n", i, m_camera.distortion[i]);
-
- fclose(file);
- }
- else
- {
- MessageBox(0,"Can't open file","Save camera parameters",MB_OK|MB_ICONERROR);
- }
- }
- }
- else
- {
- MessageBox(0,"Camera was not calibrated","Save camera parameters",MB_OK);
- }
-
- return NOERROR;
-}
-
-STDMETHODIMP CCalibFilter::LoadCameraParams()
-{
- OPENFILENAME lpofn;
-#define BUF_SIZE 10000
- char buffer[BUF_SIZE + 100];
- char fileName[MAX_PATH] = "";
-
- lpofn.lStructSize = sizeof(OPENFILENAME);
- lpofn.hwndOwner = 0;
- lpofn.hInstance = 0;
- lpofn.lpstrFilter = "Camera parameters (*.txt)\0*.txt\0";
- lpofn.lpstrCustomFilter = 0;
- lpofn.nMaxCustFilter = 0;
- lpofn.nFilterIndex = 1;
- lpofn.lpstrFile = fileName;
- lpofn.nMaxFile = MAX_PATH;
- lpofn.lpstrFileTitle = 0;
- lpofn.nMaxFileTitle = 0;
- lpofn.lpstrInitialDir = 0;
- lpofn.lpstrTitle = 0;
- lpofn.Flags = OFN_FILEMUSTEXIST;
- lpofn.nFileOffset = 0;
- lpofn.nFileExtension = 0;
- lpofn.lpstrDefExt = "txt";
- lpofn.lCustData = 0;
- lpofn.lpfnHook = 0;
- lpofn.lpTemplateName = 0;
-
- GetOpenFileName(&lpofn);
-
- if( strlen(fileName) != 0)
- {
- FILE *file = fopen(fileName,"rb");
-
- if( file != 0)
- {
- int i, j, k;
- float cameraMatrix[9];
- float distortion[4];
-
- int sz = fread( buffer, 1, BUF_SIZE, file );
- char* ptr = buffer;
- buffer[sz] = '\0';
-
- /* read matrix */
- for( k = 0; k < 9; k++ )
- {
- ptr = strstr( ptr, "M[" );
- if( ptr )
- {
- int s = 0;
- ptr += 2;
- if( sscanf( ptr, "%d%*[.,]%d%n", &i, &j, &s ) == 2 && i == k/3 && j == k%3 )
- {
- ptr += s;
- ptr = strstr( ptr, "=" );
- if( ptr )
- {
- s = 0;
- ptr++;
- if( sscanf( ptr, "%f%n", cameraMatrix + k, &s ) == 1 )
- {
- ptr += s;
- continue;
- }
- }
- }
- }
-
- /* else report a bug */
- MessageBox(0,"Invalid file format","Load camera parameters",MB_OK|MB_ICONERROR);
- return E_FAIL;
- }
-
- /* read distortion */
- for( k = 0; k < 4; k++ )
- {
- ptr = strstr( ptr, "D[" );
- if( ptr )
- {
- int s = 0;
- ptr += 2;
- if( sscanf( ptr, "%d%n", &i, &s ) == 1 && i == k )
- {
- ptr += s;
- ptr = strstr( ptr, "=" );
- if( ptr )
- {
- s = 0;
- ptr++;
- if( sscanf( ptr, "%f%n", distortion + k, &s ) == 1 )
- {
- ptr += s;
- continue;
- }
- }
- }
- }
-
- /* else report a bug */
- MessageBox(0,"Invalid file format","Load camera parameters",MB_OK|MB_ICONERROR);
- return E_FAIL;
- }
-
- memcpy( m_camera.matrix, cameraMatrix, sizeof( cameraMatrix ));
- memcpy( m_camera.distortion, distortion, sizeof( distortion ));
-
- m_camera.focalLength[0] = m_camera.matrix[0];
- m_camera.focalLength[1] = m_camera.matrix[4];
-
- m_camera.principalPoint[0] = m_camera.matrix[2];
- m_camera.principalPoint[1] = m_camera.matrix[5];
-
- m_params.calib_state = CalibState_Calibrated;
-
- fclose(file);
- }
- else
- {
- MessageBox(0,"Can't open file","Load camera parameters",MB_OK|MB_ICONERROR);
- }
- }
-
- SetDirty(TRUE);
-
- return NOERROR;
-}
-
-//////////////////////////////////////
-//////////////////////////////////////
-//////////////////////////////////////
-
-STDMETHODIMP CCalibFilter::set_FramesToCollect(
- long frames)
-{
- CAutoLock cAutoLock(&m_CCalibFilterLock);
-
- m_initial_params.frames_to_collect = m_params.frames_to_collect = frames;
- SetDirty(TRUE);
- return NOERROR;
-}
-
-
-STDMETHODIMP CCalibFilter::StartCalibrate()
-{
- CAutoLock cAutoLock(&m_CCalibFilterLock);
-
- m_params = m_initial_params;
- m_params.calib_state = CalibState_CalibrationProcess;
- m_params.frames_collected = 0;
-
- return NOERROR;
-}
-
-STDMETHODIMP CCalibFilter::GetCameraParams( CvCameraParams* camera )
-{
- if( m_params.calib_state != CalibState_Calibrated ) return E_PENDING;
-
- *camera = m_camera;
- return NOERROR;
-}
-
-
-STDMETHODIMP CCalibFilter::GetState(
- CalibState* calib_state,
- long* frames_collected,
- long* frames_passed,
- double* last_frame_time)
-{
- *calib_state = m_params.calib_state;
- *frames_collected = m_params.frames_collected;
- *frames_passed = m_params.frames_passed;
- *last_frame_time = m_params.last_frame_time;
-
- return NOERROR;
-}
-
-
-STDMETHODIMP CCalibFilter::GetPages(CAUUID *pPages)
-{
- pPages->cElems = 1;
- pPages->pElems = (GUID *) CoTaskMemAlloc(sizeof(GUID));
- if( !pPages->pElems ) return E_OUTOFMEMORY;
- *(pPages->pElems) = CLSID_CCalibFilterPropertyPage;
- return NOERROR;
-}
-
-STDMETHODIMP CCalibFilter::Update3DWindow()
-{
- CvSize etalon_size = cvSize( (int)m_params.etalon_params[0],
- (int)m_params.etalon_params[1] );
- float square_size = m_params.etalon_params[2];
-
- m_window3D->SetParams( &m_camera, etalon_size, square_size );
- return NOERROR;
-}
-
-
-// IPersistStream implementation
-STDMETHODIMP CCalibFilter::GetClassID( CLSID *pClsID )
-{
- return CBaseFilter::GetClassID( pClsID );
-}
-
-
-DWORD CCalibFilter::GetSoftwareVersion()
-{
- return 0x11;
-}
-
-int CCalibFilter::SizeMax()
-{
- return 1024;
-}
-
-
-#define WRITEOUT(var) hr = pStream->Write(&var, sizeof(var), NULL); \
- if (FAILED(hr)) return hr;
-
-#define READIN(var) hr = pStream->Read(&var, sizeof(var), NULL); \
- if (FAILED(hr)) return hr;
-
-HRESULT CCalibFilter::ReadFromStream( IStream* pStream )
-{
- HRESULT hr;
- READIN( m_initial_params );
-
- m_params = m_initial_params;
-
- m_params.calib_state = m_params.calib_state == CalibState_Calibrated ?
- CalibState_Calibrated : CalibState_NotCalibrated;
-
- if( m_params.calib_state == CalibState_Calibrated )
- {
- READIN( m_camera );
- }
- return NOERROR;
-}
-
-HRESULT CCalibFilter::WriteToStream( IStream* pStream )
-{
- HRESULT hr;
- m_initial_params.calib_state = m_params.calib_state;
- WRITEOUT( m_initial_params );
-
- if( m_params.calib_state == CalibState_Calibrated )
- {
- WRITEOUT( m_camera );
- }
-
- /*SetDirty(FALSE);*/
-
- return NOERROR;
-}
-
-
-STDAPI DllRegisterServer()
-{
- return AMovieDllRegisterServer2( TRUE );
-}
-
-STDAPI DllUnregisterServer()
-{
- return AMovieDllRegisterServer2( FALSE );
-}
-
-/* End of file. */
-
projects / opencv / blobdiff