?? calibrtwocamadlg.cpp
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// CalibrtwocamaDlg.cpp : implementation file
//
#include "stdafx.h"
#include "Calibrtwocama.h"
#include "CalibrtwocamaDlg.h"
#include "math.h"
#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif
#define CHANNEL1 "VID1"
#define CHANNEL2 "VID2"
#define EURESYS_SURFACE_COUNT 2
FILE *cps; //file to write corner points
//for visual number effect to see the corners that were found
char* numbers[] =
{ "1", "2", "3", "4", "5", "6", "7", "8", "9", "10",
"11", "12", "13", "14", "15", "16", "17", "18", "19", "20",
"21", "22", "23", "24", "25", "26", "27", "28", "29", "30",
"31", "32", "33", "34", "35", "36", "37", "38", "39", "40",
"41", "42", "43", "44", "45", "46", "47", "48", "49", "50",
"51", "52", "53", "54", "55", "56", "57", "58", "59", "60",
"61", "62", "63", "64", "65", "66", "67", "68", "69", "70",
"71", "72", "73", "74", "75", "76", "77", "78", "79", "80",
"81", "82", "83", "84", "85", "86", "87", "88", "89", "90"
};
/////////////////////////////////////////////////////////////////////////////
// CCalibrtwocamaDlg dialog
CCalibrtwocamaDlg::CCalibrtwocamaDlg(CWnd* pParent /*=NULL*/)
: CDialog(CCalibrtwocamaDlg::IDD, pParent)
{
//{{AFX_DATA_INIT(CCalibrtwocamaDlg)
m_nImageNumber = 0;
m_nXHeight = 0;
m_bDisplayCorners = FALSE;
m_bDisplayRT = FALSE;
m_nLeftCamNo = 0;
m_nRightCamNO = 0;
m_nXWidth = 0;
m_dGridHeight = 0.0;
m_dGridWidth = 0.0;
//}}AFX_DATA_INIT
// Note that LoadIcon does not require a subsequent DestroyIcon in Win32
m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
//initialize the multi-cameras parametres
m_Channel1 = 0 ;
m_Channel2 = 0 ;
m_pCurrent1 = NULL ;
m_pCurrent1 = NULL ;
m_SizeX = 0;
m_SizeY = 0;
m_BufferPitch = m_SizeX;
m_bScreenRefreshCompleted1 = TRUE;
m_bScreenRefreshCompleted2 = TRUE;
m_pBitmapInfo = (BITMAPINFO *) new BYTE[sizeof(BITMAPINFO)];
m_pBitmapInfo->bmiHeader.biSize = sizeof(BITMAPINFOHEADER);
m_pBitmapInfo->bmiHeader.biPlanes = 1;
m_pBitmapInfo->bmiHeader.biBitCount = 24;
m_pBitmapInfo->bmiHeader.biCompression = BI_RGB;
m_pBitmapInfo->bmiHeader.biSizeImage = 0;
m_pBitmapInfo->bmiHeader.biXPelsPerMeter = 0;
m_pBitmapInfo->bmiHeader.biYPelsPerMeter = 0;
m_pBitmapInfo->bmiHeader.biClrUsed = 0;
m_pBitmapInfo->bmiHeader.biClrImportant = 0;
m_pBitmapInfo->bmiHeader.biWidth = 0;
m_pBitmapInfo->bmiHeader.biHeight = 0;
m_ChannelState = MC_ChannelState_ORPHAN;
lfg=0;rfg=0;
//initialize the calibration parametres
m_nImageNumber = 0;
p2p_InputImages = 0;
m_cstrImageNames = NULL;
m_distortion = NULL;
m_cameraMatrix = NULL;
m_rotMatrs = NULL;
m_transVects = NULL;
uveff = NULL;
XYZeff = NULL;
}
void CCalibrtwocamaDlg::DoDataExchange(CDataExchange* pDX)
{
CDialog::DoDataExchange(pDX);
//{{AFX_DATA_MAP(CCalibrtwocamaDlg)
DDX_Text(pDX, IDC_NoImages, m_nImageNumber);
DDV_MinMaxInt(pDX, m_nImageNumber, 0, 100);
DDX_Text(pDX, IDC_CROSS_HEIGHT, m_nXHeight);
DDV_MinMaxInt(pDX, m_nXHeight, 0, 100);
DDX_Check(pDX, IDC_DISPLAY_CORNERS, m_bDisplayCorners);
DDX_Check(pDX, IDC_DISPLAY_RT, m_bDisplayRT);
DDX_Text(pDX, IDC_LCAMNO, m_nLeftCamNo);
DDV_MinMaxInt(pDX, m_nLeftCamNo, 0, 100);
DDX_Text(pDX, IDC_RCAMNO, m_nRightCamNO);
DDV_MinMaxInt(pDX, m_nRightCamNO, 0, 100);
DDX_Text(pDX, IDC_CROSS_WIDTH, m_nXWidth);
DDV_MinMaxInt(pDX, m_nXWidth, 0, 100);
DDX_Text(pDX, IDC_GRID_HEIGHT, m_dGridHeight);
DDX_Text(pDX, IDC_GRID_WIDTH, m_dGridWidth);
//}}AFX_DATA_MAP
}
BEGIN_MESSAGE_MAP(CCalibrtwocamaDlg, CDialog)
//{{AFX_MSG_MAP(CCalibrtwocamaDlg)
ON_WM_PAINT()
ON_WM_QUERYDRAGICON()
ON_BN_CLICKED(IDC_STOP, OnStop)
ON_BN_CLICKED(IDC_ACTIVE, OnActive)
ON_BN_CLICKED(IDC_LEFTCA, OnLeftca)
ON_BN_CLICKED(IDC_RIGHTCA, OnRightca)
ON_BN_CLICKED(IDC_SAVE, OnSave)
ON_BN_CLICKED(IDC_LOAD_SELECTED, OnLoadSelected)
ON_BN_CLICKED(IDC_LOAD, OnLoad)
ON_BN_CLICKED(IDC_CALIBRATE, OnCalibrate)
//}}AFX_MSG_MAP
END_MESSAGE_MAP()
/////////////////////////////////////////////////////////////////////////////
// CCalibrtwocamaDlg message handlers
BOOL CCalibrtwocamaDlg::OnInitDialog()
{
this->SetWindowText("Two Cameras Calibration ");
CDialog::OnInitDialog();
// Set the icon for this dialog. The framework does this automatically
// when the application's main window is not a dialog
SetIcon(m_hIcon, TRUE); // Set big icon
SetIcon(m_hIcon, FALSE); // Set small icon
// TODO: Add extra initialization here
int cx=::GetSystemMetrics(SM_CXSCREEN);
int cy=::GetSystemMetrics(SM_CYSCREEN);
SetWindowPos(&this->wndTopMost,0,0,0,0,SWP_NOMOVE|SWP_NOSIZE);
::SetWindowPos(m_hWnd,HWND_TOPMOST,-(GetSystemMetrics(SM_CXBORDER)+1),-(GetSystemMetrics(SM_CYBORDER)+1),
cx+1,cy+1,SWP_NOZORDER);
//Set the control object position
GetDlgItem(IDC_VID1)->MoveWindow(0,0,cx/2,cy/2);
GetDlgItem(IDC_VID2)->MoveWindow(cx/2,0,cx/2,cy/2);
GetDlgItem(IDC_SHOWCM1)->MoveWindow(80,cy/2+20,320,20);
GetDlgItem(IDC_SHOWCM2)->MoveWindow(cx/2+80,cy/2+20,320,20);
GetDlgItem(IDC_ACTIVE)->MoveWindow(20+30,cy/2+40,100,20);
GetDlgItem(IDC_STOP)->MoveWindow(200+30,cy/2+40,100,20);
GetDlgItem(IDC_LEFTCA)->MoveWindow(380+30,cy/2+40,100,20);
GetDlgItem(IDC_LCAMNO)->MoveWindow(480+10,cy/2+40,15,20);
GetDlgItem(IDC_RIGHTCA)->MoveWindow(560+30,cy/2+40,100,20);
GetDlgItem(IDC_RCAMNO)->MoveWindow(700,cy/2+40,15,20);
GetDlgItem(IDC_SAVE)->MoveWindow(560+30+180,cy/2+40,100,20);
GetDlgItem(IDC_CABSTATIC)->MoveWindow(30,cy/2+65,cx-80,cy/2-65);
GetDlgItem(IDC_NOIMAGE)->MoveWindow(40,cy/2+70,20,20);
GetDlgItem(IDC_NoImages)->MoveWindow(70,cy/2+70,20,20);
GetDlgItem(IDC_LOAD_SELECTED)->MoveWindow(92,cy/2+70,10,20);
GetDlgItem(IDC_LOAD)->MoveWindow(105,cy/2+70,20,20);
GetDlgItem(IDC_GRDWIDTH)->MoveWindow(580,cy/2+70,20,20);
GetDlgItem(IDC_GRID_WIDTH)->MoveWindow(610,cy/2+70,20,20);
GetDlgItem(IDC_COLNUM)->MoveWindow(40,cy/2+120,20,20);
GetDlgItem(IDC_CROSS_WIDTH)->MoveWindow(70,cy/2+120,20,20);
GetDlgItem(IDC_ROWNUM)->MoveWindow(40,cy/2+180,20,20);
GetDlgItem(IDC_CROSS_HEIGHT)->MoveWindow(70,cy/2+180,20,20);
GetDlgItem(IDC_GRDHIGT)->MoveWindow(580,cy/2+100,20,20);
GetDlgItem(IDC_GRID_HEIGHT)->MoveWindow(610,cy/2+100,20,20);
GetDlgItem(IDC_DISPLAY_CORNERS)->MoveWindow(500,cy/2+140,60,20);
GetDlgItem(IDC_DISPLAY_RT)->MoveWindow(500,cy/2+180,60,20);
GetDlgItem(IDC_CALIBRATE)->MoveWindow(30,cy/2+260,cx/2-30,60);
GetDlgItem(IDC_RESULTS)->MoveWindow(cx/2+30,cy/2+260,cx/2-30,60);
// initializations of interface parameters.
m_nImageNumber = 0;
m_nXHeight = 8;
m_nXWidth = 6;
m_dGridHeight = 25;
m_dGridWidth = 25;
m_bDisplayCorners = false;
m_btnApplyOrder = true;
m_bCompansateDistortion=true;
califlag="";
McOpenDriver (NULL);
// Activate message box error handling and generate an error log file
McSetParamInt (MC_CONFIGURATION, MC_ErrorHandling, MC_ErrorHandling_MSGBOX);
McSetParamStr (MC_CONFIGURATION, MC_ErrorLog, "error.log");
// Channel1
McCreate(MC_CHANNEL, &m_Channel1);
McSetParamInt(m_Channel1, MC_DriverIndex, 0);
McSetParamStr(m_Channel1, MC_Connector,CHANNEL1 );
// Choose the video standard
McSetParamStr(m_Channel1, MC_CamFile, "PAL");
// Choose the pixel color format
McSetParamInt(m_Channel1, MC_ColorFormat, MC_ColorFormat_RGB24);
// Choose the acquisition mode
McSetParamInt(m_Channel1, MC_AcquisitionMode, MC_AcquisitionMode_VIDEO);
//McSetParamInt(m_Channel1, MC_AcquisitionMode, MC_AcquisitionMode_SNAPSHOT);
// Choose the way the first acquisition is triggered
McSetParamInt(m_Channel1, MC_TrigMode, MC_TrigMode_IMMEDIATE);
// Choose the triggering mode for subsequent acquisitions
McSetParamInt(m_Channel1, MC_NextTrigMode, MC_NextTrigMode_REPEAT);
// Choose the number of images to acquire
McSetParamInt(m_Channel1, MC_SeqLength_Fr, MC_INDETERMINATE);
// Retrieve image dimensions
McGetParamInt(m_Channel1, MC_ImageSizeX, &m_SizeX);
McGetParamInt(m_Channel1, MC_ImageSizeY, &m_SizeY);
McGetParamInt(m_Channel1, MC_BufferPitch, &m_BufferPitch);
// The memory allocation for the images is automatically done by Multicam when activating the channel.
// We only set the number of surfaces to be created by MultiCam.
McSetParamInt(m_Channel1, MC_SurfaceCount, EURESYS_SURFACE_COUNT);
// Enable MultiCam signals
McSetParamInt(m_Channel1, MC_SignalEnable + MC_SIG_SURFACE_PROCESSING, MC_SignalEnable_ON);
McSetParamInt(m_Channel1, MC_SignalEnable + MC_SIG_ACQUISITION_FAILURE, MC_SignalEnable_ON);
// Register the callback function
McRegisterCallback(m_Channel1, GlobalCallback, this);
// McGetParamInt (MC_SIG_SURFACE_PROCESSING, MC_SurfaceAddr, (PINT32) &m_pCurrent1);
McSetParamInt(m_Channel1, MC_ChannelState, MC_ChannelState_ACTIVE);
// Channel 2
McCreate(MC_CHANNEL, &m_Channel2);
McSetParamInt(m_Channel2, MC_DriverIndex, 0);
McSetParamStr(m_Channel2, MC_Connector, CHANNEL2);
// Choose the video standard
McSetParamStr(m_Channel2, MC_CamFile, "PAL");
// Choose the pixel color format
McSetParamInt(m_Channel2, MC_ColorFormat, MC_ColorFormat_RGB24);
// Choose the acquisition mode
McSetParamInt(m_Channel2, MC_AcquisitionMode, MC_AcquisitionMode_VIDEO);
// Choose the way the first acquisition is triggered
McSetParamInt(m_Channel2, MC_TrigMode, MC_TrigMode_IMMEDIATE);
// Choose the triggering mode for subsequent acquisitions
McSetParamInt(m_Channel2, MC_NextTrigMode, MC_NextTrigMode_REPEAT);
// Choose the number of images to acquire
McSetParamInt(m_Channel2, MC_SeqLength_Fr, MC_INDETERMINATE);
// The memory allocation for the images is automatically done by Multicam when activating the channel.
// We only set the number of surfaces to be created by MultiCam.
McSetParamInt(m_Channel2, MC_SurfaceCount, EURESYS_SURFACE_COUNT);
// Enable MultiCam signals
McSetParamInt(m_Channel2, MC_SignalEnable + MC_SIG_SURFACE_PROCESSING, MC_SignalEnable_ON);
McSetParamInt(m_Channel2, MC_SignalEnable + MC_SIG_ACQUISITION_FAILURE, MC_SignalEnable_ON);
// Register the callback function
McRegisterCallback(m_Channel2, GlobalCallback, this);
// McGetParamInt (MC_SIG_SURFACE_PROCESSING, MC_SurfaceAddr, (PINT32) &m_pCurrent1);
McSetParamInt(m_Channel2, MC_ChannelState, MC_ChannelState_ACTIVE);
//left and right cameras sampling number initialization
m_nLeftCamNo=0;
m_nRightCamNO=0;
return TRUE; // return TRUE unless you set the focus to a control
}
// If you add a minimize button to your dialog, you will need the code below
// to draw the icon. For MFC applications using the document/view model,
// this is automatically done for you by the framework.
void CCalibrtwocamaDlg::OnPaint()
{
if (IsIconic())
{
CPaintDC dc(this); // device context for painting
SendMessage(WM_ICONERASEBKGND, (WPARAM) dc.GetSafeHdc(), 0);
// Center icon in client rectangle
int cxIcon = GetSystemMetrics(SM_CXICON);
int cyIcon = GetSystemMetrics(SM_CYICON);
CRect rect;
GetClientRect(&rect);
int x = (rect.Width() - cxIcon + 1) / 2;
int y = (rect.Height() - cyIcon + 1) / 2;
// Draw the icon
dc.DrawIcon(x, y, m_hIcon);
}
else
{
CDialog::OnPaint();
if (!m_bScreenRefreshCompleted1)
{
DispCam1();
}
if (!m_bScreenRefreshCompleted2)
{
DispCam2();
}
}
}
// The system calls this to obtain the cursor to display while the user drags
// the minimized window.
HCURSOR CCalibrtwocamaDlg::OnQueryDragIcon()
{
return (HCURSOR) m_hIcon;
}
void WINAPI GlobalCallback(PMCSIGNALINFO SigInfo)
{
if (SigInfo && SigInfo->Context)
{
//CPicoloVideoDoc* pDoc = (CPicoloVideoDoc*) SigInfo->Context;
//pDoc->Callback (SigInfo);
CCalibrtwocamaDlg *Dlg = (CCalibrtwocamaDlg*) SigInfo->Context;
Dlg->Callback(SigInfo);
}
}
void CCalibrtwocamaDlg::Callback(PMCSIGNALINFO SigInfo)
{
if (SigInfo->Instance==m_Channel1)
{
switch(SigInfo->Signal) {
case MC_SIG_SURFACE_PROCESSING:
// Update "current" surface address pointer
McGetParamInt (SigInfo->SignalInfo, MC_SurfaceAddr, (PINT32) &m_pCurrent1);
//----------------------------------------
//
// Insert the eVision code here.
//
//----------------------------------------
// Post screen refresh message only if previous refresh completed
if(m_bScreenRefreshCompleted1)
{
m_bScreenRefreshCompleted1 = FALSE;
CRect rect;
GetDlgItem(IDC_VID1)->GetClientRect(&rect);
InvalidateRect(rect,FALSE);
}
break;
case MC_SIG_ACQUISITION_FAILURE:
AfxMessageBox("Acquisition Failure !");
break;
default:
break;
}
}
if (SigInfo->Instance==m_Channel2)
{
switch(SigInfo->Signal) {
case MC_SIG_SURFACE_PROCESSING:
// Update "current" surface address pointer
McGetParamInt (SigInfo->SignalInfo, MC_SurfaceAddr, (PINT32) &m_pCurrent2);
//----------------------------------------
//
// Insert the eVision code here.
//
//----------------------------------------
// Post screen refresh message only if previous refresh completed
if(m_bScreenRefreshCompleted2)
{
m_bScreenRefreshCompleted2 = FALSE;
CRect rect;
GetDlgItem(IDC_VID2)->GetClientRect(&rect);
InvalidateRect(rect,FALSE);
}
break;
case MC_SIG_ACQUISITION_FAILURE:
AfxMessageBox("Acquisition Failure !");
break;
default:
break;
}
}
}
CCalibrtwocamaDlg::~CCalibrtwocamaDlg()
{
if (m_pBitmapInfo) delete m_pBitmapInfo;
delete[]m_distortion ;
delete[]m_cameraMatrix;
delete[]m_transVects ;
delete[]m_rotMatrs ;
delete[]uveff ;
delete[]XYZeff ;
delete[]m_cstrImageNames;
if( p2p_InputImages != NULL )
{
for( int i=0; i<m_nImageNumber; i++ )
{
cvReleaseImage( &p2p_InputImages[i] );
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