private void RectifyImages(object sender, RoutedEventArgs e)
{
if(_camImageFirst.ImageSource == null || _camImageSec.ImageSource == null)
{
MessageBox.Show("Images must be set");
return;
}
if(_camImageFirst.ImageSource.PixelWidth != _camImageSec.ImageSource.PixelWidth ||
_camImageFirst.ImageSource.PixelHeight != _camImageSec.ImageSource.PixelHeight)
{
MessageBox.Show("Images must have same size");
return;
}
if(CalibrationData.Data.IsCamLeftCalibrated == false ||
CalibrationData.Data.IsCamRightCalibrated == false)
{
MessageBox.Show("Cameras must be calibrated");
return;
}
ImageRectification_ZhangLoop rectifier = new ImageRectification_ZhangLoop();
RectificationTransformation rectTransformation = new RectificationTransformation();
rectTransformation.Rectifier = rectifier;
ImageTransformer transformer = new ImageTransformer();
transformer.Transformation = rectTransformation;
transformer.UsedInterpolationMethod = ImageTransformer.InterpolationMethod.Quadratic;
rectifier.ImageHeight = _camImageFirst.ImageSource.PixelHeight;
rectifier.ImageWidth = _camImageFirst.ImageSource.PixelWidth;
rectifier.EpiCrossLeft = CalibrationData.Data.EpipoleCrossLeft;
rectifier.EpiCrossRight = CalibrationData.Data.EpipoleCrossRight;
rectifier.EpipoleLeft = CalibrationData.Data.EpipoleLeft;
rectifier.EpipoleRight = CalibrationData.Data.EpipoleRight;
rectifier.IsEpiLeftInInfinity = CalibrationData.Data.EpiLeftInInfinity;
rectifier.IsEpiRightInInfinity = CalibrationData.Data.EpiRightInInfinity;
rectifier.FundamentalMatrix = CalibrationData.Data.Fundamental;
rectifier.ComputeRectificationMatrices();
ColorImage imgLeft = new ColorImage();
imgLeft.FromBitmapSource(_camImageFirst.ImageSource);
ColorImage imgRight = new ColorImage();
imgRight.FromBitmapSource(_camImageSec.ImageSource);
rectTransformation.WhichImage = RectificationTransformation.ImageIndex.Left;
ColorImage rectLeft = transformer.TransfromImageBackwards(imgLeft, true);
rectTransformation.WhichImage = RectificationTransformation.ImageIndex.Right;
ColorImage rectRight = transformer.TransfromImageBackwards(imgRight, true);
_camImageFirst.ImageSource = rectLeft.ToBitmapSource();
_camImageSec.ImageSource = rectRight.ToBitmapSource();
}
private void RectifyImages(object sender, RoutedEventArgs e)
{
if(_camImageFirst.ImageSource == null || _camImageSec.ImageSource == null)
{
MessageBox.Show("Images must be set");
return;
}
if(_camImageFirst.ImageSource.PixelWidth != _camImageSec.ImageSource.PixelWidth ||
_camImageFirst.ImageSource.PixelHeight != _camImageSec.ImageSource.PixelHeight)
{
MessageBox.Show("Images must have same size");
return;
}
// if(CalibrationData.Data.IsCamLeftCalibrated == false ||
// CalibrationData.Data.IsCamRightCalibrated == false)
// {
// MessageBox.Show("Cameras must be calibrated");
// return;
// }
ImageRectification_FussieloUncalibrated rectifier = new ImageRectification_FussieloUncalibrated();
RectificationTransformation rectTransformation = new RectificationTransformation();
rectTransformation.Rectifier = rectifier;
ImageTransformer transformer = new ImageTransformer();
transformer.Transformation = rectTransformation;
transformer.UsedInterpolationMethod = ImageTransformer.InterpolationMethod.Quadratic;
rectifier.ImageHeight = _camImageFirst.ImageSource.PixelHeight;
rectifier.ImageWidth = _camImageFirst.ImageSource.PixelWidth;
rectifier.UseInitialCalibration = false;
rectifier.PointsLeft = new List<Vector2>();
rectifier.PointsRight = new List<Vector2>();
foreach(var m in _matches)
{
rectifier.PointsLeft.Add(m.LeftPoint);
rectifier.PointsRight.Add(m.RightPoint);
}
rectifier.ComputeRectificationMatrices();
rectTransformation.WhichImage = RectificationTransformation.ImageIndex.Left;
MaskedImage rectLeft = transformer.TransfromImageBackwards(ImageLeft, true);
rectTransformation.WhichImage = RectificationTransformation.ImageIndex.Right;
MaskedImage rectRight = transformer.TransfromImageBackwards(ImageRight, true);
_camImageFirst.ImageSource = rectLeft.ToBitmapSource();
_camImageSec.ImageSource = rectRight.ToBitmapSource();
}
