private void Try(Kamera kam)
{
PointF[] imageCorners = new PointF[]
{
new PointF(110, 110),
new PointF(220, 420),
new PointF(520, 1130),
new PointF(1340, 1440),
new PointF(1510, 340),
new PointF(440, 210),
new PointF(320, 200),
};
MCvPoint3D32f[] worldCorners = new MCvPoint3D32f[]
{
new MCvPoint3D32f(110, 110, 0),
new MCvPoint3D32f(220, 420, 0),
new MCvPoint3D32f(520, 1130, 0),
new MCvPoint3D32f(1340, 1440, 0),
new MCvPoint3D32f(1510, 340, 0),
new MCvPoint3D32f(440, 210, 0),
new MCvPoint3D32f(320, 200, 0),
};
kam.CalibrateExtrinsics(imageCorners, worldCorners);
}
private async void CalibrateCamera()
{
var sqw = 50;
var M = 8;
var N = 7;
var W = m.Size.Width;
var H = m.Size.Height;
var checkers = new Checkers(M, N, new Point((W - M * sqw) / 2 + 0, (H - N * sqw) / 2 - 0), new Size(sqw, sqw));
var cap = CLEyeCapture.AllDevices.FirstOrDefault();
if (cap == null)
return;
var kam = new Kamera(cap.Name, cap.Uuid, cap.Width, cap.Height);
if (kam.HasCalibratedIntrinsics)
{
Try(kam);
return;
}
else
{
List<PointF[]> imageCorners = new List<PointF[]>();
List<MCvPoint3D32f[]> worldCorners = new List<MCvPoint3D32f[]>();
for (; ; )
{
// r.Present(null, m);
r.Render<Chessboard2d>(checkers);
var key = await KeyPress(m, p, "{0} Photos", imageCorners.Count);
if (key == Keys.F1)
break;
using (var pic = cap.TryDequeue())
if (pic != null)
using (var gray = pic.Bgra.Convert<Gray, byte>())
using (var bgr = pic.Bgra.Convert<Bgr, byte>())
{
PointF[] foundCorners;
var calibChessboardType = CALIB_CB_TYPE.FILTER_QUADS | CALIB_CB_TYPE.ADAPTIVE_THRESH;
var found = CameraCalibration.FindChessboardCorners(gray, checkers.Saddles, calibChessboardType, out foundCorners);
if (found)
{
var window = new Size(sqw * 100 / 10, sqw * 100 / 10);
var zeroZone = new Size(-1, -1);
var criteria = new MCvTermCriteria(21, 0.0001);
gray.FindCornerSubPix(new PointF[][] { foundCorners }, window, zeroZone, criteria);
}
CvInvoke.cvDrawChessboardCorners(bgr.Ptr, checkers.Saddles, foundCorners, foundCorners.Length, patternWasFound: (found ? 1 : 0));
bgr.Save(Path.Combine(Global.TmpDir, cap.Name + imageCorners.Count.ToString() + ".png"));
if (found)
{
imageCorners.Add(foundCorners);
worldCorners.Add(checkers.GetWorldPointsCopy());
}
}
}
kam.CalibrateIntrinsics(imageCorners.ToArray(), worldCorners.ToArray());
}
}
