/// <summary>
/// First Calibration Phase
/// Performing:
/// 1. Find and Sort Calibration marks
/// 2. Calculate and set transformation matrix based on calibration marks
/// 3. Calculate Ball radius and possible error
/// </summary>
/// <param name="frame"></param>
private void Begin(IFrame frame)
{
//ignore first frames
if (_skippedFrames < FRAMES_TO_SKIP)
{
_skippedFrames++;
}
else
{
try
{
_skippedFrames = 0;
Log.Print("***** Starting calibration Phase I... *****", eCategory.Info, LogTag.IMAGE);
Image <Gray, byte> image = frame.Image.Clone();
//Remove Noise from picture
image = CalibrationUtils.PrepareFrame(image);
ComputerVisionMonitors[eComputerVisionMonitor.MonitorA].ShowFrame(image);
//Find Calibration Marks
List <CircleF> circles = FindCalibrationMarks(image);
CalibrationUtils.VerifyMarksFound(circles);
//Sort Calibration Marks and set value to property
SortCalibrationMarks(circles);
ShowAllCalibrationMarks();
StringBuilder str = new StringBuilder("4 calibration Marks found and sorted: \n\t\t\t\t");
foreach (var mark in ImagingData.CalibrationMarks)
{
str.Append(String.Format("{0}:[{1}x{2}] ", mark.Key, mark.Value.Center.X, mark.Value.Center.Y));
}
Log.Print(str.ToString(), eCategory.Info, LogTag.IMAGE);
CalibrationUtils.SetTransformationMatrix(AXE_X_LENGTH, AXE_Y_LENGTH, ImagingData.CalibrationMarks);
Log.Print("Homography matrix calculated.", eCategory.Info, LogTag.IMAGE);
//Calculate Ball Radius and Error
int ballRadius;
double ballError;
CalibrationUtils.CalculateBallRadiusAndError((float)BALL_RADIUS_MM, out ballRadius, out ballError);
ImagingData.BallRadius = ballRadius;
ImagingData.BallRadiusError = ballError;
Log.Print(String.Format("Expected ball radius is {0} +/- {1}",
ImagingData.BallRadius, ImagingData.BallRadiusError), eCategory.Info, LogTag.IMAGE);
CurrentState = eCalibrationState.Performing;
Log.Print("***** Finished calibration Phase I *****", eCategory.Info, LogTag.IMAGE);
}
catch (CalibrationException ex)
{
Log.Print(String.Format("Calibration failed in first phase. Will retry after [{0}] frames. Reason: {1}",
FRAMES_TO_SKIP, ex.Message), eCategory.Warn, LogTag.IMAGE);
}
}
}
/// <summary>
/// Second Calibration Phase
/// Performing:
/// 1. Find Calibration Marks to verify image is fine
/// 2. Update Table Image Processing Coverage
/// 3. Recalculate Homography matrices
/// </summary>
/// <param name="frame"></param>
private void Finalize(IFrame frame)
{
//ignore first frames
if (_skippedFrames < FRAMES_TO_SKIP)
{
_skippedFrames++;
}
else
{
try
{
_skippedFrames = 0;
Log.Print("***** Starting calibration Phase II... *****", eCategory.Info, LogTag.IMAGE);
Image <Gray, byte> image = frame.Image.Clone();
//Remove Noise from picture
image = CalibrationUtils.PrepareFrame(image);
ComputerVisionMonitors[eComputerVisionMonitor.MonitorA].ShowFrame(image);
//Find Calibration Marks
List <CircleF> circles = FindCalibrationMarks(image);
CalibrationUtils.VerifyMarksFound(circles);
//Update coverage
ImagingData.CalibrationMarks = CalibrationUtils.UpdateCoverage(ImagingData.CalibrationMarks);
Log.Print("Coverage and marks updated.", eCategory.Info, LogTag.IMAGE);
//Show table border marks
Marks.DrawTableBorders(ImagingData.CalibrationMarks);
//Recalculate Homography Matrix
CalibrationUtils.SetTransformationMatrix(AXE_X_LENGTH, AXE_Y_LENGTH, ImagingData.CalibrationMarks);
Log.Print("Homography matrix re-calculated.", eCategory.Info, LogTag.IMAGE);
CurrentState = eCalibrationState.Finished;
Log.Print("***** Finished calibration Phase II *****", eCategory.Info, LogTag.IMAGE);
}
catch (CalibrationException ex)
{
Log.Print(String.Format("Calibration failed in second phase. Will retry after [{0}] frames. Reason: {1}",
FRAMES_TO_SKIP, ex.Message), eCategory.Warn, LogTag.IMAGE);
}
}
}