public bool Calibration(ECalibrationMode CalibrMode = ECalibrationMode.Quadratic)
{
bool reSuccess = false;
try
{
Base.EmptyLandmarks();
for (int i = 0; i < calibrTable.Rows.Count; i++)
{
float pixel_X = Convert.ToSingle(calibrTable.Rows[i][1]);
float pixel_Y = Convert.ToSingle(calibrTable.Rows[i][2]);
float world_X = Convert.ToSingle(calibrTable.Rows[i][3]);
float world_Y = Convert.ToSingle(calibrTable.Rows[i][4]);
Base.AddLandmark(new EPoint(pixel_X, pixel_Y), new EPoint(world_X, world_Y));
}
Base.Calibrate((int)CalibrMode);
Base.AutoCalibrateLandmarks(true);
reSuccess = true;
}
catch (EException exc)
{
StackFrame[] stackFrames = new StackTrace(true).GetFrames();
clsLogFile.LogTryCatch(stackFrames, exc.Message, true, true);
}
catch (Exception ex)
{
StackFrame[] stackFrames = new StackTrace(true).GetFrames();
clsLogFile.LogTryCatch(stackFrames, ex.Message, true, true);
}
return(reSuccess);
}
private void ComputeCameraMatrix(Mat frame_S1, Mat frame_S2)
{
//fill the MCvPoint3D32f with correct mesurments
for (int k = 0; k < buffer_length; k++)
{
//Fill our objects list with the real world mesurments for the intrinsic calculations
List <MCvPoint3D32f> object_list = new List <MCvPoint3D32f>();
for (int i = 0; i < patternModel.patternSize.Height; i++)
{
for (int j = 0; j < patternModel.patternSize.Width; j++)
{
object_list.Add(new MCvPoint3D32f(j * patternModel.distance, i * patternModel.distance, 0.0F));
}
}
corners_object_Points[k] = object_list.ToArray();
}
//If Emgu.CV.CvEnum.CALIB_TYPE == CV_CALIB_USE_INTRINSIC_GUESS and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be initialized before calling the function
//if you use FIX_ASPECT_RATIO and FIX_FOCAL_LEGNTH options, these values needs to be set in the intrinsic parameters before the CalibrateCamera function is called. Otherwise 0 values are used as default.
CameraCalibration.StereoCalibrate(corners_object_Points, corners_points_Left, corners_points_Right, calibrationModel.IntrinsicCam1, calibrationModel.IntrinsicCam2, frame_S1.Size,
CalibType.Default, new MCvTermCriteria(0.1e5),
out EX_Param, out fundamental, out essential);
calibrationModel.EX_Param = EX_Param;
calibrationModel.fundamental = fundamental;
calibrationModel.essential = essential;
MessageBox.Show("Intrinsic Calculation Complete"); //display that the mothod has been succesful
//currentMode = Mode.Calibrated;
//Computes rectification transforms for each head of a calibrated stereo camera.
CvInvoke.StereoRectify(calibrationModel.IntrinsicCam1.IntrinsicMatrix,
calibrationModel.IntrinsicCam1.DistortionCoeffs, calibrationModel.IntrinsicCam2.IntrinsicMatrix, calibrationModel.IntrinsicCam2.DistortionCoeffs,
frame_S1.Size,
calibrationModel.EX_Param.RotationVector.RotationMatrix, calibrationModel.EX_Param.TranslationVector,
calibrationModel.R1, calibrationModel.R2, calibrationModel.P1, calibrationModel.P2, calibrationModel.Q,
StereoRectifyType.Default, 0,
frame_S1.Size, ref Rec1, ref Rec2);
calibrationModel.Rec1 = Rec1;
calibrationModel.Rec2 = Rec2;
InitUndistortMatrix();
//This will Show us the usable area from each camera
//MessageBox.Show("Left: " + Rec1.ToString() + " \nRight: " + Rec2.ToString());
currentMode = ECalibrationMode.Calibrated;
}
private async Task SaveImageForCalibration(Mat frame_S1, Mat frame_S2)
{
Image <Bgr, byte> frameImage_S1;
Image <Gray, Byte> Gray_frame_S1;
Image <Bgr, byte> frameImage_S2;
Image <Gray, Byte> Gray_frame_S2;
frameImage_S1 = new Image <Bgr, byte>(frame_S1.Bitmap);
Gray_frame_S1 = frameImage_S1.Convert <Gray, Byte>();
frameImage_S2 = new Image <Bgr, byte>(frame_S2.Bitmap);
Gray_frame_S2 = frameImage_S2.Convert <Gray, Byte>();
VectorOfPointF cornerLeft = new VectorOfPointF();
VectorOfPointF cornerRight = new VectorOfPointF();
//Find the chessboard in bothe images
CvInvoke.FindChessboardCorners(Gray_frame_S1, patternModel.patternSize, cornerLeft, CalibCbType.AdaptiveThresh);
CvInvoke.FindChessboardCorners(Gray_frame_S2, patternModel.patternSize, cornerRight, CalibCbType.AdaptiveThresh);
if (cornerLeft.Size > 0 && cornerRight.Size > 0) //chess board found in one of the frames?
{
PointF[] corners_Left;
PointF[] corners_Right;
corners_Left = cornerLeft.ToArray();
corners_Right = cornerRight.ToArray();
//make mesurments more accurate by using FindCornerSubPixel
Gray_frame_S1.FindCornerSubPix(new PointF[1][] { corners_Left }, new Size(11, 11), new Size(-1, -1), new MCvTermCriteria(30, 0.01));
Gray_frame_S2.FindCornerSubPix(new PointF[1][] { corners_Right }, new Size(11, 11), new Size(-1, -1), new MCvTermCriteria(30, 0.01));
//if go button has been pressed start aquiring frames else we will just display the points
if (patternModel.start_Flag)
{
//save the calculated points into an array
corners_points_Left[buffer_savepoint] = corners_Left;
corners_points_Right[buffer_savepoint] = corners_Right;
buffer_savepoint++;//increase buffer positon
//check the state of buffer
if (buffer_savepoint == buffer_length)
{
currentMode = ECalibrationMode.Caluculating_Stereo_Intrinsics; //buffer full
}
//Show state of Buffer
_winForm.UpdateTitle("Form1: Buffer " + buffer_savepoint.ToString() + " of " + buffer_length.ToString());
}
//draw the results
frameImage_S1.Draw(new CircleF(corners_Left[0], 3), new Bgr(Color.Yellow), 10);
frameImage_S2.Draw(new CircleF(corners_Right[0], 3), new Bgr(Color.Yellow), 10);
for (int i = 1; i < corners_Left.Length; i++)
{
//left
frameImage_S1.Draw(new LineSegment2DF(corners_Left[i - 1], corners_Left[i]), patternModel.line_colour_array[i], 10);
frameImage_S1.Draw(new CircleF(corners_Left[i], 3), new Bgr(Color.Yellow), 10);
//right
frameImage_S2.Draw(new LineSegment2DF(corners_Right[i - 1], corners_Right[i]), patternModel.line_colour_array[i], 10);
frameImage_S2.Draw(new CircleF(corners_Right[i], 3), new Bgr(Color.Yellow), 10);
}
_winForm.pictureBox1.Image = frameImage_S1.Bitmap;
_winForm.pictureBox2.Image = frameImage_S2.Bitmap;
}
}
