internal override void SettingsUpdated()
{
base.SettingsUpdated();
bool changed = false;
changed |= Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Fx != Fx;
changed |= Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Fy != Fy;
changed |= Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Cx != Cx;
changed |= Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Cy != Cy;
changed |= Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Alpha != Alpha;
var firstNotSecond = _DistCoeffs.Except(Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.DistCoeffs).ToList();
var secondNotFirst = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.DistCoeffs.Except(_DistCoeffs).ToList();
changed |= firstNotSecond.Any() || secondNotFirst.Any();
if (changed)
{
Fx = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Fx;
Fy = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Fy;
Cx = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Cx;
Cy = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Cy;
Alpha = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Alpha;
_DistCoeffs = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.DistCoeffs.ToList();
if (_DistCoeffs.Count == 4)
{
K1 = _DistCoeffs[0];
K2 = _DistCoeffs[1];
K3 = _DistCoeffs[2];
K4 = _DistCoeffs[3];
}
Mat board = ChArUcoCalibration.DrawBoard(5, 5, 0.04f, 0.02f, new System.Drawing.Size(Parent.CameraViewModel.ImageWidth, Parent.CameraViewModel.ImageHeight), 10, PredefinedDictionaryName.Dict6X6_250);
Mat boardDist = board.Clone();
Mat cameraMatrix = new Mat(3, 3, Emgu.CV.CvEnum.DepthType.Cv64F, 1);
Mat distCoeffs = new Mat(1, Parent.CameraViewModel.FishEyeCalibration ? 4 : _DistCoeffs.Count, Emgu.CV.CvEnum.DepthType.Cv64F, 1);
cameraMatrix.SetValue(0, 0, Fx);
cameraMatrix.SetValue(1, 1, Fy);
cameraMatrix.SetValue(0, 1, Fx * Alpha);
cameraMatrix.SetValue(0, 2, Cx);
cameraMatrix.SetValue(1, 2, Cy);
cameraMatrix.SetValue(2, 2, 1.0f);
Mat newK = new Mat(3, 3, Emgu.CV.CvEnum.DepthType.Cv64F, 1);
for (int i = 0; i < distCoeffs.Cols && (Parent.CameraViewModel.FishEyeCalibration ? i < 4 : true); i++)
{
distCoeffs.SetValue(0, i, _DistCoeffs[i]);
}
if (Parent.CameraViewModel.FishEyeCalibration)
{
Fisheye.EstimateNewCameraMatrixForUndistorRectify(cameraMatrix, distCoeffs, new System.Drawing.Size(Parent.CameraViewModel.ImageWidth, Parent.CameraViewModel.ImageHeight), Mat.Eye(3, 3, Emgu.CV.CvEnum.DepthType.Cv64F, 1), newK, 0, new System.Drawing.Size(Parent.CameraViewModel.ImageWidth, Parent.CameraViewModel.ImageHeight), 0.3);
Mat map1 = new Mat();
Mat map2 = new Mat();
Fisheye.InitUndistorRectifyMap(cameraMatrix, distCoeffs, Mat.Eye(3, 3, Emgu.CV.CvEnum.DepthType.Cv64F, 1), newK, new System.Drawing.Size(Parent.CameraViewModel.ImageWidth, Parent.CameraViewModel.ImageHeight), Emgu.CV.CvEnum.DepthType.Cv32F, map1, map2);
CvInvoke.Remap(board, boardDist, map1, map2, Emgu.CV.CvEnum.Inter.Linear, Emgu.CV.CvEnum.BorderType.Constant);
}
else
{
CvInvoke.Undistort(board, boardDist, cameraMatrix, distCoeffs);
}
Parent.SyncContext.Post(c =>
{
ChAruCoBoard = new CvImageContainer();
ChAruCoBoard.CvImage = boardDist;
}, null);
}
}
