private Task DoUndistortImage(object o)
{
return(Task.Factory.StartNew(async() =>
{
System.Windows.Forms.OpenFileDialog openFileDialog = null;
System.Windows.Forms.SaveFileDialog saveFileDialog = null;
bool open = false;
bool save = false;
CameraViewModel cvm = null;
Parent.SyncContext.Send(c =>
{
cvm = Parent.CameraViewModel;
openFileDialog = new System.Windows.Forms.OpenFileDialog();
openFileDialog.Filter = "Image (*.png) | *.png";
open = openFileDialog.ShowDialog() == System.Windows.Forms.DialogResult.OK;
saveFileDialog = new System.Windows.Forms.SaveFileDialog();
saveFileDialog.Filter = "Image (*.png) | *.png";
save = saveFileDialog.ShowDialog() == System.Windows.Forms.DialogResult.OK;
}, null);
if (open && save)
{
MetroDialogSettings settings = new MetroDialogSettings()
{
AnimateShow = false,
AnimateHide = false
};
var controller = await Parent.DialogCoordinator.ShowProgressAsync(Parent, "Please wait...", "Export undistort image!", settings: Parent.MetroDialogSettings);
controller.SetCancelable(false);
Mat rawImage = CvInvoke.Imread(openFileDialog.FileName, Emgu.CV.CvEnum.ImreadModes.Grayscale);
Mat rawImageUndist = new Mat();
Mat map1 = new Mat();
Mat map2 = new Mat();
Fisheye.InitUndistorRectifyMap(cvm.OrginalCameraMatrix, cvm.DistortionCoefficients, Mat.Eye(3, 3, DepthType.Cv64F, 1), cvm.CenteredCameraMatrix, new System.Drawing.Size(512, 512), DepthType.Cv32F, map1, map2);
CvInvoke.Remap(rawImage, rawImageUndist, map1, map2, Inter.Linear, BorderType.Constant);
CvInvoke.Imwrite(saveFileDialog.FileName, rawImageUndist);
await controller.CloseAsync();
}
}));
}
private void UpdateLastKeyFrame(KeyFrame keyFrame, Mat rawImage, double minDepth, double maxDepth)
{
Mat rawImageColor = new Mat();
Mat rawImageColorUndist = new Mat();
CvInvoke.CvtColor(rawImage, rawImageColor, ColorConversion.Gray2Bgr);
Mat map1 = new Mat();
Mat map2 = new Mat();
Fisheye.InitUndistorRectifyMap(_OrginalCameraMatrix, _DistortionCoefficients, Mat.Eye(3, 3, DepthType.Cv64F, 1), _CenteredCameraMatrix, new System.Drawing.Size(512, 512), DepthType.Cv32F, map1, map2);
CvInvoke.Remap(rawImageColor, rawImageColorUndist, map1, map2, Inter.Linear, BorderType.Constant);
Mat hsvImage = new Mat();
CvInvoke.CvtColor(rawImageColorUndist, hsvImage, ColorConversion.Bgr2Hsv);
Image <Emgu.CV.Structure.Hsv, byte> rawImageColorUndistImage = hsvImage.ToImage <Emgu.CV.Structure.Hsv, byte>();
byte[,,] data = rawImageColorUndistImage.Data;
foreach (Point point in keyFrame.Points)
{
int u = (int)Math.Round(point.U);
int v = (int)Math.Round(point.V);
for (int i = -2; i <= +2; i++)
{
for (int j = -2; j <= +2; j++)
{
byte h = (byte)Math.Round(((1.0 / point.InverseDepth - minDepth) < 0 ? 0 : (1.0 / point.InverseDepth - minDepth)) * 180 / (maxDepth - minDepth));
data[v + i, u + j, 0] = h;
data[v + i, u + j, 1] = (byte)Math.Round(255 / 100.0 * HSV_SATURATION_PERCENT);
data[v + i, u + j, 2] = (byte)Math.Round(255 / 100.0 * HSV_VALUE_PERCENT);
}
}
}
CvInvoke.CvtColor(rawImageColorUndistImage.Mat, _LastKeyFrame, ColorConversion.Hsv2Bgr);
}
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);
}
}
public void Fired(IOProxy proxy, List <AbstractProxyEventData> eventData)
{
CameraEventData cameraEventData = (CameraEventData)eventData.FirstOrDefault(c => c is CameraEventData);
if (cameraEventData != null)
{
Task.Factory.StartNew(() =>
{
Mat mat = cameraEventData.Image;
bool undistort = false;
Parent.SyncContext.Send(o =>
{
undistort = Undistort;
if (GammaCorretion)
{
Mat result = new Mat(ImageWidth, ImageHeight, DepthType.Cv32F, 1);
int i = 0;
Mat lut = new Mat(1, 256, DepthType.Cv32F, 1);
foreach (double val in Parent.SettingContainer.Settings.CalibrationSettings.PhotometricCalibrationSettings.ResponseValues)
{
lut.SetValue(0, i++, (byte)val);
}
CvInvoke.LUT(mat, lut, result);
result.ConvertTo(mat, DepthType.Cv8U);
}
if (VignetteCorretion)
{
Mat invVignette = new Mat(ImageWidth, ImageHeight, DepthType.Cv32F, 1);
Mat result = new Mat(ImageWidth, ImageHeight, DepthType.Cv32F, 1);
CvInvoke.Divide(Mat.Ones(ImageWidth, ImageHeight, DepthType.Cv32F, 1), Parent.CalibrationViewModel.PhotometricCalibrationViewModel.Vignette.CvImage, invVignette, 255, DepthType.Cv32F);
CvInvoke.Multiply(mat, invVignette, result, 1, DepthType.Cv32F);
result.ConvertTo(mat, DepthType.Cv8U);
}
}
, null);
if (undistort)
{
Mat matUndist = new Mat(ImageWidth, ImageHeight, DepthType.Cv8U, 1);
if (FishEyeCalibration)
{
Mat map1 = new Mat();
Mat map2 = new Mat();
Fisheye.InitUndistorRectifyMap(OrginalCameraMatrix, DistortionCoefficients, Mat.Eye(3, 3, DepthType.Cv64F, 1), CenteredCameraMatrix, new System.Drawing.Size(ImageWidth, ImageHeight), DepthType.Cv32F, map1, map2);
CvInvoke.Remap(mat, matUndist, map1, map2, Inter.Linear, BorderType.Constant);
}
else
{
CvInvoke.Undistort(mat, matUndist, CenteredCameraMatrix, DistortionCoefficients);
}
mat = matUndist;
}
_FPSCounter.CountFrame();
Parent.SyncContext.Post(o =>
{
ExposureTime = (eventData[0] as CameraEventData).ExposureTime;
Image = new CvImageContainer();
Image.CvImage = mat;
}
, null);
});
}
}
