protected override void OnSlidingIn() {
_ex = new Parsley.Core.ExtrinsicCalibration(Context.CalibrationPattern.ObjectPoints, Context.Camera.Intrinsics);
lock (Context.Viewer) {
//Context.Viewer.LookAt(new double[] { 0, 0, 0 }, new double[] { 0, 0, 1 }, new double[] { 0, 1, 0 });
}
base.OnSlidingIn();
}
protected override void OnFrame(Parsley.Core.BuildingBlocks.FrameGrabber fp, Emgu.CV.Image <Emgu.CV.Structure.Bgr, byte> img)
{
Parsley.Core.ExtrinsicCalibration ec;
ExtrinsicCameraParameters ecp;
bool pattern_found = false;
Core.CalibrationPattern p = _pattern;
if (p != null)
{
Image <Gray, Byte> gray = img.Convert <Gray, Byte>();
pattern_found = p.FindPattern(gray);
p.DrawPattern(img, p.ImagePoints, p.PatternFound);
// if pattern has been found ==> find extrinsics and draw the corresponding coordinate frame
if (pattern_found == true && Context.Setup.Camera.Intrinsics != null)
{
ec = new Parsley.Core.ExtrinsicCalibration(p.ObjectPoints, Context.Setup.Camera.Intrinsics);
ecp = ec.Calibrate(p.ImagePoints);
if (ecp != null)
{
Core.Drawing.DrawCoordinateFrame(img, ecp, Context.Setup.Camera.Intrinsics);
}
}
}
base.OnFrame(fp, img);
}
protected override void OnFrame(Parsley.Core.BuildingBlocks.FrameGrabber fp, Emgu.CV.Image <Emgu.CV.Structure.Bgr, byte> img)
{
// Constraint checking
if (!Context.Setup.Camera.HasIntrinsics)
{
_on_roi = false;
return;
}
if (_interactor.State == Parsley.UI.InteractionState.Interacting)
{
_interactor.DrawIndicator(_interactor.Current, img);
}
else
{
_interactor.DrawIndicator(_r, img);
}
if (_on_roi && _pattern != null)
{
Image <Gray, Byte> gray = img.Convert <Gray, Byte>();
_pattern.IntrinsicParameters = Context.Setup.Camera.Intrinsics;
try
{
_pattern.FindPattern(gray, _r);
if (_pattern.PatternFound)
{
Parsley.Core.ExtrinsicCalibration ec = new Parsley.Core.ExtrinsicCalibration(_pattern.ObjectPoints, Context.Setup.Camera.Intrinsics);
ExtrinsicCameraParameters ecp = ec.Calibrate(_pattern.ImagePoints);
double[] deviations;
Vector[] points;
Core.ExtrinsicCalibration.CalibrationError(ecp, Context.Setup.Camera.Intrinsics, _pattern.ImagePoints,
_pattern.ObjectPoints, out deviations, out points);
double max_error = deviations.Max();
if (max_error < _last_error)
{
_last_detected_plane = ecp;
_last_error = max_error;
this.Logger.Info(String.Format("Extrinsics successfully calculated. Maximum error {0:F3}", _last_error));
}
}
else if (!_pattern.PatternFound & _last_detected_plane == null)
{
this.Logger.Warn("Pattern not found.");
}
}
catch (System.Exception e)
{
this.Logger.Warn(String.Format("Failed to determine extrinsic calibration: {0}", e.Message));
}
}
if (_last_detected_plane != null)
{
Core.Drawing.DrawCoordinateFrame(img, _last_detected_plane, Context.Setup.Camera.Intrinsics);
}
}
protected override void OnSlidingIn()
{
_ex = new Parsley.Core.ExtrinsicCalibration(Context.CalibrationPattern.ObjectPoints, Context.Camera.Intrinsics);
lock (Context.Viewer) {
//Context.Viewer.LookAt(new double[] { 0, 0, 0 }, new double[] { 0, 0, 1 }, new double[] { 0, 1, 0 });
}
base.OnSlidingIn();
}
/// <summary>
/// Generate a intrinsic/extrinsic calibration from an initial set of four marker points.
/// </summary>
/// <param name="finals">List of ellipses</param>
/// <param name="marker_ids">Ellipse ids of detected marker-ellipses</param>
/// <param name="icp">Resulting intrinsic calibration</param>
/// <param name="ecp">Resulting extrinsic calibration</param>
/// <param name="size">Image size</param>
private void ApproximatePlane(List <DetectedEllipse> finals, int[] marker_ids, out Emgu.CV.IntrinsicCameraParameters icp, out Emgu.CV.ExtrinsicCameraParameters ecp, System.Drawing.Size size)
{
// Currently the marker points correspond to corner points in the rectangular pattern.
Vector[] object_points = new Vector[] {
this.ObjectPoints[0],
this.ObjectPoints[_number_circle_centers.Width - 1],
this.ObjectPoints[_number_circle_centers.Width * (_number_circle_centers.Height - 1)],
this.ObjectPoints[_number_circle_centers.Width * _number_circle_centers.Height - 1]
};
System.Drawing.PointF[] image_points =
marker_ids.Select(id => { return(finals[id].Ellipse.MCvBox2D.center); }).ToArray();
Parsley.Core.IntrinsicCalibration ic = new Parsley.Core.IntrinsicCalibration(object_points, size);
ic.AddView(image_points);
icp = ic.Calibrate();
Parsley.Core.ExtrinsicCalibration ec = new Parsley.Core.ExtrinsicCalibration(object_points, icp);
ecp = ec.Calibrate(image_points);
}
protected override void OnFrame(Parsley.Core.BuildingBlocks.FrameGrabber fp, Emgu.CV.Image<Emgu.CV.Structure.Bgr, byte> img) {
Parsley.Core.ExtrinsicCalibration ec;
ExtrinsicCameraParameters ecp;
bool pattern_found = false;
Core.CalibrationPattern p = _pattern;
if (p != null) {
Image<Gray, Byte> gray = img.Convert<Gray, Byte>();
pattern_found = p.FindPattern(gray);
p.DrawPattern(img, p.ImagePoints, p.PatternFound);
// if pattern has been found ==> find extrinsics and draw the corresponding coordinate frame
if (pattern_found == true && Context.Setup.Camera.Intrinsics != null)
{
ec = new Parsley.Core.ExtrinsicCalibration(p.ObjectPoints, Context.Setup.Camera.Intrinsics);
ecp = ec.Calibrate(p.ImagePoints);
if(ecp != null)
Core.Drawing.DrawCoordinateFrame(img, ecp, Context.Setup.Camera.Intrinsics);
}
}
base.OnFrame(fp, img);
}
/// <summary>
/// Generate a intrinsic/extrinsic calibration from an initial set of four marker points.
/// </summary>
/// <param name="finals">List of ellipses</param>
/// <param name="marker_ids">Ellipse ids of detected marker-ellipses</param>
/// <param name="icp">Resulting intrinsic calibration</param>
/// <param name="ecp">Resulting extrinsic calibration</param>
/// <param name="size">Image size</param>
private void ApproximatePlane(List<DetectedEllipse> finals, int[] marker_ids, out Emgu.CV.IntrinsicCameraParameters icp, out Emgu.CV.ExtrinsicCameraParameters ecp, System.Drawing.Size size) {
// Currently the marker points correspond to corner points in the rectangular pattern.
Vector[] object_points = new Vector[] {
this.ObjectPoints[0],
this.ObjectPoints[_number_circle_centers.Width - 1],
this.ObjectPoints[_number_circle_centers.Width * (_number_circle_centers.Height-1)],
this.ObjectPoints[_number_circle_centers.Width * _number_circle_centers.Height - 1]};
System.Drawing.PointF[] image_points =
marker_ids.Select(id => { return finals[id].Ellipse.MCvBox2D.center; }).ToArray();
Parsley.Core.IntrinsicCalibration ic = new Parsley.Core.IntrinsicCalibration(object_points, size);
ic.AddView(image_points);
icp = ic.Calibrate();
Parsley.Core.ExtrinsicCalibration ec = new Parsley.Core.ExtrinsicCalibration(object_points, icp);
ecp = ec.Calibrate(image_points);
}
protected override void OnFrame(Parsley.Core.BuildingBlocks.FrameGrabber fp, Emgu.CV.Image<Emgu.CV.Structure.Bgr, byte> img)
{
// Constraint checking
if (!Context.Setup.Camera.HasIntrinsics)
{
_on_roi = false;
return;
}
if (_interactor.State == Parsley.UI.InteractionState.Interacting)
{
_interactor.DrawIndicator(_interactor.Current, img);
}
else
{
_interactor.DrawIndicator(_r, img);
}
if (_on_roi && _pattern != null)
{
Image<Gray, Byte> gray = img.Convert<Gray, Byte>();
_pattern.IntrinsicParameters = Context.Setup.Camera.Intrinsics;
try
{
_pattern.FindPattern(gray, _r);
if (_pattern.PatternFound)
{
Parsley.Core.ExtrinsicCalibration ec = new Parsley.Core.ExtrinsicCalibration(_pattern.ObjectPoints, Context.Setup.Camera.Intrinsics);
ExtrinsicCameraParameters ecp = ec.Calibrate(_pattern.ImagePoints);
double[] deviations;
Vector[] points;
Core.ExtrinsicCalibration.CalibrationError(ecp,Context.Setup.Camera.Intrinsics,_pattern.ImagePoints,
_pattern.ObjectPoints,out deviations,out points);
double max_error = deviations.Max();
if (max_error < _last_error)
{
_last_detected_plane = ecp;
_last_error = max_error;
this.Logger.Info(String.Format("Extrinsics successfully calculated. Maximum error {0:F3}", _last_error));
}
}
else if (!_pattern.PatternFound & _last_detected_plane == null)
{
this.Logger.Warn("Pattern not found.");
}
}
catch (System.Exception e)
{
this.Logger.Warn(String.Format("Failed to determine extrinsic calibration: {0}", e.Message));
}
}
if (_last_detected_plane != null)
{
Core.Drawing.DrawCoordinateFrame(img, _last_detected_plane, Context.Setup.Camera.Intrinsics);
}
}
