private void FindChessboardCornersOnSamples()
{
foreach (var sample in _viewModel.Samples)
{
var corners = StereoCalibration.FindChessboardCorners(sample.StereoImage, _viewModel.PatternSize);
if (corners == null)
{
continue;
}
StereoCalibration.DrawChessboardCorners(sample.StereoImage, corners);
sample.Corners = corners;
sample.IsCornersInitialized = true;
}
}
private void ProcessImages(object sender, EventArgs e)
{
if (Controller.CameraIsEnabled())
{
StereoImage <Bgr, byte> stereoImage = Model.StereoCamera.GetStereoImage();
if (_viewModel.Mode != CalibrationMode.ShowNotCalibrated)
{
CalibrationCorners corners = StereoCalibration.FindChessboardCorners(stereoImage,
_viewModel.PatternSize);
if (corners != null)
{
StereoCalibration.DrawChessboardCorners(stereoImage, corners);
}
DrawImage(stereoImage);
if (_viewModel.Mode == CalibrationMode.CollectingSamples && corners != null)
{
CollectedCount.Content = string.Format("Collected: {0}/{1}", _viewModel.Samples.Count,
_viewModel.Count);
if (_viewModel.AllowSaveCorners)
{
_viewModel.Samples.Add(new CalibrationSample(stereoImage, corners));
_viewModel.InvalidateSamples = true;
if (_viewModel.Count == _viewModel.Samples.Count)
{
CollectedCount.Content = string.Empty;
SetCameraWindowMode(CalibrationMode.ReadyCalibrating);
}
SampleList.Items.Refresh();
}
}
}
else
{
DrawImage(stereoImage);
}
}
}