void doAction()
{
try
{
setDialogResult(null);
_progressData = new ProgressData("Processing...", 0);
_progressData.ProgressChanged += onProgressChanged;
_action(_progressData);
setDialogResult(true);
}
catch (ThreadAbortException)
{
setDialogResult(false);
}
closeAsync();
}
private void buttonFlatDepthCalib_Click(object sender, RoutedEventArgs e)
{
// 改造
string path1;
MotionDataHandler handler1;
{
if (openMotionData(out handler1, out path1))
{
IEnumerable <CvMat> depthImages1 = null;
Utility.LoadImages(handler1.GetDepthImagePaths(), out depthImages1);
List <double> errorVarLog = new List <double>();
CvMat resultMat = null;
if (ProgressData.DoAction(progress =>
{
int length = handler1.FrameCount;
progress.InitProgress("Calculating...", length);
DepthUndistortionLinearCalibrator undistort = new DepthUndistortionLinearCalibrator(this.UndistortionData.CameraStruct, 1);
CvMat mat = null;
foreach (CvMat depthMat in depthImages1)
{
progress.CurrentValue++;
CalcEx.SmoothDepthStep(ref mat, depthMat, 19);
undistort.PutDepthImage(ref resultMat, mat, _undistortion);
viewDepthUndistionMat(resultMat, depthMat);
}
this.UndistortionData.SetUndistortionDepthMat(undistort.GetUndistortCoefMat(), path1);
}, "Flat Depth Calib", true))
{
displayLabels();
viewDepthUndistionMat(this.UndistortionData.UndistortionDepthMat);
}
}
}
}
private void buttonCameraCalibration_Click(object sender, RoutedEventArgs e)
{
int cols, rows;
double horizLength, vertLength;
if (!parseChessboardParameters(out cols, out rows, out horizLength, out vertLength))
{
return;
}
int imageNum;
if (!int.TryParse(textCalibrationCameraIteration.Text, out imageNum) || imageNum <= 0)
{
System.Windows.MessageBox.Show(string.Format("キャリブレーションに使用するイメージ数が不正です: {0}", textCalibrationCameraIteration.Text));
return;
}
// 以下改造
MotionDataHandler handler;
string path;
if (openMotionData(out handler, out path))
{
CvMat displayMat1 = null;
CvMat displayMat3 = null;
CvMat gray = null;
if (ProgressData.DoAction(progress =>
{
int length = handler.FrameCount;
if (length == 0)
{
return;
}
progress.InitProgress("Find Chessboard...", length * 2);
CvSize boardSize = new CvSize(cols, rows);
List <CvPoint2D32f[]> list = new List <CvPoint2D32f[]>();
CvSize imageSize = new CvSize();
CvPoint2D32f[] lastCorners = null;
IEnumerable <CvMat> colorImages;
Utility.LoadImages(handler.GetColorImagePaths(), out colorImages);
foreach (CvMat imageMat in colorImages)
{
progress.CurrentValue++;
using (imageMat)
{
imageSize = new CvSize(imageMat.Cols, imageMat.Rows);
CvPoint2D32f[] corners;
int count;
CvEx.InitCvMat(ref gray, imageMat, MatrixType.U8C1);
imageMat.CvtColor(gray, ColorConversion.RgbToGray);
if (gray.FindChessboardCorners(boardSize, out corners, out count, ChessboardFlag.AdaptiveThresh))
{
CvEx.CloneCvMat(ref displayMat1, imageMat);
CvTermCriteria criteria = new CvTermCriteria(20, 0.1);
gray.FindCornerSubPix(corners, count, new CvSize(11, 11), new CvSize(-1, -1), criteria);
list.Add(corners);
CvEx.DrawChessboardCornerFrame(displayMat1, boardSize, corners, new CvScalar(64, 128, 64));
displayMat1.DrawChessboardCorners(boardSize, corners, true);
lastCorners = corners;
putImage(displayMat1, PixelFormats.Bgr24);
}
else
{
CvEx.CloneCvMat(ref displayMat3, imageMat);
putImage(displayMat3, PixelFormats.Bgr24);
}
}
}
progress.SetProgress("Calibrating...", length);
this.UndistortionData.CalibrateCamera(list, cols, rows, (horizLength + vertLength) / 2, imageSize, imageNum, path);
CvMat displayMat2 = CvEx.InitCvMat(displayMat1);
displayMat1.Undistort2(displayMat2, this.UndistortionData.CameraStruct.CreateCvMat(), this.UndistortionData.DistortStruct.CreateCvMat(true));
if (lastCorners != null)
{
drawUndistortedCornerFrame(displayMat2, lastCorners, boardSize);
}
putImage(displayMat2, PixelFormats.Bgr24);
}, "Camera Calib", true))
{
displayLabels();
}
}
}
private void buttonCalibrateScaleOffset_Click(object sender, RoutedEventArgs e)
{
int cols, rows;
double horizLength, vertLength;
if (!parseChessboardParameters(out cols, out rows, out horizLength, out vertLength))
{
return;
}
// 以下改造
MotionDataHandler handler;
string path;
if (openMotionData(out handler, out path))
{
CvMat displayMat1 = null;
CvMat displayMat3 = null;
CvMat gray = null;
if (ProgressData.DoAction(progress =>
{
int length = handler.FrameCount;
if (length == 0)
{
return;
}
progress.InitProgress("Find Chessboard...", length * 2);
CvSize boardSize = new CvSize(cols, rows);
List <CvPoint3D32f?[]> list = new List <CvPoint3D32f?[]>();
CvSize imageSize = new CvSize();
CvPoint2D32f[] lastCorners = null;
IEnumerable <CvMat> colorImages, depthImages;
Utility.LoadImages(handler.GetColorImagePaths(), out colorImages);
Utility.LoadImages(handler.GetDepthImagePaths(), out depthImages);
var images = colorImages.Zip(depthImages, (first, second) => Tuple.Create(first, second));
foreach (Tuple <CvMat, CvMat> imagePair in images)
{
progress.CurrentValue++;
CvMat imageMat = imagePair.Item1;
CvMat depthMat = imagePair.Item2;
imageSize = new CvSize(imageMat.Cols, imageMat.Rows);
CvPoint2D32f[] corners;
int count;
CvEx.InitCvMat(ref gray, imageMat, MatrixType.U8C1);
imageMat.CvtColor(gray, ColorConversion.RgbToGray);
if (gray.FindChessboardCorners(boardSize, out corners, out count, ChessboardFlag.AdaptiveThresh))
{
CvEx.CloneCvMat(ref displayMat1, imageMat);
CvTermCriteria criteria = new CvTermCriteria(50, 0.01);
gray.FindCornerSubPix(corners, count, new CvSize(3, 3), new CvSize(-1, -1), criteria);
CvPoint3D32f?[] cornerPoints = new CvPoint3D32f?[corners.Length];
for (int j = 0; j < corners.Length; j++)
{
CvPoint2D32f corner = corners[j];
double?value = CalcEx.BilateralFilterDepthMatSinglePixel(corner, depthMat, 100, 4, 9);
if (value.HasValue)
{
cornerPoints[j] = new CvPoint3D32f(corner.X, corner.Y, value.Value);
}
}
list.Add(cornerPoints);
CvEx.DrawChessboardCornerFrame(displayMat1, boardSize, corners, new CvScalar(64, 128, 64));
displayMat1.DrawChessboardCorners(boardSize, corners, true);
lastCorners = corners;
//putImage(displayMat1, PixelFormats.Bgr24);
}
else
{
CvEx.CloneCvMat(ref displayMat3, imageMat);
//putImage(displayMat3, PixelFormats.Bgr24);
}
}
progress.SetProgress("Scale Offset Calibrating...", length);
this.UndistortionData.CalibrateRealScaleAndOffset(list, cols, rows, horizLength, vertLength, imageSize);
CvMat displayMat2 = CvEx.InitCvMat(displayMat1);
displayMat1.Undistort2(displayMat2, this.UndistortionData.CameraStruct.CreateCvMat(), this.UndistortionData.DistortStruct.CreateCvMat(true));
if (lastCorners != null)
{
drawUndistortedCornerFrame(displayMat2, lastCorners, boardSize);
}
displayMat2.PutText(string.Format("XScale: {0}", this.UndistortionData.XScale), new CvPoint(20, 20), new CvFont(FontFace.HersheyPlain, 1, 1), new CvScalar(255, 255, 255));
displayMat2.PutText(string.Format("YScale: {0}", this.UndistortionData.YScale), new CvPoint(20, 40), new CvFont(FontFace.HersheyPlain, 1, 1), new CvScalar(255, 255, 255));
displayMat2.PutText(string.Format("Zoffset: {0}", this.UndistortionData.ZOffset), new CvPoint(20, 60), new CvFont(FontFace.HersheyPlain, 1, 1), new CvScalar(255, 255, 255));
putImage(displayMat2, PixelFormats.Bgr24);
}, "Calibrate Scale Offset", true))
{
displayLabels();
}
}
}
public ProgressData GetSubProgress(double startValue, double valueRange, Func<ProgressData, string> getMessage)
{
ProgressData sub = new ProgressData(this.Message, 0);
sub.ProgressChanged += (sender, e) =>
{
double subMax = sub.MaximumValue;
double subValue = Math.Max(0, Math.Min(sub.CurrentValue, subMax));
if (subMax > 0)
{
this.SetProgress(getMessage(sub), startValue + subValue * valueRange / subMax);
}
else
{
this.SetProgress(getMessage(sub), startValue);
}
};
return sub;
}
