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);
}
private void _cmb_patterns_SelectedIndexChanged(object sender, EventArgs e) {
if (_cmb_patterns.SelectedIndex >= 0) {
// Instance a new object from selected type
Core.Addins.AddinInfo info = _cmb_patterns.SelectedItem as Core.Addins.AddinInfo;
if (info != null) {
_pattern = Core.Addins.AddinStore.CreateInstance(info) as Core.CalibrationPattern;
_pg.SelectedObject = _pattern;
if(Context.Setup.Camera.HasIntrinsics)
_pattern.IntrinsicParameters = Context.Setup.Camera.Intrinsics;
}
}
}
protected override void OnFrame(Parsley.Core.BuildingBlocks.FrameGrabber fp, Emgu.CV.Image <Emgu.CV.Structure.Bgr, byte> img)
{
Core.CalibrationPattern pattern = _pattern;
if (pattern != null)
{
Image <Gray, Byte> gray = img.Convert <Gray, Byte>();
pattern.FindPattern(gray);
this.UpdateStatusDisplay(pattern.PatternFound);
this.HandleCalibrateRequest();
this.HandleTakeImageRequest();
this.DrawCoordinateFrame(img);
pattern.DrawPattern(img, pattern.ImagePoints, pattern.PatternFound);
}
}
protected override void OnFrame(Parsley.Core.BuildingBlocks.FrameGrabber fp, Emgu.CV.Image <Emgu.CV.Structure.Bgr, byte> img)
{
Core.CalibrationPattern pattern = _pattern;
if (pattern != null)
{ //cari pola kalibrasi jika marker kalibrasi tersedia
Image <Gray, Byte> gray = img.Convert <Gray, Byte>(); //convert image to grayscale
pattern.FindPattern(gray); //cari pola kalibrasi
this.UpdateStatusDisplay(pattern.PatternFound);
this.HandleCalibrateRequest();
this.HandleTakeImageRequest();
this.DrawCoordinateFrame(img);
pattern.DrawPattern(img, pattern.ImagePoints, pattern.PatternFound); //gambar AR pada marker jika pattern ditemukan
}
}
void HandleTakeImageRequest()
{
Core.CalibrationPattern pattern = _pattern;
if (_take_image_request)
{
if (pattern.PatternFound)
{
_ic.AddView(pattern.ImagePoints);
this.Logger.Info(String.Format("You have successfully acquired {0} calibration images.", _ic.Views.Count));
this.Invoke((MethodInvoker) delegate {
_btn_calibrate.Enabled = _ic.Views.Count > 2 && !_cb_auto_take.Checked;
});
}
}
_take_image_request = false;
}
private void _btn_load_pattern_Click(object sender, EventArgs e)
{
if (openFileDialog1.ShowDialog() == DialogResult.OK)
{
using (Stream s = File.Open(openFileDialog1.FileName, FileMode.Open)) {
if (s != null)
{
IFormatter formatter = new BinaryFormatter();
_pattern = formatter.Deserialize(s) as Core.CalibrationPattern;
_ic = new Parsley.Core.IntrinsicCalibration(_pattern.ObjectPoints, Context.Setup.Camera.FrameSize);
s.Close();
this.Reset();
_logger.Info(String.Format("Calibration pattern {0} successfully loaded.", new FileInfo(openFileDialog1.FileName).Name));
}
}
}
}
void HandleCalibrateRequest()
{
Core.CalibrationPattern pattern = _pattern;
if (_calibrate_request)
{
_icp = _ic.Calibrate();
_ec = new Parsley.Core.ExtrinsicCalibration(pattern.ObjectPoints, _icp);
this.Logger.Info("Calibration succeeded");
this.Invoke((MethodInvoker) delegate {
_btn_calibrate.Enabled = false;
_btn_take_image.Enabled = true;
_cb_auto_take.Enabled = true;
_cb_auto_take.Checked = false;
});
}
_calibrate_request = false;
}
private void _btn_load_pattern_Click(object sender, EventArgs e)
{
if (openFileDialog1.ShowDialog() == DialogResult.OK)
{
using (Stream s = File.Open(openFileDialog1.FileName, FileMode.Open)) {
if (s != null)
{
IFormatter formatter = new BinaryFormatter();
_pattern = formatter.Deserialize(s) as Core.CalibrationPattern;
s.Close();
_last_detected_plane = null;
_last_error = Double.MaxValue;
_logger.Info(String.Format("Calibration pattern {0} successfully loaded.", new FileInfo(openFileDialog1.FileName).Name));
}
}
}
}
private void _cmb_patterns_SelectedIndexChanged(object sender, EventArgs e)
{
if (_cmb_patterns.SelectedIndex >= 0)
{
// Instance a new object from selected type
Core.Addins.AddinInfo info = _cmb_patterns.SelectedItem as Core.Addins.AddinInfo;
if (info != null)
{
_pattern = Core.Addins.AddinStore.CreateInstance(info) as Core.CalibrationPattern;
_pg.SelectedObject = _pattern;
if (Context.Setup.Camera.HasIntrinsics)
{
_pattern.IntrinsicParameters = Context.Setup.Camera.Intrinsics;
}
}
}
}
private void _btn_load_pattern_Click(object sender, EventArgs e) {
if (openFileDialog1.ShowDialog() == DialogResult.OK) {
using (Stream s = File.Open(openFileDialog1.FileName, FileMode.Open)) {
if (s != null) {
IFormatter formatter = new BinaryFormatter();
_pattern = formatter.Deserialize(s) as Core.CalibrationPattern;
s.Close();
_last_detected_plane = null;
_last_error = Double.MaxValue;
_logger.Info(String.Format("Calibration pattern {0} successfully loaded.", new FileInfo(openFileDialog1.FileName).Name));
}
}
}
}
/// <summary>
/// load pola kalibrasi
/// </summary>
private void _btn_load_pattern_Click(object sender, EventArgs e)
{
if (openFileDialog1.ShowDialog() == DialogResult.OK)
{
using (Stream s = File.Open(openFileDialog1.FileName, FileMode.Open))
{
if (s != null)
{
IFormatter formatter = new BinaryFormatter();
_pattern = formatter.Deserialize(s) as Core.CalibrationPattern;
_ic = new Parsley.Core.IntrinsicCalibration(_pattern.ObjectPoints, Context.Setup.Camera.FrameSize); //inisialisasi _ic
s.Close();
this.Reset();
_logger.Info(String.Format("Calibration pattern {0} successfully loaded.", new FileInfo(openFileDialog1.FileName).Name));
}
}
}
}
