private void Window_Closing(object sender, System.ComponentModel.CancelEventArgs e)
{
CalibrationSettings.Instance().Save();
CaptureSettings.Instance().Save();
GraphicsSettings.Instance().Save();
PhysicSettings.Instance().Save();
}
/// <summary>
/// Reset of al settings
/// </summary>
private void resetBut_Click(object sender, RoutedEventArgs e)
{
CalibrationSettings.Instance().Restart();
CaptureSettings.Instance().Restart();
GraphicsSettings.Instance().Restart();
PhysicSettings.Instance().Restart();
}
/// <summary>
/// Po nacteni hlavniho okna se inicializuje hlavni manazer, ktery se postara
/// o zbytek inicializace; take se inicializuje manazer kamery
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Window_Loaded(object sender, RoutedEventArgs e)
{
// pokud loading timer uz nebezi, zrus loading okno
if (!loadingTimer.Enabled)
{
loadingWindow.Close();
}
// nacteni veskereho nastaveni z XML souboru
CalibrationSettings.Instance().Load();
CaptureSettings.Instance().Load();
GraphicsSettings.Instance().Load();
PhysicSettings.Instance().Load();
CommonAttribService.mainWindow = this;
// vytvoreni manazeru, ktery propoji funkcionalitu VSEM hlavnim modelum
myManager = new WindowManager();
myManager.MyWindow = this;
myManager.LoadDefaultValues();
myManager.ManageMainWindow();
CameraManager.Reinitialize();
}
/// <summary>
/// Loads calibration settings
/// </summary>
public void LoadValues()
{
calibrationPoints = new Point[2];
calibrationPoints[0] = CalibrationSettings.Instance().CALIBRATION_POINT_A;
calibrationPoints[1] = CalibrationSettings.Instance().CALIBRATION_POINT_C;
if (calibrationPoints[0].X != calibrationPoints[1].X && calibrationPoints[0].Y != calibrationPoints[1].Y)
{
pointCounter = 2;
rotation = CalibrationSettings.Instance().CALIBRATION_ROTATION;
perspective = CalibrationSettings.Instance().CALIBRATION_PERSPECTIVE;
if (perspective != 1)
{
perspectiveRadio.IsChecked = true;
mode = CalibrationMode.PERSPECTIVE;
}
else
{
mode = CalibrationMode.RECTANGLE;
rectangleRadio.IsChecked = true;
}
DrawPoint((int)calibrationPoints[0].X, (int)calibrationPoints[0].Y, 0);
DrawPoint((int)calibrationPoints[1].X, (int)calibrationPoints[1].Y, 1);
CreateLines();
}
CaptureImage();
}
/// <summary>
/// Saves calibration parameters (we need only coordinates of two edges, rotation and the mode)
/// </summary>
private void SaveValues()
{
CalibrationSettings.Instance().CALIBRATION_POINT_A.X = calibrationPoints[0].X;
CalibrationSettings.Instance().CALIBRATION_POINT_A.Y = calibrationPoints[0].Y;
CalibrationSettings.Instance().CALIBRATION_POINT_C.X = calibrationPoints[1].X;
CalibrationSettings.Instance().CALIBRATION_POINT_C.Y = calibrationPoints[1].Y;
CalibrationSettings.Instance().CALIBRATION_ROTATION = rotation;
CalibrationSettings.Instance().CALIBRATION_PERSPECTIVE = perspective;
CalibrationSettings.Instance().Save();
}
/// <summary>
/// Processing loop, captures an image and processes it
/// </summary>
private void Application_Idle()
{
while (true)
{
try
{
Image <Bgr, byte> tempFrame = captured_frame = CameraManager.GetImage();
if (CaptureSettings.Instance().DEFAULT_DILATATION != 0)
{
tempFrame._Dilate((int)CaptureSettings.Instance().DEFAULT_DILATATION);
}
if (CaptureSettings.Instance().DEFAULT_ERODE != 0)
{
tempFrame._Erode((int)CaptureSettings.Instance().DEFAULT_ERODE);
}
if (CaptureSettings.Instance().DEFAULT_GAMMA != 1)
{
tempFrame._GammaCorrect((double)CaptureSettings.Instance().DEFAULT_GAMMA);
}
if (CaptureSettings.Instance().DEFAULT_INVERT_ENABLED)
{
tempFrame._Not();
}
if (CaptureSettings.Instance().DEFAULT_NORMALIZE_ENABLED)
{
tempFrame._EqualizeHist();
}
// fix rotation
if (CalibrationSettings.Instance().CALIBRATION_ROTATION != 0)
{
tempFrame = tempFrame.Rotate(CalibrationSettings.Instance().CALIBRATION_ROTATION, new Bgr(0, 0, 0), true);
}
processor.ProcessImage(tempFrame);
if (interactiveWindow != null && interactiveWindow.IsVisible)
{
interactiveWindow.DrawImage(tempFrame, processor);
}
InputLogic();
}
catch {
// no-op here
}
}
}
/// <summary>
/// Takes all detected contours, transforms their positions into the coordinate system of the table,
/// taking also into accoutn perspective distortion. At last, it creates descriptors of detected
/// stones and passes everything to the merging processor that will increase the simulation step
/// </summary>
private void InputLogic()
{
foundRocks.Clear();
if (tableManager.IsRunning)
{
foreach (FoundTemplateDesc found in processor.foundTemplates)
{
System.Drawing.Rectangle foundRect = found.sample.contour.SourceBoundingRect;
#region hledani transformovaneho bodu
try
{
double found_pos_x = foundRect.Left + foundRect.Size.Width / 2;
double found_pos_y = foundRect.Top + foundRect.Size.Height / 2;
double mx = found_pos_x; // X-axis coord in the trapezoid
double my = captured_frame.Height - found_pos_y; // Y-axis coord in the trapezoid
double ax = CalibrationSettings.Instance().CALIBRATION_POINT_A.X; // X-axis coord of A-point in trapezoid
// estimation of other points according to ( a = (2*r1r2)/(r1+1))
double r1 = CalibrationSettings.Instance().CALIBRATION_PERSPECTIVE;
double r2 = CalibrationSettings.Instance().CALIBRATION_POINT_C.X - CalibrationSettings.Instance().CALIBRATION_POINT_A.X;
double bx = ax + (2 * (r1 * r2)) / (r1 + 1); // X-axis coord of B-point in trapezoid
double cx = CalibrationSettings.Instance().CALIBRATION_POINT_C.X; // X-axis coord of C-point in trapezoid
double dx = ax + bx - cx; // X-axis coord of D-point in trapezoid
double cy = captured_frame.Height - CalibrationSettings.Instance().CALIBRATION_POINT_C.Y; // Y-axis coord of C-point in trapezoid
double ay = captured_frame.Height - CalibrationSettings.Instance().CALIBRATION_POINT_A.Y; // Y-axis coord of A-point in trapezoid
double pom = (my - ay) / (cy - ay); // ratio between the bottom base and the upper base
double r1m = mx - (ax + (dx - ax) * pom); // distance of the M point from the left side
double r1r2 = pom * (cx - bx - dx + ax) + bx - ax; // length of a line that crosses the M-point and both sides
double ab = Math.Abs(bx - ax); // length of AB line
double cd = Math.Abs(cx - dx); // length of CD line
double alfa = r1r2 / ab; // perspective distortion
double maximum = captured_frame.Height / (cd / ab); // max distortion
double real = (captured_frame.Height) * (pom / alfa); // relative distortion to the M-point
// projection to a rectangle the frame represents
double mxx = (ax < bx) ? captured_frame.Width * (r1m / r1r2) : captured_frame.Width - captured_frame.Width * r1m / r1r2;
double mxy = (ay > cy) ? (captured_frame.Height * real / maximum) : captured_frame.Height - (captured_frame.Height * real / maximum);
// recalculation from camera space to table space
mxx *= CommonAttribService.ACTUAL_TABLE_WIDTH / ((double)captured_frame.Width);
mxy *= CommonAttribService.ACTUAL_TABLE_HEIGHT / ((double)captured_frame.Height);
foundRocks.Add(CreateFoundRock(found.template.name, new FPoint(mxx - CommonAttribService.ACTUAL_TABLE_WIDTH / 2, CommonAttribService.ACTUAL_TABLE_HEIGHT / 2 - mxy), processor.templates, found.rate, found.scale, found.angle));
}
catch
{
MessageBox.Show("An error occurred during calibration. Try to set the calibration again!");
StopThread();
}
#endregion
}
// merge both systems between two time steps
realTableManager.MergeSystems(foundRocks);
}
}