/// <summary>
/// Call with new CornesStepCfg, keep calling with images till cfg.done == true
/// </summary>
/// <param name="cfg"></param>
/// <param name="Gray_frame_S1"></param>
/// <param name="Gray_frame_S2"></param>
public static bool findCorners(CornersStepCfg cfg, Image <Gray, Byte> Gray_frame_S1, Image <Gray, Byte> Gray_frame_S2, bool shoot)
{
if (File.Exists(saveFileName_corners))
{
var lines = File.ReadAllLines(saveFileName_corners);
var res = stringToCorner(lines);
cfg.corners_points_Left = res[0];
cfg.corners_points_Right = res[1];
cfg.done = true;
return(false);
}
Size patternSize = new Size(width, height); //size of chess board to be detected
#region Saving Chessboard Corners in Buffer
//Find the chessboard in bothe images
cfg.corners_Left = FindChessboardCorners(Gray_frame_S1, patternSize, Emgu.CV.CvEnum.CalibCbType.AdaptiveThresh);
cfg.corners_Right = FindChessboardCorners(Gray_frame_S2, patternSize, Emgu.CV.CvEnum.CalibCbType.AdaptiveThresh);
//we use this loop so we can show a colour image rather than a gray: //CameraCalibration.DrawChessboardCorners(Gray_Frame, patternSize, corners);
//we we only do this is the chessboard is present in both images
if (cfg.corners_Left != null && cfg.corners_Right != null) //chess board found in one of the frames?
{
//make mesurments more accurate by using FindCornerSubPixel
Gray_frame_S1.FindCornerSubPix(new PointF[1][] { cfg.corners_Left }, new Size(11, 11), new Size(-1, -1), new MCvTermCriteria(30, 0.01));
Gray_frame_S2.FindCornerSubPix(new PointF[1][] { cfg.corners_Right }, new Size(11, 11), new Size(-1, -1), new MCvTermCriteria(30, 0.01));
{
//save the calculated points into an array
cfg.corners_points_Left[cfg.buffer_savepoint] = cfg.corners_Left;
cfg.corners_points_Right[cfg.buffer_savepoint] = cfg.corners_Right;
if (shoot)
{
Gray_frame_S1.Save($"{saveFilePath}images\\Left_{cfg.buffer_savepoint}.jpg");
Gray_frame_S2.Save($"{saveFilePath}images\\Right_{cfg.buffer_savepoint}.jpg");
cfg.buffer_savepoint++; //increase buffer positon
//check the state of buffer
if (cfg.buffer_savepoint == buffer_length)
{
var saveStr = cornerToString(cfg.corners_points_Left) + cornerToString(cfg.corners_points_Right);
File.AppendAllText(saveFileName_corners, saveStr);
cfg.done = true;
}
}
//Show state of Buffer
}
//calibrate the delay bassed on size of buffer
//if buffer small you want a big delay if big small delay
//Thread.Sleep(100);//allow the user to move the board to a different position
if (shoot)
{
cfg.corners_Left = null;
cfg.corners_Right = null;
return(true);
}
}
//corners_Left = null;
//corners_Right = null;
return(false);
}
static Bgr[] line_colour_array = new Bgr[width * height]; // just for displaying coloured lines of detected chessboard
public static void DrawChessFound(Image <Bgr, Byte> frame_S1, Image <Bgr, Byte> frame_S2, CornersStepCfg cfg)
{
if (cfg.corners_Left == null)
{
return;
}
if (cfg.corners_Right == null)
{
return;
}
//draw the results
frame_S1.Draw(new CircleF(cfg.corners_Left[0], 3), new Bgr(Color.Yellow), 1);
frame_S2.Draw(new CircleF(cfg.corners_Right[0], 3), new Bgr(Color.Yellow), 1);
for (int i = 1; i < cfg.corners_Left.Length; i++)
{
//left
frame_S1.Draw(new LineSegment2DF(cfg.corners_Left[i - 1], cfg.corners_Left[i]), line_colour_array[i], 2);
frame_S1.Draw(new CircleF(cfg.corners_Left[i], 3), new Bgr(Color.Yellow), 1);
//right
frame_S2.Draw(new LineSegment2DF(cfg.corners_Right[i - 1], cfg.corners_Right[i]), line_colour_array[i], 2);
frame_S2.Draw(new CircleF(cfg.corners_Right[i], 3), new Bgr(Color.Yellow), 1);
}
}
