internal override void SettingsUpdated()
{
base.SettingsUpdated();
var firstNotSecond = ResponseValues.Select(c => c.Y).Except(Parent.SettingContainer.Settings.CalibrationSettings.PhotometricCalibrationSettings.ResponseValues).ToList();
var secondNotFirst = Parent.SettingContainer.Settings.CalibrationSettings.PhotometricCalibrationSettings.ResponseValues.Except(ResponseValues.Select(c => c.Y)).ToList();
bool changed = firstNotSecond.Any() || secondNotFirst.Any();
if (changed)
{
List <double> l = Parent.SettingContainer.Settings.CalibrationSettings.PhotometricCalibrationSettings.ResponseValues.ToList();
ResponseValues.Clear();
ResponseValues.AddRange(l.Select((c, i) => new DataPoint(i, c)));
}
Vignette = new CvImageContainer();
try
{
if (!string.IsNullOrEmpty(Parent.SettingContainer.Settings.CalibrationSettings.PhotometricCalibrationSettings.VignetteFileBase64))
{
byte[] data = Convert.FromBase64String(Parent.SettingContainer.Settings.CalibrationSettings.PhotometricCalibrationSettings.VignetteFileBase64);
Mat temp = new Mat();
CvInvoke.Imdecode(data, Emgu.CV.CvEnum.ImreadModes.Grayscale, temp);
Vignette.CvImage = temp;
}
}
catch (Exception)
{
}
}
public PrintCharucoBoardDialogModel(Action <PrintCharucoBoardDialogModel> createHandel, Action <PrintCharucoBoardDialogModel> closeHandel)
{
Image = new CvImageContainer();
_CloseCommand = new RelayCommand <object>(
async(object o) =>
{
await Task.Factory.StartNew(() =>
{
closeHandel(this);
});
});
_CreateCommand = new RelayCommand <object>(
async(object o) =>
{
await Task.Factory.StartNew(() =>
{
createHandel(this);
});
});
}
private Task DoLoadFromFile(object o)
{
return(Task.Factory.StartNew(() =>
{
Parent.SyncContext.Post(c =>
{
CustomDialog customDialog = new CustomDialog()
{
Title = "Select calibration file"
};
var dataContext = new ReplaySelectDialogModel(obj =>
{
Parent.SyncContext.Post(d =>
{
Task.Factory.StartNew(async() =>
{
ReplaySelectDialogModel replaySelectDialogModel = obj as ReplaySelectDialogModel;
if (replaySelectDialogModel.SelectedFile != null)
{
MetroDialogSettings settings = new MetroDialogSettings()
{
AnimateShow = false,
AnimateHide = false
};
var controller = await Parent.DialogCoordinator.ShowProgressAsync(Parent, "Please wait...", "Loading calibration images!", settings: Parent.MetroDialogSettings);
controller.SetCancelable(false);
controller.SetIndeterminate();
string file = null;
string outputPath = null;
Parent.SyncContext.Send(async d2 =>
{
file = replaySelectDialogModel.SelectedFile.FullPath;
outputPath = Path.Combine(Path.GetTempPath(), "firefly", Guid.NewGuid().ToString());
}, null);
RawDataReader reader = new RawDataReader(file, RawReaderMode.Camera0);
reader.Open();
MemoryImageExporter exporter = new MemoryImageExporter();
exporter.AddFromReader(reader, delegate(double percent)
{
double value = percent;
value = value > 1 ? 1 : value;
controller.SetProgress(value);
});
reader.Close();
Parent.SyncContext.Post(d2 =>
{
int i = 0;
int count = exporter.Images.Count;
foreach (Mat m in exporter.Images)
{
//double value = 0.5 + i / count * 0.5;
//value = value > 1 ? 1 : value;
//controller.SetProgress(value);
if (i++ % 20 == 0)
{
int squaresX = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquaresX;
int squaresY = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquaresY;
float squareLength = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquareLength;
float markerLength = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.MarkerLength;
PredefinedDictionaryName dictionary = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.Dictionary;
ChArUcoImageContainer cauic = new ChArUcoImageContainer(squaresX, squaresY, squareLength, markerLength, dictionary);
CvImageContainer container = new CvImageContainer();
container.CvImage = m;
cauic.OriginalImage = container;
Images.Add(cauic);
}
}
controller.CloseAsync();
}, null);
}
}, TaskCreationOptions.LongRunning);
Parent.DialogCoordinator.HideMetroDialogAsync(Parent, customDialog);
}, null);
});
Parent.ReplayViewModel.Refresh();
dataContext.FilesForReplay.AddRange(Parent.ReplayViewModel.FilesForReplay.Where(x => !x.Item1.IsRemote));
customDialog.Content = new ReplaySelectDialog {
DataContext = dataContext
};
Parent.DialogCoordinator.ShowMetroDialogAsync(Parent, customDialog);
}, null);
}));
}
internal override void SettingsUpdated()
{
base.SettingsUpdated();
bool changed = false;
changed |= Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Fx != Fx;
changed |= Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Fy != Fy;
changed |= Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Cx != Cx;
changed |= Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Cy != Cy;
changed |= Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Alpha != Alpha;
var firstNotSecond = _DistCoeffs.Except(Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.DistCoeffs).ToList();
var secondNotFirst = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.DistCoeffs.Except(_DistCoeffs).ToList();
changed |= firstNotSecond.Any() || secondNotFirst.Any();
if (changed)
{
Fx = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Fx;
Fy = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Fy;
Cx = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Cx;
Cy = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Cy;
Alpha = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Alpha;
_DistCoeffs = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.DistCoeffs.ToList();
if (_DistCoeffs.Count == 4)
{
K1 = _DistCoeffs[0];
K2 = _DistCoeffs[1];
K3 = _DistCoeffs[2];
K4 = _DistCoeffs[3];
}
Mat board = ChArUcoCalibration.DrawBoard(5, 5, 0.04f, 0.02f, new System.Drawing.Size(Parent.CameraViewModel.ImageWidth, Parent.CameraViewModel.ImageHeight), 10, PredefinedDictionaryName.Dict6X6_250);
Mat boardDist = board.Clone();
Mat cameraMatrix = new Mat(3, 3, Emgu.CV.CvEnum.DepthType.Cv64F, 1);
Mat distCoeffs = new Mat(1, Parent.CameraViewModel.FishEyeCalibration ? 4 : _DistCoeffs.Count, Emgu.CV.CvEnum.DepthType.Cv64F, 1);
cameraMatrix.SetValue(0, 0, Fx);
cameraMatrix.SetValue(1, 1, Fy);
cameraMatrix.SetValue(0, 1, Fx * Alpha);
cameraMatrix.SetValue(0, 2, Cx);
cameraMatrix.SetValue(1, 2, Cy);
cameraMatrix.SetValue(2, 2, 1.0f);
Mat newK = new Mat(3, 3, Emgu.CV.CvEnum.DepthType.Cv64F, 1);
for (int i = 0; i < distCoeffs.Cols && (Parent.CameraViewModel.FishEyeCalibration ? i < 4 : true); i++)
{
distCoeffs.SetValue(0, i, _DistCoeffs[i]);
}
if (Parent.CameraViewModel.FishEyeCalibration)
{
Fisheye.EstimateNewCameraMatrixForUndistorRectify(cameraMatrix, distCoeffs, new System.Drawing.Size(Parent.CameraViewModel.ImageWidth, Parent.CameraViewModel.ImageHeight), Mat.Eye(3, 3, Emgu.CV.CvEnum.DepthType.Cv64F, 1), newK, 0, new System.Drawing.Size(Parent.CameraViewModel.ImageWidth, Parent.CameraViewModel.ImageHeight), 0.3);
Mat map1 = new Mat();
Mat map2 = new Mat();
Fisheye.InitUndistorRectifyMap(cameraMatrix, distCoeffs, Mat.Eye(3, 3, Emgu.CV.CvEnum.DepthType.Cv64F, 1), newK, new System.Drawing.Size(Parent.CameraViewModel.ImageWidth, Parent.CameraViewModel.ImageHeight), Emgu.CV.CvEnum.DepthType.Cv32F, map1, map2);
CvInvoke.Remap(board, boardDist, map1, map2, Emgu.CV.CvEnum.Inter.Linear, Emgu.CV.CvEnum.BorderType.Constant);
}
else
{
CvInvoke.Undistort(board, boardDist, cameraMatrix, distCoeffs);
}
Parent.SyncContext.Post(c =>
{
ChAruCoBoard = new CvImageContainer();
ChAruCoBoard.CvImage = boardDist;
}, null);
}
}
public void Fired(IOProxy proxy, List <AbstractProxyEventData> eventData)
{
CameraEventData cameraEventData = (CameraEventData)eventData.FirstOrDefault(c => c is CameraEventData);
if (cameraEventData != null)
{
Task.Factory.StartNew(() =>
{
Mat mat = cameraEventData.Image;
bool undistort = false;
Parent.SyncContext.Send(o =>
{
undistort = Undistort;
if (GammaCorretion)
{
Mat result = new Mat(ImageWidth, ImageHeight, DepthType.Cv32F, 1);
int i = 0;
Mat lut = new Mat(1, 256, DepthType.Cv32F, 1);
foreach (double val in Parent.SettingContainer.Settings.CalibrationSettings.PhotometricCalibrationSettings.ResponseValues)
{
lut.SetValue(0, i++, (byte)val);
}
CvInvoke.LUT(mat, lut, result);
result.ConvertTo(mat, DepthType.Cv8U);
}
if (VignetteCorretion)
{
Mat invVignette = new Mat(ImageWidth, ImageHeight, DepthType.Cv32F, 1);
Mat result = new Mat(ImageWidth, ImageHeight, DepthType.Cv32F, 1);
CvInvoke.Divide(Mat.Ones(ImageWidth, ImageHeight, DepthType.Cv32F, 1), Parent.CalibrationViewModel.PhotometricCalibrationViewModel.Vignette.CvImage, invVignette, 255, DepthType.Cv32F);
CvInvoke.Multiply(mat, invVignette, result, 1, DepthType.Cv32F);
result.ConvertTo(mat, DepthType.Cv8U);
}
}
, null);
if (undistort)
{
Mat matUndist = new Mat(ImageWidth, ImageHeight, DepthType.Cv8U, 1);
if (FishEyeCalibration)
{
Mat map1 = new Mat();
Mat map2 = new Mat();
Fisheye.InitUndistorRectifyMap(OrginalCameraMatrix, DistortionCoefficients, Mat.Eye(3, 3, DepthType.Cv64F, 1), CenteredCameraMatrix, new System.Drawing.Size(ImageWidth, ImageHeight), DepthType.Cv32F, map1, map2);
CvInvoke.Remap(mat, matUndist, map1, map2, Inter.Linear, BorderType.Constant);
}
else
{
CvInvoke.Undistort(mat, matUndist, CenteredCameraMatrix, DistortionCoefficients);
}
mat = matUndist;
}
_FPSCounter.CountFrame();
Parent.SyncContext.Post(o =>
{
ExposureTime = (eventData[0] as CameraEventData).ExposureTime;
Image = new CvImageContainer();
Image.CvImage = mat;
}
, null);
});
}
}
