protected override void Dispose(bool disposing)
{
base.Dispose(disposing);
if (_bgModel != null)
{
_bgModel.Dispose();
_bgModel = null;
}
if (_fgModel != null)
{
_fgModel.Dispose();
_fgModel = null;
}
if (_calc != null)
{
_calc.Dispose();
_calc = null;
}
if (_foreground != null)
{
_foreground.Dispose();
_foreground = null;
}
if (_markerBuffer != null)
{
Marshal.FreeHGlobal((IntPtr)_markerBuffer);
_markerBuffer = null;
}
if (_laser != null)
{
_laser.Dispose();
_laser = null;
}
if (_scanner != null)
{
_scanner.Hit(new IppiPoint_32f(0.0f, 0.0f));
_scanner.Dispose();
_scanner = null;
}
if (_strel3x3 != null)
{
_strel3x3.Dispose();
_strel3x3 = null;
}
}
/// <summary>
/// Runs the initial three point calibration to find approximate camera height and angle/reflection
/// </summary>
/// <param name="frameNumber">The current camera frame number</param>
/// <param name="camImage">The camera image</param>
/// <param name="poi">The detected beam centroid</param>
protected void ThreePointCalibration(int frameNumber, Image8 camImage, out IppiPoint?poi)
{
poi = null;
//Points not set in _threePointPoints are set to -1,-1. Use this to track which point we handle right now
if (_threePointPoints.Origin.x == -1)
{
//Work on origin
var p = MoveAndDetect(_threePointFrame, camImage, new IppiPoint_32f(0.0f, 0.0f));
if (p.x != -1)
{
//found the point
_threePointFrame = -1; //will be incremented to 0 below!
_threePointPoints.Origin = new IppiPoint(p.x, p.y);
_p0 = new IppiPoint(p.x, p.y); //set our origin coordinates for later calculations
poi = p;
//reset foreground in preparation for x movement
_fgModel.Dispose();
_fgModel = new DynamicBackgroundModel(camImage, 5.0f / Properties.Settings.Default.FrameRate);
}
}
else if (_threePointPoints.XMove.x == -1)
{
//Work on x-displacement
var p = MoveAndDetect(_threePointFrame, camImage, new IppiPoint_32f(Properties.Settings.Default.MirrorXVAln, 0.0f));
if (p.x != -1)
{
//found the point
_threePointFrame = -1;//will be incremented to 0 below!
_threePointPoints.XMove = new IppiPoint(p.x, p.y);
poi = p;
//reset foreground in preparation for y movement
_fgModel.Dispose();
_fgModel = new DynamicBackgroundModel(camImage, 5.0f / Properties.Settings.Default.FrameRate);
}
}
else if (_threePointPoints.YMove.x == -1)
{
//Work on y-displacement
var p = MoveAndDetect(_threePointFrame, camImage, new IppiPoint_32f(0.0f, Properties.Settings.Default.MirrorYVAln));
if (p.x != -1)
{
//found the point
_threePointFrame = -1;//will be incremented to 0 below!
_threePointPoints.YMove = new IppiPoint(p.x, p.y);
poi = p;
//reset foreground in preparation of interpolation table building
_fgModel.Dispose();
_fgModel = new DynamicBackgroundModel(camImage, 20.0f / Properties.Settings.Default.FrameRate);
}
}
else
{
//Use results to calculate calibration
//Height
double camera_height_x = CalculateHeight(_threePointPoints.XMove, MirrorAngle(Properties.Settings.Default.MirrorXVAln));
System.Diagnostics.Debug.WriteLine("Height according to x-mirror is: {0}", camera_height_x);
double camera_height_y = CalculateHeight(_threePointPoints.YMove, MirrorAngle(Properties.Settings.Default.MirrorYVAln));
System.Diagnostics.Debug.WriteLine("Height according to y-mirror is: {0}", camera_height_y);
_camera_height = (camera_height_x + camera_height_y) / 2.0;
//Theta and reflection
double theta_x = CalculateCameraTheta(_threePointPoints.XMove, false);
System.Diagnostics.Debug.WriteLine("Theta according to x-mirror is: {0}", theta_x);
double theta_y = CalculateCameraTheta(_threePointPoints.YMove, true);
System.Diagnostics.Debug.WriteLine("Theta according to y-mirror is: {0}", theta_y);
_isYReflected = CheckReflection(theta_x, theta_y, out _camera_theta);
System.Diagnostics.Debug.WriteLine("Y reflection: {0}", _isYReflected);
System.Diagnostics.Debug.WriteLine("Final camera theta is: {0}", _camera_theta);
_experimentPhase = ExperimentPhases.InterpTable;
_interpParams = new InterpolationParams();
//At this point have 10 pixel borders around camera image in the interpolation ROI
_interpParams.LookupTable = new BLIScanLookupTable(new IppiROI(10, 10, camImage.Width - 20, camImage.Height - 20), 4);
}
_threePointFrame++;
}
