public void ProcessFrame()
{
if (this.State == CalibratorState.CornersRecognized | this.State == CalibratorState.Calibrated)
{
return;
}
this.OriginalImage = m_Capture.QueryFrame();
this.GrayImage = this.OriginalImage.Convert <Gray, Byte>();
bool foundAllCorners = CameraCalibration.FindChessboardCorners(
this.GrayImage,
this.ChessBoard.PatternSize,
Emgu.CV.CvEnum.CALIB_CB_TYPE.ADAPTIVE_THRESH | Emgu.CV.CvEnum.CALIB_CB_TYPE.FILTER_QUADS,
out m_FoundCorners);
PointF[][] foundPointsForChannels = new PointF[][] { m_FoundCorners };
if (foundAllCorners)
{
MCvTermCriteria terminationCriteria;
terminationCriteria.max_iter = 30;
terminationCriteria.epsilon = 0.1;
terminationCriteria.type = Emgu.CV.CvEnum.TERMCRIT.CV_TERMCRIT_EPS | Emgu.CV.CvEnum.TERMCRIT.CV_TERMCRIT_ITER;
this.GrayImage.FindCornerSubPix(foundPointsForChannels, new Size(11, 11), new Size(-1, -1), terminationCriteria);
CameraCalibration.DrawChessboardCorners(this.GrayImage, this.ChessBoard.PatternSize, m_FoundCorners, foundAllCorners);
}
// we are done with processing. If needed we flip the images for display purposes only.
Emgu.CV.CvEnum.FLIP flipType = Emgu.CV.CvEnum.FLIP.NONE;
if (this.FlipHorizontal)
{
flipType = Emgu.CV.CvEnum.FLIP.HORIZONTAL;
}
if (this.FlipVertical)
{
flipType = flipType |= Emgu.CV.CvEnum.FLIP.VERTICAL;
}
this.OriginalImage._Flip(flipType);
this.GrayImage._Flip(flipType);
if (foundAllCorners && this.State == CalibratorState.WaitingForCornersRecognition)
{
this.State = CalibratorState.CornersRecognized;
}
}
public void ProcessFrame()
{
if (m_Capture == null)
{
return;
}
this.OriginalImage = m_Capture.QueryFrame();
this.GrayImage = this.OriginalImage.Convert <Gray, Byte>();
bool foundAllCorners = CameraCalibration.FindChessboardCorners(
this.GrayImage,
this.CaptureSettings.ChessBoard.PatternSize,
Emgu.CV.CvEnum.CALIB_CB_TYPE.ADAPTIVE_THRESH | Emgu.CV.CvEnum.CALIB_CB_TYPE.FILTER_QUADS,
out m_FoundCorners);
PointF[][] foundPointsForChannels = new PointF[][] { m_FoundCorners };
if (foundAllCorners)
{
MCvTermCriteria terminationCriteria;
terminationCriteria.max_iter = 30;
terminationCriteria.epsilon = 0.05;
terminationCriteria.type = Emgu.CV.CvEnum.TERMCRIT.CV_TERMCRIT_EPS | Emgu.CV.CvEnum.TERMCRIT.CV_TERMCRIT_ITER;
this.GrayImage.FindCornerSubPix(foundPointsForChannels, new Size(11, 11), new Size(-1, -1), terminationCriteria);
CameraCalibration.DrawChessboardCorners(this.GrayImage, this.CaptureSettings.ChessBoard.PatternSize, m_FoundCorners, foundAllCorners);
}
// we are done with processing. If needed we flip the images for display purposes only.
Emgu.CV.CvEnum.FLIP flipType = Emgu.CV.CvEnum.FLIP.NONE;
if (this.FlipHorizontal)
{
flipType = Emgu.CV.CvEnum.FLIP.HORIZONTAL;
}
if (this.FlipVertical)
{
flipType = flipType |= Emgu.CV.CvEnum.FLIP.VERTICAL;
}
this.OriginalImage._Flip(flipType);
this.GrayImage._Flip(flipType);
if (!foundAllCorners)
{
return;
}
if (this.CurrentCapturedImagesCount >= this.CaptureSettings.ImagesCount)
{
// we got already all required images
return;
}
DateTime utcNow = DateTime.UtcNow;
if (utcNow.Ticks - m_TimeOfLastCapture.Ticks < this.CaptureSettings.WaitBetweenCaptures.Ticks)
{
// We need to wait longer
return;
}
// We capture the image
m_TimeOfLastCapture = utcNow;
this.CurrentCapturedImagesCount++;
this.OriginalImage.Save(this.CaptureSettings.GetFilePath(this.CurrentCapturedImagesCount));
this.OriginalImage = this.OriginalImage.Not();
RaiseChangedEvent();
}
