protected override void OnFrame(Parsley.Core.BuildingBlocks.FrameGrabber fp, Emgu.CV.Image <Emgu.CV.Structure.Bgr, byte> img)
{
Parsley.Core.ExtrinsicCalibration ec;
ExtrinsicCameraParameters ecp;
bool pattern_found = false;
Core.CalibrationPattern p = _pattern;
if (p != null)
{
Image <Gray, Byte> gray = img.Convert <Gray, Byte>();
pattern_found = p.FindPattern(gray);
p.DrawPattern(img, p.ImagePoints, p.PatternFound);
// if pattern has been found ==> find extrinsics and draw the corresponding coordinate frame
if (pattern_found == true && Context.Setup.Camera.Intrinsics != null)
{
ec = new Parsley.Core.ExtrinsicCalibration(p.ObjectPoints, Context.Setup.Camera.Intrinsics);
ecp = ec.Calibrate(p.ImagePoints);
if (ecp != null)
{
Core.Drawing.DrawCoordinateFrame(img, ecp, Context.Setup.Camera.Intrinsics);
}
}
}
base.OnFrame(fp, img);
}
protected override void OnFrame(Parsley.Core.BuildingBlocks.FrameGrabber fp, Emgu.CV.Image <Emgu.CV.Structure.Bgr, byte> img)
{
Core.CalibrationPattern pattern = _pattern;
if (pattern != null)
{
Image <Gray, Byte> gray = img.Convert <Gray, Byte>();
pattern.FindPattern(gray);
this.UpdateStatusDisplay(pattern.PatternFound);
this.HandleCalibrateRequest();
this.HandleTakeImageRequest();
this.DrawCoordinateFrame(img);
pattern.DrawPattern(img, pattern.ImagePoints, pattern.PatternFound);
}
}
protected override void OnFrame(Parsley.Core.BuildingBlocks.FrameGrabber fp, Emgu.CV.Image <Emgu.CV.Structure.Bgr, byte> img)
{
Core.CalibrationPattern pattern = _pattern;
if (pattern != null)
{ //cari pola kalibrasi jika marker kalibrasi tersedia
Image <Gray, Byte> gray = img.Convert <Gray, Byte>(); //convert image to grayscale
pattern.FindPattern(gray); //cari pola kalibrasi
this.UpdateStatusDisplay(pattern.PatternFound);
this.HandleCalibrateRequest();
this.HandleTakeImageRequest();
this.DrawCoordinateFrame(img);
pattern.DrawPattern(img, pattern.ImagePoints, pattern.PatternFound); //gambar AR pada marker jika pattern ditemukan
}
}