private void buttonDepthErrorEvaluation_Click(object sender, RoutedEventArgs e)
{
//以下改造
MotionDataHandler handler;
string path;
if (openMotionData(out handler, out path))
{
CvMat resultMat = null;
List <double> errorVarList = new List <double>();
int length = handler.FrameCount;
IEnumerable <CvMat> depthImages;
Utility.LoadImages(handler.GetDepthImagePaths(), out depthImages);
foreach (CvMat depthMat in depthImages)
{
double errorVar = DepthUndistortionLinearCalibrator.EvaluateUndistortion(ref resultMat, depthMat, _undistortion);
errorVarList.Add(errorVar);
viewDepthUndistionMat(resultMat, depthMat);
}
displayLabels();
viewDepthUndistionMat(this.UndistortionData.UndistortionDepthMat);
if (errorVarList.Count > 0)
{
double errorVarAvg = errorVarList.Average();
System.Windows.MessageBox.Show(string.Format("誤差分散の平均: {0}", errorVarAvg));
}
}
}
private void buttonFlatDepthCalib_Click(object sender, RoutedEventArgs e)
{
// 改造
string path1;
MotionDataHandler handler1;
{
if (openMotionData(out handler1, out path1))
{
IEnumerable <CvMat> depthImages1 = null;
Utility.LoadImages(handler1.GetDepthImagePaths(), out depthImages1);
List <double> errorVarLog = new List <double>();
CvMat resultMat = null;
if (ProgressData.DoAction(progress =>
{
int length = handler1.FrameCount;
progress.InitProgress("Calculating...", length);
DepthUndistortionLinearCalibrator undistort = new DepthUndistortionLinearCalibrator(this.UndistortionData.CameraStruct, 1);
CvMat mat = null;
foreach (CvMat depthMat in depthImages1)
{
progress.CurrentValue++;
CalcEx.SmoothDepthStep(ref mat, depthMat, 19);
undistort.PutDepthImage(ref resultMat, mat, _undistortion);
viewDepthUndistionMat(resultMat, depthMat);
}
this.UndistortionData.SetUndistortionDepthMat(undistort.GetUndistortCoefMat(), path1);
}, "Flat Depth Calib", true))
{
displayLabels();
viewDepthUndistionMat(this.UndistortionData.UndistortionDepthMat);
}
}
}
}
private void buttonFlatDepthCalib_Click(object sender, RoutedEventArgs e)
{
// 改造
string path1;
MotionDataHandler handler1;
{
if (openMotionData(out handler1, out path1))
{
IEnumerable<CvMat> depthImages1 = null;
Utility.LoadImages(handler1.GetDepthImagePaths(), out depthImages1);
List<double> errorVarLog = new List<double>();
CvMat resultMat = null;
if (ProgressData.DoAction(progress =>
{
int length = handler1.FrameCount;
progress.InitProgress("Calculating...", length);
DepthUndistortionLinearCalibrator undistort = new DepthUndistortionLinearCalibrator(this.UndistortionData.CameraStruct, 1);
CvMat mat = null;
foreach (CvMat depthMat in depthImages1)
{
progress.CurrentValue++;
CalcEx.SmoothDepthStep(ref mat, depthMat, 19);
undistort.PutDepthImage(ref resultMat, mat, _undistortion);
viewDepthUndistionMat(resultMat, depthMat);
}
this.UndistortionData.SetUndistortionDepthMat(undistort.GetUndistortCoefMat(), path1);
}, "Flat Depth Calib", true))
{
displayLabels();
viewDepthUndistionMat(this.UndistortionData.UndistortionDepthMat);
}
}
}
}
