protected override void OnFrame(Parsley.Core.BuildingBlocks.FrameGrabber fp, Emgu.CV.Image <Emgu.CV.Structure.Bgr, byte> img)
{
/*
* if (_take_ref_image) {
* _ref_image = img.Copy();
* _take_ref_image = false;
* }
*
* // 1. Extract laser-line
* Context.Setup.World.Laser.FindLaserLine(img);
* PointF[] laser_points = Context.Setup.World.Laser.ValidLaserPoints.ToArray();
*
* if (_acc != null) {
* img.Draw(_acc.ROI, new Bgr(Color.Green), 1);
* }
*
* if (laser_points.Length < 3 || _ref_image == null || _acc == null) {
* return;
* }
*
* Core.Ray[] eye_rays = Core.Ray.EyeRays(Context.Setup.World.Camera.Intrinsics, laser_points);
* Core.Plane laser_plane;
* if (Context.Setup.World.Laser.LaserPlaneAlgorithm.FindLaserPlane(
* eye_rays,
* Context.Setup.World.ReferencePlanes, out laser_plane))
* {
* Vector z = Vector.Create(new double[] { 0, 0, 1 });
* if (Math.Abs(laser_plane.Normal.ScalarMultiply(z)) < 0.3) {
* Console.WriteLine(laser_plane.Normal);
* return;
* }
*
* lock (Context.Viewer) {
* for (int i = 0; i < laser_points.Length; ++i) {
* Point lp = new Point((int)laser_points[i].X, (int)laser_points[i].Y);
*
* if (_acc.ROI.Contains(lp)) {
*
* double t;
* Core.Intersection.RayPlane(eye_rays[i], laser_plane, out t);
*
* img[lp.Y, lp.X] = new Bgr(Color.Red);
* Bgr bgr = _ref_image[lp.Y, lp.X];
* Vector color = new Vector(new double[] { bgr.Red / 255.0, bgr.Green / 255.0, bgr.Blue / 255.0, 1.0 });
*
* //_pointcloud.AddPoint(final.ToInterop(), color.ToInterop());
* Point p_in_roi = _acc.MakeRelativeToROI(lp);
* bool first;
* _acc.Accumulate(p_in_roi, eye_rays[i], t, out first);
* if (first) {
* _acc.SetId(p_in_roi, _pointcloud.AddPoint(_acc.Extract(p_in_roi).ToInterop(), color.ToInterop()));
* } else {
* _pointcloud.UpdatePoint(_acc.GetId(p_in_roi), _acc.Extract(p_in_roi).ToInterop(), color.ToInterop());
* }
* }
* }
* }
* }
* */
}
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);
}
void _grabber_OnFrame(Parsley.Core.BuildingBlocks.FrameGrabber fg, Emgu.CV.Image <Emgu.CV.Structure.Bgr, byte> img)
{
// Note: This method is called from the frame-grabber's thread loop.
// The framegrabber holds a Breath on the camera to ensure that the camera object remains
// alive during this callback. The camera object is a SharedResource, meaning that any
// invocation to Dispose will block until all Breaths on the camera are released. Suppose
// The thread that owns the picture box has called dispose and blocks. The callback here is called
// and invoke is used. Invoke executes the delegate on thread that owns this control, which is the one
// that is already blocked. This leads to a deadlock. That is why we use BeginInvoke, which executes
// the delegate on the GUI thread associated with this control.
if (_can_invoke)
{
Rectangle client = this.ClientRectangle;
Emgu.CV.Image <Emgu.CV.Structure.Bgr, byte> img_copy = img.Resize(client.Width, client.Height, _interpolation);
this.BeginInvoke(new MethodInvoker(delegate {
// Update image
Emgu.CV.IImage prev = _picture_box.Image;
_picture_box.Image = img_copy;
if (prev != null)
{
prev.Dispose();
}
}));
}
}
override protected void OnFrame(Parsley.Core.BuildingBlocks.FrameGrabber fp, Emgu.CV.Image <Emgu.CV.Structure.Bgr, byte> img)
{
if (Context.ROIHandler.Last != Rectangle.Empty)
{
img.Draw(Context.ROIHandler.Last, new Emgu.CV.Structure.Bgr(Color.Green), 1);
}
}
protected override void OnFrame(Parsley.Core.BuildingBlocks.FrameGrabber fp, Emgu.CV.Image <Emgu.CV.Structure.Bgr, byte> img)
{
// Constraint checking
if (!Context.Setup.Camera.HasIntrinsics)
{
_on_roi = false;
return;
}
if (_interactor.State == Parsley.UI.InteractionState.Interacting)
{
_interactor.DrawIndicator(_interactor.Current, img);
}
else
{
_interactor.DrawIndicator(_r, img);
}
if (_on_roi && _pattern != null)
{
Image <Gray, Byte> gray = img.Convert <Gray, Byte>();
_pattern.IntrinsicParameters = Context.Setup.Camera.Intrinsics;
try
{
_pattern.FindPattern(gray, _r);
if (_pattern.PatternFound)
{
Parsley.Core.ExtrinsicCalibration ec = new Parsley.Core.ExtrinsicCalibration(_pattern.ObjectPoints, Context.Setup.Camera.Intrinsics);
ExtrinsicCameraParameters ecp = ec.Calibrate(_pattern.ImagePoints);
double[] deviations;
Vector[] points;
Core.ExtrinsicCalibration.CalibrationError(ecp, Context.Setup.Camera.Intrinsics, _pattern.ImagePoints,
_pattern.ObjectPoints, out deviations, out points);
double max_error = deviations.Max();
if (max_error < _last_error)
{
_last_detected_plane = ecp;
_last_error = max_error;
this.Logger.Info(String.Format("Extrinsics successfully calculated. Maximum error {0:F3}", _last_error));
}
}
else if (!_pattern.PatternFound & _last_detected_plane == null)
{
this.Logger.Warn("Pattern not found.");
}
}
catch (System.Exception e)
{
this.Logger.Warn(String.Format("Failed to determine extrinsic calibration: {0}", e.Message));
}
}
if (_last_detected_plane != null)
{
Core.Drawing.DrawCoordinateFrame(img, _last_detected_plane, Context.Setup.Camera.Intrinsics);
}
}
protected override void OnFrame(Parsley.Core.BuildingBlocks.FrameGrabber fp, Emgu.CV.Image <Emgu.CV.Structure.Bgr, byte> img)
{
if (_algorithm != null)
{
_algorithm.ProcessImage(img);
}
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
}
}
protected override void OnFrame(Parsley.Core.BuildingBlocks.FrameGrabber fp, Emgu.CV.Image <Emgu.CV.Structure.Bgr, byte> img)
{
if (_take_texture_image)
{
_take_texture_image = false;
_texture_image = img.Copy();
lock (Context.Viewer) {
UpdateAllColors();
}
}
if (_clear_points)
{
_clear_points = false;
_pixel_point_ids.Reset();
Context.Setup.ScanWorkflow.Reset();
_pointcloud.ClearPoints();
}
// Update the transformation between positioner coordinate system and camera coordinate system
if (_update_positioner_transformation)
{
_update_positioner_transformation = false;
Context.Setup.Positioner.UpdateTransformation(Context.Setup.Camera);
_pixel_point_ids.Reset();
Context.Setup.ScanWorkflow.Reset();
}
if (Context.Setup.Camera.FrameSize != _pixel_point_ids.Size)
{
_pixel_point_ids.Size = Context.Setup.Camera.FrameSize;
}
List <Vector> points;
List <System.Drawing.Point> pixels;
if (Context.Setup.ScanWorkflow.Process(Context.Setup, img, out points, out pixels))
{
lock (Context.Viewer) {
UpdatePoints(points, pixels);
}
foreach (System.Drawing.Point p in pixels)
{
img[p.Y, p.X] = new Bgr(Color.Green);
}
}
}
override protected void OnFrame(Parsley.Core.BuildingBlocks.FrameGrabber fp, Emgu.CV.Image <Emgu.CV.Structure.Bgr, byte> img)
{
Emgu.CV.Image <Emgu.CV.Structure.Bgr, Byte> my_ref = _reference;
int my_channel = _channel;
if (my_ref != null)
{
_lle.FindLaserLine(img[my_channel].Sub(my_ref[my_channel]));
}
else
{
_lle.FindLaserLine(img[my_channel]);
}
foreach (System.Drawing.PointF p in _lle.ValidLaserPoints)
{
img[(int)p.Y, (int)p.X] = new Emgu.CV.Structure.Bgr(255, 0, 0);
}
}
override protected void OnFrame(Parsley.Core.BuildingBlocks.FrameGrabber fp, Emgu.CV.Image <Emgu.CV.Structure.Bgr, byte> img)
{
Core.CalibrationPattern pattern = this.Context.CalibrationPattern;
Emgu.CV.Image <Gray, Byte> gray = img.Convert <Gray, Byte>();
gray._EqualizeHist();
pattern.FindPattern(gray);
if (pattern.PatternFound)
{
Emgu.CV.ExtrinsicCameraParameters ecp = _ex.Calibrate(pattern.ImagePoints);
lock (Context.Viewer) {
Matrix m = Matrix.Identity(4, 4);
m.SetMatrix(0, 2, 0, 3, ecp.ExtrinsicMatrix.ToParsley());
_board_transform.Matrix = m.ToInterop();
}
}
pattern.DrawPattern(img, pattern.ImagePoints, pattern.PatternFound);
}
void FrameGrabber_OnFramePrepend(Parsley.Core.BuildingBlocks.FrameGrabber fp, Emgu.CV.Image <Emgu.CV.Structure.Bgr, byte> img)
{
UI.I2DInteractor i = _current;
if (i != null)
{
if (i.State == Parsley.UI.InteractionState.Interacting)
{
_current.DrawIndicator(i.Current, img);
}
else
{
GridItem e = _pg_config.SelectedGridItem;
GridItem p = e.Parent;
if (p != null)
{
_current.DrawIndicator(e.PropertyDescriptor.GetValue(p.Value), img);
}
}
}
}
protected override void OnFrame(Parsley.Core.BuildingBlocks.FrameGrabber fp, Emgu.CV.Image <Emgu.CV.Structure.Bgr, byte> img)
{
Core.Bundle b = new Parsley.Core.Bundle();
Core.BundleBookmarks bb = new Parsley.Core.BundleBookmarks(b);
bb.Image = img;
bb.LaserColor = Context.Setup.Laser.Color;
if (!Context.Setup.ScanWorkflow.LaserLineAlgorithm.FindLaserLine(bb.Bundle))
{
return;
}
if (!Context.Setup.ScanWorkflow.LaserLineFilterAlgorithm.FilterLaserLine(bb.Bundle))
{
return;
}
SaveLaserData(bb.LaserPixel);
foreach (System.Drawing.PointF p in bb.LaserPixel)
{
img[p.ToNearestPoint()] = new Emgu.CV.Structure.Bgr(System.Drawing.Color.Green);
}
}
protected virtual void OnFrame(Parsley.Core.BuildingBlocks.FrameGrabber fp, Emgu.CV.Image <Emgu.CV.Structure.Bgr, byte> img)
{
}
protected override void OnFrame(Parsley.Core.BuildingBlocks.FrameGrabber fp, Emgu.CV.Image <Emgu.CV.Structure.Bgr, byte> img)
{
#region take texture
if (_take_texture_image) //even handler jika mengambil texture image
{
_take_texture_image = false;
_texture_image = img.Copy();
lock (Context.Viewer)
{
UpdateAllColors();
}
}
#endregion
#region clear point
if (_clear_points)
{ //even handler jika menghapus point 3d yg sdh ada
_clear_points = false;
_pixel_point_ids.Reset();
Context.Setup.ScanWorkflow.Reset();
_pointcloud.ClearPoints();
}
#endregion
#region update positioner
// Update the transformation between positioner coordinate system and camera coordinate system
if (_update_positioner_transformation)
{
_update_positioner_transformation = false;
Context.Setup.Positioner.UpdateTransformation(Context.Setup.Camera);
_pixel_point_ids.Reset();
Context.Setup.ScanWorkflow.Reset();
}
#endregion
#region penyesuaian proporsi pixel dengan frame size
if (Context.Setup.Camera.FrameSize != _pixel_point_ids.Size)
{
_pixel_point_ids.Size = Context.Setup.Camera.FrameSize;
}
#endregion
List <Vector> points; //array penyimpan koordinat //sepertinya ini yang out of range
List <System.Drawing.Point> pixels;
#region start scanning
if (_start_scanning)
{
//Console.Write(Context.Setup.ScanWorkflow.Process(Context.Setup, img, out points, out pixels));
if (Context.Setup.ScanWorkflow.Process(Context.Setup, img, out points, out pixels)) //Jika syarat2 dalam scanworkflow.process terpenuhi maka akan ditambahkan pointcloudnya.
{
Console.WriteLine(pixels.Count);
lock (Context.Viewer)
{
UpdatePoints(points, pixels); //memanggil fungsi UpdatePoints untuk update model 3d setiap waktu, tanpa perduli terdeteksi ada nilai baru atau tidak
}
foreach (System.Drawing.Point p in pixels)
{
img[p.Y, p.X] = new Bgr(Color.Green);
}
}
}
#endregion
}
public Main() {
// Addin
Core.Addins.AddinStore.Discover();
Core.Addins.AddinStore.Discover(Environment.CurrentDirectory);
//Core.Addins.AddinStore.Discover(Path.Combine(Environment.CurrentDirectory, "plugins"));
InitializeComponent();
log4net.Appender.IAppender app =
LogManager.GetRepository().GetAppenders().FirstOrDefault(x => x is Logging.StatusStripAppender);
if (app != null)
{
Logging.StatusStripAppender ssa = app as Logging.StatusStripAppender;
ssa.StatusStrip = _status_strip;
ssa.ToolStripStatusLabel = _status_label;
}
Core.BuildingBlocks.Setup setup = null;
try //check konfigurasi parsley, jika tidak ada gunakan konfigurasi default
{
if (File.Exists(@"CurrentParsley.cfg"))
{
setup = Core.BuildingBlocks.Setup.LoadBinary(@"CurrentParsley.cfg");
//_logger.Info("Last Parsley configuration successfully loaded.");
_logger.Info("Last Parsley configuration successfully loaded.");
_logger.Debug("Last Parsley configuration successfully loaded.");
}
else
{
setup = new Parsley.Core.BuildingBlocks.Setup();
}
}
catch (System.Exception)
{
setup = new Parsley.Core.BuildingBlocks.Setup();
_logger.Info("Last Parsley configuration failed to load properly. Using default one.");
}
//setting streaming camera
Core.BuildingBlocks.FrameGrabber fg = new Parsley.Core.BuildingBlocks.FrameGrabber(setup.Camera);
_live_feed = new Parsley.UI.Concrete.StreamViewer();
_live_feed.Interpolation = Emgu.CV.CvEnum.INTER.CV_INTER_LINEAR;
_live_feed.FunctionalMode = Emgu.CV.UI.ImageBox.FunctionalModeOption.RightClickMenu;
_live_feed.FrameGrabber = fg;
_live_feed.FrameGrabber.FPS = 30;
_live_feed.FormClosing += new FormClosingEventHandler(_live_feed_FormClosing);
this.AddOwnedForm(_live_feed);
_live_feed.Show();
fg.Start();
//setting rendering 3d
_3d_viewer = new Parsley.UI.Concrete.Draw3DViewer();
_3d_viewer.FormClosing += new FormClosingEventHandler(_3d_viewer_FormClosing);
_3d_viewer.RenderLoop.FPS = 30;
_3d_viewer.AspectRatio = setup.Camera.FrameAspectRatio;
_3d_viewer.IsMaintainingAspectRatio = true;
_3d_viewer.RenderLoop.Start();
this.AddOwnedForm(_3d_viewer);
_3d_viewer.Show();
_context = new Context(setup, fg, _3d_viewer.RenderLoop, _live_feed.EmbeddableStream);
_settings = new Settings(_context);
_settings.FormClosing += new FormClosingEventHandler(_settings_FormClosing);
_settings.PropertyGrid.PropertyValueChanged += new PropertyValueChangedEventHandler(PropertyGrid_PropertyValueChanged);
this.AddOwnedForm(_settings);
_slide_welcome = new WelcomeSlide();
_slide_intrinsic_calib = new IntrinsicCalibrationSlide(_context);
_slide_extrinsic_calib = new ExtrinsicCalibrationSlide(_context);
_slide_laser_setup = new LaserSetupSlide(_context);
_slide_scanning = new ScanningSlide(_context);
_slide_image_algorithm_test = new ImageAlgorithmTestSlide(_context);
_slide_pattern_designer = new PatternDesignerSlide(_context);
_slide_control.AddSlide(_slide_welcome);
_slide_control.AddSlide(_slide_scanning);
_slide_control.AddSlide(_slide_intrinsic_calib);
_slide_control.AddSlide(_slide_extrinsic_calib);
_slide_control.AddSlide(_slide_laser_setup);
_slide_control.AddSlide(_slide_image_algorithm_test);
_slide_control.AddSlide(_slide_pattern_designer);
_slide_control.SlideChanged += new EventHandler<SlickInterface.SlideChangedArgs>(_slide_control_SlideChanged);
_slide_control.Selected = _slide_welcome;
}
public Main()
{
// Addin
Core.Addins.AddinStore.Discover();
Core.Addins.AddinStore.Discover(Environment.CurrentDirectory);
//Core.Addins.AddinStore.Discover(Path.Combine(Environment.CurrentDirectory, "plugins"));
InitializeComponent();
log4net.Appender.IAppender app =
LogManager.GetRepository().GetAppenders().FirstOrDefault(x => x is Logging.StatusStripAppender);
if (app != null)
{
Logging.StatusStripAppender ssa = app as Logging.StatusStripAppender;
ssa.StatusStrip = _status_strip;
ssa.ToolStripStatusLabel = _status_label;
}
Core.BuildingBlocks.Setup setup = null;
try //check konfigurasi parsley, jika tidak ada gunakan konfigurasi default
{
if (File.Exists(@"CurrentParsley.cfg"))
{
setup = Core.BuildingBlocks.Setup.LoadBinary(@"CurrentParsley.cfg");
//_logger.Info("Last Parsley configuration successfully loaded.");
_logger.Info("Last Parsley configuration successfully loaded.");
_logger.Debug("Last Parsley configuration successfully loaded.");
}
else
{
setup = new Parsley.Core.BuildingBlocks.Setup();
}
}
catch (System.Exception)
{
setup = new Parsley.Core.BuildingBlocks.Setup();
_logger.Info("Last Parsley configuration failed to load properly. Using default one.");
}
//setting streaming camera
Core.BuildingBlocks.FrameGrabber fg = new Parsley.Core.BuildingBlocks.FrameGrabber(setup.Camera);
_live_feed = new Parsley.UI.Concrete.StreamViewer();
_live_feed.Interpolation = Emgu.CV.CvEnum.INTER.CV_INTER_LINEAR;
_live_feed.FunctionalMode = Emgu.CV.UI.ImageBox.FunctionalModeOption.RightClickMenu;
_live_feed.FrameGrabber = fg;
_live_feed.FrameGrabber.FPS = 30;
_live_feed.FormClosing += new FormClosingEventHandler(_live_feed_FormClosing);
this.AddOwnedForm(_live_feed);
_live_feed.Show();
fg.Start();
//setting rendering 3d
_3d_viewer = new Parsley.UI.Concrete.Draw3DViewer();
_3d_viewer.FormClosing += new FormClosingEventHandler(_3d_viewer_FormClosing);
_3d_viewer.RenderLoop.FPS = 30;
_3d_viewer.AspectRatio = setup.Camera.FrameAspectRatio;
_3d_viewer.IsMaintainingAspectRatio = true;
_3d_viewer.RenderLoop.Start();
this.AddOwnedForm(_3d_viewer);
_3d_viewer.Show();
_context = new Context(setup, fg, _3d_viewer.RenderLoop, _live_feed.EmbeddableStream);
_settings = new Settings(_context);
_settings.FormClosing += new FormClosingEventHandler(_settings_FormClosing);
_settings.PropertyGrid.PropertyValueChanged += new PropertyValueChangedEventHandler(PropertyGrid_PropertyValueChanged);
this.AddOwnedForm(_settings);
_slide_welcome = new WelcomeSlide();
_slide_intrinsic_calib = new IntrinsicCalibrationSlide(_context);
_slide_extrinsic_calib = new ExtrinsicCalibrationSlide(_context);
_slide_laser_setup = new LaserSetupSlide(_context);
_slide_scanning = new ScanningSlide(_context);
_slide_image_algorithm_test = new ImageAlgorithmTestSlide(_context);
_slide_pattern_designer = new PatternDesignerSlide(_context);
_slide_control.AddSlide(_slide_welcome);
_slide_control.AddSlide(_slide_scanning);
_slide_control.AddSlide(_slide_intrinsic_calib);
_slide_control.AddSlide(_slide_extrinsic_calib);
_slide_control.AddSlide(_slide_laser_setup);
_slide_control.AddSlide(_slide_image_algorithm_test);
_slide_control.AddSlide(_slide_pattern_designer);
_slide_control.SlideChanged += new EventHandler <SlickInterface.SlideChangedArgs>(_slide_control_SlideChanged);
_slide_control.Selected = _slide_welcome;
}
