public static CalibrationCorners FindChessboardCorners(StereoImage <Bgr, byte> stereoImage, Size patternSize)
{
var grayStereoImage = stereoImage.Convert <Gray, byte>();
var leftCorners = FindChessboardCorners(grayStereoImage.LeftImage, patternSize);
var rightCorners = FindChessboardCorners(grayStereoImage.RightImage, patternSize);
if (leftCorners != null && rightCorners != null)
{
return(new CalibrationCorners(leftCorners, rightCorners));
}
return(null);
}
public static StereoImage <Bgr, byte> DrawChessboardCorners(StereoImage <Bgr, byte> stereoImage, CalibrationCorners corners)
{
var colors = new Bgr[corners.LeftCorners.Length];
var random = new Random();
for (var i = 0; i < colors.Length; ++i)
{
colors[i] = new Bgr(random.Next(0, 255), random.Next(0, 255), random.Next(0, 255));
}
DrawChessboardCorners(stereoImage.LeftImage, corners.LeftCorners, colors);
DrawChessboardCorners(stereoImage.RightImage, corners.RightCorners, colors);
return(stereoImage);
}
public static void RemapStereoImage(StereoImage <Bgr, byte> image, CalibrationStereoResult calibrationStereoResult)
{
Matrix <float> mapX;
Matrix <float> mapY;
InitUndistortRectifyMap(
calibrationStereoResult.Camera1Result,
calibrationStereoResult.Settings.ImageSize,
out mapX, out mapY);
image.LeftImage = Remap(image.LeftImage, mapX, mapY);
InitUndistortRectifyMap(
calibrationStereoResult.Camera2Result,
calibrationStereoResult.Settings.ImageSize,
out mapX, out mapY);
image.RightImage = Remap(image.RightImage, mapX, mapY);
}
public StereoImageFileInfo(StereoImage <Bgr, byte> image)
{
Name = image.Name;
LeftImagePath = string.Format("left_{0}.png", Name);
RightImagePath = string.Format("right_{0}.png", Name);
}