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)
{
// 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)
{
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
}
}