private StereoImage <Bgr, byte> RemapImage(StereoImage <Bgr, byte> stereoImage)
{
StereoImage <Bgr, byte> copy = stereoImage.Copy();
StereoCalibration.RemapStereoImage(copy, _viewModel.CalibrationResult);
return(copy);
}
public StereoImage <Bgr, byte> GetCalibratedStereoImage()
{
var stereoImage = Model.StereoCamera.GetStereoImage();
if (Model.Calibrated)
{
StereoCalibration.RemapStereoImage(stereoImage, Model.CalibrationModel.CalibrationResult);
}
return(stereoImage);
}
private void FindChessboardCornersOnSamples()
{
foreach (var sample in _viewModel.Samples)
{
var corners = StereoCalibration.FindChessboardCorners(sample.StereoImage, _viewModel.PatternSize);
if (corners == null)
{
continue;
}
StereoCalibration.DrawChessboardCorners(sample.StereoImage, corners);
sample.Corners = corners;
sample.IsCornersInitialized = true;
}
}
private void Calibrate()
{
CalibrationCorners[] samples =
_viewModel.Samples.Where(_ => _.IsCornersInitialized).Select(_ => _.Corners).ToArray();
var settings = new CalibrationSettings
{
ChessboardHeight = _viewModel.ChessboardHeight,
ChessboardWidth = _viewModel.ChessboardWidth,
CellHeight = _viewModel.CellHeight,
CellWidth = _viewModel.CellWidth,
Count = _viewModel.Samples.Count(_ => _.IsCornersInitialized),
ImageSize = _viewModel.Samples[0].StereoImage.LeftImage.Size
};
_viewModel.CalibrationResult = StereoCalibration.Calibrate(settings, samples);
}
private void ProcessImages(object sender, EventArgs e)
{
if (Controller.CameraIsEnabled())
{
StereoImage <Bgr, byte> stereoImage = Model.StereoCamera.GetStereoImage();
if (_viewModel.Mode != CalibrationMode.ShowNotCalibrated)
{
CalibrationCorners corners = StereoCalibration.FindChessboardCorners(stereoImage,
_viewModel.PatternSize);
if (corners != null)
{
StereoCalibration.DrawChessboardCorners(stereoImage, corners);
}
DrawImage(stereoImage);
if (_viewModel.Mode == CalibrationMode.CollectingSamples && corners != null)
{
CollectedCount.Content = string.Format("Collected: {0}/{1}", _viewModel.Samples.Count,
_viewModel.Count);
if (_viewModel.AllowSaveCorners)
{
_viewModel.Samples.Add(new CalibrationSample(stereoImage, corners));
_viewModel.InvalidateSamples = true;
if (_viewModel.Count == _viewModel.Samples.Count)
{
CollectedCount.Content = string.Empty;
SetCameraWindowMode(CalibrationMode.ReadyCalibrating);
}
SampleList.Items.Refresh();
}
}
}
else
{
DrawImage(stereoImage);
}
}
}
