private void button3_Click(object sender, EventArgs e)
{
Form calib = new calibration();
calib.Owner = this;
calib.StartPosition = FormStartPosition.CenterScreen;
if (!calib.IsDisposed)
{
calib.ShowDialog(this);
}
else
{
Application.Exit();
}
}
/// <summary>
/// constructor
/// </summary>
public calibrationStereo()
{
leftcam = new calibration();
rightcam = new calibration();
}
private void timUpdate_Tick(object sender, EventArgs e)
{
if (no_of_cameras < 2)
{
lblBaseline.Visible = false;
txtBaseline.Visible = false;
}
else
{
lblBaseline.Visible = true;
txtBaseline.Visible = true;
}
if (left_camera_running)
{
//get images from the two cameras
captureCameraImages();
//update from camera
if (((no_of_cameras == 1) && (captureState[0] == 2)) ||
((no_of_cameras > 1) && (captureState[1] == 2)))
{
captureState[0] = 0;
captureState[1] = 0;
//show disparity
if (!outputInitialised)
{
picOutput1.Image = new Bitmap(picLeftImage.Image.Width, picLeftImage.Image.Height, PixelFormat.Format24bppRgb);
if (no_of_cameras > 1)
{
picOutput2.Image = new Bitmap(picRightImage.Image.Width, picRightImage.Image.Height, PixelFormat.Format24bppRgb);
}
output_width = picLeftImage.Image.Width;
output_height = picLeftImage.Image.Height;
outputInitialised = true;
}
for (int i = 0; i < no_of_cameras; i++)
{
calibration calib = cam.leftcam;
PictureBox pic = picOutput1;
Byte[] disp_bmp_data = bmp_data_left;
if (i > 0)
{
calib = cam.rightcam;
pic = picOutput2;
disp_bmp_data = bmp_data_right;
}
calib.Update(disp_bmp_data, output_width, output_height, alignMode);
switch (display_type)
{
case DISPLAY_EDGES:
{
BitmapArrayConversions.updatebitmap_unsafe(calib.edges_image, (Bitmap)pic.Image);
break;
}
case DISPLAY_CORNERS:
{
BitmapArrayConversions.updatebitmap_unsafe(calib.corners_image, (Bitmap)pic.Image);
break;
}
case DISPLAY_LINES:
{
BitmapArrayConversions.updatebitmap_unsafe(calib.lines_image, (Bitmap)pic.Image);
break;
}
case DISPLAY_CENTREALIGN:
{
if (calib.centrealign_image != null)
{
BitmapArrayConversions.updatebitmap_unsafe(calib.centrealign_image, (Bitmap)pic.Image);
}
break;
}
case DISPLAY_CURVE:
{
if (calib.curve_fit != null)
{
BitmapArrayConversions.updatebitmap_unsafe(calib.curve_fit, (Bitmap)pic.Image);
}
break;
}
case DISPLAY_RECTIFIED:
{
if (calib.rectified_image != null)
{
BitmapArrayConversions.updatebitmap_unsafe(calib.rectified_image, (Bitmap)pic.Image);
}
break;
}
}
pic.Refresh();
}
cam.update();
if (no_of_cameras == 1)
{
cam.baseline = 0;
if (alignMode)
{
lblStatus.Text = "Align camera";
}
else
{
if (cam.leftcam.min_RMS_error > max_RMS_error)
{
lblStatus.Text = "Calibrating...";
}
else
{
lblStatus.Text = "* COMPLETE *";
}
}
}
else
{
cam.baseline = Convert.ToSingle(txtBaseline.Text);
if (alignMode)
{
lblStatus.Text = "Align camera";
}
else
{
if ((cam.leftcam.min_RMS_error > max_RMS_error) || (cam.rightcam.min_RMS_error > max_RMS_error))
{
lblStatus.Text = "Calibrating...";
if (cam.leftcam.min_RMS_error <= max_RMS_error)
{
lblStatus.Text = "Left camera done";
}
if (cam.rightcam.min_RMS_error <= max_RMS_error)
{
lblStatus.Text = "Right camera done";
}
}
else
{
lblStatus.Text = "* COMPLETE *";
}
}
}
// switch to the rectified view when calibration is completed
if (prev_state != lblStatus.Text)
{
if (lblStatus.Text == "* COMPLETE *")
{
display_type = DISPLAY_RECTIFIED;
cmbDisplayType.SelectedIndex = display_type;
}
}
prev_state = lblStatus.Text;
}
}
}
void Awake()
{
instance = this;
gmInputs = new List <GameManagerInput>(); // create an empty GM input list
}
