private void Build3DImage(object sender, RoutedEventArgs e)
{
if(_3dwindow == null)
{
_3dwindow = new Image3DWindow();
_3dwindow.Show();
}
else
{
if(_3dwindow.IsVisible)
_3dwindow.Close();
_3dwindow = new Image3DWindow();
_3dwindow.Show();
}
_3dwindow.ResetPoints();
ColorImage image = null;
if(_imageControl.ImageSource != null)
{
image = new ColorImage();
image.FromBitmapSource(_imageControl.ImageSource);
}
foreach(var point in Points3D)
{
SharpDX.Vector3 pos = new SharpDX.Vector3((float)point.Real.X, (float)point.Real.Y, (float)point.Real.Z);
SharpDX.Color4 color = new SharpDX.Color4(1.0f);
if(image != null)
{
if(!(point.Cam1Img.X < 0.0 ||
point.Cam1Img.X > image.ColumnCount ||
point.Cam1Img.Y < 0.0 ||
point.Cam1Img.Y > image.RowCount))
{
color = new SharpDX.Color4(
(float)image[(int)point.Cam1Img.Y, (int)point.Cam1Img.X, RGBChannel.Red],
(float)image[(int)point.Cam1Img.Y, (int)point.Cam1Img.X, RGBChannel.Green],
(float)image[(int)point.Cam1Img.Y, (int)point.Cam1Img.X, RGBChannel.Blue],
1.0f);
}
}
_3dwindow.AddPointCube(pos, color);
}
}
/// <summary>
/// Loads raw calibration images from children of supplied node
/// </summary>
private void LoadCalibrationImages(XmlNode imgsNode)
{
//<CalibrationImages_Raw>
// <Image id="1" cam="left" path=""/>
// <Image id="1" cam="right" path=""/>
//</CalibrationImages_Raw>
_rawCalibImages = new List<ColorImage>();
_calibImagesIndices = new List<ImageIndex>();
foreach(XmlNode imgNode in imgsNode.ChildNodes)
{
ImageIndex idx = ImageIndex.FromXml(imgNode);
idx.ListIndex = _rawCalibImages.Count;
string imgPath = imgNode.Attributes["path"].Value;
BitmapImage bitmap = new BitmapImage(new Uri(imgPath, UriKind.RelativeOrAbsolute));
ColorImage image = new ColorImage();
image.FromBitmapSource(bitmap);
_rawCalibImages.Add(image);
_calibImagesIndices.Add(idx);
}
}
private void MatchImages(object sender, RoutedEventArgs e)
{
if(_camImageFirst.ImageSource == null || _camImageSec.ImageSource == null)
{
MessageBox.Show("Images must be set");
return;
}
if(_camImageFirst.ImageSource.PixelWidth != _camImageSec.ImageSource.PixelWidth ||
_camImageFirst.ImageSource.PixelHeight != _camImageSec.ImageSource.PixelHeight)
{
MessageBox.Show("Images must have same size");
return;
}
if(CalibrationData.Data.IsCamLeftCalibrated == false ||
CalibrationData.Data.IsCamRightCalibrated == false)
{
MessageBox.Show("Cameras must be calibrated");
return;
}
ColorImage imgLeft = new ColorImage();
imgLeft.FromBitmapSource(_camImageFirst.ImageSource);
ColorImage imgRight = new ColorImage();
imgRight.FromBitmapSource(_camImageSec.ImageSource);
_alg.ImageLeft = imgLeft;
_alg.ImageRight = imgRight;
_alg.StatusChanged += _alg_StatusChanged;
_matcherWindow = new AlgorithmWindow(_alg);
_matcherWindow.Show();
}
private void RectifyImages(object sender, RoutedEventArgs e)
{
if(_camImageFirst.ImageSource == null || _camImageSec.ImageSource == null)
{
MessageBox.Show("Images must be set");
return;
}
if(_camImageFirst.ImageSource.PixelWidth != _camImageSec.ImageSource.PixelWidth ||
_camImageFirst.ImageSource.PixelHeight != _camImageSec.ImageSource.PixelHeight)
{
MessageBox.Show("Images must have same size");
return;
}
if(CalibrationData.Data.IsCamLeftCalibrated == false ||
CalibrationData.Data.IsCamRightCalibrated == false)
{
MessageBox.Show("Cameras must be calibrated");
return;
}
ImageRectification_ZhangLoop rectifier = new ImageRectification_ZhangLoop();
RectificationTransformation rectTransformation = new RectificationTransformation();
rectTransformation.Rectifier = rectifier;
ImageTransformer transformer = new ImageTransformer();
transformer.Transformation = rectTransformation;
transformer.UsedInterpolationMethod = ImageTransformer.InterpolationMethod.Quadratic;
rectifier.ImageHeight = _camImageFirst.ImageSource.PixelHeight;
rectifier.ImageWidth = _camImageFirst.ImageSource.PixelWidth;
rectifier.EpiCrossLeft = CalibrationData.Data.EpipoleCrossLeft;
rectifier.EpiCrossRight = CalibrationData.Data.EpipoleCrossRight;
rectifier.EpipoleLeft = CalibrationData.Data.EpipoleLeft;
rectifier.EpipoleRight = CalibrationData.Data.EpipoleRight;
rectifier.IsEpiLeftInInfinity = CalibrationData.Data.EpiLeftInInfinity;
rectifier.IsEpiRightInInfinity = CalibrationData.Data.EpiRightInInfinity;
rectifier.FundamentalMatrix = CalibrationData.Data.Fundamental;
rectifier.ComputeRectificationMatrices();
ColorImage imgLeft = new ColorImage();
imgLeft.FromBitmapSource(_camImageFirst.ImageSource);
ColorImage imgRight = new ColorImage();
imgRight.FromBitmapSource(_camImageSec.ImageSource);
rectTransformation.WhichImage = RectificationTransformation.ImageIndex.Left;
ColorImage rectLeft = transformer.TransfromImageBackwards(imgLeft, true);
rectTransformation.WhichImage = RectificationTransformation.ImageIndex.Right;
ColorImage rectRight = transformer.TransfromImageBackwards(imgRight, true);
_camImageFirst.ImageSource = rectLeft.ToBitmapSource();
_camImageSec.ImageSource = rectRight.ToBitmapSource();
}
private void _butSegment_Click(object sender, RoutedEventArgs e)
{
if(_imageControl.ImageSource != null)
{
ColorImage img = new ColorImage();
img.FromBitmapSource(_imageControl.ImageSource);
var window = new ParametrizedProcessorsSelectionWindow();
window.AddProcessorFamily("Segmentation");
window.AddToFamily("Segmentation", new MeanShiftSegmentation());
window.ShowDialog();
if(window.Accepted)
{
ImageSegmentation segmentation = (ImageSegmentation)window.GetSelectedProcessor("Segmentation");
GrayScaleImage imgGray = new GrayScaleImage();
imgGray.FromColorImage(img);
//segmentation.SegmentColor(img);
segmentation.SegmentGray(imgGray.ImageMatrix);
//var segments = segmentation.Segments_Color;
var segments = segmentation.Segments;
int[,] indices = segmentation.SegmentAssignments;
ColorImage imgFinal = new ColorImage();
imgFinal.ImageMatrix[0] = new DenseMatrix(img.RowCount, img.ColumnCount);
imgFinal.ImageMatrix[1] = new DenseMatrix(img.RowCount, img.ColumnCount);
imgFinal.ImageMatrix[2] = new DenseMatrix(img.RowCount, img.ColumnCount);
for(int r = 0; r < img.RowCount; ++r)
{
for(int c = 0; c < img.ColumnCount; ++c)
{
imgFinal[r, c, RGBChannel.Red] = ((ImageSegmentation.Segment_Gray)segments[indices[r, c]]).Value;
imgFinal[r, c, RGBChannel.Green] = ((ImageSegmentation.Segment_Gray)segments[indices[r, c]]).Value;
imgFinal[r, c, RGBChannel.Blue] = ((ImageSegmentation.Segment_Gray)segments[indices[r, c]]).Value;
//imgFinal[r, c, RGBChannel.Red] = segments[indices[r, c]].Red;
// imgFinal[r, c, RGBChannel.Green] = segments[indices[r, c]].Green;
//imgFinal[r, c, RGBChannel.Blue] = segments[indices[r, c]].Blue;
}
}
_imageControl.ImageSource = imgFinal.ToBitmapSource();
}
}
}