void InitialiseBack()
{
lock (FBackLock)
{
FBackBuffer.Initialise(FImageAttributes);
}
}
/// <summary>
/// Copy CVImage into target CVImage
/// </summary>
/// <param name="target"></param>
public void GetImage(CVImage target)
{
if (target.NativeFormat == TColorFormat.UnInitialised)
{
target.Initialise(this.ImageAttributes);
}
GetImage(target.ImageAttributes.ColourFormat, target);
}
public override void Allocate()
{
FSize = FInput.ImageAttributes.Size;
FOutput.Image.Initialise(FSize, TColorFormat.RGB32F);
FCurrent.Initialise(FSize, TColorFormat.L8);
FPrevious.Initialise(FSize, TColorFormat.L8);
FVelocityX.Initialise(FSize, TColorFormat.L32F);
FVelocityY.Initialise(FSize, TColorFormat.L32F);
}
public override void Allocate()
{
TColorFormat AsGrayscale = TypeUtils.ToGrayscale(FInput.ImageAttributes.ColourFormat);
FNeedsConversion = (AsGrayscale != FInput.ImageAttributes.ColourFormat);
if (FNeedsConversion)
{
FGrayscale.Initialise(FInput.ImageAttributes.Size, AsGrayscale);
}
FOutput.Image.Initialise(FGrayscale.ImageAttributes);
}
public override void Allocate()
{
FGrayscale.Initialise(FInput.ImageAttributes.Size, TColorFormat.L8);
}
void UpdateAttributes(CVImageAttributes attributes)
{
FImage.Initialise(attributes);
}
public override void Allocate()
{
FOutput.Image.Initialise(FInput.ImageAttributes);
FLastFrame.Initialise(FInput.ImageAttributes);
}
public override void Allocate()
{
FOutput.Image.Initialise(FInput.ImageAttributes.Size, TColorFormat.L8);
FBackground.Initialise(FInput.ImageAttributes.Size, TColorFormat.L8);
}
public override void Allocate()
{
FBuffer.Initialise(FInput.ImageAttributes);
}
void FContext_Update(object sender, EventArgs e)
{
FContext.Update -= OnUpdate;
var colorWidth = FContext.FSensor.ColorStream.FrameWidth;
var colorHeight = FContext.FSensor.ColorStream.FrameHeight;
var depthWidth = FContext.FSensor.DepthStream.FrameWidth;
var depthHeight = FContext.FSensor.DepthStream.FrameHeight;
//find board positions in world coordinates
//get mapped color image
CVImage Image = new CVImage();
//it's mapped so it's in depth coords
Image.Initialise(new System.Drawing.Size(depthWidth, depthHeight), TColorFormat.RGBA8);
lock (FContext.ColorLock)
{
Image.SetPixels(FContext.ColorData);
}
//create grayscale
CVImage Luminance = new CVImage();
Luminance.Initialise(Image.Size, TColorFormat.L8);
Image.GetImage(TColorFormat.L8, Luminance);
//find corners in rgb
var pointsInRGB = CameraCalibration.FindChessboardCorners(Luminance.GetImage() as Image<Gray, byte>, new Size(FInBoardX[0], FInBoardY[0]), CALIB_CB_TYPE.ADAPTIVE_THRESH);
//destroy images
Image.Dispose();
Luminance.Dispose();
//find corners in world
lock (FContext.DepthLock)
{
FContext.FWorldLock.AcquireReaderLock(500);
try
{
var world = FContext.WorldData;
lock (FDepthCorners)
{
FDepthCorners.Clear();
lock (FWorldCorners)
{
FWorldCorners.Clear();
foreach (var rgbCorner in pointsInRGB)
{
int index = (int)rgbCorner.X + (int)rgbCorner.Y * depthWidth;
FDepthCorners.Add(new Vector3D(
rgbCorner.X,
rgbCorner.Y,
(double) FContext.DepthData[index] / 1000.0
));
FWorldCorners.Add(new Vector3D(
world[index * 4],
world[index * 4 + 1],
world[index * 4 + 2]
));
}
}
}
FCornersDirty = true;
}
catch
{
}
finally
{
FContext.FWorldLock.ReleaseReaderLock();
}
}
}
public static void CopyImageConverted(CVImage source, CVImage target)
{
if (target.Size != source.Size)
{
target.Initialise(source.Size, target.NativeFormat);
}
COLOR_CONVERSION route = ConvertRoute(source.NativeFormat, target.NativeFormat);
if (route == COLOR_CONVERSION.CV_COLORCVT_MAX)
{
CvInvoke.cvConvert(source.CvMat, target.CvMat);
} else {
try
{
CvInvoke.cvCvtColor(source.CvMat, target.CvMat, route);
}
catch
{
//CV likes to throw here sometimes, but the next frame it's fine
}
}
}
public override void Allocate()
{
FImageGT.Initialise(FInput.Image.ImageAttributes.Size, TColorFormat.L8);
FImageLT.Initialise(FInput.Image.ImageAttributes.Size, TColorFormat.L8);
FOutput.Image.Initialise(FInput.Image.ImageAttributes.Size, TColorFormat.L8);
}
