private StereoImage <Bgr, byte> RemapImage(StereoImage <Bgr, byte> stereoImage)
{
StereoImage <Bgr, byte> copy = stereoImage.Copy();
StereoCalibration.RemapStereoImage(copy, _viewModel.CalibrationResult);
return(copy);
}
private void OpenClick(object sender, RoutedEventArgs e)
{
var infos = Controller.LoadStereoImageFileInfos();
if (infos != null)
{
Model.Image = StereoImage <Bgr, byte> .Load(infos.First());
}
}
private void DrawImage(StereoImage <Bgr, byte> image)
{
SourceImage.ViewModel.Image = image;
if (ResultImage.Visibility == Visibility.Visible)
{
StereoImage <Bgr, byte> calibratedImage = RemapImage(image);
ResultImage.ViewModel.Image = calibratedImage;
}
}
private static StereoImage ProcessPair(string path1, string path2, string name)
{
var imageData = StereoscopyVR.ImageApp.Program.ProcessPair(path1, path2, name);
var post = new StereoImage(default(Uri), default(Uri), name, name, DateTime.Now);
post.W = imageData.Width;
post.H = imageData.Height;
return(post);
}
private static async Task DownloadAsync(StereoImage post, string filePath)
{
using (var client = new HttpClient())
{
var request = new HttpRequestMessage(HttpMethod.Get, post.ImageUrl);
using (var response = await client.SendAsync(request, new CancellationToken()))
using (var fileStream = new FileStream(filePath, FileMode.Create))
{
var dataStream = await response.Content.ReadAsStreamAsync();
await dataStream.CopyToAsync(fileStream);
}
}
}
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);
}
}
}
public CalibrationSample(StereoImage <Bgr, byte> image, CalibrationCorners corners)
{
StereoImage = image;
Corners = corners;
IsCornersInitialized = true;
}
public CalibrationSample(StereoImageFileInfo fileInfo)
{
StereoImage = StereoImage <Bgr, byte> .Load(fileInfo);
}
public static void RemapStereoImage(StereoImage<Bgr, byte> image, CalibrationStereoResult calibrationStereoResult)
{
Matrix<float> mapX;
Matrix<float> mapY;
InitUndistortRectifyMap(
calibrationStereoResult.Camera1Result,
calibrationStereoResult.Settings.ImageSize,
out mapX, out mapY);
image.LeftImage = Remap(image.LeftImage, mapX, mapY);
InitUndistortRectifyMap(
calibrationStereoResult.Camera2Result,
calibrationStereoResult.Settings.ImageSize,
out mapX, out mapY);
image.RightImage = Remap(image.RightImage, mapX, mapY);
}
public static CalibrationCorners FindChessboardCorners(StereoImage<Bgr, byte> stereoImage, Size patternSize)
{
var grayStereoImage = stereoImage.Convert<Gray, byte>();
var leftCorners = FindChessboardCorners(grayStereoImage.LeftImage, patternSize);
var rightCorners = FindChessboardCorners(grayStereoImage.RightImage, patternSize);
if (leftCorners != null && rightCorners != null)
return new CalibrationCorners(leftCorners, rightCorners);
return null;
}
public static StereoImage<Bgr, byte> DrawChessboardCorners(StereoImage<Bgr, byte> stereoImage, CalibrationCorners corners)
{
var colors = new Bgr[corners.LeftCorners.Length];
var random = new Random();
for (var i = 0; i < colors.Length; ++i)
{
colors[i] = new Bgr(random.Next(0, 255), random.Next(0, 255), random.Next(0, 255));
}
DrawChessboardCorners(stereoImage.LeftImage, corners.LeftCorners, colors);
DrawChessboardCorners(stereoImage.RightImage, corners.RightCorners, colors);
return stereoImage;
}
public CalibrationSample(StereoImage<Bgr, byte> image, CalibrationCorners corners)
{
StereoImage = image;
Corners = corners;
IsCornersInitialized = true;
}
private void ProcessImages(object sender, EventArgs e)
{
StereoImage <Bgr, byte> image = null;
if (Model.Mode == SourceMode.Camera)
{
if (Controller.CameraIsEnabled())
{
//image = Controller.GeatedStereoImage();
}
}
else
{
if (Model.Image != null)
{
image = Model.Image;
}
}
if (image == null)
{
return;
}
SourceImage.ViewModel.Image = image;
var temp = new StereoImage <Bgr, byte>();
if (ResultImage.ViewModel.ShowLeft)
{
var model = (StereoSgbmModel)_viewModel.SgbmModel.Clone();
model.Image1 = image.LeftImage.Convert <Gray, byte>();
model.Image2 = image.RightImage.Convert <Gray, byte>();
var map = Stereo.Compute(model);
var test = map.Convert <Bgr, byte>();
CvInvoke.ApplyColorMap(test, test, ColorMapType.Rainbow);
temp.LeftImage = test;
test = test.SmoothGaussian(15);
temp.RightImage = test;
}
if (ResultImage.ViewModel.ShowRight)
{
var model = (OpticalFlowModel)_viewModel.FlowModel.Clone();
model.Image1 = image.LeftImage.Convert <Gray, byte>();
model.Image2 = image.RightImage.Convert <Gray, byte>();
var map = OpticalFlow.Compute(model);
temp.RightImage = map.Convert <Bgr, byte>();
if (temp.LeftImage == null)
{
temp.LeftImage = temp.RightImage;
}
}
ResultImage.ViewModel.Image = temp.Convert <Bgr, byte>();
if (_viewModel.SaveImage)
{
if (_viewModel.AllowGrabImage)
{
_viewModel.Images.Add(image);
ImageListBox.Items.Refresh();
}
if (_viewModel.AllowSaveImages)
{
Controller.SaveImages(_viewModel.Images, DateTime.Now.Ticks.ToString());
_viewModel.Images.Clear();
ImageListBox.Items.Refresh();
}
}
}
private StereoImage<Bgr, byte> RemapImage(StereoImage<Bgr, byte> stereoImage)
{
StereoImage<Bgr, byte> copy = stereoImage.Copy();
StereoCalibration.RemapStereoImage(copy, _viewModel.CalibrationResult);
return copy;
}
private void DrawImage(StereoImage<Bgr, byte> image)
{
SourceImage.ViewModel.Image = image;
if (ResultImage.Visibility == Visibility.Visible)
{
StereoImage<Bgr, byte> calibratedImage = RemapImage(image);
ResultImage.ViewModel.Image = calibratedImage;
}
}
private void ProcessImages(object sender, EventArgs e)
{
StereoImage<Bgr, byte> image = null;
if (Model.Mode == SourceMode.Camera)
{
if (Controller.CameraIsEnabled())
{
//image = Controller.GeatedStereoImage();
}
}
else
{
if (Model.Image != null)
{
image = Model.Image;
}
}
if (image == null)
return;
SourceImage.ViewModel.Image = image;
var temp = new StereoImage<Bgr, byte>();
if (ResultImage.ViewModel.ShowLeft)
{
var model = (StereoSgbmModel) _viewModel.SgbmModel.Clone();
model.Image1 = image.LeftImage.Convert<Gray, byte>();
model.Image2 = image.RightImage.Convert<Gray, byte>();
var map = Stereo.Compute(model);
var test = map.Convert<Bgr, byte>();
CvInvoke.ApplyColorMap(test, test, ColorMapType.Rainbow);
temp.LeftImage = test;
test = test.SmoothGaussian(15);
temp.RightImage = test;
}
if (ResultImage.ViewModel.ShowRight)
{
var model = (OpticalFlowModel)_viewModel.FlowModel.Clone();
model.Image1 = image.LeftImage.Convert<Gray, byte>();
model.Image2 = image.RightImage.Convert<Gray, byte>();
var map = OpticalFlow.Compute(model);
temp.RightImage = map.Convert<Bgr, byte>();
if (temp.LeftImage == null)
temp.LeftImage = temp.RightImage;
}
ResultImage.ViewModel.Image = temp.Convert<Bgr, byte>();
if (_viewModel.SaveImage)
{
if (_viewModel.AllowGrabImage)
{
_viewModel.Images.Add(image);
ImageListBox.Items.Refresh();
}
if (_viewModel.AllowSaveImages)
{
Controller.SaveImages(_viewModel.Images, DateTime.Now.Ticks.ToString());
_viewModel.Images.Clear();
ImageListBox.Items.Refresh();
}
}
}
