private static void OnPropertyChanged(DependencyObject d, DependencyPropertyChangedEventArgs e)
{
try
{
PrintCharucoBoardDialogModel obj = d as PrintCharucoBoardDialogModel;
obj.Image.CvImage = ChArUcoCalibration.DrawBoard(obj.SquaresX, obj.SquaresY, obj.SquareLength, obj.MarkerLength, new System.Drawing.Size(obj.SquaresX * obj.SquareLength, obj.SquaresY * obj.SquareLength), 0, obj.Dictionary);
}
catch (Exception)
{ }
}
private static void OnPropertyChanged(DependencyObject d, DependencyPropertyChangedEventArgs e)
{
if (d is ChArUcoImageContainer)
{
ChArUcoImageContainer cauic = d as ChArUcoImageContainer;
(VectorOfInt markerIds, VectorOfVectorOfPointF markerCorners, VectorOfInt charucoIds, VectorOfPointF charucoCorners)result = ChArUcoCalibration.Detect(cauic.OriginalImage.CvImage, cauic.SquaresX, cauic.SquaresY, cauic.SquareLength, cauic.MarkerLength, cauic.Dictionary);
cauic.MarkerIds = result.markerIds;
cauic.MarkerCorners = result.markerCorners;
cauic.CharucoIds = result.charucoIds;
cauic.CharucoCorners = result.charucoCorners;
cauic.ProgressedImage = new CvImageContainer();
cauic.ProgressedImage.CvImage = ChArUcoCalibration.Draw(cauic.OriginalImage.CvImage, result.markerIds, result.markerCorners, result.charucoIds, result.charucoCorners);
}
}
private Task DoValidate(object o)
{
return(Task.Factory.StartNew(() =>
{
Parent.SyncContext.Post(async c =>
{
VectorOfInt allIds = new VectorOfInt();
VectorOfVectorOfPointF allCorners = new VectorOfVectorOfPointF();
VectorOfInt allCharucoIds = new VectorOfInt();
VectorOfPointF allCharucoCorners = new VectorOfPointF();
VectorOfInt markerCounterPerFrame = new VectorOfInt();
VectorOfInt charucoCounterPerFrame = new VectorOfInt();
int squaresX = 0;
int squaresY = 0;
float squareLength = 0f;
float markerLength = 0f;
PredefinedDictionaryName dictionary = PredefinedDictionaryName.Dict4X4_50;
System.Drawing.Size size = new System.Drawing.Size();
bool fisheye = false;
Parent.SyncContext.Send(async d =>
{
fisheye = Parent.CameraViewModel.FishEyeCalibration;
squaresX = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquaresX;
squaresY = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquaresY;
squareLength = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquareLength;
markerLength = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.MarkerLength;
dictionary = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.Dictionary;
size = new System.Drawing.Size(Parent.CameraViewModel.ImageWidth, Parent.CameraViewModel.ImageHeight);
foreach (ChArUcoImageContainer image in Images)
{
if (image.MarkerCorners != null && image.CharucoCorners.Size > 4)
{
allIds.Push(image.MarkerIds);
allCorners.Push(image.MarkerCorners);
allCharucoIds.Push(image.CharucoIds);
allCharucoCorners.Push(image.CharucoCorners);
markerCounterPerFrame.Push(new int[] { image.MarkerCorners.Size });
charucoCounterPerFrame.Push(new int[] { image.CharucoCorners.Size });
}
}
}, null);
if (markerCounterPerFrame.Size > 0)
{
MetroDialogSettings settings = new MetroDialogSettings()
{
AnimateShow = false,
AnimateHide = false
};
var controller = await Parent.DialogCoordinator.ShowProgressAsync(Parent, "Please wait...", "Validate parameter now!", settings: Parent.MetroDialogSettings);
controller.SetIndeterminate();
controller.SetCancelable(false);
bool error = false;
double rms = 0.0;
try
{
Mat cameraMatrix = new Mat(3, 3, Emgu.CV.CvEnum.DepthType.Cv64F, 1);
Mat distCoeffs = new Mat(1, Parent.CameraViewModel.FishEyeCalibration ? 4 : _DistCoeffs.Count, Emgu.CV.CvEnum.DepthType.Cv64F, 1);
cameraMatrix.SetValue(0, 0, Fx);
cameraMatrix.SetValue(1, 1, Fy);
cameraMatrix.SetValue(0, 1, Fx * Alpha);
cameraMatrix.SetValue(0, 2, Cx);
cameraMatrix.SetValue(1, 2, Cy);
cameraMatrix.SetValue(2, 2, 1.0f);
for (int i = 0; i < distCoeffs.Cols && (Parent.CameraViewModel.FishEyeCalibration ? i < 4 : true); i++)
{
distCoeffs.SetValue(0, i, _DistCoeffs[i]);
}
rms = ChArUcoCalibration.ValidateCharuco(squaresX, squaresY, squareLength, markerLength, dictionary, size, allCharucoIds, allCharucoCorners, charucoCounterPerFrame, fisheye, delegate(byte[] input)
{
return Parent.IOProxy.GetRemoteChessboardCorner(input);
}, cameraMatrix, distCoeffs);
}
catch (Exception ex)
{
error = true;
}
await controller.CloseAsync();
if (!error)
{
var con = await Parent.DialogCoordinator.ShowMessageAsync(Parent, "Result", string.Format("RMS: {0}", rms), MessageDialogStyle.Affirmative, null);
}
else
{
await Parent.DialogCoordinator.ShowMessageAsync(Parent, "Error", "Error during validation!");
}
}
else
{
await Parent.DialogCoordinator.ShowMessageAsync(Parent, "Error", "Not enough valide input frames available!");
}
}, null);
}));
}
private Task DoCalibrate(object o)
{
return(Task.Factory.StartNew(async() =>
{
VectorOfInt allIds = new VectorOfInt();
VectorOfVectorOfPointF allCorners = new VectorOfVectorOfPointF();
VectorOfInt allCharucoIds = new VectorOfInt();
VectorOfPointF allCharucoCorners = new VectorOfPointF();
VectorOfInt markerCounterPerFrame = new VectorOfInt();
VectorOfInt charucoCounterPerFrame = new VectorOfInt();
int squaresX = 0;
int squaresY = 0;
float squareLength = 0f;
float markerLength = 0f;
PredefinedDictionaryName dictionary = PredefinedDictionaryName.Dict4X4_50;
System.Drawing.Size size = new System.Drawing.Size();
bool fisheye = false;
Parent.SyncContext.Send(async c =>
{
fisheye = Parent.CameraViewModel.FishEyeCalibration;
squaresX = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquaresX;
squaresY = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquaresY;
squareLength = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.SquareLength;
markerLength = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.MarkerLength;
size = Parent.CameraViewModel.Image.CvImage.Size;
dictionary = Parent.SettingContainer.Settings.CalibrationSettings.ChArucoCalibrationSettings.Dictionary;
foreach (ChArUcoImageContainer image in Images)
{
if (image.MarkerCorners != null && image.CharucoCorners.Size > 4)
{
allIds.Push(image.MarkerIds);
allCorners.Push(image.MarkerCorners);
allCharucoIds.Push(image.CharucoIds);
allCharucoCorners.Push(image.CharucoCorners);
markerCounterPerFrame.Push(new int[] { image.MarkerCorners.Size });
charucoCounterPerFrame.Push(new int[] { image.CharucoCorners.Size });
}
}
}, null);
if (markerCounterPerFrame.Size > 0)
{
MetroDialogSettings settings = new MetroDialogSettings()
{
AnimateShow = true,
AnimateHide = true
};
var controller = await Parent.DialogCoordinator.ShowProgressAsync(Parent, "Please wait...", "Calculating calibration parameter now!", settings: settings);
controller.SetIndeterminate();
controller.SetCancelable(false);
bool error = false;
(Mat cameraMatrix, Mat distCoeffs, double rms)result = (null, null, 0.0);
try
{
result = ChArUcoCalibration.CalibrateCharuco(squaresX, squaresY, squareLength, markerLength, dictionary, size, allCharucoIds, allCharucoCorners, charucoCounterPerFrame, fisheye, delegate(byte[] input)
{
return Parent.IOProxy.GetRemoteChessboardCorner(input);
});
}
catch (Exception ex)
{
error = true;
}
await controller.CloseAsync();
if (!error)
{
var con = await Parent.DialogCoordinator.ShowMessageAsync(Parent, "Result", string.Format("RMS: {0}\nDo you want to save?", result.rms), MessageDialogStyle.AffirmativeAndNegative, null);
if (con == MessageDialogResult.Affirmative)
{
Parent.SyncContext.Post(async c =>
{
Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Fx = result.cameraMatrix.GetValue(0, 0);
Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Fy = result.cameraMatrix.GetValue(1, 1);
Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Cx = result.cameraMatrix.GetValue(0, 2);
Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Cy = result.cameraMatrix.GetValue(1, 2);
Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Alpha = result.cameraMatrix.GetValue(0, 1) / result.cameraMatrix.GetValue(0, 0);;
Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.DistCoeffs.Clear();
if (Parent.CameraViewModel.FishEyeCalibration)
{
for (int i = 0; i < result.distCoeffs.Rows && i < 8; i++)
{
Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.DistCoeffs.Add(result.distCoeffs.GetValue(i, 0));
}
}
else
{
for (int i = 0; i < result.distCoeffs.Cols && i < 8; i++)
{
Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.DistCoeffs.Add(result.distCoeffs.GetValue(0, i));
}
}
Parent.UpdateSettings(false);
}, null);
}
}
else
{
await Parent.DialogCoordinator.ShowMessageAsync(Parent, "Error", "Error during calibration!");
}
}
else
{
await Parent.DialogCoordinator.ShowMessageAsync(Parent, "Error", "Not enough valide input frames available!");
}
}));
}
internal override void SettingsUpdated()
{
base.SettingsUpdated();
bool changed = false;
changed |= Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Fx != Fx;
changed |= Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Fy != Fy;
changed |= Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Cx != Cx;
changed |= Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Cy != Cy;
changed |= Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Alpha != Alpha;
var firstNotSecond = _DistCoeffs.Except(Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.DistCoeffs).ToList();
var secondNotFirst = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.DistCoeffs.Except(_DistCoeffs).ToList();
changed |= firstNotSecond.Any() || secondNotFirst.Any();
if (changed)
{
Fx = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Fx;
Fy = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Fy;
Cx = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Cx;
Cy = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Cy;
Alpha = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.Alpha;
_DistCoeffs = Parent.SettingContainer.Settings.CalibrationSettings.IntrinsicCalibrationSettings.DistCoeffs.ToList();
if (_DistCoeffs.Count == 4)
{
K1 = _DistCoeffs[0];
K2 = _DistCoeffs[1];
K3 = _DistCoeffs[2];
K4 = _DistCoeffs[3];
}
Mat board = ChArUcoCalibration.DrawBoard(5, 5, 0.04f, 0.02f, new System.Drawing.Size(Parent.CameraViewModel.ImageWidth, Parent.CameraViewModel.ImageHeight), 10, PredefinedDictionaryName.Dict6X6_250);
Mat boardDist = board.Clone();
Mat cameraMatrix = new Mat(3, 3, Emgu.CV.CvEnum.DepthType.Cv64F, 1);
Mat distCoeffs = new Mat(1, Parent.CameraViewModel.FishEyeCalibration ? 4 : _DistCoeffs.Count, Emgu.CV.CvEnum.DepthType.Cv64F, 1);
cameraMatrix.SetValue(0, 0, Fx);
cameraMatrix.SetValue(1, 1, Fy);
cameraMatrix.SetValue(0, 1, Fx * Alpha);
cameraMatrix.SetValue(0, 2, Cx);
cameraMatrix.SetValue(1, 2, Cy);
cameraMatrix.SetValue(2, 2, 1.0f);
Mat newK = new Mat(3, 3, Emgu.CV.CvEnum.DepthType.Cv64F, 1);
for (int i = 0; i < distCoeffs.Cols && (Parent.CameraViewModel.FishEyeCalibration ? i < 4 : true); i++)
{
distCoeffs.SetValue(0, i, _DistCoeffs[i]);
}
if (Parent.CameraViewModel.FishEyeCalibration)
{
Fisheye.EstimateNewCameraMatrixForUndistorRectify(cameraMatrix, distCoeffs, new System.Drawing.Size(Parent.CameraViewModel.ImageWidth, Parent.CameraViewModel.ImageHeight), Mat.Eye(3, 3, Emgu.CV.CvEnum.DepthType.Cv64F, 1), newK, 0, new System.Drawing.Size(Parent.CameraViewModel.ImageWidth, Parent.CameraViewModel.ImageHeight), 0.3);
Mat map1 = new Mat();
Mat map2 = new Mat();
Fisheye.InitUndistorRectifyMap(cameraMatrix, distCoeffs, Mat.Eye(3, 3, Emgu.CV.CvEnum.DepthType.Cv64F, 1), newK, new System.Drawing.Size(Parent.CameraViewModel.ImageWidth, Parent.CameraViewModel.ImageHeight), Emgu.CV.CvEnum.DepthType.Cv32F, map1, map2);
CvInvoke.Remap(board, boardDist, map1, map2, Emgu.CV.CvEnum.Inter.Linear, Emgu.CV.CvEnum.BorderType.Constant);
}
else
{
CvInvoke.Undistort(board, boardDist, cameraMatrix, distCoeffs);
}
Parent.SyncContext.Post(c =>
{
ChAruCoBoard = new CvImageContainer();
ChAruCoBoard.CvImage = boardDist;
}, null);
}
}
