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 ComputeDistortionCorrectionParameters(object sender, RoutedEventArgs e)
{
if(_calibLines.Count > 0)
{
var img = _imageControl.ImageSource;
_distortionCorrector.ImageHeight = img.PixelHeight;
_distortionCorrector.ImageWidth = img.PixelWidth;
_distortionCorrector.CorrectionLines = _calibLines;
AlgorithmWindow algWindow = new AlgorithmWindow(_distortionCorrector);
algWindow.Show();
}
}
private void Calibrate(object sender, RoutedEventArgs e)
{
if(CalibrationPoints.Count < 6)
{
MessageBox.Show("Need at least 6 points");
return;
}
if(_imageControl.ImageSource == null)
{
MessageBox.Show("Calibratiion image must be set");
return;
}
for(int p = 0; p < CalibrationPoints.Count; p++)
{
CalibrationPoint cp = CalibrationPoints[p];
if(cp.GridNum >= RealGrids.Count)
{
// TODO ERROR
continue;
}
// First compute real point for every calib point
RealGridData grid = RealGrids[cp.GridNum];
cp.Real = grid.GetRealFromCell(cp.RealRow, cp.RealCol);
}
_calibrator.Points = CalibrationPoints;
_calibrator.Grids = RealGrids;
AlgorithmWindow algWindow = new AlgorithmWindow(_calibrator);
algWindow.Show();
}
private void Calibrate(object sender, RoutedEventArgs e)
{
if(CalibrationData.Data.IsCamLeftCalibrated == false ||
CalibrationData.Data.IsCamRightCalibrated == false)
{
MessageBox.Show("Cameras need to be initialy calibrated");
return;
}
_calibrator.CalibPointsLeft = new List<CalibrationPoint>(CalibrationPointsLeft.Count);
_calibrator.CalibPointsRight = new List<CalibrationPoint>(CalibrationPointsLeft.Count);
for(int i = 0; i < CalibrationPointsLeft.Count; ++i)
{
var cleft = CalibrationPointsLeft[i];
var cright = CalibrationPointsRight.Find((cp) =>
{
return cp.GridNum == cleft.GridNum &&
cp.RealCol == cleft.RealCol &&
cp.RealRow == cleft.RealRow;
});
if(cright != null)
{
_calibrator.CalibPointsLeft.Add(cleft);
_calibrator.CalibPointsRight.Add(cright);
}
}
// _calibrator.CalibPointsLeft = CalibrationPointsLeft;
//_calibrator.CalibPointsRight = CalibrationPointsRight;
_calibrator.CalibGrids = GridsLeft;
// _calibrator.GridsRight = GridsRight;
_calibrator.MatchedPointsLeft = MatchedPointsLeft;
_calibrator.MatchedPointsRight = MatchedPointsRight;
AlgorithmWindow algWindow = new AlgorithmWindow(_calibrator);
algWindow.Show();
}
private void MatchFeatures(object sender, RoutedEventArgs e)
{
if(ImageLeft == null || ImageRight == null)
{
MessageBox.Show("Base images must be set");
return;
}
//if(_featuresLeft == null || _featuresRight == null)
//{
// MessageBox.Show("Features must be detected");
// return;
//}
_matcher.ImageLeft = ImageLeft;
_matcher.ImageRight = ImageRight;
_matcher.FeatureListLeft = _featuresLeft;
_matcher.FeatureListRight = _featuresRight;
AlgorithmWindow _matcherWindow = new AlgorithmWindow(_matcher);
_matcherWindow.Show();
}
private void FindFeatures(object sender, RoutedEventArgs e)
{
_featureDetector.ImageLeft = _imgLeft;
_featureDetector.ImageRight = _imgRight;
AlgorithmWindow _matcherWindow = new AlgorithmWindow(_featureDetector);
_matcherWindow.Show();
}