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@ -1,5 +1,6 @@ |
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using System; |
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using System.Collections.Generic; |
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using System.Drawing; |
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using System.IO; |
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using System.Linq; |
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using System.Runtime.InteropServices.WindowsRuntime; |
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@ -45,7 +46,8 @@ namespace RealtimeCamera |
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} |
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private IntrinsicCameraParameters p; |
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private Mat _cameraMatrix; |
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private Mat _distCoeffs; |
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private Matrix<float> mapx, mapy; |
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private VideoCapture _capture; |
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@ -68,27 +70,50 @@ namespace RealtimeCamera |
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//Note that m is in 3 channel RGB color space,
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//our default color space is BGR for 3 channel Mat
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_capture.Read(m); |
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CvInvoke.WinrtImshow(); |
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if (!m.IsEmpty) |
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{ |
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if (p == null) |
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if (_cameraMatrix == null || _distCoeffs == null) |
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{ |
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//Create a dummy camera calibration matrix for testing
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//Use your own if you have calibrated your camera
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p = new IntrinsicCameraParameters(5); |
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_cameraMatrix = new Mat(new System.Drawing.Size(3, 3), DepthType.Cv32F, 1); |
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int centerY = m.Width >> 1; |
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int centerX = m.Height >> 1; |
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CvInvoke.SetIdentity(p.IntrinsicMatrix, new MCvScalar(1.0)); |
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p.IntrinsicMatrix.Data[0, 2] = centerY; |
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p.IntrinsicMatrix.Data[1, 2] = centerX; |
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p.IntrinsicMatrix.Data[2, 2] = 1; |
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p.DistortionCoeffs.Data[0, 0] = -0.000003; |
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p.InitUndistortMap(m.Width, m.Height, out mapx, out mapy); |
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//CvInvoke.SetIdentity(_cameraMatrix, new MCvScalar(1.0));
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_cameraMatrix.SetTo(new double[] |
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{ |
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1, 0, centerY, |
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0, 1, centerX, |
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0, 0, 1 |
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}); |
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_distCoeffs = new Mat(new System.Drawing.Size(5, 1), DepthType.Cv32F, 1); |
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_distCoeffs.SetTo(new double[] { -0.000003, 0, 0, 0, 0 }); |
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mapx = new Matrix<float>(m.Height, m.Width); |
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mapy = new Matrix<float>(m.Height, m.Width); |
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CvInvoke.InitUndistortRectifyMap( |
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_cameraMatrix, |
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_distCoeffs, |
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null, |
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_cameraMatrix, |
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m.Size, |
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DepthType.Cv32F, |
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mapx, |
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mapy); |
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//p.IntrinsicMatrix.Data[0, 2] = centerY;
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//p.IntrinsicMatrix.Data[1, 2] = centerX;
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//p.IntrinsicMatrix.Data[2, 2] = 1;
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//p.DistortionCoeffs.Data[0, 0] = -0.000003;
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//p.InitUndistortMap(m.Width, m.Height, out mapx, out mapy);
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} |
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m.CopyTo(mProcessed); |
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CvInvoke.Undistort(m, mProcessed, p.IntrinsicMatrix, p.DistortionCoeffs ); |
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CvInvoke.Undistort(m, mProcessed, _cameraMatrix, _distCoeffs ); |
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//mProcess is in the same color space as m, which is RGB,
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//needed to change to BGR
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@ -98,7 +123,7 @@ namespace RealtimeCamera |
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//Can apply simple image processing to the captured image, let just invert the pixels
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//CvInvoke.BitwiseNot(m, m);
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//render the processed image on the top imageview
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//render the processed image on the top image view
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CoreApplication.MainView.CoreWindow.Dispatcher.RunAsync(CoreDispatcherPriority.Normal, |
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async () => |
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{ |
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Canming Huang
6 years ago