void reqTimer__Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (sequenceRec_ != null)
{
if (sequenceRec_.Finished)
{
reqTimer_.Stop();
this.BeginInvoke((MethodInvoker) delegate() {
CameraCalibrationData lensData = LensCalibrator.CalibrateLens(sequenceRec_.Frames, sequenceRec_.Frames.Count);
((Shared.IMocapRecorder)cameraCheckboxListCtrl1.SelectedItem).Calibration = lensData;
sequenceRec_ = null;
});
}
}
}
public static CameraCalibrationData CalibrateLens(List <Bitmap> bitmaps, int calibrationTakes)
{
int ImageNum = calibrationTakes;
const int PatRow = 7;
const int PatCol = 10;
const int PatSize = PatRow * PatCol;
int AllPoints = ImageNum * PatSize;
const float ChessSize = 24.0f;
// Convert bitmaps into Ipl Images
IplImage[] srcImg = new IplImage[bitmaps.Count];
for (int i = 0; i < bitmaps.Count; i++)
{
srcImg[i] = OpenCVUtil.IplImageFromBitmap(bitmaps[i]);
}
CvPoint3D32f[, ,] objects = new CvPoint3D32f[ImageNum, PatRow, PatCol];
for (int i = 0; i < ImageNum; i++)
{
for (int j = 0; j < PatRow; j++)
{
for (int k = 0; k < PatCol; k++)
{
objects[i, j, k] = new CvPoint3D32f
{
X = j * ChessSize,
Y = k * ChessSize,
Z = 0.0f
};
}
}
}
CvMat objectPoints = new CvMat(AllPoints, 3, MatrixType.F32C1, objects);
CvSize patternSize = new CvSize(PatCol, PatRow);
int foundNum = 0;
List <CvPoint2D32f> allCorners = new List <CvPoint2D32f>(AllPoints);
int[] pointCountsValue = new int[ImageNum];
using (CvWindow window = new CvWindow("Calibration", WindowMode.AutoSize))
{
for (int i = 0; i < ImageNum; i++)
{
CvPoint2D32f[] corners;
bool found = Cv.FindChessboardCorners(srcImg[i], patternSize, out corners);
Debug.Print("{0:D2}...", i);
if (found)
{
Debug.Print("ok");
foundNum++;
}
else
{
Debug.Print("fail");
}
using (IplImage srcGray = new IplImage(srcImg[i].Size, BitDepth.U8, 1))
{
Cv.CvtColor(srcImg[i], srcGray, ColorConversion.BgrToGray);
Cv.FindCornerSubPix(srcGray, corners, corners.Length, new CvSize(3, 3), new CvSize(-1, -1), new CvTermCriteria(20, 0.03));
Cv.DrawChessboardCorners(srcImg[i], patternSize, corners, found);
pointCountsValue[i] = corners.Length;
window.ShowImage(srcImg[i]);
//Cv.WaitKey(0);
}
allCorners.AddRange(corners);
}
if (foundNum != ImageNum)
{
Debug.Assert(false);
}
}
CvMat imagePoints = new CvMat(AllPoints, 1, MatrixType.F32C2, allCorners.ToArray());
CvMat pointCounts = new CvMat(ImageNum, 1, MatrixType.S32C1, pointCountsValue);
CvMat intrinsic = new CvMat(3, 3, MatrixType.F64C1);
CvMat distortion = new CvMat(1, 4, MatrixType.F64C1);
CvMat rotation = new CvMat(ImageNum, 3, MatrixType.F64C1);
CvMat translation = new CvMat(ImageNum, 3, MatrixType.F64C1);
Cv.CalibrateCamera2(objectPoints, imagePoints, pointCounts, srcImg[0].Size, intrinsic, distortion, rotation, translation, CalibrationFlag.Default);
CvMat subImagePoints, subObjectPoints;
Cv.GetRows(imagePoints, out subImagePoints, 0, PatSize);
Cv.GetRows(objectPoints, out subObjectPoints, 0, PatSize);
CvMat rotation_ = new CvMat(1, 3, MatrixType.F32C1);
CvMat translation_ = new CvMat(1, 3, MatrixType.F32C1);
Cv.FindExtrinsicCameraParams2(subObjectPoints, subImagePoints, intrinsic, distortion, rotation_, translation_, false);
//Cv.FindExtrinsicCameraParams2_(subObjectPoints, subImagePoints, intrinsic, distortion, rotation_, translation_, false);
// Free IplImages
foreach (IplImage img in srcImg)
{
img.Dispose();
}
// Construct and return camera calibration data
CameraCalibrationData camCal = new CameraCalibrationData();
camCal.IsValid = foundNum > (ImageNum / 2); // Consider valid if at least half were successes
camCal.Intrinsic = intrinsic;
camCal.Translation = translation_;
camCal.Rotation = rotation_;
camCal.Distortion = distortion;
return(camCal);
}
public static CameraCalibrationData CalibrateLens(List<Bitmap> bitmaps, int calibrationTakes)
{
int ImageNum = calibrationTakes;
const int PatRow = 7;
const int PatCol = 10;
const int PatSize = PatRow * PatCol;
int AllPoints = ImageNum * PatSize;
const float ChessSize = 24.0f;
// Convert bitmaps into Ipl Images
IplImage[] srcImg = new IplImage[bitmaps.Count];
for (int i = 0; i < bitmaps.Count; i++)
srcImg[i] = OpenCVUtil.IplImageFromBitmap(bitmaps[i]);
CvPoint3D32f[, ,] objects = new CvPoint3D32f[ImageNum, PatRow, PatCol];
for (int i = 0; i < ImageNum; i++)
{
for (int j = 0; j < PatRow; j++)
{
for (int k = 0; k < PatCol; k++)
{
objects[i, j, k] = new CvPoint3D32f
{
X = j * ChessSize,
Y = k * ChessSize,
Z = 0.0f
};
}
}
}
CvMat objectPoints = new CvMat(AllPoints, 3, MatrixType.F32C1, objects);
CvSize patternSize = new CvSize(PatCol, PatRow);
int foundNum = 0;
List<CvPoint2D32f> allCorners = new List<CvPoint2D32f>(AllPoints);
int[] pointCountsValue = new int[ImageNum];
using (CvWindow window = new CvWindow("Calibration", WindowMode.AutoSize))
{
for (int i = 0; i < ImageNum; i++)
{
CvPoint2D32f[] corners;
bool found = Cv.FindChessboardCorners(srcImg[i], patternSize, out corners);
Debug.Print("{0:D2}...", i);
if (found)
{
Debug.Print("ok");
foundNum++;
}
else
{
Debug.Print("fail");
}
using (IplImage srcGray = new IplImage(srcImg[i].Size, BitDepth.U8, 1))
{
Cv.CvtColor(srcImg[i], srcGray, ColorConversion.BgrToGray);
Cv.FindCornerSubPix(srcGray, corners, corners.Length, new CvSize(3, 3), new CvSize(-1, -1), new CvTermCriteria(20, 0.03));
Cv.DrawChessboardCorners(srcImg[i], patternSize, corners, found);
pointCountsValue[i] = corners.Length;
window.ShowImage(srcImg[i]);
//Cv.WaitKey(0);
}
allCorners.AddRange(corners);
}
if (foundNum != ImageNum)
{
Debug.Assert(false);
}
}
CvMat imagePoints = new CvMat(AllPoints, 1, MatrixType.F32C2, allCorners.ToArray());
CvMat pointCounts = new CvMat(ImageNum, 1, MatrixType.S32C1, pointCountsValue);
CvMat intrinsic = new CvMat(3, 3, MatrixType.F64C1);
CvMat distortion = new CvMat(1, 4, MatrixType.F64C1);
CvMat rotation = new CvMat(ImageNum, 3, MatrixType.F64C1);
CvMat translation = new CvMat(ImageNum, 3, MatrixType.F64C1);
Cv.CalibrateCamera2(objectPoints, imagePoints, pointCounts, srcImg[0].Size, intrinsic, distortion, rotation, translation, CalibrationFlag.Default);
CvMat subImagePoints, subObjectPoints;
Cv.GetRows(imagePoints, out subImagePoints, 0, PatSize);
Cv.GetRows(objectPoints, out subObjectPoints, 0, PatSize);
CvMat rotation_ = new CvMat(1, 3, MatrixType.F32C1);
CvMat translation_ = new CvMat(1, 3, MatrixType.F32C1);
Cv.FindExtrinsicCameraParams2(subObjectPoints, subImagePoints, intrinsic, distortion, rotation_, translation_, false);
//Cv.FindExtrinsicCameraParams2_(subObjectPoints, subImagePoints, intrinsic, distortion, rotation_, translation_, false);
// Free IplImages
foreach (IplImage img in srcImg)
img.Dispose();
// Construct and return camera calibration data
CameraCalibrationData camCal = new CameraCalibrationData();
camCal.IsValid = foundNum > (ImageNum / 2); // Consider valid if at least half were successes
camCal.Intrinsic = intrinsic;
camCal.Translation = translation_;
camCal.Rotation = rotation_;
camCal.Distortion = distortion;
return camCal;
}