private static double CalibrateColorCamera(List <Vector <double> > worldPoints, List <System.Drawing.PointF> imagePoints, Matrix <double> cameraMatrix, Vector <double> distCoeffs, Vector <double> rotation, Vector <double> translation, bool silent = true) { int nPoints = worldPoints.Count; { Matrix <double> R; Vector <double> t; DLT(cameraMatrix, distCoeffs, worldPoints, imagePoints, out R, out t); var r = RotationExtensions.MatrixToAxisAngle(R); r.CopyTo(rotation); t.CopyTo(translation); } // pack parameters into vector // parameters: fx, fy, cx, cy, k1, k2, + 3 for rotation, 3 translation = 12 int nParameters = 12; var parameters = Vector <double> .Build.Dense(nParameters); { int pi = 0; parameters[pi++] = cameraMatrix[0, 0]; // fx parameters[pi++] = cameraMatrix[1, 1]; // fy parameters[pi++] = cameraMatrix[0, 2]; // cx parameters[pi++] = cameraMatrix[1, 2]; // cy parameters[pi++] = distCoeffs[0]; // k1 parameters[pi++] = distCoeffs[1]; // k2 parameters[pi++] = rotation[0]; parameters[pi++] = rotation[1]; parameters[pi++] = rotation[2]; parameters[pi++] = translation[0]; parameters[pi++] = translation[1]; parameters[pi++] = translation[2]; } // size of our error vector int nValues = nPoints * 2; // each component (x,y) is a separate entry LevenbergMarquardt.Function function = delegate(Vector <double> p) { var fvec = Vector <double> .Build.Dense(nValues); // unpack parameters int pi = 0; double fx = p[pi++]; double fy = p[pi++]; double cx = p[pi++]; double cy = p[pi++]; double k1 = p[pi++]; double k2 = p[pi++]; var K = Matrix <double> .Build.DenseIdentity(3, 3); K[0, 0] = fx; K[1, 1] = fy; K[0, 2] = cx; K[1, 2] = cy; var d = Vector <double> .Build.Dense(5, 0); d[0] = k1; d[1] = k2; var r = Vector <double> .Build.Dense(3); r[0] = p[pi++]; r[1] = p[pi++]; r[2] = p[pi++]; var t = Vector <double> .Build.Dense(3); t[0] = p[pi++]; t[1] = p[pi++]; t[2] = p[pi++]; var R = RotationExtensions.AxisAngleToMatrix(r); int fveci = 0; for (int i = 0; i < worldPoints.Count; i++) { // transform world point to local camera coordinates var x = R * worldPoints[i]; x += t; // fvec_i = y_i - f(x_i) double u, v; KinectInternalCalibration.Project(K, d, x[0], x[1], x[2], out u, out v); var imagePoint = imagePoints[i]; fvec[fveci++] = imagePoint.X - u; fvec[fveci++] = imagePoint.Y - v; } return(fvec); }; // optimize var calibrate = new LevenbergMarquardt(function); while (calibrate.State == LevenbergMarquardt.States.Running) { var rmsError = calibrate.MinimizeOneStep(parameters); if (!silent) { Console.WriteLine("rms error = " + rmsError); } } if (!silent) { for (int i = 0; i < nParameters; i++) { Console.WriteLine(parameters[i] + "\t"); } Console.WriteLine(); } // unpack parameters { int pi = 0; double fx = parameters[pi++]; double fy = parameters[pi++]; double cx = parameters[pi++]; double cy = parameters[pi++]; double k1 = parameters[pi++]; double k2 = parameters[pi++]; cameraMatrix[0, 0] = fx; cameraMatrix[1, 1] = fy; cameraMatrix[0, 2] = cx; cameraMatrix[1, 2] = cy; distCoeffs[0] = k1; distCoeffs[1] = k2; rotation[0] = parameters[pi++]; rotation[1] = parameters[pi++]; rotation[2] = parameters[pi++]; translation[0] = parameters[pi++]; translation[1] = parameters[pi++]; translation[2] = parameters[pi++]; } return(calibrate.RMSError); }
protected override void UpdateValue(float t) { transform.localRotation = RotationExtensions.SmoothDamp(transform.localRotation, Quaternion.Euler(EndLocalRotation), ref _deriv, Duration); }
internal void RecoverCalibrationFromSensor(Microsoft.Kinect.KinectSensor kinectSensor) { var stopWatch = new System.Diagnostics.Stopwatch(); stopWatch.Start(); var objectPoints1 = new List <Vector <double> >(); var colorPoints1 = new List <System.Drawing.PointF>(); var depthPoints1 = new List <System.Drawing.PointF>(); int n = 0; for (float x = -2f; x < 2f; x += 0.2f) { for (float y = -2f; y < 2f; y += 0.2f) { for (float z = 0.4f; z < 4.5f; z += 0.4f) { var kinectCameraPoint = new CameraSpacePoint(); kinectCameraPoint.X = x; kinectCameraPoint.Y = y; kinectCameraPoint.Z = z; // use SDK's projection // adjust Y to make RH coordinate system that is a projection of Kinect 3D points var kinectColorPoint = kinectSensor.CoordinateMapper.MapCameraPointToColorSpace(kinectCameraPoint); kinectColorPoint.Y = colorImageHeight - kinectColorPoint.Y; var kinectDepthPoint = kinectSensor.CoordinateMapper.MapCameraPointToDepthSpace(kinectCameraPoint); kinectDepthPoint.Y = depthImageHeight - kinectDepthPoint.Y; if ((kinectColorPoint.X >= 0) && (kinectColorPoint.X < colorImageWidth) && (kinectColorPoint.Y >= 0) && (kinectColorPoint.Y < colorImageHeight) && (kinectDepthPoint.X >= 0) && (kinectDepthPoint.X < depthImageWidth) && (kinectDepthPoint.Y >= 0) && (kinectDepthPoint.Y < depthImageHeight)) { n++; var objectPoint = Vector <double> .Build.Dense(3); objectPoint[0] = kinectCameraPoint.X; objectPoint[1] = kinectCameraPoint.Y; objectPoint[2] = kinectCameraPoint.Z; objectPoints1.Add(objectPoint); var colorPoint = new System.Drawing.PointF(); colorPoint.X = kinectColorPoint.X; colorPoint.Y = kinectColorPoint.Y; colorPoints1.Add(colorPoint); //Console.WriteLine(objectPoint[0] + "\t" + objectPoint[1] + "\t" + colorPoint.X + "\t" + colorPoint.Y); var depthPoint = new System.Drawing.PointF(); depthPoint.X = kinectDepthPoint.X; depthPoint.Y = kinectDepthPoint.Y; depthPoints1.Add(depthPoint); } } } } this.colorCameraMatrix[0, 0] = 1000; //fx this.colorCameraMatrix[1, 1] = 1000; //fy this.colorCameraMatrix[0, 2] = colorImageWidth / 2; //cx this.colorCameraMatrix[1, 2] = colorImageHeight / 2; //cy this.colorCameraMatrix[2, 2] = 1; var rotation = Vector <double> .Build.Dense(3); var translation = Vector <double> .Build.Dense(3); var colorError = CalibrateColorCamera(objectPoints1, colorPoints1, colorCameraMatrix, colorLensDistortion, rotation, translation, this.silent); var rotationMatrix = RotationExtensions.AxisAngleToMatrix(rotation); this.depthToColorTransform = Matrix <double> .Build.DenseIdentity(4, 4); for (int i = 0; i < 3; i++) { this.depthToColorTransform[i, 3] = translation[i]; for (int j = 0; j < 3; j++) { this.depthToColorTransform[i, j] = rotationMatrix[i, j]; } } this.depthCameraMatrix[0, 0] = 360; //fx this.depthCameraMatrix[1, 1] = 360; //fy this.depthCameraMatrix[0, 2] = depthImageWidth / 2.0; //cx this.depthCameraMatrix[1, 2] = depthImageHeight / 2.0; //cy this.depthCameraMatrix[2, 2] = 1; var depthError = CalibrateDepthCamera(objectPoints1, depthPoints1, depthCameraMatrix, depthLensDistortion, silent); // check projections double depthProjectionError = 0; double colorProjectionError = 0; var testObjectPoint4 = Vector <double> .Build.Dense(4); for (int i = 0; i < n; i++) { var testObjectPoint = objectPoints1[i]; var testDepthPoint = depthPoints1[i]; var testColorPoint = colorPoints1[i]; // "camera space" == depth camera space // depth camera projection double depthU, depthV; Project(depthCameraMatrix, depthLensDistortion, testObjectPoint[0], testObjectPoint[1], testObjectPoint[2], out depthU, out depthV); double dx = testDepthPoint.X - depthU; double dy = testDepthPoint.Y - depthV; depthProjectionError += (dx * dx) + (dy * dy); // color camera projection testObjectPoint4[0] = testObjectPoint[0]; testObjectPoint4[1] = testObjectPoint[1]; testObjectPoint4[2] = testObjectPoint[2]; testObjectPoint4[3] = 1; var color = depthToColorTransform * testObjectPoint4; color *= (1.0 / color[3]); // not necessary for this transform double colorU, colorV; Project(colorCameraMatrix, colorLensDistortion, color[0], color[1], color[2], out colorU, out colorV); dx = testColorPoint.X - colorU; dy = testColorPoint.Y - colorV; colorProjectionError += (dx * dx) + (dy * dy); } depthProjectionError /= n; colorProjectionError /= n; stopWatch.Stop(); if (!this.silent) { Console.WriteLine("FakeCalibration :"); Console.WriteLine("n = " + n); Console.WriteLine("color error = " + colorError); Console.WriteLine("depth error = " + depthError); Console.WriteLine("depth reprojection error = " + depthProjectionError); Console.WriteLine("color reprojection error = " + colorProjectionError); Console.WriteLine("depth camera matrix = \n" + depthCameraMatrix); Console.WriteLine("depth lens distortion = \n" + depthLensDistortion); Console.WriteLine("color camera matrix = \n" + colorCameraMatrix); Console.WriteLine("color lens distortion = \n" + colorLensDistortion); Console.WriteLine(stopWatch.ElapsedMilliseconds + " ms"); Console.WriteLine("________________________________________________________"); } }