/// <summary>
///
/// </summary>
/// <param name="directory"></param>
/// <param name="objPath"></param>
/// <param name="depthImage"></param>
/// <param name="rgbImage"></param>
/// <param name="pose">Optional transformation pose (4x4 Matrix). Supply Identity by default</param>
public static void Save(string objPath, Kinect2Calibration calibration, ShortImage depthImage, string colorImageFileName, Matrix pose)
{
var objFilename = Path.GetFileNameWithoutExtension(objPath);
var objDirectory = Path.GetDirectoryName(objPath);
if (!Directory.Exists(objDirectory))
{
Directory.CreateDirectory(objDirectory);
}
//copy the background color image to file
//SaveColorToJPEG(objDirectory + "/" + objFilename + ".jpg", rgbImage);
if (File.Exists(colorImageFileName))
{
File.Copy(colorImageFileName, objDirectory + "/" + objFilename + ".jpg", true);
}
else
{
Console.WriteLine("Saving to OBJ Error! File " + colorImageFileName + " doesn't exists!");
}
// Because we need to form triangles, we go back to the depth image
var quadOffsets = new System.Drawing.Point[]
{
new System.Drawing.Point(0, 0),
new System.Drawing.Point(1, 0),
new System.Drawing.Point(0, 1),
new System.Drawing.Point(1, 0),
new System.Drawing.Point(1, 1),
new System.Drawing.Point(0, 1),
};
var streamWriter = new StreamWriter(objDirectory + "/" + objFilename + ".obj");
var mtlFileWriter = new StreamWriter(objDirectory + "/" + objFilename + ".mtl");
streamWriter.WriteLine("mtllib " + objFilename + ".mtl");
uint nextVertexIndex = 1;
//var depthImage = new FloatImage(Kinect2Calibration.depthImageWidth, Kinect2Calibration.depthImageHeight);
mtlFileWriter.WriteLine("newmtl camera0");
mtlFileWriter.WriteLine("Ka 1.000000 1.000000 1.000000");
mtlFileWriter.WriteLine("Kd 1.000000 1.000000 1.000000");
mtlFileWriter.WriteLine("Ks 0.000000 0.000000 0.000000");
mtlFileWriter.WriteLine("Tr 1.000000");
mtlFileWriter.WriteLine("illum 1");
mtlFileWriter.WriteLine("Ns 0.000000");
mtlFileWriter.WriteLine("map_Kd " + objFilename + ".jpg");
streamWriter.WriteLine("usemtl camera0");
// load depth image
//string cameraDirectory = directory + "/camera" + camera.name;
//depthImage.LoadFromFile(cameraDirectory + "/mean.bin");
//var calibration = camera.calibration;
var depthFrameToCameraSpaceTable = calibration.ComputeDepthFrameToCameraSpaceTable();
var vertices = new Vertex[Kinect2Calibration.depthImageWidth * Kinect2Calibration.depthImageHeight];
var colorCamera = new Matrix(4, 1);
var depthCamera = new Matrix(4, 1);
var world = new Matrix(4, 1);
for (int y = 0; y < Kinect2Calibration.depthImageHeight; y++)
{
for (int x = 0; x < Kinect2Calibration.depthImageWidth; x++)
{
// depth camera coords
var depth = depthImage[x, y] / 1000f; // m
// convert to depth camera space
var point = depthFrameToCameraSpaceTable[Kinect2Calibration.depthImageWidth * y + x];
depthCamera[0] = point.X * depth;
depthCamera[1] = point.Y * depth;
depthCamera[2] = depth;
depthCamera[3] = 1;
// world coordinates
world.Mult(pose, depthCamera);
//world.Scale(1.0 / world[3]); not necessary for this transform
// convert to color camera space
colorCamera.Mult(calibration.depthToColorTransform, depthCamera);
colorCamera.Scale(1.0 / colorCamera[3]);
// project to color image
double colorU, colorV;
CameraMath.Project(calibration.colorCameraMatrix, calibration.colorLensDistortion, colorCamera[0], colorCamera[1], colorCamera[2], out colorU, out colorV);
colorU /= (double)Kinect2Calibration.colorImageWidth;
colorV /= (double)Kinect2Calibration.colorImageHeight;
var vertex = new Vertex();
vertex.x = (float)world[0];
vertex.y = (float)world[1];
vertex.z = (float)world[2];
vertex.u = (float)colorU;
vertex.v = (float)colorV;
vertices[Kinect2Calibration.depthImageWidth * y + x] = vertex;
}
}
streamWriter.WriteLine("g camera0");
streamWriter.WriteLine("usemtl camera0");
// examine each triangle
for (int y = 0; y < Kinect2Calibration.depthImageHeight - 1; y++)
{
for (int x = 0; x < Kinect2Calibration.depthImageWidth - 1; x++)
{
int offseti = 0;
for (int tri = 0; tri < 2; tri++)
{
// the indexes of the vertices of this triangle
var i0 = Kinect2Calibration.depthImageWidth * (y + quadOffsets[offseti].Y) + (x + quadOffsets[offseti].X);
var i1 = Kinect2Calibration.depthImageWidth * (y + quadOffsets[offseti + 1].Y) + (x + quadOffsets[offseti + 1].X);
var i2 = Kinect2Calibration.depthImageWidth * (y + quadOffsets[offseti + 2].Y) + (x + quadOffsets[offseti + 2].X);
// is triangle valid?
bool nonZero = (vertices[i0].z != 0) && (vertices[i1].z != 0) && (vertices[i2].z != 0);
bool jump01 = Vertex.DistanceSquared(vertices[i0], vertices[i1]) < 0.2 * 0.2;
bool jump02 = Vertex.DistanceSquared(vertices[i0], vertices[i2]) < 0.2 * 0.2;
bool jump12 = Vertex.DistanceSquared(vertices[i1], vertices[i2]) < 0.2 * 0.2;
bool valid = nonZero && jump01 && jump02 && jump12;
if (valid)
{
// only add the vertex if we haven't already
if (vertices[i0].index == 0)
{
streamWriter.WriteLine(vertices[i0]);
vertices[i0].index = nextVertexIndex++;
}
if (vertices[i1].index == 0)
{
streamWriter.WriteLine(vertices[i1]);
vertices[i1].index = nextVertexIndex++;
}
if (vertices[i2].index == 0)
{
streamWriter.WriteLine(vertices[i2]);
vertices[i2].index = nextVertexIndex++;
}
streamWriter.WriteLine("f {0}/{0} {1}/{1} {2}/{2}", vertices[i0].index, vertices[i1].index, vertices[i2].index);
}
offseti += 3;
}
}
}
streamWriter.Close();
mtlFileWriter.Close();
}
static double CalibrateColorCamera(List <Matrix> worldPoints, List <System.Drawing.PointF> imagePoints, Matrix cameraMatrix, Matrix distCoeffs, Matrix rotation, Matrix translation, bool silent)
{
int nPoints = worldPoints.Count;
{
Matrix R, t;
DLT(cameraMatrix, distCoeffs, worldPoints, imagePoints, out R, out t);
var r = Orientation.RotationVector(R);
rotation.Copy(r);
translation.Copy(t);
}
// pack parameters into vector
// parameters: fx, fy, cx, cy, k1, k2, + 3 for rotation, 3 translation = 12
int nParameters = 12;
var parameters = new Matrix(nParameters, 1);
{
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(Matrix p)
{
var fvec = new Matrix(nValues, 1);
// 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.Identity(3, 3);
K[0, 0] = fx;
K[1, 1] = fy;
K[0, 2] = cx;
K[1, 2] = cy;
var d = Matrix.Zero(5, 1);
d[0] = k1;
d[1] = k2;
var r = new Matrix(3, 1);
r[0] = p[pi++];
r[1] = p[pi++];
r[2] = p[pi++];
var t = new Matrix(3, 1);
t[0] = p[pi++];
t[1] = p[pi++];
t[2] = p[pi++];
var R = Orientation.Rodrigues(r);
var x = new Matrix(3, 1);
int fveci = 0;
for (int i = 0; i < worldPoints.Count; i++)
{
// transform world point to local camera coordinates
x.Mult(R, worldPoints[i]);
x.Add(t);
// fvec_i = y_i - f(x_i)
double u, v;
Kinect2Calibration.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);
}
// Use DLT to obtain estimate of calibration rig pose; in our case this is the pose of the Kinect camera.
// This pose estimate will provide a good initial estimate for subsequent projector calibration.
// Note for a full PnP solution we should probably refine with Levenberg-Marquardt.
// DLT is described in Hartley and Zisserman p. 178
static void DLT(Matrix cameraMatrix, Matrix distCoeffs, List <Matrix> worldPoints, List <System.Drawing.PointF> imagePoints, out Matrix R, out Matrix t)
{
int n = worldPoints.Count;
var A = Matrix.Zero(2 * n, 12);
for (int j = 0; j < n; j++)
{
var X = worldPoints[j];
var imagePoint = imagePoints[j];
double x, y;
Kinect2Calibration.Undistort(cameraMatrix, distCoeffs, imagePoint.X, imagePoint.Y, out x, out y);
double w = 1;
int ii = 2 * j;
A[ii, 4] = -w * X[0];
A[ii, 5] = -w * X[1];
A[ii, 6] = -w * X[2];
A[ii, 7] = -w;
A[ii, 8] = y * X[0];
A[ii, 9] = y * X[1];
A[ii, 10] = y * X[2];
A[ii, 11] = y;
ii++; // next row
A[ii, 0] = w * X[0];
A[ii, 1] = w * X[1];
A[ii, 2] = w * X[2];
A[ii, 3] = w;
A[ii, 8] = -x * X[0];
A[ii, 9] = -x * X[1];
A[ii, 10] = -x * X[2];
A[ii, 11] = -x;
}
var Pcolumn = new Matrix(12, 1);
{
var U = new Matrix(2 * n, 12);
var V = new Matrix(12, 12);
var ww = new Matrix(12, 1);
A.SVD(U, ww, V);
// find smallest singular value
int min = 0;
ww.Minimum(ref min);
// Pcolumn is last column of V
Pcolumn.CopyCol(V, min);
}
// reshape into 3x4 projection matrix
var P = new Matrix(3, 4);
P.Reshape(Pcolumn);
// x = P * X
// P = K [ R | t ]
// inv(K) P = [ R | t ]
//var Kinv = new Matrix(3, 3);
//Kinv.Inverse(cameraMatrix);
//var Rt = new Matrix(3, 4);
//Rt.Mult(Kinv, P);
var Rt = new Matrix(3, 4);
Rt.Copy(P); // P does not contain camera matrix (by earlier undistort)
R = new Matrix(3, 3);
t = new Matrix(3, 1);
for (int ii = 0; ii < 3; ii++)
{
t[ii] = Rt[ii, 3];
for (int jj = 0; jj < 3; jj++)
{
R[ii, jj] = Rt[ii, jj];
}
}
//R.Copy(0, 0, Rt);
//t.CopyCol(Rt, 3);
if (R.Det() < 0)
{
R.Scale(-1); t.Scale(-1);
}
// orthogonalize R
{
var U = new Matrix(3, 3);
var Vt = new Matrix(3, 3);
var V = new Matrix(3, 3);
var ww = new Matrix(3, 1);
//OpenCV.SVD.Compute(R, out ww, out U, out Vt);
R.SVD(U, ww, V);
Vt.Transpose(V);
R.Mult(U, Vt);
double s = ww.Sum() / 3.0;
t.Scale(1.0 / s);
}
// compute error?
}
static double CalibrateDepthCamera(List <Matrix> worldPoints, List <System.Drawing.PointF> imagePoints, Matrix cameraMatrix, Matrix distCoeffs, bool silent)
{
int nPoints = worldPoints.Count;
// pack parameters into vector
// parameters: fx, fy, cx, cy, k1, k2 = 6 parameters
int nParameters = 6;
var parameters = new Matrix(nParameters, 1);
{
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
}
// size of our error vector
int nValues = nPoints * 2; // each component (x,y) is a separate entry
LevenbergMarquardt.Function function = delegate(Matrix p)
{
var fvec = new Matrix(nValues, 1);
// 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.Identity(3, 3);
K[0, 0] = fx;
K[1, 1] = fy;
K[0, 2] = cx;
K[1, 2] = cy;
var d = Matrix.Zero(5, 1);
d[0] = k1;
d[1] = k2;
int fveci = 0;
for (int i = 0; i < worldPoints.Count; i++)
{
// fvec_i = y_i - f(x_i)
double u, v;
var x = worldPoints[i];
Kinect2Calibration.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;
}
return(calibrate.RMSError);
}
