public void SetupSolve(CalibrationInfo ci, bool useConstraints, bool radialDistortion)
{
foreach (ProjectorEntry pe in ci.Projectors)
{
SolveProjector sp = new SolveProjector(pe, ci.DomeSize, ci.ScreenType == ScreenTypes.FishEye ? ProjectionType.FishEye : ProjectionType.Projector, ScreenTypes.Spherical, ci.ScreenType == ScreenTypes.FishEye ? SolveParameters.FishEye : (SolveParameters)ci.SolveParameters);
sp.RadialDistorion = radialDistortion;
projectors.Add(sp);
if (useConstraints)
{
foreach (GroundTruthPoint gt in pe.Constraints)
{
SolveList.Add(new Constraint(sp, gt));
}
}
}
foreach (Edge edge in ci.Edges)
{
foreach (EdgePoint pnt in edge.Points)
{
SolveList.Add(new Coorespondence(projectors[edge.Left - 1], projectors[edge.Right - 1], pnt));
}
}
foreach (SolveProjector sp in projectors)
{
regressionParameters.AddRange(sp.Parameters);
}
int count = SolveList.Count;
double[,] data = new double[2, count];
for (int i = 0; i < count; i++)
{
data[0, i] = i;
data[1, i] = 0;
}
Parameter[] observed = new Parameter[] { ParmeterIndex };
lm = new LevenbergMarquardt(new functionDelegate(SolveFunction), regressionParameters.ToArray(), observed, data);
}
public Coorespondence(SolveProjector left, SolveProjector right, EdgePoint point)
{
this.left = left;
this.right = right;
this.point = point;
}
public Constraint(SolveProjector projector, GroundTruthPoint point)
{
this.projector = projector;
this.point = point;
}
public void SetupSolve(CalibrationInfo ci, bool useConstraints, bool radialDistortion)
{
foreach (var pe in ci.Projectors)
{
var sp = new SolveProjector(pe, ci.DomeSize, ci.ScreenType == ScreenTypes.FishEye ? ProjectionType.FishEye : ProjectionType.Projector, ScreenTypes.Spherical, ci.ScreenType == ScreenTypes.FishEye ? SolveParameters.FishEye : (SolveParameters)ci.SolveParameters)
{
RadialDistorion = radialDistortion
};
projectors.Add(sp);
if (useConstraints)
{
foreach (var gt in pe.Constraints)
{
SolveList.Add(new Constraint(sp, gt));
}
}
}
foreach (var edge in ci.Edges)
{
foreach (var pnt in edge.Points)
{
SolveList.Add( new Coorespondence(projectors[edge.Left-1],projectors[edge.Right-1],pnt));
}
}
foreach (var sp in projectors)
{
regressionParameters.AddRange(sp.Parameters);
}
var count = SolveList.Count;
var data = new double[2, count];
for (var i = 0; i < count; i++)
{
data[0, i] = i;
data[1, i] = 0;
}
var observed = new[] { ParmeterIndex };
lm = new LevenbergMarquardt(SolveFunction, regressionParameters.ToArray(), observed, data);
}
public Coorespondence(SolveProjector left, SolveProjector right, EdgePoint point)
{
this.left = left;
this.right = right;
this.point = point;
}
public static Bitmap MakeWarpMap(ProjectorEntry pe, double domeSize, bool radialDistortion, List<GroundTruthPoint> gtPointList, ScreenTypes screenType)
{
List<Vector2d> PointTo = new List<Vector2d>();
List<Vector2d> PointFrom = new List<Vector2d>();
double xFactor = pe.Width / 512.0;
double yFactor = pe.Height / 512.0;
Bitmap bmp = new Bitmap(512, 512);
FastBitmap fastBmp = new FastBitmap(bmp);
SolveProjector spProjector = new SolveProjector(pe, domeSize, ProjectionType.Projector, screenType, SolveParameters.Default);
spProjector.RadialDistorion = radialDistortion;
SolveProjector spView = new SolveProjector(pe, domeSize, ProjectionType.View, ScreenTypes.Spherical, SolveParameters.Default);
spView.RadialDistorion = false;
foreach (GroundTruthPoint gt in gtPointList)
{
PointFrom.Add(new Vector2d((double)gt.X / (double)pe.Width * 512, (double)gt.Y / (double)pe.Height * 512));
Vector2d pntOutTarget = spView.ProjectPoint(new Vector2d(gt.Az, gt.Alt));
Vector2d AltAzMapped = spProjector.GetCoordinatesForScreenPoint(gt.X,gt.Y);
Vector2d pntOutMapped = spView.ProjectPoint(new Vector2d(AltAzMapped.X, AltAzMapped.Y));
pntOutTarget.X = pntOutTarget.X *(512 / 2.0) + (512 / 2.0);
pntOutTarget.Y = pntOutTarget.Y *(-512 / 2.0) + (512 / 2.0);
pntOutMapped.X = pntOutMapped.X *(512 / 2.0) + (512 / 2.0);
pntOutMapped.Y = pntOutMapped.Y *(-512 / 2.0) + (512 / 2.0);
PointTo.Add(new Vector2d(pntOutTarget.X - pntOutMapped.X, pntOutTarget.Y - pntOutMapped.Y));
}
//Matrix3d projMat = spView.GetCameraMatrix();
unsafe
{
fastBmp.LockBitmap();
for (int y = 0; y < 512; y++)
{
for (int x = 0; x < 512; x++)
{
Vector2d pnt = spProjector.GetCoordinatesForScreenPoint(x * xFactor, y * yFactor);
Vector2d pntOut = spView.ProjectPoint(pnt);
// Map
pntOut.X = pntOut.X * (512 / 2.0) + (512 / 2.0);
pntOut.Y = pntOut.Y * (-512 / 2.0) + (512 / 2.0);
pntOut = MapPoint(new Vector2d(x,y), pntOut, PointTo, PointFrom);
pntOut.X = (pntOut.X - (512 / 2.0)) / (512 / 2.0);
pntOut.Y = (pntOut.Y - (512 / 2.0)) / (-512 / 2.0);
// End Map
double xo = pntOut.X * (4096 / 2.0) + (4096 / 2.0);
double yo = pntOut.Y * (-4096 / 2.0) + (4096 / 2.0);
int blue = (int)xo & 255;
int green = (int)yo & 255;
int red = (((int)yo) >> 4 & 240) + (((int)xo) >> 8 & 15);
*fastBmp[x, y] = new PixelData(red, green, blue, 255);
}
}
fastBmp.UnlockBitmap();
}
return bmp;
}
public Constraint(SolveProjector projector, GroundTruthPoint point)
{
this.projector = projector;
this.point = point;
}
public void SetupSolve(CalibrationInfo ci, bool useConstraints, bool radialDistortion)
{
foreach (ProjectorEntry pe in ci.Projectors)
{
SolveProjector sp = new SolveProjector(pe, ci.DomeSize, ci.ScreenType == ScreenTypes.FishEye ? ProjectionType.FishEye : ProjectionType.Projector, ScreenTypes.Spherical, ci.ScreenType == ScreenTypes.FishEye ? SolveParameters.FishEye : (SolveParameters)ci.SolveParameters);
sp.RadialDistorion = radialDistortion;
projectors.Add(sp);
if (useConstraints)
{
foreach (GroundTruthPoint gt in pe.Constraints)
{
SolveList.Add(new Constraint(sp, gt));
}
}
}
foreach (Edge edge in ci.Edges)
{
foreach (EdgePoint pnt in edge.Points)
{
SolveList.Add( new Coorespondence(projectors[edge.Left-1],projectors[edge.Right-1],pnt));
}
}
foreach (SolveProjector sp in projectors)
{
regressionParameters.AddRange(sp.Parameters);
}
int count = SolveList.Count;
double[,] data = new double[2, count];
for (int i = 0; i < count; i++)
{
data[0, i] = i;
data[1, i] = 0;
}
Parameter[] observed = new Parameter[] { ParmeterIndex };
lm = new LevenbergMarquardt(new functionDelegate(SolveFunction), regressionParameters.ToArray(), observed, data);
}
private SolveProjector GetSolveProjector(int index)
{
if (solveProjectors.Count == 0)
{
var pe = CalibrationInfo.Projectors.Find(p => p.ID == index);
var sp = new SolveProjector(pe, CalibrationInfo.DomeSize, CalibrationInfo.ScreenType == ScreenTypes.FishEye ? ProjectionType.FishEye : ProjectionType.Projector, CalibrationInfo.ScreenType, CalibrationInfo.ScreenType == ScreenTypes.FishEye ? SolveParameters.FishEye : SolveParameters.Default)
{
RadialDistorion = CalibrationInfo.ScreenType != ScreenTypes.FishEye && UseRadial.Checked
};
return sp;
}
return solveProjectors[index-1];
}
private void ProjectorList_SelectedIndexChanged(object sender, EventArgs e)
{
var pe = (ProjectorEntry)ProjectorList.SelectedItem;
var sp = new SolveProjector(pe, CalibrationInfo.DomeSize, CalibrationInfo.ScreenType == ScreenTypes.FishEye ? ProjectionType.FishEye : ProjectionType.Projector, ScreenTypes.Spherical, SolveParameters.Default);
var pnt = sp.GetCoordinatesForScreenPoint(pe.Width / 2.0, pe.Height / 2.0);
sp.GetCoordinatesForScreenPoint(pe.Width/2 + 1, pe.Height/2.0);
var pntCamera = sp.GetCoordinatesForProjector();
var pntRayDirection = GetPointFromAltAz(new PointF((float)pnt.X+90, (float)pnt.Y));
var pntProj = GetPointFromAltAz(new PointF((float)pntCamera.X+90, (float)pntCamera.Y));
Refresh();
MousePad.Refresh();
var g = MousePad.CreateGraphics();
g.DrawLine(Pens.Yellow, pntRayDirection, pntProj);
g.DrawRectangle(Pens.Red, pntProj.X - 5, pntProj.Y - 5, 10, 10);
g.Dispose();
}
private SolveProjector GetSolveProjector(int index)
{
if (solveProjectors.Count == 0)
{
ProjectorEntry pe = CalibrationInfo.Projectors.Find(delegate(ProjectorEntry p) { return p.ID == index; });
SolveProjector sp = new SolveProjector(pe, CalibrationInfo.DomeSize, CalibrationInfo.ScreenType == ScreenTypes.FishEye ? ProjectionType.FishEye : ProjectionType.Projector, CalibrationInfo.ScreenType, CalibrationInfo.ScreenType == ScreenTypes.FishEye ? SolveParameters.FishEye : SolveParameters.Default);
sp.RadialDistorion = CalibrationInfo.ScreenType == ScreenTypes.FishEye ? false : UseRadial.Checked;
return sp;
}
else
{
return solveProjectors[index-1];
}
}
public static Bitmap MakeWarpMap(ProjectorEntry pe, double domeSize, bool radialDistortion, List <GroundTruthPoint> gtPointList, ScreenTypes screenType)
{
List <Vector2d> PointTo = new List <Vector2d>();
List <Vector2d> PointFrom = new List <Vector2d>();
double xFactor = pe.Width / 512.0;
double yFactor = pe.Height / 512.0;
Bitmap bmp = new Bitmap(512, 512);
FastBitmap fastBmp = new FastBitmap(bmp);
SolveProjector spProjector = new SolveProjector(pe, domeSize, ProjectionType.Projector, screenType, SolveParameters.Default);
spProjector.RadialDistorion = radialDistortion;
SolveProjector spView = new SolveProjector(pe, domeSize, ProjectionType.View, ScreenTypes.Spherical, SolveParameters.Default);
spView.RadialDistorion = false;
foreach (GroundTruthPoint gt in gtPointList)
{
PointFrom.Add(new Vector2d((double)gt.X / (double)pe.Width * 512, (double)gt.Y / (double)pe.Height * 512));
Vector2d pntOutTarget = spView.ProjectPoint(new Vector2d(gt.Az, gt.Alt));
Vector2d AltAzMapped = spProjector.GetCoordinatesForScreenPoint(gt.X, gt.Y);
Vector2d pntOutMapped = spView.ProjectPoint(new Vector2d(AltAzMapped.X, AltAzMapped.Y));
pntOutTarget.X = pntOutTarget.X * (512 / 2.0) + (512 / 2.0);
pntOutTarget.Y = pntOutTarget.Y * (-512 / 2.0) + (512 / 2.0);
pntOutMapped.X = pntOutMapped.X * (512 / 2.0) + (512 / 2.0);
pntOutMapped.Y = pntOutMapped.Y * (-512 / 2.0) + (512 / 2.0);
PointTo.Add(new Vector2d(pntOutTarget.X - pntOutMapped.X, pntOutTarget.Y - pntOutMapped.Y));
}
//Matrix3d projMat = spView.GetCameraMatrix();
unsafe
{
fastBmp.LockBitmap();
for (int y = 0; y < 512; y++)
{
for (int x = 0; x < 512; x++)
{
Vector2d pnt = spProjector.GetCoordinatesForScreenPoint(x * xFactor, y * yFactor);
Vector2d pntOut = spView.ProjectPoint(pnt);
// Map
pntOut.X = pntOut.X * (512 / 2.0) + (512 / 2.0);
pntOut.Y = pntOut.Y * (-512 / 2.0) + (512 / 2.0);
pntOut = MapPoint(new Vector2d(x, y), pntOut, PointTo, PointFrom);
pntOut.X = (pntOut.X - (512 / 2.0)) / (512 / 2.0);
pntOut.Y = (pntOut.Y - (512 / 2.0)) / (-512 / 2.0);
// End Map
double xo = pntOut.X * (4096 / 2.0) + (4096 / 2.0);
double yo = pntOut.Y * (-4096 / 2.0) + (4096 / 2.0);
int blue = (int)xo & 255;
int green = (int)yo & 255;
int red = (((int)yo) >> 4 & 240) + (((int)xo) >> 8 & 15);
* fastBmp[x, y] = new PixelData(red, green, blue, 255);
}
}
fastBmp.UnlockBitmap();
}
return(bmp);
}
