public Undistort()
{
// cvUndistort2
// キャリブレーションデータを利用して，歪みを補正する
// (1)補正対象となる画像の読み込み
using (IplImage srcImg = new IplImage(Const.ImageDistortion, LoadMode.Color))
using (IplImage dstImg = srcImg.Clone())
{
// (2)パラメータファイルの読み込み
CvMat intrinsic, distortion;
using (CvFileStorage fs = new CvFileStorage(Const.XmlCamera, null, FileStorageMode.Read))
{
CvFileNode param = fs.GetFileNodeByName(null, "intrinsic");
intrinsic = fs.Read <CvMat>(param);
param = fs.GetFileNodeByName(null, "distortion");
distortion = fs.Read <CvMat>(param);
}
// (3)歪み補正
Cv.Undistort2(srcImg, dstImg, intrinsic, distortion);
// (4)画像を表示，キーが押されたときに終了
using (CvWindow w1 = new CvWindow("Distortion", WindowMode.AutoSize, srcImg))
using (CvWindow w2 = new CvWindow("Undistortion", WindowMode.AutoSize, dstImg))
{
CvWindow.WaitKey(0);
}
intrinsic.Dispose();
distortion.Dispose();
}
}
public Undistort()
{
using (IplImage srcImg = new IplImage(FilePath.Image.Distortion, LoadMode.Color))
using (IplImage dstImg = srcImg.Clone())
{
CvMat intrinsic, distortion;
using (CvFileStorage fs = new CvFileStorage(FilePath.Text.Camera, null, FileStorageMode.Read))
{
CvFileNode param = fs.GetFileNodeByName(null, "intrinsic");
intrinsic = fs.Read<CvMat>(param);
param = fs.GetFileNodeByName(null, "distortion");
distortion = fs.Read<CvMat>(param);
}
Cv.Undistort2(srcImg, dstImg, intrinsic, distortion);
using (new CvWindow("Distortion", WindowMode.AutoSize, srcImg))
using (new CvWindow("Undistortion", WindowMode.AutoSize, dstImg))
{
CvWindow.WaitKey(0);
}
intrinsic.Dispose();
distortion.Dispose();
}
}
public Undistort()
{
using (IplImage srcImg = new IplImage(FilePath.Image.Distortion, LoadMode.Color))
using (IplImage dstImg = srcImg.Clone())
{
CvMat intrinsic, distortion;
using (CvFileStorage fs = new CvFileStorage(FilePath.Text.Camera, null, FileStorageMode.Read))
{
CvFileNode param = fs.GetFileNodeByName(null, "intrinsic");
intrinsic = fs.Read <CvMat>(param);
param = fs.GetFileNodeByName(null, "distortion");
distortion = fs.Read <CvMat>(param);
}
Cv.Undistort2(srcImg, dstImg, intrinsic, distortion);
using (new CvWindow("Distortion", WindowMode.AutoSize, srcImg))
using (new CvWindow("Undistortion", WindowMode.AutoSize, dstImg))
{
CvWindow.WaitKey(0);
}
intrinsic.Dispose();
distortion.Dispose();
}
}
public Undistort()
{
// cvUndistort2
// キャリブレーションデータを利用して，歪みを補正する
// (1)補正対象となる画像の読み込み
using (IplImage srcImg = new IplImage(Const.ImageDistortion, LoadMode.Color))
using (IplImage dstImg = srcImg.Clone())
{
// (2)パラメータファイルの読み込み
CvMat intrinsic, distortion;
using (CvFileStorage fs = new CvFileStorage(Const.XmlCamera, null, FileStorageMode.Read))
{
CvFileNode param = fs.GetFileNodeByName(null, "intrinsic");
intrinsic = fs.Read<CvMat>(param);
param = fs.GetFileNodeByName(null, "distortion");
distortion = fs.Read<CvMat>(param);
}
// (3)歪み補正
Cv.Undistort2(srcImg, dstImg, intrinsic, distortion);
// (4)画像を表示，キーが押されたときに終了
using (CvWindow w1 = new CvWindow("Distortion", WindowMode.AutoSize, srcImg))
using (CvWindow w2 = new CvWindow("Undistortion", WindowMode.AutoSize, dstImg))
{
CvWindow.WaitKey(0);
}
intrinsic.Dispose();
distortion.Dispose();
}
}
/// <summary>
///
/// </summary>
/// <param name="fileName"></param>
private static void SampleFileStorageReadSeq(string fileName)
{
// cvGetHashedKey, cvGetFileNode
using (CvFileStorage fs = new CvFileStorage("sequence.yml", null, FileStorageMode.Read))
{
CvStringHashNode xKey = fs.GetHashedKey("x", true);
CvStringHashNode yKey = fs.GetHashedKey("y", true);
CvFileNode points = fs.GetFileNodeByName(null, "points");
if ((points.Tag & NodeType.Seq) != 0)
{
CvSeq seq = points.DataSeq;
int total = seq.Total;
CvSeqReader reader = new CvSeqReader();
seq.StartRead(reader, false);
for (int i = 0; i < total; i++)
{
CvFileNode pt = CvFileNode.FromPtr(reader.Ptr);
int x = fs.ReadIntByName(pt, "x", 0);
int y = fs.ReadIntByName(pt, "y", 0);
Cv.NEXT_SEQ_ELEM(seq.ElemSize, reader);
Console.WriteLine("{0}: ({1}, {2})", i, x, y);
}
}
}
Console.ReadKey();
}
/// <summary>
/// 画像データのファイルストレージからの読み込み
/// <param name="fileName">読み込むXML or YAMLファイル</param>
private static void SampleFileStorageReadImage(string fileName)
{
IplImage colorImg, grayImg;
// (1)ファイルを読み込む
using (CvFileStorage fs = new CvFileStorage(fileName, null, FileStorageMode.Read))
{
CvFileNode node;
node = fs.GetFileNodeByName(null, "color_img");
colorImg = fs.Read <IplImage>(node);
node = fs.GetFileNodeByName(null, "gray_img");
grayImg = fs.Read <IplImage>(node);
}
// (2)ROI情報を取得し矩形を描いた後，解放
CvRect roiColor = colorImg.GetROI();
CvRect roiGray = grayImg.GetROI();
colorImg.ResetROI();
grayImg.ResetROI();
colorImg.Rectangle(
new CvPoint(roiColor.X, roiColor.Y),
new CvPoint(roiColor.X + roiColor.Width, roiColor.Y + roiColor.Height),
CvColor.Red
);
grayImg.Rectangle(
new CvPoint(roiGray.X, roiGray.Y),
new CvPoint(roiGray.X + roiGray.Width, roiGray.Y + roiGray.Height),
CvColor.Black
);
// (3)画像を描画
using (new CvWindow("Color Image", WindowMode.AutoSize, colorImg))
using (new CvWindow("Grayscale Image", WindowMode.AutoSize, grayImg))
{
Cv.WaitKey(0);
}
colorImg.Dispose();
grayImg.Dispose();
}
/// <summary>
/// 画像データのファイルストレージからの読み込み
/// <param name="fileName">読み込むXML or YAMLファイル</param>
private static void SampleFileStorageReadImage(string fileName)
{
IplImage colorImg, grayImg;
// (1)ファイルを読み込む
using (CvFileStorage fs = new CvFileStorage(fileName, null, FileStorageMode.Read))
{
CvFileNode node;
node = fs.GetFileNodeByName(null, "color_img");
colorImg = fs.Read<IplImage>(node);
node = fs.GetFileNodeByName(null, "gray_img");
grayImg = fs.Read<IplImage>(node);
}
// (2)ROI情報を取得し矩形を描いた後，解放
CvRect roiColor = colorImg.GetROI();
CvRect roiGray = grayImg.GetROI();
colorImg.ResetROI();
grayImg.ResetROI();
colorImg.Rectangle(
new CvPoint(roiColor.X, roiColor.Y),
new CvPoint(roiColor.X + roiColor.Width, roiColor.Y + roiColor.Height),
CvColor.Red
);
grayImg.Rectangle(
new CvPoint(roiGray.X, roiGray.Y),
new CvPoint(roiGray.X + roiGray.Width, roiGray.Y + roiGray.Height),
CvColor.Black
);
// (3)画像を描画
using (new CvWindow("Color Image", WindowMode.AutoSize, colorImg))
using (new CvWindow("Grayscale Image", WindowMode.AutoSize, grayImg))
{
Cv.WaitKey(0);
}
colorImg.Dispose();
grayImg.Dispose();
}
public Camera(int num, string calFilePath, int width, int height)
{
this.CameraNumber = num;
this.WIDTH = width;
this.HEIGHT = height;
imageForHsv = new IplImage(WIDTH, HEIGHT, BitDepth.U8, 3);
imageForTest = new IplImage(WIDTH, HEIGHT, BitDepth.U8, 3);
BinLevel = 0;
using (var fs = new CvFileStorage(calFilePath, null, FileStorageMode.Read))
{
var param = fs.GetFileNodeByName(null, "intrinsic");
_fileIntrinsic = fs.Read <CvMat>(param);
param = fs.GetFileNodeByName(null, "distortion");
_fileDistortion = fs.Read <CvMat>(param);
}
TmTimeOut = new System.Timers.Timer();
TmTimeOut.Elapsed += (sender, e) =>
{
TmTimeOut.Stop();
FlagTimeout = true;
};
}
/// <summary>
/// マップのシーケンスのファイルストレージからの読み込み
/// </summary>
/// <param name="fileName">書きこむXML or YAMLファイル</param>
private static void SampleFileStorageReadSeq(string fileName)
{
// cvGetHashedKey, cvGetFileNode
// 二つのエントリを持つマップのシーケンスをファイルから読み込む
// (1)ファイルストレージのオープン，ハッシュドキーの計算，シーケンスノードの取得
using (CvFileStorage fs = new CvFileStorage("sequence.yml", null, FileStorageMode.Read))
{
CvStringHashNode xKey = fs.GetHashedKey("x", true);
CvStringHashNode yKey = fs.GetHashedKey("y", true);
CvFileNode points = fs.GetFileNodeByName(null, "points");
// (2)シーケンスリーダを初期化，各ノードを順次取得
if ((points.Tag & NodeType.Seq) != 0)
{
CvSeq seq = points.DataSeq;
int total = seq.Total;
CvSeqReader reader = new CvSeqReader();
seq.StartRead(reader, false);
for (int i = 0; i < total; i++)
{
CvFileNode pt = CvFileNode.FromPtr(reader.Ptr);
// (3)高速バージョン
/*
* CvFileNode xnode = fs.GetFileNode(pt, x_key, false);
* CvFileNode ynode = fs.GetFileNode(pt, y_key, false);
* Debug.Assert(
* xnode != null &&
* (xnode.Tag & NodeType.Integer) != 0 &&
* ynode != null &&
* (ynode.Tag & NodeType.Integer) != 0
* );
* int x = xnode.DataI;
* int i = ynode.DataI;
* //*/
// (4)低速バージョン．x_keyとy_keyを使わない
/*
* CvFileNode xnode = fs.GetFileNodeByName(pt, "x");
* CvFileNode ynode = fs.GetFileNodeByName(pt, "i");
* Debug.Assert(
* xnode != null &&
* (xnode.Tag & NodeType.Integer) != 0 &&
* ynode != null &&
* (ynode.Tag & NodeType.Integer) != 0
* );
* int x = xnode.DataI;
* int i = ynode.DataI;
* //*/
// (5)さらに低速だが，使いやすいバージョン
///*
int x = fs.ReadIntByName(pt, "x", 0);
int y = fs.ReadIntByName(pt, "y", 0);
//*/
// (6)データを表示し，次のシーケンスノードを取得
Cv.NEXT_SEQ_ELEM(seq.ElemSize, reader);
Console.WriteLine("{0}: ({1}, {2})", i, x, y);
}
}
}
Console.ReadKey();
}
/// <summary>
/// マップのシーケンスのファイルストレージからの読み込み
/// </summary>
/// <param name="fileName">書きこむXML or YAMLファイル</param>
private static void SampleFileStorageReadSeq(string fileName)
{
// cvGetHashedKey, cvGetFileNode
// 二つのエントリを持つマップのシーケンスをファイルから読み込む
// (1)ファイルストレージのオープン，ハッシュドキーの計算，シーケンスノードの取得
using (CvFileStorage fs = new CvFileStorage("sequence.yml", null, FileStorageMode.Read))
{
CvStringHashNode xKey = fs.GetHashedKey("x", true);
CvStringHashNode yKey = fs.GetHashedKey("y", true);
CvFileNode points = fs.GetFileNodeByName(null, "points");
// (2)シーケンスリーダを初期化，各ノードを順次取得
if ((points.Tag & NodeType.Seq) != 0)
{
CvSeq seq = points.DataSeq;
int total = seq.Total;
CvSeqReader reader = new CvSeqReader();
seq.StartRead(reader, false);
for (int i = 0; i < total; i++)
{
CvFileNode pt = CvFileNode.FromPtr(reader.Ptr);
// (3)高速バージョン
/*
CvFileNode xnode = fs.GetFileNode(pt, x_key, false);
CvFileNode ynode = fs.GetFileNode(pt, y_key, false);
Debug.Assert(
xnode != null &&
(xnode.Tag & NodeType.Integer) != 0 &&
ynode != null &&
(ynode.Tag & NodeType.Integer) != 0
);
int x = xnode.DataI;
int i = ynode.DataI;
//*/
// (4)低速バージョン．x_keyとy_keyを使わない
/*
CvFileNode xnode = fs.GetFileNodeByName(pt, "x");
CvFileNode ynode = fs.GetFileNodeByName(pt, "i");
Debug.Assert(
xnode != null &&
(xnode.Tag & NodeType.Integer) != 0 &&
ynode != null &&
(ynode.Tag & NodeType.Integer) != 0
);
int x = xnode.DataI;
int i = ynode.DataI;
//*/
// (5)さらに低速だが，使いやすいバージョン
///*
int x = fs.ReadIntByName(pt, "x", 0);
int y = fs.ReadIntByName(pt, "y", 0);
//*/
// (6)データを表示し，次のシーケンスノードを取得
Cv.NEXT_SEQ_ELEM(seq.ElemSize, reader);
Console.WriteLine("{0}: ({1}, {2})", i, x, y);
}
}
}
Console.ReadKey();
}
// Use this for initialization
void Start()
{
if (runCalibration)
{
Application.RegisterLogCallback(HandleLog);
scTex = new Texture2D(KinectWrapper.GetDepthWidth(), KinectWrapper.GetDepthHeight(), TextureFormat.RGBA32, false);
screenTx = new Texture2D(Screen.width, Screen.height, TextureFormat.RGBA32, false);
resetPixels = new Color32[Screen.width * Screen.height];
for (int i = 0; i < resetPixels.Length; i++)
{
Color32 cCol = new Color32(0, 0, 0, 0);
resetPixels[i] = cCol;
}
screenTx.SetPixels32(resetPixels);
screenTx.Apply(false);
GameObject.FindGameObjectWithTag("Restex").GetComponent<RawImage>().texture = screenTx;
}
foundCoordinatesMatrix = new Mat();
rightSideMatrix = new Mat();
//result = new Mat(11,1,OpenCvSharp.CPlusPlus.MatType.CV_64FC1);
using (CvFileStorage fs = new CvFileStorage("KinectCalibration.xml", null, FileStorageMode.Read))
{
string nodeName = "projectorPoints";
CvFileNode param = fs.GetFileNodeByName(null, nodeName);
Mat pPts = new Mat(fs.Read<CvMat>(param), true);
for (int i = 0; i < pPts.Cols; i++)
{
projectorCoordinates.Add(pPts.Get<CvPoint2D64f>(0, i));
}
nodeName = "kinectPoints";
param = fs.GetFileNodeByName(null, nodeName);
Mat kPts = new Mat(fs.Read<CvMat>(param), true);
for (int i = 0; i < pPts.Cols; i++)
{
kinectCoordinates.Add(kPts.Get<CvPoint3D64f>(0, i));
}
nodeName = "calibResult";
param = fs.GetFileNodeByName(null, nodeName);
result = new Mat(fs.Read<CvMat>(param), true);
fs.Dispose();
}
if (result.Rows > 1)
{
foundResult = true;
Debug.Log("Calib Loaded: " + result.Get<double>(0, 0).ToString() + " " + result.Get<double>(0, 1) + " " + result.Get<double>(0, 2) + " " + result.Get<double>(0, 3) + " " + result.Get<double>(0, 4) + " " + result.Get<double>(0, 5) + " " + result.Get<double>(0, 6) + " " + result.Get<double>(0, 7) + " " + result.Get<double>(0, 8) + " " + result.Get<double>(0, 9) + " " + result.Get<double>(0, 10) + "--" + kinectCoordinates.Count + " " + projectorCoordinates.Count);
}
Debug.Log(Screen.width + " " + Screen.height);
}
/// <summary>
///
/// </summary>
/// <param name="fileName"></param>
private static void SampleFileStorageReadSeq(string fileName)
{
// cvGetHashedKey, cvGetFileNode
using (CvFileStorage fs = new CvFileStorage("sequence.yml", null, FileStorageMode.Read))
{
CvStringHashNode xKey = fs.GetHashedKey("x", true);
CvStringHashNode yKey = fs.GetHashedKey("y", true);
CvFileNode points = fs.GetFileNodeByName(null, "points");
if ((points.Tag & NodeType.Seq) != 0)
{
CvSeq seq = points.DataSeq;
int total = seq.Total;
CvSeqReader reader = new CvSeqReader();
seq.StartRead(reader, false);
for (int i = 0; i < total; i++)
{
CvFileNode pt = CvFileNode.FromPtr(reader.Ptr);
int x = fs.ReadIntByName(pt, "x", 0);
int y = fs.ReadIntByName(pt, "y", 0);
Cv.NEXT_SEQ_ELEM(seq.ElemSize, reader);
Console.WriteLine("{0}: ({1}, {2})", i, x, y);
}
}
}
Console.ReadKey();
}