public static void Run(string[] args)
{
int[] ra = Range.OfInts(52).ToArray();
string test = "decode.exe options.ini " + string.Join(" ", ra.Select(i => string.Format("picture-{0:000}.bmp", i)).ToArray());
test.ToArray();
string dir = @"C:\Users\ASUS\git\procamtools-v1\Debug";
Thread.Sleep(100);
ExCamera xcam = new ExCamera();
Projector proj = new Projector();
var main = OpenTK.DisplayDevice.AvailableDisplays.First(row => row.IsPrimary);
var display = new BitmapWindow(main.Bounds.Left + 50, 50, 1280, 960);
display.Load();
display.ResizeGraphics();
proj.DrawBackground(Color.White);
int c = 0;
foreach (var file in Directory.GetFiles(dir, "pattern-*.bmp"))
{
var map = new Bitmap(Path.Combine(dir, file));
proj.DrawBitmap(map);
var pic = xcam.TakePicture();
display.DrawBitmap(pic);
var bits = (Bitmap)pic.Clone(new Rectangle(0, 0, pic.Width, pic.Height), PixelFormat.Format32bppRgb);
bits.Save(Path.Combine(dir, string.Format("picture-{0:000}.bmp", c++)), ImageFormat.Bmp);
}
display.Close();
proj.Close();
xcam.Dispose();
}
public static void Calibrate(string[] args)
{
var camfile = args.FirstOrDefault() ?? KinectDefaultFileName;
var projfile = args.Skip(1).FirstOrDefault() ?? ProjectorDefaultFileName;
var main = OpenTK.DisplayDevice.AvailableDisplays.First(row => row.IsPrimary);
var window = new BitmapWindow(main.Bounds.Left + main.Width / 2 + 50, 50, 640, 480);
window.Load();
window.ResizeGraphics();
StereoCalibration.DebugWindow = window;
KinectSensor sensor = KinectSensor.KinectSensors.First();
sensor.Start();
Camera camera = new Camera(sensor, ColorImageFormat.RgbResolution1280x960Fps12);
Projector projector = new Projector();
PointF[][] data;
bool proceed = false;
CalibrationResult cc, pc;
do
{
cc = CalibrateCamera(camera, projector, out data, false, true, true);
pc = CalibrateProjector(sensor, camera, projector, cc, data, true, false);
var peas = new float[][] {
new float[] { 0f, 0f, 0.0f },
new float[] { 0.5f, 0f, 0.0f },
new float[] { 0f, -0.5f, 0.0f },
new float[] { 0.5f, -0.5f, 0.0f },
};
var tpe = pc.Transform(peas);
var tpp = cc.Transform(peas);
projector.DrawPoints(tpe, 25);
var pic2 = camera.TakePicture(5);
QuickDraw.Start(pic2).Color(Color.Green).DrawPoint(tpp, 15).Finish();
window.DrawBitmap(pic2);
Console.WriteLine("Save result? (y/n)");
proceed = Console.ReadLine() == "y";
} while (!proceed);
Utils.SerializeObject(cc, camfile);
Utils.SerializeObject(pc, projfile);
window.Close();
window.Dispose();
projector.Close();
camera.Dispose();
sensor.Stop();
}
public static void RunOld(string[] args)
{
var intrinsicfile = args.FirstOrDefault() ?? Calibration.KinectDefaultFileName;
var camIntrinsic = Utils.DeSerializeObject<CalibrationResult>(intrinsicfile);
var projFile = args.Skip(1).FirstOrDefault() ?? Calibration.ProjectorDefaultFileName;
var projIntrinsic = Utils.DeSerializeObject<CalibrationResult>(projFile);
KinectSensor sensor = KinectSensor.KinectSensors.First();
Camera cam = new Camera(sensor, ColorImageFormat.RgbResolution1280x960Fps12);
Projector proj = new Projector();
var keyl = new KeyboardListener(proj.window.Keyboard);
double offsetx = 0, offsety = 0, scale = 0.5;
bool proceed = false, quit = false;
keyl.AddBinaryAction(0.02, -0.02, OpenTK.Input.Key.Up, OpenTK.Input.Key.Down, new OpenTK.Input.Key[0], (f) => offsety += f);
keyl.AddBinaryAction(0.02, -0.02, OpenTK.Input.Key.Left, OpenTK.Input.Key.Right, new OpenTK.Input.Key[0], (f) => offsetx -= f);
keyl.AddBinaryAction(0.02, -0.02, OpenTK.Input.Key.Up, OpenTK.Input.Key.Down, new OpenTK.Input.Key[] { Key.ShiftLeft }, (f) => scale += f);
keyl.AddAction(() => proceed = true, Key.Space);
keyl.AddAction(() => quit = proceed = true, Key.Q);
PointF[] corners;
proj.DrawBackground(Color.Black);
while (true)
{
Console.WriteLine("Make sure the kinect can see the board");
Console.ReadLine();
corners = StereoCalibration.GetCameraCorners(cam.TakePicture(3), new Size(7, 4), false);
if (corners.All(c => c != null))
{
break;
}
else
Console.WriteLine("Could not find corners");
}
PointF[] projCorners;
var projectedCorners = proj.DrawCheckerboard(new Size(8, 5), 0, 0, 0, scale, offsetx, offsety);
while (true)
{
Console.WriteLine("Make sure the kinect can see the projection");
while (!proceed)
{
projectedCorners = proj.DrawCheckerboard(new Size(8, 5), 0, 0, 0, scale, offsetx, offsety);
proj.window.ProcessEvents();
}
projCorners = StereoCalibration.GetCameraCorners(cam.TakePicture(3), new Size(7, 4), false);
if (corners.All(c => c != null))
{
break;
}
else
Console.WriteLine("Could not find any corners, make sure the checkerboard is visible to all Kinects.");
}
var camResult = StereoCalibration.CalibrateCamera(corners, new Size(7, 4), 0.05f, camIntrinsic);
var transform = StereoCalibration.FindHomography(projCorners, projectedCorners);
var projResult = StereoCalibration.CalibrateCamera(transform(corners), new Size(7, 4), 0.05f, projIntrinsic);
Utils.SerializeObject(camResult, intrinsicfile);
Utils.SerializeObject(projResult, projFile);
proj.Close();
}
//Manual pickings
public static void RunManual(string[] args)
{
//var main = OpenTK.DisplayDevice.AvailableDisplays.First(row => row.IsPrimary);
//var window = new BitmapWindow(main.Bounds.Left + main.Width / 2 + 50, 50, 640, 480);
//window.Load();
//window.ResizeGraphics();
//var window2 = new BitmapWindow(main.Bounds.Left + 50, 50, 640, 480);
//window2.Load();
//window2.ResizeGraphics();
CalibrationResult kinectcalib = null;
if (args.Length > 0)
{
var file = args.First();
kinectcalib = Utils.DeSerializeObject<CalibrationResult>(file);
}
Console.Write("Enter the folders you'd like to use: ");
var folders = Console.ReadLine().Split(' ').ToArray();
var maps = folders.SelectMany(f => PictureGrabber.GetManualBitmaps(f)).ToArray();
Size pattern = new Size(7, 4);
float chsize = 0.05f;
var kcorners = maps.Select(ms => StereoCalibration.GetCameraCorners(ms.Camera, pattern)).ToArray();
var pcorners = maps.Select(ms => ms.ProjCorners).ToArray();
if (kinectcalib == null)
{
if (kcorners.Length == 0)
{
Console.WriteLine("Could not find camera corners");
return;
}
kinectcalib = StereoCalibration.CalibrateCamera(kcorners, maps.First().Camera.Size, pattern, chsize);
}
Projector proj = new Projector();
var projcalib = StereoCalibration.CalibrateCamera(pcorners, proj.Size, pattern, chsize);
proj.Close();
Console.WriteLine("Save result?");
Console.ReadLine();
Utils.SerializeObject(kinectcalib, Calibration.KinectDefaultFileName);
Utils.SerializeObject(projcalib, Calibration.ProjectorDefaultFileName);
}
public static void Run(string[] args)
{
//var main = OpenTK.DisplayDevice.AvailableDisplays.First(row => row.IsPrimary);
//var window = new BitmapWindow(main.Bounds.Left + main.Width / 2 + 50, 50, 640, 480);
//window.Load();
//window.ResizeGraphics();
//var window2 = new BitmapWindow(main.Bounds.Left + 50, 50, 640, 480);
//window2.Load();
//window2.ResizeGraphics();
CalibrationResult kinectcalib = null;
if (args.Length > 0)
{
var file = args.First();
kinectcalib = Utils.DeSerializeObject<CalibrationResult>(file);
}
Console.Write("Enter the folders you'd like to use: ");
var folders = Console.ReadLine().Split(' ').ToArray();
var maps = folders.SelectMany(f => PictureGrabber.GetBitmaps(f)).ToArray();
Size pattern = new Size(10, 7);
Size ppattern = new Size(10, 8);
float chsize = 0.1f;
var kcorners = maps.Select(ms => StereoCalibration.GetCameraCorners(ms.Camera, pattern)).ToArray();
var pcorners = maps.Select(ms => StereoCalibration.GetCameraCorners(ms.Projector, ppattern)).ToArray();
kcorners = kcorners.Zip(pcorners, (a, b) => a != null && b != null ? a : null).Where(a => a != null).ToArray();
pcorners = kcorners.Zip(pcorners, (a, b) => a != null && b != null ? b : null).Where(a => a != null).ToArray();
if (kcorners.Count() != pcorners.Count())
Console.WriteLine("Number of good shots did not match.");
if (kinectcalib == null)
{
if (kcorners.Length == 0)
{
Console.WriteLine("Could not find camera corners");
return;
}
kinectcalib = StereoCalibration.CalibrateCamera(kcorners, maps.First().Camera.Size, pattern, chsize);
}
var tkcorners = kcorners.Select(points => StereoCalibration.Undistort(kinectcalib, points)).ToArray();
var tpcorners = pcorners.Select(points => StereoCalibration.Undistort(kinectcalib, points)).ToArray();
var hgraphs = tpcorners.Zip(maps.Select(m => m.ProjCorners), (c, p) => StereoCalibration.FindHomography(c, p));
var ptkcorners = tkcorners.Zip(hgraphs, (ps, hg) => hg(ps)).ToArray();
//bool proceed = false;
//window.Keyboard.KeyDown += (o, e) =>
//{
// proceed = true;
//};
//window2.Keyboard.KeyDown += (o, e) =>
//{
// proceed = true;
//};
//for (int i = 0; i < maps.Length; i++)
//{
// Projector proj = new Projector();
// var map1 = (Bitmap)maps[i].Camera.Clone();
// QuickDraw.Start(map1).DrawPoint(kcorners[i], 5).Finish();
// var map2 = (Bitmap)maps[i].Projector.Clone();
// QuickDraw.Start(map2).DrawPoint(pcorners[i], 5).Finish();
// window.DrawBitmap(map1);
// window2.DrawBitmap(map2);
// proj.DrawPoints(ptkcorners[i], 5f);
// while (!proceed)
// {
// window.ProcessEvents();
// window2.ProcessEvents();
// }
// proceed = false;
//}
Projector proj = new Projector();
var projcalib = StereoCalibration.CalibrateCamera(ptkcorners, proj.Size, pattern, chsize);
proj.Close();
Console.WriteLine("Save result?");
Console.ReadLine();
Utils.SerializeObject(kinectcalib, Calibration.KinectDefaultFileName);
Utils.SerializeObject(projcalib, Calibration.ProjectorDefaultFileName);
}