public static CalibrationResult Make(CalibrationData[] data)
{
return new CalibrationResult()
{
TransformToCamera = BuildTransform(),
TransformToProjector = BuildTransform()
};
}
public static CalibrationData GetLocalCorners(PointF[] cameraCorners, Projector projector, Camera camera, Size pattern)
{
if (false)
{
projector.DrawBackground(Color.Black);
var noi = new Image<Bgr, byte>(camera.TakePicture(5));
projector.DrawBackground(Color.FromArgb(0, 255, 0));
var fulli = new Image<Bgr, byte>(camera.TakePicture(5));
projector.DrawPhaseMod(4, 0f, true, Color.FromArgb(0, 255, 0));
var img = new Image<Bgr, byte>(camera.TakePicture(5));
var max = (fulli - noi).Split()[1];
var cur = (img - noi).Split()[1];
var map = new Bitmap(cur.Width, cur.Height);
DebugWindow.DrawBitmap(max.Bitmap);
DebugWindow.DrawBitmap(cur.Bitmap);
using (var fast = new FastBitmap(map))
{
for (int y = 0; y < cur.Height; y++)
{
for (int x = 0; x < cur.Width; x++)
{
var ii = cur[(int)y, (int)x].Intensity / max[(int)y, (int)x].Intensity;
if (ii > 1)
ii = 1;
var i = (byte)(ii * 255);
fast[x, y] = Color.FromArgb(i, i, i);
}
}
}
if (DebugWindow != null)
DebugWindow.DrawBitmap(map);
}
//Determine rough checkerboard coordinates in projector space with graycode or binary structured light
var rough = DetectRoughCorners(cameraCorners, projector, camera, Color.Green);
//Improve accuracy with PhaseModulation
//var phine = PhineTune(projector, camera, cameraCorners, rough, 32);
//var phine2 = PhineTune(projector, camera, cameraCorners, rough, 64);
//var phine3 = PhineTune(projector, camera, cameraCorners, phine2, 128);
projector.DrawPoints(rough, 5);
//Determine corners in projector space
//var projectorCorners = DetectProjectorCorners(nolight, cameraCorners, projOutline, projector, camera);
//Save corners in camera and projector space and store along side global coordinates that matches current checkerboard
var data = new CalibrationData() { CameraCorners = cameraCorners, ProjectorCorners = rough };
return data;
}
public static StereoCalibrationResult Calibrate(CalibrationData[] data, Camera camera, Projector projector, Size pattern, float checkerBoardSize)
{
var globals = GenerateCheckerBoard(pattern, checkerBoardSize);
var datas = data;
var globalCorners = datas.Select(row => globals).ToArray();
var cameraCorners = datas.Select(row => Properize(row.CameraCorners, pattern)
)
.ToArray();
var projectorCorners = datas.Select(row => Properize(row.ProjectorCorners, pattern)
).ToArray();
//for (var i = 0; i < datas.Length; i++)
//{
// var withCorners = camera.TakePicture(0);
// QuickDraw.Start(withCorners)
// .Color(Color.White)
// .DrawPoint(cameraCorners[i].Take(11).ToArray(), 5)
// .Finish();
// DebugWindow.DrawBitmap(withCorners);
// projector.DrawPoints(projectorCorners[i].Take(11).ToArray(), 4);
//}
IntrinsicCameraParameters cameraIntrinsics = new IntrinsicCameraParameters();
cameraIntrinsics.IntrinsicMatrix = new Matrix<double>(new double[,]
{
{ 4.884, 0, 0.032 },
{ 0, 4.884 * 3.0 / 4.0, -0.037 },
{ 0, 0, 1 } });
cameraIntrinsics.DistortionCoeffs = new Matrix<double>(new double[,] {
{-0.00575},
{0.000442},
{-0.000107},
{0},
{0},
{0},
{0},
{0},
});
ExtrinsicCameraParameters[] cameraExtrinsicsArray;
var cerr = Emgu.CV.CameraCalibration.CalibrateCamera(globalCorners, cameraCorners,
camera.Size, cameraIntrinsics, Emgu.CV.CvEnum.CALIB_TYPE.CV_CALIB_USE_INTRINSIC_GUESS,
out cameraExtrinsicsArray);
IntrinsicCameraParameters projectorIntrinsics = new IntrinsicCameraParameters();
//projectorIntrinsics.IntrinsicMatrix = new Matrix<double>(new double[,] { { 531.15f * 4f / 3f, 0, 1 }, { 0, 531.15f, 1 }, { 0, 0, 1 } });
projectorIntrinsics.IntrinsicMatrix = new Matrix<double>(new double[,]
{
{2151.0712684548571, 0, projector.Size.Width / 2},
{0, 1974.541465816948, projector.Size.Height / 2},
{0,0,1}
});
ExtrinsicCameraParameters[] projectorExtrinsicsArray;
var perr = Emgu.CV.CameraCalibration.CalibrateCamera(globalCorners, projectorCorners,
projector.Size, projectorIntrinsics,
Emgu.CV.CvEnum.CALIB_TYPE.CV_CALIB_RATIONAL_MODEL,
out projectorExtrinsicsArray);
//Matrix<double> foundamental, essential;
//ExtrinsicCameraParameters camera2projectorExtrinsics;
//Emgu.CV.CameraCalibration.StereoCalibrate(globalCorners,
// cameraCorners,
// projectorCorners,
// cameraIntrinsics,
// projectorIntrinsics,
// camera.Size,
// Emgu.CV.CvEnum.CALIB_TYPE.DEFAULT,
// new MCvTermCriteria(16, 0.01),
// out camera2projectorExtrinsics,
// out foundamental,
// out essential);
return new StereoCalibrationResult()
{
cameraIntrinsic = cameraIntrinsics,
cameraExtrinsic = cameraExtrinsicsArray.First(),
projectorIntrinsic = projectorIntrinsics,
projectorExtrinsic = projectorExtrinsicsArray.First(),
cameraToProjectorExtrinsic = null
};
}
public static CalibrationResult Calibrate(Projector projector, Camera camera, Emgu.CV.Structure.MCvPoint3D32f[] globalCorners, int iterations = 10, int iterationTimeout = 500)
{
//if (PhaseModulation.DetermineAlgorithmIntegrity(8, 10000, 0.01) > 0.15)
// throw new Exception("Phase modulation integrity is failing");
//projector.SetBounds(new RectangleF(0.25f, 0.25f, 0.5f, 0.5f));
//projector.DrawBinary(3, true, Color.White);
//Red and blue checkerboard
//For each orientation of checkerboard:
//float w = projector.bitmap.Width;
//float h = projector.bitmap.Height;
//var ps = new PointF[] {
// new PointF(440f, h - 324f), new PointF(640f, h - 168f)
// };
////projector.SetBounds(DetermineBounds(ps, projector.bitmap.Width, projector.bitmap.Height));
//projector.SetBounds(DetermineBounds(ps, w, h));
//projector.DrawBackground(Color.White);
var datas = new CalibrationData[iterations];
for (int i = 0; i < iterations; i++)
{
//Take pic of checkerboard with no proj light
projector.DrawBackground(Color.Black);
//Detect corners in camera space
PointF[] cameraCorners;
Bitmap withCorners;
do
{
var nolight = camera.TakePicture(5);
withCorners = camera.TakePicture();
cameraCorners = DetectCornersRB(nolight, new Size(7, 4));
} while (cameraCorners == null);
//cameraCorners = cameraCorners.Take(1).Union(cameraCorners.Skip(cameraCorners.Length - 1)).ToArray();
if (DebugWindow != null)
{
QuickDraw.Start(withCorners)
.Color(Color.White)
.DrawPoint(cameraCorners, 5)
.Finish();
DebugWindow.DrawBitmap(withCorners);
}
//Determine rough checkerboard coordinates in projector space with graycode or binary structured light
//var smooth = PhaseCalib(projector, camera, cameraCorners);
//projector.DrawPoints(smooth, 5);
Func<PointF[]> Pass = () =>
{
var rough = DetectRoughCorners(cameraCorners, projector, camera, Color.Green);
//var phine = PhineTune(projector, camera, cameraCorners, rough, 32);
var phine2 = PhineTune(projector, camera, cameraCorners, rough, 64);
var phine3 = PhineTune(projector, camera, cameraCorners, phine2, 128);
return phine3;
};
var ids = Range.OfInts(cameraCorners.Length);
var passes = Range.OfInts(10).ToArray();
var data = passes.Select(p => Pass()).ToArray();
var result = ids.Select(row => passes.Select(p => data[p][row])).ToArray();
var avg = ids.Select(id => new PointF(result[id].Select(r => r.X).Average(),
result[id].Select(r => r.Y).Average())).ToArray();
projector.DrawPoints(avg, 5);
var avg2 = ids.Select(id => new PointF(
result[id].Select(r => new { val= r.X, dist = Math.Abs(avg[id].X - r.X) })
.OrderByDescending(row => row.dist).Reverse().Take(5).Select(row => row.val).Average(),
result[id].Select(r => new { val = r.Y, dist = Math.Abs(avg[id].Y - r.Y) })
.OrderByDescending(row => row.dist).Reverse().Take(5).Select(row => row.val).Average())).ToArray();
projector.DrawPoints(avg2, 5);
//var outline = DetermineBounds(rough, projector.bitmap.Width, projector.bitmap.Height);
//projector.SetBounds(outline);
/*
double[] xs, ys;
{
projector.DrawBackground(Color.Black);
var nolight = camera.TakePicture(5);
projector.DrawBackground(Color.Green);
var fulllight = camera.TakePicture(5);
projector.DrawBackground(Color.Black);
camera.TakePicture(5).Dispose();
projector.Draw(PhaseModulation.DrawPhaseModulation(1, -2 * Math.PI / 3, true, Color.Green));
var light1 = camera.TakePicture(2);
projector.DrawBackground(Color.Black);
camera.TakePicture(5).Dispose();
projector.Draw(PhaseModulation.DrawPhaseModulation(1, 0, true, Color.Green));
var light2 = camera.TakePicture(2);
projector.DrawBackground(Color.Black);
camera.TakePicture(5).Dispose();
projector.Draw(PhaseModulation.DrawPhaseModulation(1, 2 * Math.PI / 3, true, Color.Green));
var light3 = camera.TakePicture(2);
var pc = PhaseClassifier(nolight, fulllight, projector.bitmap.Width, projector.bitmap.Height);
var pc1 = pc(light1);
var pc2 = pc(light2);
var pc3 = pc(light3);
xs = cameraCorners.Select(row => PhaseModulation.IntensityToPhase(pc1((int)row.X, (int)row.Y),
pc2((int)row.X, (int)row.Y),
pc3((int)row.X, (int)row.Y))).ToArray();
}
{
projector.DrawBackground(Color.Black);
var nolight = camera.TakePicture(5);
projector.DrawBackground(Color.Green);
var fulllight = camera.TakePicture(5);
projector.DrawBackground(Color.Black);
camera.TakePicture(5).Dispose();
projector.DrawPhaseMod(1, (float)(-2 * Math.PI / 3), false, Color.FromArgb(0, 255, 0));
var light1 = camera.TakePicture(2);
projector.DrawBackground(Color.Black);
camera.TakePicture(5).Dispose();
projector.DrawPhaseMod(1, (float)(0), false, Color.FromArgb(0, 255, 0));
var light2 = camera.TakePicture(2);
projector.DrawBackground(Color.Black);
camera.TakePicture(5).Dispose();
projector.DrawPhaseMod(1, (float)(2 * Math.PI / 3), false, Color.FromArgb(0, 255, 0));
var light3 = camera.TakePicture(2);
var pc = PhaseClassifier(nolight, fulllight, projector.bitmap.Width, projector.bitmap.Height);
var pc1 = pc(light1);
var pc2 = pc(light2);
var pc3 = pc(light3);
ys = cameraCorners.Select(row => PhaseModulation.IntensityToPhase(pc1((int)row.X, (int)row.Y),
pc2((int)row.X, (int)row.Y),
pc3((int)row.X, (int)row.Y))).ToArray();
}
var resx = xs.Select(row => PhaseModulation.AbsolutePhase(new double[] { row }, new int[] { 1 })).Select(row => row * projector.bitmap.Width).ToArray();
var resy = ys.Select(row => PhaseModulation.AbsolutePhase(new double[] { row }, new int[] { 1 })).Select(row => row * projector.bitmap.Height).ToArray();
var res = resx.Zip(resy, (x, y) => new PointF((float)Math.Round(x, 0), (float)Math.Round(y, 0))).ToArray();
projector.SetBounds(new RectangleF(0, 0, 1, 1));
projector.DrawPoints(res, 5f);
*/
//Determine corners in projector space
//var projectorCorners = DetectProjectorCorners(nolight, cameraCorners, projOutline, projector, camera);
//Save corners in camera and projector space and store along side global coordinates that matches current checkerboard
//var data = new CalibrationData() { CameraCorners = cameraCorners, ProjectorCorners = projectorCorners, GlobalCorners = globalCorners };
datas[i] = default(CalibrationData);
Thread.Sleep(iterationTimeout);
}
return CalibrationResult.Make(datas);
}
