public static void initBundleAdjust(string myCalibFile, int xsize, int ysize, int npoints, float[] points, int nMeasurements, float[] matrices)
{
// camera related parameters
Mat cameraMat;
Mat distCoeffs;
LoadCameraFromFile(myCalibFile, out cameraMat, out distCoeffs);
Size cameraRes = new Size(xsize, ysize);
List <Emgu.CV.Structure.MCvPoint3D32f> objectPoints = new List <Emgu.CV.Structure.MCvPoint3D32f>();
objectPoints.Add(new Emgu.CV.Structure.MCvPoint3D32f(points[0], points[1], points[2]));
var points3d = new Emgu.CV.Util.VectorOfPoint3D32F(objectPoints.ToArray());
var points2d = new Emgu.CV.Util.VectorOfVectorOfPointF();
var visibility = new Emgu.CV.Util.VectorOfVectorOfInt();
var cameraMatrix = new Emgu.CV.Util.VectorOfMat();
var R_true = new Emgu.CV.Util.VectorOfMat();
var T_true = new Emgu.CV.Util.VectorOfMat();
var distortionCoeffs = new Emgu.CV.Util.VectorOfMat();
Emgu.CV.Structure.MCvTermCriteria criteria = new Emgu.CV.Structure.MCvTermCriteria(70, 1e-10);
// define cameras
for (int i = 0; i < nMeasurements; i++)
{
cameraMatrix.Push(cameraMat);
distortionCoeffs.Push(distCoeffs);
Mat _R_true = new Mat(3, 3, Emgu.CV.CvEnum.DepthType.Cv64F, 1);
double[] matrixArray = new double[9];
for (int j = 0; j < 3; j++)
{
for (int k = 0; k < 3; k++)
{
matrixArray[j * 3 + i] = matrices[i * 12 + j * 3 + k];
}
}
Marshal.Copy(matrixArray, 0, _R_true.DataPointer, 9);
R_true.Push(_R_true);
Mat _T_true = new Mat(3, 1, Emgu.CV.CvEnum.DepthType.Cv64F, 1);
double[] vectorArray = new double[3];
for (int j = 0; j < 3; j++)
{
vectorArray[j] = matrices[i * 12 + 9 + j];
}
Marshal.Copy(vectorArray, 0, _T_true.DataPointer, 3);
T_true.Push(_T_true);
}
// project points to image coordinates
for (int i = 0; i < nMeasurements; i++)
{
// project
var imagePoints2 = new Emgu.CV.Util.VectorOfPointF();
Emgu.CV.CvInvoke.ProjectPoints(points3d, R_true[i], T_true[i], cameraMatrix[i], distortionCoeffs[i], imagePoints2);
// check if the point is in camera shot
Emgu.CV.Util.VectorOfInt vis = new Emgu.CV.Util.VectorOfInt(1);
// if the image point is within camera resolution then the point is visible
if ((0 <= imagePoints2[0].X) && (imagePoints2[0].X <= cameraRes.Width) &&
(0 <= imagePoints2[0].Y) && (imagePoints2[0].Y <= cameraRes.Height))
{
vis.Push(new int[] { 1 });
}
// else, the point is not visible
else
{
vis.Push(new int[] { 0 });
}
points2d.Push(imagePoints2);
visibility.Push(vis);
}
//Emgu.CV.
// cv::LevMarqSparse lv;
//lv.bundleAdjust(points_true, imagePoints, visibility, cameraMatrix, R_true, T_true, distCoeffs, criteria);
}
public static void DoDetection(string myCalibFile, string myImageFile)
{
int i, j;
Mat myImage = Emgu.CV.CvInvoke.Imread(myImageFile, Emgu.CV.CvEnum.ImreadModes.Color);
FileStream sr = File.Open(myCalibFile, FileMode.Open, FileAccess.Read);
BinaryReader br = new BinaryReader(sr);
ARParam param = new ARParam();
param.xsize = byteSwapInt(br.ReadInt32());
param.ysize = byteSwapInt(br.ReadInt32());
for (i = 0; i < 3; i++)
{
for (j = 0; j < 4; j++)
{
param.mat[i, j] = byteSwapDouble(br.ReadDouble());
}
}
for (i = 0; i < 9; i++)
{
param.dist_factor[i] = byteSwapDouble(br.ReadDouble());
}
br.Close();
sr.Close();
double s = param.dist_factor[8];
param.mat[0, 0] *= s;
param.mat[0, 1] *= s;
param.mat[1, 0] *= s;
param.mat[1, 1] *= s;
Mat cameraMatrix = new Mat(3, 3, Emgu.CV.CvEnum.DepthType.Cv64F, 1);
Mat distortionCoeffs = new Mat(4, 1, Emgu.CV.CvEnum.DepthType.Cv64F, 1);
double[] cameraArray = new double[9];
for (j = 0; j < 3; j++)
{
for (i = 0; i < 3; i++)
{
cameraArray[j * 3 + i] = param.mat[j, i];
}
}
double[] distCoeffArray = new double[4];
for (i = 0; i < 4; i++)
{
distCoeffArray[i] = param.dist_factor[i];
}
Marshal.Copy(cameraArray, 0, cameraMatrix.DataPointer, 9);
Marshal.Copy(distCoeffArray, 0, distortionCoeffs.DataPointer, 4);
Emgu.CV.Aruco.Dictionary myDict = new Emgu.CV.Aruco.Dictionary(Emgu.CV.Aruco.Dictionary.PredefinedDictionaryName.Dict4X4_1000);
Emgu.CV.Aruco.GridBoard myBoard = new Emgu.CV.Aruco.GridBoard(2, 1, 0.08f, 0.005f, myDict, 33);
Mat mappedImage = myImage.Clone();
CvInvoke.Undistort(myImage, mappedImage, cameraMatrix, distortionCoeffs);
//Mat rvecs = new Mat(3, 1, Emgu.CV.CvEnum.DepthType.Cv32F, 1);
//Mat tvecs = new Mat(3, 1, Emgu.CV.CvEnum.DepthType.Cv32F, 1);
Emgu.CV.Aruco.DetectorParameters myParams = Emgu.CV.Aruco.DetectorParameters.GetDefault();
myParams.CornerRefinementMethod = Emgu.CV.Aruco.DetectorParameters.RefinementMethod.Subpix;
//myParams.AdaptiveThreshWinSizeStep = 10;
//myParams.AdaptiveThreshWinSizeMax = 23;
//myParams.AdaptiveThreshWinSizeMin = 3;
//myParams.MaxMarkerPerimeterRate = 4.0;
//myParams.MinMarkerPerimeterRate = 0.03;
//myParams.AdaptiveThreshConstant = 7;
//myParams.PolygonalApproxAccuracyRate = 0.1;
//myParams.MinCornerDistanceRate = 0.05;
//myParams.MinDistanceToBorder = 3;
//myParams.MinMarkerDistanceRate = 0.05;
//myParams.CornerRefinementMinAccuracy = 0.1;
//myParams.CornerRefinementWinSize = 5;
//myParams.CornerRefinementMaxIterations = 30;
myParams.MarkerBorderBits = 2;
//myParams.PerspectiveRemoveIgnoredMarginPerCell = 0.13;
//myParams.PerspectiveRemovePixelPerCell = 8;
//myParams.MaxErroneousBitsInBorderRate = 0.35;
//myParams.MinOtsuStdDev = 5.0;
//myParams.ErrorCorrectionRate = 0.6;
using (Emgu.CV.Util.VectorOfInt ids = new Emgu.CV.Util.VectorOfInt())
using (Emgu.CV.Util.VectorOfVectorOfPointF corners = new Emgu.CV.Util.VectorOfVectorOfPointF())
using (Emgu.CV.Util.VectorOfVectorOfPointF rejected = new Emgu.CV.Util.VectorOfVectorOfPointF()) {
Emgu.CV.Aruco.ArucoInvoke.DetectMarkers(mappedImage, myDict, corners, ids, myParams, rejected);
if (ids.Size > 0)
{
//Emgu.CV.Aruco.ArucoInvoke.RefineDetectedMarkers(mappedImage, myBoard, corners, ids, rejected, null, null, 10, 3, true, null, myParams);
using (Mat rvecs = new Mat(3, 1, Emgu.CV.CvEnum.DepthType.Cv32F, 1))
using (Mat tvecs = new Mat(3, 1, Emgu.CV.CvEnum.DepthType.Cv32F, 1)) {
Emgu.CV.Aruco.ArucoInvoke.EstimatePoseSingleMarkers(corners, 0.08f, cameraMatrix, distortionCoeffs, rvecs, tvecs);
for (i = 0; i < rvecs.Rows; i++)
{
Emgu.CV.Aruco.ArucoInvoke.DrawAxis(mappedImage, cameraMatrix, distortionCoeffs, rvecs.Row(i), tvecs.Row(i), 0.05f);
}
}
Emgu.CV.Aruco.ArucoInvoke.DrawDetectedMarkers(mappedImage, corners, ids, new Emgu.CV.Structure.MCvScalar(0.0, 200.0, 50.0));
mappedImage.Save("C:\\Temp\\ArucoDetect.png");
}
else if (rejected.Size > 0)
{
PointF[][] myPts = rejected.ToArrayOfArray();
for (i = 0; i < myPts.GetUpperBound(0); i++)
{
CvInvoke.Line(mappedImage, new Point((int)myPts[i][0].X, (int)myPts[i][0].Y), new Point((int)myPts[i][1].X, (int)myPts[i][1].Y), new Emgu.CV.Structure.MCvScalar(0.0, 0.5, 200.0), 2);
CvInvoke.Line(mappedImage, new Point((int)myPts[i][1].X, (int)myPts[i][1].Y), new Point((int)myPts[i][2].X, (int)myPts[i][2].Y), new Emgu.CV.Structure.MCvScalar(0.0, 0.5, 200.0), 2);
CvInvoke.Line(mappedImage, new Point((int)myPts[i][2].X, (int)myPts[i][2].Y), new Point((int)myPts[i][3].X, (int)myPts[i][3].Y), new Emgu.CV.Structure.MCvScalar(0.0, 0.5, 200.0), 2);
CvInvoke.Line(mappedImage, new Point((int)myPts[i][3].X, (int)myPts[i][3].Y), new Point((int)myPts[i][0].X, (int)myPts[i][0].Y), new Emgu.CV.Structure.MCvScalar(0.0, 0.5, 200.0), 2);
}
mappedImage.Save("C:\\Temp\\ArucoReject.png");
}
}
}