public byte[] FusionCameraPose()
{
//Create a defined registration pattern - in this case a cube
var cube = CoordinateDefinition.Microcube();
var yu2 = LatestYUVImage();
var colorCv = new CvColor(yu2);
//Find and draw (make sure it can be found)
var markers = Vision.FindAruco(colorCv);
if (!markers.Any())
{
return(PoseFormatter.PoseToBytes(new double[4, 4]));
} //zeros
//Calculate pose
var depth = LatestDepthImage();
CameraSpacePoint[] _3dImage = new CameraSpacePoint[KinectSettings.COLOR_PIXEL_COUNT];
KxBuffer.instance.coordinateMapper.MapColorFrameToCameraSpace(depth, _3dImage);
var cvCameraSpace = new CvCameraSpace(_3dImage);
var kxTransform = Vision.GetPoseFromImage(cube, cvCameraSpace, markers);
var pose = kxTransform.FusionCameraPose;
return(PoseFormatter.PoseToBytes(pose));
}
static void Main(string[] args)
{
RemoteKinectXEFExample.Run(null);
RGBPointCloudExampleWithMarkerHightlights.Run(null);
MulticameraFusionExample.Run(null);
var xefPath = @"C:\XEF\cam1_cal.xef";
var xef = new Xef(xefPath);
//Load computer vision (CV) color file
var colorCV = xef.LoadCvColorFrame(0);
var cube = CoordinateDefinition.Microcube();
var markers = colorCV.FindAruco();
var colorBytes = colorCV.GetBRGABytes();
var cspace = xef.LoadCVCameraSpace(2);
var marker1 = cspace.SubMat(Cv2.BoundingRect(markers.First().Points));
var realMask = marker1.GetRealMask();
var center = marker1.Mean(realMask);
var marker2 = cspace.SubMat(Cv2.BoundingRect(markers.Skip(1).First().Points));
realMask = marker2.GetRealMask();
var center2 = marker2.Mean(realMask);
var between = center2.DistanceTo(center);
var indeterminiteMask = marker1.GetIndeterminteMask();
realMask.ShowNoWait();
Cv2.WaitKey(0);
Console.Read();
//Save as XYZRGB file (open in MeshLab to view)
// XYZRGB.Export(cameraSpace, colorBytes, @"C:\XEF\cam1_cal.txt");
}
public static void Run(string[] args)
{
int NUM_SCANS_PER_CAMERA = 20;
//Create a defined registration pattern - in this case a cube
var cube = CoordinateDefinition.Microcube();
var scans = new Dictionary <string, string>()
{
{ @"C:\XEF\cam2_cal.xef", @"C:\XEF\cam2_cal.xef" },
// {@"C:\XEF\cam1_cal.xef", @"C:\XEF\cam1_cal.xef" }
};
var fusion = new Engine();
FusionVolume.VoxelsPerMeter = 384;
FusionVolume.VoxelsX = 384;
FusionVolume.VoxelsY = 384;
FusionVolume.VoxelsZ = 384;
var firstPose = Pose.GetPoseFromXef(scans.First().Key)
.FusionCameraPose
.ToMatrix4();
//Start fusion volume at first pose
fusion.InitializeFusionVolume(firstPose);
VolumeResetter.TranslateResetPoseByMinDepthThreshold = false;
fusion.DataIntegrator.IntegrationWeight = 500;
fusion.DataIntegrator.CaptureColor = false;
var listener = fusion.StartFrameListener <XefFrameListener>();
foreach (var scan in scans)
{
var scanXef = scan.Value;
var pose = Pose.GetPoseFromXef(scan.Key)
.FusionCameraPose
.ToMatrix4();
//This would be where you would set your scan xef
listener.SetXefFile(scanXef);
//You need to set world to camera BEFORE scanning (if more than one XEF)
fusion.FusionVolume.WorldToCameraTransform = pose;
fusion.Scanner.Scan(NUM_SCANS_PER_CAMERA, false);
}
fusion.RenderController.RenderReconstructionAsMat();
fusion.FusionVolume.Renderer.RenderReconstruction();
Cv2.WaitKey(0);
//Export your model in world space (it is transformed already)
fusion.MeshExporter.ExportVolume(@"C:\XEF\scan.ply");
Console.Read();
}
public static void Run(string[] args)
{
//Create a defined registration pattern - in this case a cube
var cube = CoordinateDefinition.Microcube();
//Find registration
var xef = new Xef(@"../../../Resources/cube.xef");
var colorCv = xef.LoadCvColorFrame(0);
//Find and draw (make sure it can be found)
var markers = Vision.FindAruco(colorCv);
//Vision.DrawAruco(colorCv).Show();
//Calculate pose
var _3dImage = xef.LoadCVCameraSpace(5);
var kxTransform = Vision.GetPoseFromImage(cube, _3dImage, markers);
var pose = kxTransform.FusionCameraPose.ToMatrix4();
var fusion = new Engine();
FusionVolume.VoxelsPerMeter = 128;
FusionVolume.VoxelsX = 384;
FusionVolume.VoxelsY = 384;
FusionVolume.VoxelsZ = 384;
//Start fusion volume at first pose
fusion.InitializeFusionVolume(pose);
VolumeResetter.TranslateResetPoseByMinDepthThreshold = false;
fusion.DataIntegrator.CaptureColor = false;
var listener = fusion.StartFrameListener <XefFrameListener>();
//This would be where you would set your scan xef
listener.SetXefFile(@"../../../Resources/cube.xef");
//You need to set world to camera BEFORE scanning (if more than one XEF)
fusion.FusionVolume.WorldToCameraTransform = pose;
fusion.Scanner.Scan(3, false);
fusion.RenderController.RenderReconstructionAsMat();
fusion.FusionVolume.Renderer.RenderReconstruction();
//Export your model in world space (it is transformed already)
fusion.MeshExporter.ExportVolume(@"cube.ply");
Console.Read();
}
