public void DoBundleAdjust()
{
// N = cameras
// M = point count
//public static void BundleAdjust(MCvPoint3D64f[M] points, // Positions of points in global coordinate system (input and output), values will be modified by bundle adjustment
// MCvPoint2D64f[M][N] imagePoints, // Projections of 3d points for every camera
// int[M][N] visibility, // Visibility of 3d points for every camera
// Matrix<double>[N] cameraMatrix, // Intrinsic matrices of all cameras (input and output), values will be modified by bundle adjustment
// Matrix<double>[N] R, // rotation matrices of all cameras (input and output), values will be modified by bundle adjustment
// Matrix<double>[N] T, // translation vector of all cameras (input and output), values will be modified by bundle adjustment
// Matrix<double>[N] distCoefficients, // distortion coefficients of all cameras (input and output), values will be modified by bundle adjustment
// MCvTermCriteria termCrit) // Termination criteria, a reasonable value will be (30, 1.0e-12)
_stopwatchGet.Restart();
if (_cameras.Cameras.Count == 0)
{
return;
}
IEnumerable <CameraModel> orderedCameras = _cameras.Cameras.OrderBy(camera => camera.Calibration.Index);
ObservableCollection <MotionControllerModel> controllers = _cameras.Cameras[0].Controllers;
if (controllers.Count == 0)
{
return;
}
float radius = CameraCalibrationModel.SPHERE_RADIUS_CM;
int cameraCount = _cameras.Cameras.Count;
int pointCount = 8;
MCvPoint3D64f[] objectPoints = new MCvPoint3D64f[controllers.Count * pointCount];
MCvPoint2D64f[][] imagePoints = new MCvPoint2D64f[cameraCount][];
int[][] visibility = new int[cameraCount][];
Matrix <double>[] cameraMatrix = new Matrix <double> [cameraCount];
Matrix <double>[] R = new Matrix <double> [cameraCount];
Matrix <double>[] T = new Matrix <double> [cameraCount];
Matrix <double>[] distCoefficients = new Matrix <double> [cameraCount];
MCvTermCriteria termCrit = new MCvTermCriteria(30, 1.0e-12);
int visible = 0;
foreach (CameraModel camera in orderedCameras)
{
visibility[camera.Calibration.Index] = new int[controllers.Count * pointCount];
cameraMatrix[camera.Calibration.Index] = camera.Calibration.IntrinsicParameters.IntrinsicMatrix.Clone();
distCoefficients[camera.Calibration.Index] = camera.Calibration.IntrinsicParameters.DistortionCoeffs.Clone();
imagePoints[camera.Calibration.Index] = new MCvPoint2D64f[controllers.Count * pointCount];
R[camera.Calibration.Index] = camera.Calibration.RotationToWorld.Clone();
T[camera.Calibration.Index] = camera.Calibration.TranslationToWorld.Clone();
foreach (MotionControllerModel controller in controllers)
{
float x = controller.RawPosition[camera].x;
float y = controller.RawPosition[camera].y;
//if (x == 0 && y == 0) return;
// controller is not visible
if (controller.TrackerStatus[camera] != PSMoveTrackerStatus.Tracking)
{
for (int i = 0; i < pointCount; i++)
{
visibility[camera.Calibration.Index][i + controller.Id * pointCount] = 0;
}
}
// controller is visible
else
{
Vector3[] history = controller.PositionHistory[camera];
float avgMagnitude = 0f;
for (int i = 1; i < history.Length; i++)
{
avgMagnitude += history[i].magnitude / (history.Length - 1);
}
// check deviation of newest position
if ((Math.Abs(((history[0].magnitude * 100) / avgMagnitude)) - 100) > 5)
{
for (int i = 0; i < pointCount; i++)
{
visibility[camera.Calibration.Index][i + controller.Id * pointCount] = 0;
}
continue;
}
visible++;
//double distance = 0.0;
int startIndex = controller.Id * pointCount;
//MCvPoint3D64f cameraPositionInWorld = new MCvPoint3D64f
//{
// x = camera.Calibration.TranslationToWorld[0, 0],
// y = camera.Calibration.TranslationToWorld[1, 0],
// z = camera.Calibration.TranslationToWorld[2, 0]
//};
// set visibility and calculate distance of the controller relative to the camera
for (int i = startIndex; i < pointCount * controllers.Count; i++)
{
visibility[camera.Calibration.Index][i] = 1;
//double d = CvHelper.GetDistanceToPoint(cameraPositionInWorld,objectPoints[i]);
//distance += d / pointCount;
}
// initialize object's world coordinates
// calculate as the average of each camera's transformed world coordinate
float wx = controller.WorldPosition[camera].x;
float wy = controller.WorldPosition[camera].y;
float wz = controller.WorldPosition[camera].z;
objectPoints[startIndex] += new MCvPoint3D32f(wx - radius, wy - radius, wz - radius);
objectPoints[startIndex + 1] += new MCvPoint3D32f(wx + radius, wy - radius, wz - radius);
objectPoints[startIndex + 2] += new MCvPoint3D32f(wx + radius, wy + radius, wz - radius);
objectPoints[startIndex + 3] += new MCvPoint3D32f(wx - radius, wy + radius, wz - radius);
objectPoints[startIndex + 4] += new MCvPoint3D32f(wx - radius, wy + radius, wz + radius);
objectPoints[startIndex + 5] += new MCvPoint3D32f(wx + radius, wy + radius, wz + radius);
objectPoints[startIndex + 6] += new MCvPoint3D32f(wx + radius, wy - radius, wz + radius);
objectPoints[startIndex + 7] += new MCvPoint3D32f(wx - radius, wy - radius, wz + radius);
//imagePoints[scvm.Camera.Calibration.Index] = Utils.GetImagePoints(mcvm.MotionController.RawPosition[scvm.Camera]);
imagePoints[camera.Calibration.Index] = Array.ConvertAll(camera.Calibration.ObjectPointsProjected, CvHelper.PointFtoPoint2D);
}
} // foreach controller
} // foreach camera
if (visible == 0)
{
return;
}
// average object points
for (int i = 0; i < objectPoints.Length; i++)
{
objectPoints[i].x /= visible;
objectPoints[i].y /= visible;
objectPoints[i].z /= visible;
}
// calculate object's middle
float prex = 0, prey = 0, prez = 0;
for (int i = 0; i < objectPoints.Length; i++)
{
prex += (float)objectPoints[i].x / objectPoints.Length;
prey += (float)objectPoints[i].y / objectPoints.Length;
prez += (float)objectPoints[i].z / objectPoints.Length;
}
_stopwatchBA.Restart();
//LevMarqSparse.BundleAdjust(objectPoints, imagePoints, visibility, cameraMatrix, R, T, distCoefficients, termCrit);
_stopwatchBA.Stop();
_stopwatchSet.Restart();
// check for calucation error
for (int i = 0; i < objectPoints.Length; i++)
{
if (objectPoints[i].x.ToString().Equals("NaN"))
{
return;
}
if (objectPoints[i].y.ToString().Equals("NaN"))
{
return;
}
if (objectPoints[i].z.ToString().Equals("NaN"))
{
return;
}
}
// save changed matrices
foreach (CameraModel camera in orderedCameras)
{
if (visibility[camera.Calibration.Index][0] == 1)
{
//RotationVector3D rot1 = new RotationVector3D();
//rot1.RotationMatrix = camera.Calibration.RotationToWorld;
//RotationVector3D rot2 = new RotationVector3D();
//rot2.RotationMatrix = R[camera.Calibration.Index];
//Console.WriteLine((int)(rot1[0, 0] * (180 / Math.PI)) + " " + (int)(rot2[0, 0] * (180 / Math.PI)));
//Console.WriteLine((int)(rot1[1, 0] * (180 / Math.PI)) + " " + (int)(rot2[1, 0] * (180 / Math.PI)));
//Console.WriteLine((int)(rot1[2, 0] * (180 / Math.PI)) + " " + (int)(rot2[2, 0] * (180 / Math.PI)) + Environment.NewLine);
//camera.Calibration.IntrinsicParameters.IntrinsicMatrix = cameraMatrix[camera.Calibration.Index];
//camera.Calibration.RotationToWorld = R[camera.Calibration.Index];
//camera.Calibration.TranslationToWorld = T[camera.Calibration.Index];
//camera.Calibration.IntrinsicParameters.DistortionCoeffs = distCoefficients[camera.Calibration.Index];
//camera.Calibration.XAngle = (int)(rot2[0, 0] * (180 / Math.PI));
//camera.Calibration.YAngle = (int)(rot2[1, 0] * (180 / Math.PI));
//camera.Calibration.ZAngle = (int)(rot2[2, 0] * (180 / Math.PI));
}
}
// calculate object's middle
float preCenterX = 0, preCenterY = 0, preCenterZ = 0;
for (int i = 0; i < objectPoints.Length; i++)
{
preCenterX += (float)objectPoints[i].x / objectPoints.Length;
preCenterY += (float)objectPoints[i].y / objectPoints.Length;
preCenterZ += (float)objectPoints[i].z / objectPoints.Length;
}
Vector3 prePosition = new Vector3(preCenterX, -preCenterY, preCenterZ);
if (prePosition != _positionHistory[0])
{
for (int i = _positionHistory.Length - 1; i > 0; --i)
{
_positionHistory[i] = _positionHistory[i - 1];
}
_positionHistory[0] = prePosition;
}
//Vector3 avgPosition = Vector3.zero;
//for (int i = 0; i < _positionHistory.Length; i++)
//{
// avgPosition += _positionHistory[i] / _positionHistory.Length;
//}
// 0 predition, 1 correction / estimated
Matrix <float> kalmanResults = FilterPoints(_kalmanXYZ, prePosition.x, prePosition.y, prePosition.z);
Vector3 kalmanPosition = new Vector3(kalmanResults[1, 0], kalmanResults[1, 1], kalmanResults[1, 2]);
_cameras.Position = kalmanPosition;
_stopwatchGet.Stop();
_stopwatchSet.Stop();
for (int i = 0; i < 4; i++)
{
CameraModel camera = _cameras.Cameras[i];
float xr = controllers[0].RawPosition[camera].x;
float yr = controllers[0].RawPosition[camera].y;
float zr = controllers[0].RawPosition[camera].z;
float xc = controllers[0].CameraPosition[camera].x;
float yc = controllers[0].CameraPosition[camera].y;
float zc = controllers[0].CameraPosition[camera].z;
string str = String.Format(new CultureInfo("en-US"), "{0},{1},{2},{3},{4},{5},{6},{7},{8}",
iteration,
xr,
yr,
zr,
PsMoveApi.psmove_tracker_distance_from_radius(camera.Handle, controllers[0].RawPosition[camera].z),
xc,
yc,
zc,
Math.Sqrt(xc * xc + yc * yc + zc * zc)
);
if (camera.Calibration.Index == 0)
{
if (csv0.Count > 0 && csv0[csv0.Count - 1].Contains(zr.ToString(new CultureInfo("en-US"))))
{
}
else
{
csv0.Add(str);
}
}
else if (camera.Calibration.Index == 1)
{
if (csv1.Count > 0 && csv1[csv1.Count - 1].Contains(zr.ToString(new CultureInfo("en-US"))))
{
}
else
{
csv1.Add(str);
}
}
else if (camera.Calibration.Index == 2)
{
if (csv2.Count > 0 && csv2[csv2.Count - 1].Contains(zr.ToString(new CultureInfo("en-US"))))
{
}
else
{
csv2.Add(str);
}
}
else if (camera.Calibration.Index == 3)
{
if (csv3.Count > 0 && csv3[csv3.Count - 1].Contains(zr.ToString(new CultureInfo("en-US"))))
{
}
else
{
csv3.Add(str);
}
}
}
csvTime.Add(String.Format(new CultureInfo("en-US"), "{0},{1},{2},{3}",
iteration,
_stopwatchGet.ElapsedMilliseconds,
_stopwatchBA.ElapsedMilliseconds,
_stopwatchSet.ElapsedMilliseconds));
string strBA = String.Format(new CultureInfo("en-US"), "{0},{1},{2},{3},{4},{5},{6},{7},{8}",
iteration,
prePosition.x,
prePosition.y,
prePosition.z,
Math.Sqrt(prePosition.x * prePosition.x + prePosition.y * prePosition.y + prePosition.z * prePosition.z),
kalmanPosition.x,
kalmanPosition.y,
kalmanPosition.z,
Math.Sqrt(kalmanPosition.x * kalmanPosition.x + kalmanPosition.y * kalmanPosition.y + kalmanPosition.z * kalmanPosition.z));
if (csvBA.Count > 0 && csvBA[csvBA.Count - 1].Contains(prePosition.x.ToString(new CultureInfo("en-US"))))
{
}
else
{
csvBA.Add(strBA);
}
iteration++;
if (csvBA.Count == 100)
{
File.WriteAllLines(@"C:\\Users\\Johannes\\Documents\\GitHub\\Thesis\\Source\\avg_time.csv", csvTime);
File.WriteAllLines(@"C:\\Users\\Johannes\\Documents\\GitHub\\Thesis\\Source\\distance.csv", csvBA);
File.WriteAllLines(@"C:\\Users\\Johannes\\Documents\\GitHub\\Thesis\\Source\\distance0.csv", csv0);
File.WriteAllLines(@"C:\\Users\\Johannes\\Documents\\GitHub\\Thesis\\Source\\distance1.csv", csv1);
File.WriteAllLines(@"C:\\Users\\Johannes\\Documents\\GitHub\\Thesis\\Source\\distance2.csv", csv2);
File.WriteAllLines(@"C:\\Users\\Johannes\\Documents\\GitHub\\Thesis\\Source\\distance3.csv", csv3);
}
}