public static void Run(string[] args)
{
var xefPath = @"C:\XEF\cam2_cal.xef";
var xef = new Xef(xefPath);
//Load computer vision (CV) color file
var colorCV = xef.LoadCvColorFrame(0);
colorCV.DrawAruco().ShowNoWait();
var cameraSpace = xef.LoadCVCameraSpace(2);
var(tx, markers) = Calibrator.Calibrate(colorCV, cameraSpace);
var pose = tx
.CameraSpaceToWorldTx
.ToMat();
var camSpaceTx = cameraSpace.Transform(pose)
.ToCamSpacePoints();
//Save as XYZRGB file (open in MeshLab to view)
XYZRGB.Export(camSpaceTx, colorCV.GetBRGABytes(), @"C:\XEF\cam2_cal.txt");
markers = markers.OrderByDescending(m => m.MaskSum.Val0).Take(4).ToList();
var markerPoints = new CvCameraSpace();
markers.ForEach(m => markerPoints.Add(m.KxCenter));
var txMarkers = markerPoints.Transform(pose);
XYZRGB.Export(txMarkers, new Scalar(255, 0, 0), @"C:\XEF\cam2_cal_markers.txt");
}
public void SetXefFile(string xefFilePath)
{
_xef = new Xef(xefFilePath);
this.CoordinateMapper = _xef.GetEmbeddedCoordinateMapper();
CopyNextDepth();
CopyNextColor();
}
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)
{
var xef = new Xef(@"../../../Resources/cube.xef");
var depth = xef.LoadDepthFrame(0);
var color = xef.LoadColorFrame(0);
var cvColor = new CvColor(color);
var cvDepth = new CvDepth(depth);
//render kinect color to UI (using KinectX.Extensions;)
cvColor.Show();
Console.Read();
}
public static void Run()
{
var xefPath = @"C:\XEF\cam1_cal.xef";
var xef = new Xef(xefPath);
//Load computer vision (CV) color file
var colorCV = xef.LoadCvColorFrame(0);
var cameraSpace = xef.LoadCVCameraSpace(0);
var pose = Calibrator.Calibrate(colorCV, cameraSpace)
.Transform
.CameraSpaceToWorldTx
.ToMat();
cameraSpace.Transform(pose);
//Save as XYZRGB file (open in MeshLab to view)
XYZRGB.Export(cameraSpace.ToCamSpacePoints(), colorCV.GetBRGABytes(), @"C:\XEF\cam1_cal.txt");
}
public static KxTransform GetPoseFromXef(string xefPath)
{
//Create a defined registration pattern - in this case a cube
var cube = CoordinateDefinition.Microcube();
//Find registration
var xef = new Xef(xefPath);
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);
return(kxTransform);
}
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();
}
public bool RecordXef(TimeSpan duration, string path)
{
try
{
_logger.Log(LogLevel.Info, $"Requested xef recording - {duration.TotalMilliseconds} ms.");
if (File.Exists(path))
{
File.Delete(path);
}
Xef.Record(path, duration);
Thread.Sleep((int)duration.Add(TimeSpan.FromSeconds(2)).TotalMilliseconds);
_logger.Log(LogLevel.Info, $"Recording successful. Bytes save to - {path}");
return(true);
}
catch (Exception e)
{
_logger.Log(LogLevel.Error, e.ToString());
return(false);
}
}
public bool RecordXef(TimeSpan duration)
{
try
{
_logger.Log(LogLevel.Info, $"Requested xef recording - {duration.TotalMilliseconds} ms.");
var current = Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location);
_lastFilePath = Path.Combine(current, "record.xef");
if (File.Exists(_lastFilePath))
{
File.Delete(_lastFilePath);
}
Xef.Record(_lastFilePath, duration);
Thread.Sleep((int)duration.Add(TimeSpan.FromSeconds(2)).TotalMilliseconds);
_logger.Log(LogLevel.Info, $"Recording successful. Sending bytes from xef recording - {_lastFilePath}");
return(true);
}
catch (Exception e)
{
_logger.Log(LogLevel.Error, e.ToString());
return(false);
}
}
