public static void RunOld(string[] args)
{
var intrinsicfile = args.FirstOrDefault() ?? Calibration.KinectDefaultFileName;
var camIntrinsic = Utils.DeSerializeObject<CalibrationResult>(intrinsicfile);
var projFile = args.Skip(1).FirstOrDefault() ?? Calibration.ProjectorDefaultFileName;
var projIntrinsic = Utils.DeSerializeObject<CalibrationResult>(projFile);
KinectSensor sensor = KinectSensor.KinectSensors.First();
Camera cam = new Camera(sensor, ColorImageFormat.RgbResolution1280x960Fps12);
Projector proj = new Projector();
var keyl = new KeyboardListener(proj.window.Keyboard);
double offsetx = 0, offsety = 0, scale = 0.5;
bool proceed = false, quit = false;
keyl.AddBinaryAction(0.02, -0.02, OpenTK.Input.Key.Up, OpenTK.Input.Key.Down, new OpenTK.Input.Key[0], (f) => offsety += f);
keyl.AddBinaryAction(0.02, -0.02, OpenTK.Input.Key.Left, OpenTK.Input.Key.Right, new OpenTK.Input.Key[0], (f) => offsetx -= f);
keyl.AddBinaryAction(0.02, -0.02, OpenTK.Input.Key.Up, OpenTK.Input.Key.Down, new OpenTK.Input.Key[] { Key.ShiftLeft }, (f) => scale += f);
keyl.AddAction(() => proceed = true, Key.Space);
keyl.AddAction(() => quit = proceed = true, Key.Q);
PointF[] corners;
proj.DrawBackground(Color.Black);
while (true)
{
Console.WriteLine("Make sure the kinect can see the board");
Console.ReadLine();
corners = StereoCalibration.GetCameraCorners(cam.TakePicture(3), new Size(7, 4), false);
if (corners.All(c => c != null))
{
break;
}
else
Console.WriteLine("Could not find corners");
}
PointF[] projCorners;
var projectedCorners = proj.DrawCheckerboard(new Size(8, 5), 0, 0, 0, scale, offsetx, offsety);
while (true)
{
Console.WriteLine("Make sure the kinect can see the projection");
while (!proceed)
{
projectedCorners = proj.DrawCheckerboard(new Size(8, 5), 0, 0, 0, scale, offsetx, offsety);
proj.window.ProcessEvents();
}
projCorners = StereoCalibration.GetCameraCorners(cam.TakePicture(3), new Size(7, 4), false);
if (corners.All(c => c != null))
{
break;
}
else
Console.WriteLine("Could not find any corners, make sure the checkerboard is visible to all Kinects.");
}
var camResult = StereoCalibration.CalibrateCamera(corners, new Size(7, 4), 0.05f, camIntrinsic);
var transform = StereoCalibration.FindHomography(projCorners, projectedCorners);
var projResult = StereoCalibration.CalibrateCamera(transform(corners), new Size(7, 4), 0.05f, projIntrinsic);
Utils.SerializeObject(camResult, intrinsicfile);
Utils.SerializeObject(projResult, projFile);
proj.Close();
}
static CalibrationResult CalibrateProjector(KinectSensor sensor, Camera camera, Projector projector, CalibrationResult cameraCalib, PointF[][] cacalibdata, bool reload = false, bool save = true)
{
CalibrationResult result;
string datafile = "projectorcalibration.xml";
if (!reload && File.Exists(datafile))
result = Utils.DeSerializeObject<CalibrationResult>(datafile);
else
{
VoiceCommander commander = new VoiceCommander(sensor);
commander.LoadChoices("Shoot", "Ready", "Next", "Continue", "Carry on", "Smaller", "Bigger", "Go", "Stop");
List<PointF[]> cam = new List<PointF[]>(), proj = new List<PointF[]>();
Size pattern = new Size(8, 7);
PointF[] cc;
PointF[] pc;
double size = 0.5;
pc = projector.DrawCheckerboard(pattern, 0, 0, 0, size);
while (true)
{
var word = commander.Recognize("Ready?");
if (word == "Bigger")
{
size += 0.1;
pc = projector.DrawCheckerboard(pattern, 0, 0, 0, size);
continue;
}
else if (word == "Smaller")
{
size -= 0.1;
pc = projector.DrawCheckerboard(pattern, 0, 0, 0, size);
continue;
}
if (word == "Stop")
break;
cc = StereoCalibration.FindDualPlaneCorners(camera, pattern);
if (cc != null && pc != null)
{
cam.Add(cc);
proj.Add(pc);
}
}
projector.DrawBackground(Color.Black);
result = StereoCalibration.CalibrateProjector(projector, cacalibdata, cam.ToArray(), proj.ToArray(), new Size(7, 4), 0.05f);
//result = StereoCalibration.CalibrateProjector(projector, camera, new Size(8, 7), cameraCalib, cacalibdata, new Size(7, 4), 0.05f);
if (save)
Utils.SerializeObject(result, datafile);
}
return result;
}
public static CalibrationResult CalibrateProjector(Projector projector, Camera camera, Size pattern, CalibrationResult cameraCalib, PointF[][] cacalibdata, Size cameraPattern, float checkerboardSize)
{
List<PointF[]> cameraCorners = new List<PointF[]>();
List<PointF[]> projectorCorners = new List<PointF[]>();
var cpattern = new Size(pattern.Width - 1, pattern.Height - 1);
int steps = 15;
double rotx = 0, roty = 0, rotz = 0;
for (int i = 0; i < steps; i++)
{
var di = (double)i / (double)steps;
rotx = 0;
roty = Math.Sin(di * Math.PI / 2) * 0.8;
rotz = Math.Sin(di * Math.PI / 2) * 0.6;
var pcs = projector.DrawCheckerboard(pattern,
rotx,
roty,
rotz, 0.5);
var img = camera.TakePicture(3);
var ccs = GetCameraCorners(img, cpattern, false);
if (ccs != null)
{
projectorCorners.Add(pcs);
cameraCorners.Add(ccs);
var withCorners = camera.TakePicture(0);
if (DebugWindow != null)
{
QuickDraw.Start(withCorners)
.Color(Color.White)
.DrawPoint(ccs, 5)
.Finish();
DebugWindow.DrawBitmap(withCorners);
}
}
}
//for (int i = 0; i < steps; i++)
//{
// var di = (double)i / (double)steps;
// rotx += 0.04;
// roty *= 0.90;
// var pcs = projector.DrawCheckerboard(pattern,
// rotx,
// roty,
// rotz, 0.7);
// var ccs = GetCameraCorners(camera, cpattern, false);
// if (ccs != null)
// {
// projectorCorners.Add(pcs);
// cameraCorners.Add(ccs);
// var withCorners = camera.TakePicture(0);
// if (DebugWindow != null)
// {
// QuickDraw.Start(withCorners)
// .Color(Color.White)
// .DrawPoint(ccs, 5)
// .Finish();
// DebugWindow.DrawBitmap(withCorners);
// }
// }
//}
var hm = CreateHomography(cameraCorners.ToArray(), projectorCorners.ToArray());
var globals = GenerateCheckerBoard(cameraPattern, checkerboardSize, 0);
var globalCorners = cacalibdata.Select(row => globals).ToArray();
var proj = cacalibdata.Select(cs => cs.Select(c => new PointF(c.X, c.Y)).ToArray()).ToArray();
foreach (var p in proj)
hm.ProjectPoints(p);
IntrinsicCameraParameters projIntrin = new IntrinsicCameraParameters();
ExtrinsicCameraParameters[] projExtrins;
Emgu.CV.CameraCalibration.CalibrateCamera(globalCorners, proj, projector.Size, projIntrin, Emgu.CV.CvEnum.CALIB_TYPE.CV_CALIB_RATIONAL_MODEL, out projExtrins);
return new CalibrationResult() { Intrinsic = projIntrin, Extrinsic = projExtrins.First() };
}
