Esempio n. 1
0
void ProjectorCalibration :: loadFromFile(const char* filename)
{
    QFileInfo f (filename);
    ntk_throw_exception_if(!f.exists(), "Could not find calibration file.");
    cv::FileStorage calibration_file (filename, CV_STORAGE_READ);
    readMatrix(calibration_file, "proj_intrinsics", intrinsics);
    readMatrix(calibration_file, "proj_distortion", distortion);
    readMatrix(calibration_file, "R", R);
    readMatrix(calibration_file, "T", T);
    cv::Mat1i size_mat;
    readMatrix(calibration_file, "proj_size", size_mat);
    proj_size = cv::Size(size_mat(0,0), size_mat(0,1));
    calibration_file.release();

    pose = new Pose3D();
    pose->toRightCamera(intrinsics, R, T);

    initUndistortRectifyMap(intrinsics, distortion,
                            Mat(), intrinsics, proj_size, CV_16SC2,
                            undistort_map1, undistort_map2);
}
Esempio n. 2
0
void RGBDCalibration :: loadFromFile(const char* filename)
{
    QFileInfo f (filename);
    ntk_throw_exception_if(!f.exists(), "Could not find calibration file.");
    cv::FileStorage calibration_file (filename, CV_STORAGE_READ);
    readMatrix(calibration_file, "rgb_intrinsics", rgb_intrinsics);
    readMatrix(calibration_file, "rgb_distortion", rgb_distortion);
    zero_rgb_distortion = rgb_distortion(0,0) < 1e-5 ? true : false;
    readMatrix(calibration_file, "depth_intrinsics", depth_intrinsics);
    readMatrix(calibration_file, "depth_distortion", depth_distortion);
    zero_depth_distortion = depth_distortion(0,0) < 1e-5 ? true : false;

    readMatrix(calibration_file, "R", R);
    readMatrix(calibration_file, "T", T);
    cv::Mat1i size_mat;
    readMatrix(calibration_file, "rgb_size", size_mat);
    rgb_size = cv::Size(size_mat(0,0), size_mat(0,1));
    readMatrix(calibration_file, "raw_rgb_size", size_mat);
    raw_rgb_size = cv::Size(size_mat(0,0), size_mat(0,1));
    readMatrix(calibration_file, "depth_size", size_mat);
    depth_size = cv::Size(size_mat(0,0), size_mat(0,1));
    readMatrix(calibration_file, "raw_depth_size", size_mat);
    raw_depth_size = cv::Size(size_mat(0,0), size_mat(0,1));

    try {
        readMatrix(calibration_file, "R_extrinsics", R_extrinsics);
        readMatrix(calibration_file, "T_extrinsics", T_extrinsics);
    }
    catch (...)
    {
        ntk_dbg(0) << "Warning: could not load extrinsics (R_extrinsics, T_extrinsics).";
    }

    try
    {
        cv::Mat1i size_mat;
        readMatrix(calibration_file, "infrared_size", size_mat);
        infrared_size = cv::Size(size_mat(0,0), size_mat(0,1));
    }
    catch (...)
    {
        ntk_dbg(1) << "Could not read infrared image size, setting default 1280x1024";
        infrared_size = cv::Size(1280, 1024);
    }

    try
    {
        readMatrix(calibration_file, "infrared_intrinsics", infrared_intrinsics);
        readMatrix(calibration_file, "infrared_distortion", infrared_distortion);
    } catch (...)
    {
        ntk_dbg(1) << "Warning: cannot read infrared camera intrinsics, computing from depth.";
        computeInfraredIntrinsicsFromDepth();
    }

    cv::Mat1f depth_calib (1,2);
    try {
        readMatrix(calibration_file, "depth_base_and_offset", depth_calib);
        depth_baseline = depth_calib(0,0);
        depth_offset = depth_calib(0,1);
    }
    catch(...)
    {
        ntk_dbg(1) << "Warning: could not load depth offset";
    }

    try {
        cv::Mat1f depth_multiplicative_correction_factor (1,1);
        readMatrix(calibration_file, "depth_multiplicative_correction_factor", depth_multiplicative_correction_factor);
        this->depth_multiplicative_correction_factor = depth_multiplicative_correction_factor(0,0);
    }
    catch(...)
    {
        ntk_dbg(1) << "Warning: could not load depth multiplicative factor";
    }

    try {
        cv::Mat1f depth_additive_correction_factor (1,1);
        readMatrix(calibration_file, "depth_additive_correction_factor", depth_additive_correction_factor);
        this->depth_additive_correction_factor = depth_additive_correction_factor(0,0);
    }
    catch(...)
    {
        ntk_dbg(1) << "Warning: could not load depth additive correction factor";
    }

    calibration_file.release();

    depth_pose = new Pose3D();
    rgb_pose = new Pose3D();
    updatePoses();
}