void calibrate_kinect_depth(std::vector< std::vector<Point2f> >& stereo_corners,
std::vector< DepthCalibrationPoint >& depth_values)
{
std::vector< std::vector<Point2f> > good_corners;
stereo_corners.resize(global::images_list.size());
for (int i_image = 0; i_image < global::images_list.size(); ++i_image)
{
QString filename = global::images_list[i_image];
QDir cur_image_dir (global::images_dir.absoluteFilePath(filename));
std::string full_filename;
cv::Mat3b image;
load_intensity_file(cur_image_dir.path().toStdString(), full_filename, image);
ntk_ensure(image.data, "Could not load color image");
kinect_shift_ir_to_depth(image);
std::vector<Point2f> current_view_corners;
calibrationCorners(full_filename, "corners",
global::opt_pattern_width(), global::opt_pattern_height(),
current_view_corners, image, 1);
if (current_view_corners.size() == global::opt_pattern_height()*global::opt_pattern_width())
{
good_corners.push_back(current_view_corners);
stereo_corners[i_image] = current_view_corners;
showCheckerboardCorners(image, current_view_corners, 1);
}
else
{
ntk_dbg(0) << "Warning: corners not detected";
stereo_corners[i_image].resize(0);
}
}
std::vector< std::vector<Point3f> > pattern_points;
calibrationPattern(pattern_points,
global::opt_pattern_width(), global::opt_pattern_height(), global::opt_square_size(),
good_corners.size());
ntk_assert(pattern_points.size() == good_corners.size(), "Invalid points size");
std::vector<Mat> rvecs, tvecs;
int flags = 0;
if (global::opt_ignore_distortions())
flags = CV_CALIB_ZERO_TANGENT_DIST;
double error = calibrateCamera(pattern_points, good_corners, global::image_size,
global::depth_intrinsics, global::depth_distortion,
rvecs, tvecs, flags);
if (global::opt_ignore_distortions())
global::depth_distortion = 0.f;
ntk_dbg_print(error, 1);
int good_i = 0;
foreach_idx(stereo_i, stereo_corners)
{
if (stereo_corners[stereo_i].size() > 0)
{
QString filename = global::images_list[stereo_i];
QDir cur_image_dir (global::images_dir.absoluteFilePath(filename));
std::string full_filename;
cv::Mat3b image;
load_intensity_file(cur_image_dir.path().toStdString(), full_filename, image);
ntk_ensure(image.data, "Could not load intensity image");
kinect_shift_ir_to_depth(image);
cv::Mat1f depth_image;
if (is_file(cur_image_dir.absoluteFilePath("raw/depth.yml").toStdString()))
{
full_filename = cur_image_dir.absoluteFilePath("raw/depth.yml").toStdString();
depth_image = imread_yml(full_filename);
}
else if (is_file(cur_image_dir.absoluteFilePath("raw/depth.raw").toStdString()))
{
full_filename = cur_image_dir.absoluteFilePath("raw/depth.raw").toStdString();
depth_image = imread_Mat1f_raw(full_filename);
}
ntk_ensure(depth_image.data, "Could not load depth image");
cv::Mat3b undistorted_image;
if (global::opt_ignore_distortions())
image.copyTo(undistorted_image);
else
undistort(image, undistorted_image, global::depth_intrinsics, global::depth_distortion);
std::vector<Point2f> current_view_corners;
calibrationCorners(full_filename, "corners",
global::opt_pattern_width(), global::opt_pattern_height(),
current_view_corners, undistorted_image, 1);
if (current_view_corners.size() == (global::opt_pattern_width()*global::opt_pattern_height()))
{
stereo_corners[stereo_i] = current_view_corners;
showCheckerboardCorners(undistorted_image, stereo_corners[stereo_i], 200);
}
else
{
stereo_corners[stereo_i].resize(0);
continue;
}
// Generate calibration points
{
// FIXME: why rvecs and tvecs from calibrateCamera seems to be nonsense ?
// calling findExtrinsics another time to get good chessboard estimations.
cv::Mat1f H;
estimate_checkerboard_pose(pattern_points[0],
current_view_corners,
global::depth_intrinsics,
H);
Pose3D pose;
pose.setCameraParametersFromOpencv(global::depth_intrinsics);
ntk_dbg_print(pose, 1);
pose.setCameraTransform(H);
foreach_idx(pattern_i, pattern_points[0])
{
ntk_dbg_print(pattern_points[0][pattern_i], 1);
Point3f p = pose.projectToImage(pattern_points[0][pattern_i]);
ntk_dbg_print(p, 1);
double kinect_raw = depth_image(p.y, p.x);
if (!(kinect_raw < 2047)) continue;
ntk_dbg_print(kinect_raw, 1);
double linear_depth = 1.0 / (kinect_raw * -0.0030711016 + 3.3309495161);
const float k1 = 1.1863;
const float k2 = 2842.5;
const float k3 = 0.1236;
double tan_depth = k3 * tanf(kinect_raw/k2 + k1);
ntk_dbg_print(linear_depth, 1);
ntk_dbg_print(tan_depth, 1);
depth_values.push_back(DepthCalibrationPoint(kinect_raw, p.z));
}
}
++good_i;
}
void calibrate_kinect_depth(std::vector< DepthCalibrationPoint >& depth_values)
{
std::vector< std::vector<Point3f> > pattern_points;
calibrationPattern(pattern_points,
global::opt_pattern_width(), global::opt_pattern_height(), global::opt_square_size(),
global::images_list.size());
for (int i_image = 0; i_image < global::images_list.size(); ++i_image)
{
// Generate depth calibration points
QString filename = global::images_list[i_image];
QDir cur_image_dir (global::images_dir.absoluteFilePath(filename));
std::string full_filename = cur_image_dir.absoluteFilePath("raw/color.png").toStdString();
RGBDImage image;
OpenniRGBDProcessor processor;
processor.setFilterFlag(RGBDProcessorFlags::ComputeMapping, true);
image.loadFromDir(cur_image_dir.absolutePath().toStdString(), &global::calibration, &processor);
imshow_normalized("mapped depth", image.mappedDepth());
imshow("color", image.rgb());
std::vector<Point2f> current_view_corners;
calibrationCorners(full_filename, "corners",
global::opt_pattern_width(), global::opt_pattern_height(),
current_view_corners, image.rgb(), 1, global::pattern_type);
if (current_view_corners.size() != (global::opt_pattern_width()*global::opt_pattern_height()))
{
ntk_dbg(1) << "Corners not detected in " << cur_image_dir.absolutePath().toStdString();
continue;
}
// FIXME: why rvecs and tvecs from calibrateCamera seems to be nonsense ?
// calling findExtrinsics another time to get good chessboard estimations.
cv::Mat1f H;
estimate_checkerboard_pose(pattern_points[0],
current_view_corners,
global::calibration.rgb_intrinsics,
H);
Pose3D pose;
pose.setCameraParametersFromOpencv(global::calibration.rgb_intrinsics);
pose.setCameraTransform(H);
ntk_dbg_print(pose, 1);
cv::Mat3b debug_img;
image.rgb().copyTo(debug_img);
foreach_idx(pattern_i, pattern_points[0])
{
Point3f p = pose.projectToImage(pattern_points[0][pattern_i]);
ntk_dbg_print(p, 1);
float kinect_raw = image.mappedDepth()(p.y, p.x);
ntk_dbg_print(kinect_raw, 1);
if (kinect_raw < 1e-5) continue;
float err = kinect_raw-p.z;
cv::putText(debug_img, format("%d", (int)(err*1000)), Point(p.x, p.y), CV_FONT_NORMAL, 0.4, Scalar(255,0,0));
ntk_dbg_print(pattern_points[0][pattern_i], 1);
ntk_dbg_print(p, 1);
ntk_dbg_print(kinect_raw, 1);
depth_values.push_back(DepthCalibrationPoint(kinect_raw, p.z));
}
imshow("errors", debug_img);
cv::waitKey(0);
}
