void get_calibrated_kinect_corners(const QDir& image_dir,
const QStringList& view_list,
RGBDCalibration& calibration,
RGBDProcessor& processor,
std::vector< std::vector<Point2f> >& output_corners)
{
std::vector< std::vector<Point2f> > good_corners;
output_corners.resize(view_list.size());
for (int i_image = 0; i_image < view_list.size(); ++i_image)
{
QString filename = view_list[i_image];
QDir cur_image_dir (image_dir.absoluteFilePath(filename));
RGBDImage image;
image.loadFromDir(cur_image_dir.absolutePath().toStdString(), &calibration, &processor);
std::vector<Point2f> current_view_corners;
calibrationCorners(filename.toStdString(), "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_height()*global::opt_pattern_width())
{
output_corners[i_image] = current_view_corners;
show_corners(image.rgb(), current_view_corners, 1);
}
else
{
ntk_dbg(0) << "Warning: corners not detected";
output_corners[i_image].resize(0);
}
}
}
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);
}
