int main(int argc, char** argv)
{
    arg_base::set_help_option("--help");
    arg_parse(argc, argv);
    ntk::ntk_debug_level = 1;

    namedWindow("corners");

    if      (std::string(global::opt_pattern_type()) == "chessboard") global::pattern_type = PatternChessboard;
    else if (std::string(global::opt_pattern_type()) == "circles") global::pattern_type = PatternCircles;
    else if (std::string(global::opt_pattern_type()) == "asymcircles") global::pattern_type = PatternAsymCircles;
    else fatal_error(format("Invalid pattern type: %s\n", global::opt_pattern_type()).c_str());

    global::calibration.loadFromFile(global::opt_input_file());

    global::initial_focal_length = global::calibration.rgb_pose->focalX();

    global::images_dir = QDir(global::opt_image_directory());
    ntk_ensure(global::images_dir.exists(), (global::images_dir.absolutePath() + " is not a directory.").toLatin1());

    global::images_list = global::images_dir.entryList(QStringList("view????*"), QDir::Dirs, QDir::Name);

    OpenniRGBDProcessor processor;
    processor.setFilterFlag(RGBDProcessorFlags::ComputeMapping, true);

    std::vector<ntk::RGBDImage> images;
    loadImageList(global::images_dir, global::images_list,
                  &processor, &global::calibration, images);

    std::vector< std::vector<Point2f> > good_corners;
    std::vector< std::vector<Point2f> > all_corners;
    getCalibratedCheckerboardCorners(images,
                                     global::opt_pattern_width(), global::opt_pattern_height(),
                                     global::pattern_type,
                                     all_corners, good_corners, true,
                                     global::opt_infrared());

    if (global::opt_infrared())
        calibrateFromInfrared(images, good_corners, all_corners);
    else
        calibrateFromColor(images, good_corners, all_corners);

    writeNestkMatrix();
    return 0;
}
示例#2
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);
    }