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diff --git a/kinect2_calibration/CMakeLists.txt b/kinect2_calibration/CMakeLists.txt
index 0ef4dcc..bd0fa4a 100644
--- a/kinect2_calibration/CMakeLists.txt
+++ b/kinect2_calibration/CMakeLists.txt
@@ -88,11 +88,10 @@ target_link_libraries(kinect2_calibration
# )
## Mark executables and/or libraries for installation
-# install(TARGETS kinect2_bridge kinect2_bridge_node
-# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+install(TARGETS kinect2_calibration kinect2_calibration
+ RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+
+)
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
diff --git a/kinect2_calibration/src/kinect2_calibration.cpp b/kinect2_calibration/src/kinect2_calibration.cpp
index 73d7957..8e35314 100644
--- a/kinect2_calibration/src/kinect2_calibration.cpp
+++ b/kinect2_calibration/src/kinect2_calibration.cpp
@@ -110,7 +110,7 @@ public:
circleFlags = cv::CALIB_CB_ASYMMETRIC_GRID + cv::CALIB_CB_CLUSTERING;
}
- params.push_back(CV_IMWRITE_PNG_COMPRESSION);
+ params.push_back(cv::IMWRITE_PNG_COMPRESSION);
params.push_back(9);
board.resize(boardDims.width * boardDims.height);
@@ -347,14 +347,14 @@ private:
if(mode == COLOR || mode == SYNC)
{
- cv::cvtColor(color, colorDisp, CV_GRAY2BGR);
+ cv::cvtColor(color, colorDisp, cv::COLOR_GRAY2BGR);
cv::drawChessboardCorners(colorDisp, boardDims, pointsColor, foundColor);
//cv::resize(colorDisp, colorDisp, cv::Size(), 0.5, 0.5);
//cv::flip(colorDisp, colorDisp, 1);
}
if(mode == IR || mode == SYNC)
{
- cv::cvtColor(irGrey, irDisp, CV_GRAY2BGR);
+ cv::cvtColor(irGrey, irDisp, cv::COLOR_GRAY2BGR);
cv::drawChessboardCorners(irDisp, boardDims, pointsIr, foundIr);
//cv::resize(irDisp, irDisp, cv::Size(), 0.5, 0.5);
//cv::flip(irDisp, irDisp, 1);
@@ -746,6 +746,10 @@ private:
#elif CV_MAJOR_VERSION == 3
error = cv::stereoCalibrate(pointsBoard, pointsIr, pointsColor, cameraMatrixIr, distortionIr, cameraMatrixColor, distortionColor, sizeColor,
rotation, translation, essential, fundamental, cv::CALIB_FIX_INTRINSIC, termCriteria);
+
+#elif CV_MAJOR_VERSION == 4
+ error = cv::stereoCalibrate(pointsBoard, pointsIr, pointsColor, cameraMatrixIr, distortionIr, cameraMatrixColor, distortionColor, sizeColor,
+ rotation, translation, essential, fundamental, cv::CALIB_FIX_INTRINSIC, termCriteria);
#endif
OUT_INFO("re-projection error: " << error << std::endl);
@@ -997,7 +1001,7 @@ public:
}
private:
- void compareDists(const std::vector<double> &imageDists, const std::vector<double> &depthDists) const
+void compareDists(const std::vector<double> &imageDists, const std::vector<double> &depthDists) const
{
if(imageDists.size() != depthDists.size())
{
@@ -1043,6 +1047,8 @@ private:
void computePointDists(const cv::Mat &normal, const double distance, const cv::Mat ®ion, const cv::Rect &roi, std::vector<double> &depthDists, std::vector<double> &imageDists)
{
+
+ OUT_INFO( "rows:" << region.rows<<std::endl);
for(int r = 0; r < region.rows; ++r)
{
const uint16_t *itD = region.ptr<uint16_t>(r);
@@ -1051,6 +1057,7 @@ private:
for(int c = 0; c < region.cols; ++c, ++itD, ++p.x)
{
const double dDist = *itD / 1000.0;
+ OUT_INFO( "dDist:" << dDist<<std::endl);
if(dDist < 0.1)
{
@@ -1059,6 +1066,7 @@ private:
const double iDist = computeDistance(p, normal, distance);
const double diff = iDist - dDist;
+ OUT_INFO( "std::abs(diff) :" << std::abs(diff) <<std::endl);
if(std::abs(diff) > 0.08)
{
@@ -1088,11 +1096,12 @@ private:
void getPlane(const size_t index, cv::Mat &normal, double &distance) const
{
cv::Mat rvec, rotation, translation;
- //cv::solvePnP(board, points[index], cameraMatrix, distortion, rvec, translation, false, cv::EPNP);
#if CV_MAJOR_VERSION == 2
cv::solvePnPRansac(board, points[index], cameraMatrix, distortion, rvec, translation, false, 300, 0.05, board.size(), cv::noArray(), cv::ITERATIVE);
#elif CV_MAJOR_VERSION == 3
cv::solvePnPRansac(board, points[index], cameraMatrix, distortion, rvec, translation, false, 300, 0.05, 0.99, cv::noArray(), cv::SOLVEPNP_ITERATIVE);
+#elif CV_MAJOR_VERSION == 4
+ cv::solvePnPRansac(board, points[index], cameraMatrix, distortion, rvec, translation, false, 300, 0.05, 0.99, cv::noArray(), cv::SOLVEPNP_ITERATIVE);
#endif
cv::Rodrigues(rvec, rotation);
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