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Added Kinect v2 calibration and registration

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This commit is contained in:
matlabbe
2015-04-10 17:36:13 -04:00
parent 8ab867b802
commit 0e21be7f67
12 changed files with 561 additions and 73 deletions
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25
tools/CameraRGBD/main.cpp
View File

@@ -52,8 +52,8 @@ int main(int argc, char * argv[])
{
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kInfo);
ULogger::setPrintTime(false);
ULogger::setPrintWhere(false);
//ULogger::setPrintTime(false);
//ULogger::setPrintWhere(false);
int driver = 0;
if(argc < 2)
@@ -123,7 +123,7 @@ int main(int argc, char * argv[])
UERROR("Not built with Freenect2 support...");
exit(-1);
}
camera = new rtabmap::CameraFreenect2();
camera = new rtabmap::CameraFreenect2(0, rtabmap::CameraFreenect2::kTypeRGBDepthSD);
}
else if(driver == 6)
{
@@ -179,11 +179,6 @@ int main(int argc, char * argv[])
{
depth = rtabmap::util3d::cvtDepthFromFloat(depth);
}
cv::Mat tmp;
depth.convertTo(tmp, CV_8UC1, 255.0/2048.0);
cv::imshow("Video", rgb); // show frame
cv::imshow("Depth", tmp);
if(rgb.cols == depth.cols && rgb.rows == depth.rows && fx && fy)
{
@@ -191,6 +186,20 @@ int main(int argc, char * argv[])
cloud = rtabmap::util3d::transformPointCloud<pcl::PointXYZRGB>(cloud, t);
viewer.showCloud(cloud, "cloud");
}
else if(!depth.empty() && fx && fy)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = rtabmap::util3d::cloudFromDepth(depth, cx, cy, fx, fy);
cloud = rtabmap::util3d::transformPointCloud<pcl::PointXYZ>(cloud, t);
viewer.showCloud(cloud, "cloud");
}
cv::Mat tmp;
unsigned short min=0, max = 2048;
uMinMax((unsigned short*)depth.data, depth.rows*depth.cols, min, max);
depth.convertTo(tmp, CV_8UC1, 255.0/max);
cv::imshow("Video", rgb); // show frame
cv::imshow("Depth", tmp);
}
else
{

4
tools/OdometryViewer/main.cpp
View File

@@ -700,7 +700,7 @@ int main (int argc, char * argv[])
app.exec();
camera.kill();
camera.join(true);
odomThread.join(true);
}
}
@@ -793,7 +793,7 @@ int main (int argc, char * argv[])
odomViewer.exec();
cameraThread.kill();
cameraThread.join(true);
odomThread.join(true);
}
else