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replaced own point cloud computing by OpenNI ConvertProjectiveToRealWorld()

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This commit is contained in:
Maria Dimashova 2011-01-24 17:09:45 +00:00
parent a47b6c23f5
commit 68ed806be0
2 changed files with 17 additions and 2 deletions
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17
modules/highgui/src/cap_openni.cpp
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@ -131,10 +131,12 @@ protected:
xn::ImageMetaData imageMetaData; xn::ImageMetaData imageMetaData;
// Cameras settings: // Cameras settings:
#if 1
// Distance between IR projector and IR camera (in meters) // Distance between IR projector and IR camera (in meters)
XnDouble baseline; XnDouble baseline;
// Focal length for the IR camera in VGA resolution (in pixels) // Focal length for the IR camera in VGA resolution (in pixels)
XnUInt64 depthFocalLength_VGA; XnUInt64 depthFocalLength_VGA;
#endif
// The value for shadow (occluded pixels) // The value for shadow (occluded pixels)
XnUInt64 shadowValue; XnUInt64 shadowValue;
// The value for pixels without a valid disparity measurement // The value for pixels without a valid disparity measurement
@ -215,6 +217,7 @@ CvCapture_OpenNI::~CvCapture_OpenNI()
void CvCapture_OpenNI::readCamerasParams() void CvCapture_OpenNI::readCamerasParams()
{ {
#if 1
XnDouble pixelSize = 0; XnDouble pixelSize = 0;
if( depthGenerator.GetRealProperty( "ZPPS", pixelSize ) != XN_STATUS_OK ) if( depthGenerator.GetRealProperty( "ZPPS", pixelSize ) != XN_STATUS_OK )
CV_Error( CV_StsError, "Could not read pixel size!" ); CV_Error( CV_StsError, "Could not read pixel size!" );
@ -235,6 +238,7 @@ void CvCapture_OpenNI::readCamerasParams()
// focal length from mm -> pixels (valid for 640x480) // focal length from mm -> pixels (valid for 640x480)
depthFocalLength_VGA = (XnUInt64)((double)zpd / (double)pixelSize); depthFocalLength_VGA = (XnUInt64)((double)zpd / (double)pixelSize);
#endif
if( depthGenerator.GetIntProperty( "ShadowValue", shadowValue ) != XN_STATUS_OK ) if( depthGenerator.GetIntProperty( "ShadowValue", shadowValue ) != XN_STATUS_OK )
CV_Error( CV_StsError, "Could not read shadow value!" ); CV_Error( CV_StsError, "Could not read shadow value!" );
@ -305,14 +309,17 @@ IplImage* CvCapture_OpenNI::retrievePointCloudMap()
if( cols <= 0 || rows <= 0 ) if( cols <= 0 || rows <= 0 )
return 0; return 0;
#if 0
// X = (x - centerX) * depth / F[in pixels] // X = (x - centerX) * depth / F[in pixels]
// Y = (y - centerY) * depth / F[in pixels] // Y = (y - centerY) * depth / F[in pixels]
// Z = depth // Z = depth
// Multiply by 0.001 to convert from mm in meters. // Multiply by 0.001 to convert from mm in meters.
float mult = 0.001f / depthFocalLength_VGA; float mult = 0.001f / depthFocalLength_VGA;
int centerX = cols >> 1; int centerX = cols >> 1;
int centerY = rows >> 1; int centerY = rows >> 1;
#endif
cv::Mat depth; cv::Mat depth;
@ -331,7 +338,7 @@ IplImage* CvCapture_OpenNI::retrievePointCloudMap()
// Check for invalid measurements // Check for invalid measurements
if( d == badDepth ) // not valid if( d == badDepth ) // not valid
continue; continue;
#if 0
// Fill in XYZ // Fill in XYZ
cv::Point3f point3D; cv::Point3f point3D;
point3D.x = (x - centerX) * d * mult; point3D.x = (x - centerX) * d * mult;
@ -339,6 +346,14 @@ IplImage* CvCapture_OpenNI::retrievePointCloudMap()
point3D.z = d * 0.001f; point3D.z = d * 0.001f;
XYZ.at<cv::Point3f>(y,x) = point3D; XYZ.at<cv::Point3f>(y,x) = point3D;
#else
XnPoint3D proj, real;
proj.X = x;
proj.Y = y;
proj.Z = d;
depthGenerator.ConvertProjectiveToRealWorld(1, &proj, &real);
XYZ.at<cv::Point3f>(y,x) = cv::Point3f( real.X*0.001f, real.Y*0.001f, real.Z*0.001f); // from mm to meters
#endif
} }
} }

2
samples/cpp/kinect_maps.cpp
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@ -124,7 +124,7 @@ int main()
} }
if( capture.retrieve( validDepthMap, OPENNI_VALID_DEPTH_MASK ) ) if( capture.retrieve( validDepthMap, OPENNI_VALID_DEPTH_MASK ) )
imshow( "valid depth map", validDepthMap ); imshow( "valid depth mask", validDepthMap );
if( capture.retrieve( bgrImage, OPENNI_BGR_IMAGE ) ) if( capture.retrieve( bgrImage, OPENNI_BGR_IMAGE ) )
imshow( "rgb image", bgrImage ); imshow( "rgb image", bgrImage );