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include/LiveScanClient/calibration.h

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+//   Copyright (C) 2015  Marek Kowalski (M.Kowalski@ire.pw.edu.pl), Jacek Naruniec (J.Naruniec@ire.pw.edu.pl)
+//   License: MIT Software License   See LICENSE.txt for the full license.
+
+//   If you use this software in your research, then please use the following citation:
+
+//    Kowalski, M.; Naruniec, J.; Daniluk, M.: "LiveScan3D: A Fast and Inexpensive 3D Data
+//    Acquisition System for Multiple Kinect v2 Sensors". in 3D Vision (3DV), 2015 International Conference on, Lyon, France, 2015
+
+//    @INPROCEEDINGS{Kowalski15,
+//        author={Kowalski, M. and Naruniec, J. and Daniluk, M.},
+//        booktitle={3D Vision (3DV), 2015 International Conference on},
+//        title={LiveScan3D: A Fast and Inexpensive 3D Data Acquisition System for Multiple Kinect v2 Sensors},
+//        year={2015},
+//    }
+#pragma once
+#include "stdafx.h"
+#include "marker.h"
+#include "utils.h"
+
+vector<float> RotatePoint(vector<float> &point, std::vector<std::vector<float>> &R);
+vector<float> InverseRotatePoint(vector<float> &point, std::vector<std::vector<float>> &R);
+
+struct MarkerPose
+{
+	int markerId;
+	float R[3][3];
+	float t[3];
+};
+
+class Calibration
+{
+public:
+	vector<float> worldT;
+	vector<vector<float>> worldR;
+	int iUsedMarkerId;
+
+	vector<float> cameraT;
+	vector<vector<float>> cameraR;
+
+	vector<MarkerPose> markerPoses;
+
+	bool bCalibrated;
+
+	Calibration();
+	~Calibration();
+
+	bool Calibrate(RGB *pBuffer, Point3f *pCameraCoordinates, int cColorWidth, int cColorHeight);
+private:
+	IMarker *pDetector;
+	int nSampleCounter;
+	int nRequiredSamples;
+
+	vector<vector<Point3f>> marker3DSamples;
+
+	void Procrustes(MarkerInfo &marker, vector<Point3f> &markerInWorld, vector<float> &markerT, vector<vector<float>> &markerR);
+	bool GetMarkerCorners3D(vector<Point3f> &marker3D, MarkerInfo &marker, Point3f *pCameraCoordinates, int cColorWidth, int cColorHeight);
+};
+