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https://github.com/storytold/LiveScan3D.git
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Marek Kowalski
64027fc77d
Simplified the calibration data structure on client. Updated README, LICENSE and gitignore.
58 lines
1.8 KiB
C++
58 lines
1.8 KiB
C++
// Copyright (C) 2015 Marek Kowalski (M.Kowalski@ire.pw.edu.pl), Jacek Naruniec (J.Naruniec@ire.pw.edu.pl)
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// License: MIT Software License See LICENSE.txt for the full license.
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// If you use this software in your research, then please use the following citation:
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// Kowalski, M.; Naruniec, J.; Daniluk, M.: "LiveScan3D: A Fast and Inexpensive 3D Data
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// Acquisition System for Multiple Kinect v2 Sensors". in 3D Vision (3DV), 2015 International Conference on, Lyon, France, 2015
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// @INPROCEEDINGS{Kowalski15,
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// author={Kowalski, M. and Naruniec, J. and Daniluk, M.},
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// booktitle={3D Vision (3DV), 2015 International Conference on},
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// title={LiveScan3D: A Fast and Inexpensive 3D Data Acquisition System for Multiple Kinect v2 Sensors},
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// year={2015},
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// }
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#pragma once
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#include "stdafx.h"
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#include "marker.h"
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#include "utils.h"
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vector<float> RotatePoint(vector<float> &point, std::vector<std::vector<float>> &R);
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vector<float> InverseRotatePoint(vector<float> &point, std::vector<std::vector<float>> &R);
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struct MarkerPose
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{
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int markerId;
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float R[3][3];
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float t[3];
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};
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class Calibration
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{
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public:
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vector<float> worldT;
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vector<vector<float>> worldR;
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int iUsedMarkerId;
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vector<MarkerPose> markerPoses;
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bool bCalibrated;
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Calibration();
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~Calibration();
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bool Calibrate(RGB *pBuffer, Point3f *pCameraCoordinates, int cColorWidth, int cColorHeight);
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bool LoadCalibration();
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void SaveCalibration();
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private:
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IMarker *pDetector;
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int nSampleCounter;
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int nRequiredSamples;
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vector<vector<Point3f>> marker3DSamples;
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void Procrustes(MarkerInfo &marker, vector<Point3f> &markerInWorld, vector<float> &markerT, vector<vector<float>> &markerR);
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bool GetMarkerCorners3D(vector<Point3f> &marker3D, MarkerInfo &marker, Point3f *pCameraCoordinates, int cColorWidth, int cColorHeight);
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};
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