30 #include <opencv2/opencv.hpp>
34 #include <VisionX/interface/components/KinectAndCameraCalibration.h>
39 #include <Math/Math2d.h>
40 #include <Math/Math3d.h>
56 defineOptionalProperty<std::string>(
"CameraImageProviderAdapterName",
57 "Armar3ImageProvider",
58 "Ice Adapter name of the camera image provider");
59 defineOptionalProperty<std::string>(
"KinectImageProviderAdapterName",
60 "OpenNIPointCloudProvider",
61 "Ice Adapter name of the Kinect image provider");
62 defineOptionalProperty<int>(
63 "NumberOfImages", 20,
"Number of images used for the calibration");
64 defineOptionalProperty<int>(
65 "WaitingIntervalBetweenImages", 500,
"Waiting time between captured images, in ms");
66 defineOptionalProperty<int>(
67 "NumberOfRows", 5,
"Number of rows on the calibration pattern");
68 defineOptionalProperty<int>(
69 "NumberOfColumns", 5,
"Number of columns on the calibration pattern");
70 defineOptionalProperty<double>(
71 "PatternSquareSize", 30.0,
"Size of the squares on the calibration pattern");
72 defineOptionalProperty<std::string>(
73 "OutputFileName",
"cameras.txt",
"Path to the file for saving the calibration");
94 virtual public visionx::KinectAndCameraCalibrationInterface
103 return "KinectAndCameraCalibration";
111 visionx::KinectPoseCalibration
134 std::string cameraImageProviderName, kinectImageProviderName;
135 ImageProviderInterfacePrx cameraImageProviderPrx, kinectImageProviderPrx;
138 CByteImage **cameraImages, **kinectImages;
139 int waitingIntervalBetweenImages, desiredNumberOfImages, numberOfCapturedImages;
140 double etalonParams[3];
142 std::string m_sCameraParameterFileName;
148 KinectPoseCalibration result;
149 KinectAndCameraCalibrationListenerPrx listenerPrx;