Hi,I use the method in RGBDToolkit to calibrate my HD camera and kinect…
but I meet some questions…
I just calibate the HD Camera’image and kinect depth image…not like RGBDToolkit(use the vedio)… I use image from camera directory(by my canon camera sdk)…
the step is:
1)calibrate kinect,get kinect intrinsic matrix…
2)calibrate HD camera,take 13 picture from camera like RGBDToolkit (error<0.2)
3)take about 3 groups of images (kinect depth image, kinect ir image,rgb image from HD camera ),and calibrate them…
I have done these steps, and get the calibrate result…
but the result is not good…the offset is quite large…
Q1: is that RGBDToolkit do not think about the kinect distcoeff ??
Q2: I always get about 50 inliers(for 3 group images) when use the “solvePnPRansac” , and most of inliers just in one group image,
but in the RGBDToolkit tutorials,it show:
http://rgbdtoolkit.com/images/readme/good_calibration.png
I dont know why I cannot get a “good calibration” ?
Q3: I use openNI to control the kinect,and I write the freenect_camera_to_world function myself, but I dont know is it right?
void freenect_camera_to_world(int cx,int cy,int wz, double *wx,double *wy)
{
double ref_pix_size = 0.1042 ; //the value is from RGBDCaptureKinect
double ref_distance = 120.0;
double factor = 2*ref_pix_size*wz/ref_distance;
*wx = (double)(cx - DEPTH_X_RES/2)*factor;
*wy = (double)(cy - DEPTH_Y_RES/2)*factor;
}
can you leave a email? I can send you my example image and result…