http://www.ee.oulu.fi/~dherrera/kinect/
This is the toolbox accompanying our CAIP 2011 paper: - Herrera C., D., Kannala, J., Heikkilä, J., "Accurate and Practical Calibration of a Depth and Color Camera Pair", CAIP 2011, Part II, LNCS 6855, pp. 437--445, 2011. Abstract We present an algorithm that simultaneously calibrates two color cameras, a depth camera, and the relative pose between them. The method is designed to have three key f
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PCLVisualizerã¯ç‚¹ç¾¤ã‚’表示ã™ã‚‹ãŸã‚ã®GUIクラスã§ã€ãƒžã‚¦ã‚¹ãƒ‰ãƒ©ãƒƒã‚°ã«ã‚ˆã£ã¦ä»»æ„ã®è¦–点ã‹ã‚‰ç‚¹ç¾¤ã‚’見るã“ã¨ãŒã§ãã¾ã™ã€‚ ã•ã¦ã€ã“ã“ã§ä»Šã®è¦–点ãŒä¸–界座標系上ã®ã©ã®ä½ç½®ã‹ã‚‰ãªã®ã‹ã€ã¾ãŸGUI上をクリックã—ãŸã¨ãã€ã“ã®ã€Œç”»åƒå¹³é¢ä¸Šã®ã€ç‚¹ã¯ä¸–界座標系上ã®ã©ã“ãªã®ã‹ã‚’å–å¾—ã™ã‚‹æ–¹æ³•ã‚’調ã¹ã¾ã—ãŸã€‚(クリックã—ãŸç‚¹ã®ã‚¨ãƒ”ãƒãƒ¼ãƒ©ç·šã‚’求ã‚ãŸã‹ã£ãŸã®ã§) (追記：å˜ã«ç‚¹ç¾¤ã®ä¸ã®ç‚¹ã‚’é¸æŠžã—ãŸã„ã ã‘ãªã‚‰ã€PCLVisualizerã®registerPointPickingCallback()メンãƒé–¢æ•°ã‚’利用ã—ã¦ã€PointPickingEventを引数ã«æŒã¤é–¢æ•°ã‚’自分ã§æ›¸ã„ã¦ã‚ã’ã‚Œã°ã€Shift Key + マウスクリックã§é¸æŠžã—ãŸç‚¹ã®IDや座標をå–å¾—ã§ãã¾ã™ã€‚ ã“ã®è¨˜äº‹ã§ã‚„ã‚ã†ã¨ã—ã¦ã„ã‚‹ã®ã¯ã€ã‚¯ãƒªãƒƒã‚¯ã—ãŸGUIç”»é¢ã®ï¼’次元座標を世界座標系ã®ä¸‰æ¬¡å…ƒåº§æ¨™ã¸å¤‰æ›ã™ã‚‹ã“ã¨ã§ã™ã€‚） PCLVisualizerã®èª¬æ˜Ž
カラーカメラã¨ãƒ‡ãƒ—スカメラ間ã®ã‚ャリブレーション - takminã®æ›¸ãã£ã±ãªã—備忘録 @ã¯ã¦ãªãƒ–ãƒã‚°
Kinectã®ã‚ˆã†ãªãƒ‡ãƒ—スカメラã§ã¯ã€å–å¾—ã—ãŸç‚¹ç¾¤ã«å‹æ‰‹ã«è‰²ã‚’ã¤ã‘ã¦ãã‚Œã¾ã™ãŒã€ãƒ‡ãƒ—スカメラ自体ã«ã¯è‰²ã‚’å–å¾—ã™ã‚‹æ©Ÿèƒ½ã¯ã‚ã‚Šã¾ã›ã‚“。 ã˜ã‚ƒã‚ã€ã©ã†ã‚„ã£ã¦ã„ã‚‹ã‹ã¨ã„ã†ã¨ã€åŒã˜ãKinectã«ã¤ã„ã¦ã„るカラーカメラã§å–å¾—ã—ãŸç”»åƒã‚’用ã„ã¦ç‚¹ç¾¤ã«è‰²ã¥ã‘ã—ã¦ã„ã¾ã™ã€‚ ãã®ãŸã‚ã«ã¯ã€ã‚«ãƒ©ãƒ¼ã‚«ãƒ¡ãƒ©ã¨ãƒ‡ãƒ—スカメラãã‚Œãžã‚Œã®ã‚«ãƒ¡ãƒ©ãƒ‘ラメータã¨äºŒã¤ã®ã‚«ãƒ¡ãƒ©ã®é–“ã®ç›¸å¯¾ä½ç½®ãŒã‚ã‹ã£ã¦ã„ã‚‹å¿…è¦ãŒã‚ã‚Šã¾ã™ã€‚ Kinectã®å†…部ã§ã¯ãã®è¾ºã¯ãƒ–ラックボックスã§ã€ã©ã®ã‚ˆã†ãªã‚¢ãƒ«ã‚´ãƒªã‚ºãƒ ã§ã‚„ã£ã¦ã„ã‚‹ã®ã‹ã‚ã‹ã‚Šã¾ã›ã‚“ãŒã€ãã†ã„ã†ã‚ャリブレーションã«é–¢ã™ã‚‹ç ”究ã¯ã„ãã¤ã‹ã•ã‚Œã¦ã„ã¾ã™ã€‚ ã“ã“ã§ã¯ã€ãã®ä¸ã®ä¸€ã¤ Raposo, C., Barreto, J. P., & Nunes, U. Fast and accurate calibration of a kinect sensor. Proceedings - 2013 Inte
Tsai Camera Calibration
Tsai Camera Calibration Camera calibration and pose estimation are major issues in computer vision since they are related to many vision problems such as stereovision, structure from motion, robot navigation and change detection [Tsai86, Faugeras93, Fitzgibbon98, Kumar94, Wilson94, Heikkila97, Pollefeys00, Zhang00, Debevec01, Kurazume02]. Camera calibration consists in the estimation of a model fo
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http://visitlab.jp/pdf/FastAccurateCalibrationKinect.pdf
naturalsoftware.jp
OCamCalib: Omnidirectional Camera Calibration Toolbox for Matlab - Davide Scaramuzza
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