Palette:kinectCalibration
Summary
THe kinectCalibrate component allows for calculating the intrinsics and extrinsics of a projector in relation to a Kinect device making it possible to project onto the scene captured by the kinect. The theory is the same as camSchnappr. Where camSchnappr has a 3D Object that mirrors a physical object, this component uses the point cloud as a real-world reference. Projecting a checkboard, the component detects the corners in the color image of the kinect and retireves the 3D positions of these checkerboard corners from the poincloud data. Both sets of data (2D positions of corners in projector image and 3D pos of corners in pointcloud) are the variables needed by openCV's calibrateCamera function to solve for the position of the camera - in this case the projector. The Kinect's position in this setup is assumed to be at the root.
For a step by step explanation, please refer to the video here:
See also Projection Mapping.
Parameters - Kinect Projector Calibration Page
Help
- Opens this page.
Version
- THe version of the component.
Kinectversion
- ⊞ - Choose between Kinect2 and Kinect Azure.
- Kinect2
version2
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- Kinect Azure
azure
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Sensor
- In case of a Kinect Azure multiple devices can be connected to the same computer. Choose the device you want to calibrate here.
Open
- Open the user interface.
Close
- Close the user interface.
Parameters - Calibration Page
Monitor
- Select the output index of the projector.
Monitorres
- ⊞ - The resolution of the projector. This is automatically retrieved.
- Monitor Resolution
Monitorresw
- The horizontal resolution of the projector.
- Monitor Resolution
Monitorresh
- The vertical resoltuion of the projector.
Gridscale
- The scale of the checkerboard being projected during calibration.
Gridlevel
- The level of the checkerboard being projected during calibration. Adjust this if the kinect camera has trouble detecting the corners.
Gridres
- ⊞ - The resolution of the projected checkerboard. The resolution is determined by internal corners horizontaly and vertically. A checkboard with 9 horizontal and 6 vertical squares is considered to have a resolution of 8 by 5.
- Grid Resolution
Gridresw
-
- Grid Resolution
Gridresh
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Openchecker
- Opens the output of the checkerboard on the selected projector.
Closechecker
- Closes the output of the checkerboard.
Reset
- Reset the calibration.
Getpointpair
- Collect a point pair from the camera.
Pointpairs
- Amount of succesfully collected point pairs.
Calibrate
- Calibrate the camera after colelcting sufficient number of point pairs.
Message
- Any message returned from the calibration routine.
Openpointcloud
- Open the pointcloud view on the projector. This is projecting the pointcloud back onto the physical environment. A good test if the system is well calibrated.
Closepointcloud
- Close the pointcloud output.
Showpointcloud
- Toggle if the pointcloud should be shown in the output.
Showskeleton
- Toggle if the skeleton of a single person should be shown in the Pointcloud output. When testing this will project the skeleton points back onto the person detected.
Parameters - OpenCV Page
Intrinsic
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Fixaspect
-
Zerotangent
-
Fixprincipal
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Fixfocal
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Fixk1
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Fixk2
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Fixk3
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Fixk4
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Fixk5
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Fixk6
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Operator Inputs
- Input 0: in_Color - Color camera input.
- Input 1: in_PointCloud - Pointcloud camera input.
- Input 2: in_Depth - Depth camera input.
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