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added orbbec camera intrinsic parameters for kinfu demo #2806

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merged 2 commits into from
Jan 21, 2021
Merged

added orbbec camera intrinsic parameters for kinfu demo #2806

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696f269
added orbbec camera intrinsic parameters for kinfu demo
vpisarev Jan 5, 2021
735ab6e
removed trailing whitespace
vpisarev Jan 14, 2021
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30 changes: 28 additions & 2 deletions modules/rgbd/samples/io_utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,6 +89,19 @@ static const float k2 = -0.34f;
static const float k3 = 0.12f;
}; // namespace Kinect2Params

namespace AstraParams
{
static const Size frameSize = Size(640, 480);
// approximate values, no guarantee to be correct
static const float fx = 535.4f;
static const float fy = 539.2f;
static const float cx = 320.1f;
static const float cy = 247.6f;
static const float k1 = 0.0f;
static const float k2 = 0.0f;
static const float k3 = 0.0f;
}; // namespace Kinect2Params

struct DepthSource
{
public:
Expand All @@ -97,7 +110,8 @@ struct DepthSource
DEPTH_LIST,
DEPTH_KINECT2_LIST,
DEPTH_KINECT2,
DEPTH_REALSENSE
DEPTH_REALSENSE,
DEPTH_ASTRA
};

DepthSource(int cam) : DepthSource("", cam) {}
Expand All @@ -116,7 +130,10 @@ struct DepthSource
vc = VideoCapture(VideoCaptureAPIs::CAP_OPENNI2 + cam);
if (vc.isOpened())
{
sourceType = Type::DEPTH_KINECT2;
if(cam == 20)
sourceType = Type::DEPTH_ASTRA;
else
sourceType = Type::DEPTH_KINECT2;
}
else
{
Expand Down Expand Up @@ -201,6 +218,15 @@ struct DepthSource

frameSize = Kinect2Params::frameSize;
}
else if (sourceType == Type::DEPTH_ASTRA)
{
fx = AstraParams::fx;
fy = AstraParams::fy;
cx = AstraParams::cx;
cy = AstraParams::cy;

frameSize = AstraParams::frameSize;
}
else
{
if (sourceType == Type::DEPTH_REALSENSE)
Expand Down