example_reconstructmesdk_calibration.cpp

Content

This example shows how to calibrate a sensor.

Boost is only used to generate examples and is not necessary for working with this SDK.

#include <boost/test/unit_test.hpp>

#include <reconstructmesdk/reme.h>
#include <stdio.h>
#include <conio.h>

BOOST_AUTO_TEST_SUITE(example_reconstructmesdk)

BOOST_AUTO_TEST_CASE(calibration) {
    puts("Key mapping");
    puts("s: capture image of calibration target");
    puts("c: perform calibration and exit");
    puts("All keys need to be pressed with the command line in the foreground");

    // Create a new context
    reme_context_t c;
    reme_context_create(&c);

    // Create a license object
    reme_license_t l;
    reme_license_create(c, &l);
    reme_error_t e = reme_license_authenticate(c, l, "license.txt.sgn");

    if (e == REME_ERROR_SUCCESS) {
        puts("Now running in commercial mode");
    } else {
        puts("Failed to authenticate.");
    }

    // Create a new sensor with default intrinsics
    reme_sensor_t s;
    reme_sensor_create(c, "openni", false, &s);

    // Use the RGB stream as AUX image type

    reme_options_t o_cfg;
    reme_options_create(c, &o_cfg);
    reme_sensor_bind_camera_options(c, s, o_cfg);

    // Switch IR stream on.
    reme_options_set(c, o_cfg, "aux_stream.type", "STREAM_COLOR");

    // Open sensor
    reme_sensor_open(c, s);

    // Create a calibrator using standard settings (A3 chessboard 10x7)
    reme_calibrator_t calib;
    reme_calibrator_create(c, &calib);

    // We visualize two images, the auxilary image and the last detection result
    reme_viewer_t viewer;
    reme_viewer_create_image(c, "This is ReconstructMeSDK", &viewer);

    reme_image_t imgs[2];
    reme_image_create(c, &imgs[0]);
    reme_image_create(c, &imgs[1]);

    reme_viewer_add_image(c, viewer, imgs[0]);
    reme_viewer_add_image(c, viewer, imgs[1]);

    bool continue_grabbing = true;

    while (continue_grabbing && REME_SUCCESS(reme_sensor_grab(c, s))) {
        // Prepare image and update content
        reme_sensor_prepare_image(c, s, REME_IMAGE_AUX);
        reme_sensor_get_image(c, s, REME_IMAGE_AUX, imgs[0]);

        // Keyboard handling
        if (_kbhit()) {
            char k = _getch();
            switch (k) {

            // Key 's' tries to find the calibration target in the current image
            case 's': {
                reme_calibrator_add_image(c, calib, imgs[0]);
                reme_calibrator_get_detection_image(c, calib, imgs[1]);
                break;
            }

            // Key 'c' saves the volume content to disk
            case 'c' : {
                continue_grabbing = false;
                break;
            }

            }
        }

        // Update the viewer
        reme_viewer_update(c, viewer);

    } // end of grabbing loop

    // Actual calibration step

    float accuracy;
    if (REME_SUCCESS(reme_calibrator_calibrate(c, calib, &accuracy))) {
        printf("Reprojection error: %f pixels \n", accuracy);

        // Generate a new sensor config using the new intrinsic values
        reme_options_t o, o_intr, o_intr_new;

        reme_options_create(c, &o);
        reme_options_create(c, &o_intr);
        reme_options_create(c, &o_intr_new);

        // Get the current camera configuration
        reme_sensor_bind_camera_options(c, s, o);
        reme_options_bind_message(c, o, "aux_stream.intrinsics", o_intr);

        // Get the result of the calibration
        reme_calibrator_bind_intrinsics(c, calib, o_intr_new);

        // Copy over
        reme_options_copy(c, o_intr_new, o_intr);

        // Save new config to file
        reme_options_save_to_file(c, o, "calibrated_sensor.txt");
    } else {
        puts("Calibration failed");
    }

    // Print all errors
    reme_context_print_errors(c);

    // Make sure to release all memory acquired
    reme_context_destroy(&c);

}

BOOST_AUTO_TEST_SUITE_END()