Author: Nathan Crock
mathnathan@gmail.com
http://www.mathnathan.com
Date: 03/23/11 14:53
----------- Kinect Camera Registraion ------------
OS SUPPORT: Only tested on Linux so far
Ubuntu 12.04, 12.10
FILES:
KinReg.cpp - The registraion program
CMakeLists.txt - Cmake file with build commands
cmake |
| find |
| Find*.cmake all of the cmake files to find the
| dependencies
DEPENDENCIES: Freenect
OpenCV
OpenGL
GLUT
COMPILATION INSTRUCTIONS:
-If you don't have cmake you can get it with aptitude
sudo apt-get install cmake
-For a breif introduction to CMake follow my tutorial
http://mathnathan.com/2010/07/11/getting-started-with-cmake/
-Make a build directory and from it run
cmake ..
make
NOTE: If you have the dependencies installed (to your root directories, or
their paths in your ldpaths), then it should "just work" in UBUNTU 12.04 and
12.10. Please let me know otherwise
---------------------------Simple Project Manual--------------------------------------
This program is intended to register multiple point clouds
into one coordinate system. The point clouds are obtained
from Microsoft's Kinect sensors.
NOTE: Only support for 2 cameras for now
It begins by finding correspondences between the two cameras.
The process is interactive.
Once KinReg is running, a window pops up containing both images side by side.
All you do is click on pixels in both cameras which correspond to the same
point in world coordinates. Currently the process is rough, it can be
improved in the future by drawing circles around the points you click on
and adding colors to signify if the correspondence is accepted or not. If
both depth measurements for your clicks are found it stores the
correspondence.
If at least one of the corespondences is bad (no depth) it deletes the match.
Once you've collected around 10 or so correspondences pushing 'p' applies
procrustes analysis on the correspondences and calculates the transformation
matrices.
Press 't' to see the translation of the centroids to the origin
Press 'a' to see the translation and rotation applied to both point clouds
======================================================================================
"Believing in the way, makes the way!"