Dear Thomas,
I have another question about calibration for depth image and rgb image.
Why doesn't directly do the calibration between ir image and rgb image
instead of depth-rgb, you know it's difficult to find corner point in depth
image and it seems that depth image is produced based on ir image, if not,
what's relationship between depth image and ir image?
Regards,
Deqiang
2013/1/8 Kilgus, Thomas <[email protected]>
> Ok thanks anyway! Let me know if you find out anything regarding this
> issue. ****
>
> ** **
>
> Regards****
>
> Thomas****
>
> ** **
>
> *From:* Deqiang Xiao [mailto:[email protected]]
> *Sent:* Dienstag, 8. Januar 2013 14:58
> *To:* Kilgus, Thomas
> *Cc:* [email protected]
> *Subject:* Re: [mitk-users] Camera intrinsic parameters in
> mitkToFDistanceImageToPointSetFilter.cpp of ToFProcessing module****
>
> ** **
>
> Dear Kilgus,****
>
> ** **
>
> Thank you very much for your quick reply! I will do an experiment with
> default parameters as you suggested. For the third question, I have to say
> that I never do any experiment for it and maybe I'm wrong, so I'm sorry I
> can not offer any information to prove my opinion. Thank you very much!***
> *
>
> ** **
>
> Regards,****
>
> Deqiang ****
>
> ** **
>
> 2013/1/8 Kilgus, Thomas <[email protected]>****
>
> Hi Deqiang,****
>
> ****
>
> To 1): The current default parameters in the
> mitkToFDistanceImageToXXXFilter are parameters for the PMD CamCube Camera.
> You are absolutely right, that they don’t fit to the Kinect and you have to
> adapt them. In my experience, the Kinect comes with an accurate default
> calibration. You could just use freely available parameters, like the one
> from Nicolas Burrus:
> http://nicolas.burrus.name/index.php/Research/KinectCalibration.
> Attention: We use the stereo calibration from OpenNI. That means the
> distance image is already in the RGB-image-space and you have to use the
> RGB-intrinsics (not the IR-intrinsics!). We are working on a default
> calibration file for all available cameras which would solve this problem.
> Hopefully, we will manage this feature for the next release.****
>
> ****
>
> To 2): Yes, we use the stereo calibration from OpenNI. Pixel indices
> should be the same, however, only for a default Kinect calibration. Your
> personal Kinect device can be slightly different. This should not be a big
> deal, but is depending on your application and your desired accuracy. ****
>
> ****
>
> To 3): In principle, you need camera intrinsics to perform 3D
> reconstruction of Time-of-Flight data. I am currently trying to figure out
> whether this is true or not for the Kinect in combination with OpenNI. Do
> you have any information (e.g. URL) to prove your point? I did an
> experiment where I measured a Lego Phantom with the Kinect and compared it
> to ground truth. My results are always better when I used the
> RGB-Intrinsics to reconstruct the 3D surface. Could you tell me how
> exactly you would perform the 3D reconstruction assuming you use OpenNI?
> Looking at the book “Hacking the Kinect“ the reconstruction is performed
> without any intrinsics (see chapter 7, “Moving from depth map to point
> cloud”), however, they are not using OpenNI. I could not find any good
> source, yet, which tells if OpenNI needs this conversion or not. I just
> have better results when I use the intrinsics. Any help of yours is
> appreciated.****
>
> ****
>
> (see for “Hacking the Kinect”
> http://books.google.de/books?id=IftkzqRjbO4C&pg=PA130&lpg=PA130&dq=kinect+depth+image+to+point+cloud+pinhole+camera+model&source=bl&ots=XuWzUbeny6&sig=3kAaHm5_Z02Yj3Ft7PybAJauYOM&hl=en&sa=X&ei=pue4UMKtLof1sgar-YCgBQ&ved=0CEgQ6AEwBA#v=onepage&q&f=true
> )****
>
> ****
>
> Regards,****
>
> Thomas****
>
> ****
>
> ****
>
> Thomas Kilgus****
>
> German Cancer Research Center (DKFZ)****
>
> Div. Medical and Biological Informatics ****
>
> Junior group: Computer-assisted Interventions (E131)****
>
> Im Neuenheimer Feld 280****
>
> 69120 Heidelberg, Germany****
>
> Phone: +49(0) 6221-42-3545****
>
> ****
>
> ****
>
> *From:* Deqiang Xiao [mailto:[email protected]]
> *Sent:* Dienstag, 8. Januar 2013 14:04
> *To:* [email protected]
> *Subject:* [mitk-users] Camera intrinsic parameters in
> mitkToFDistanceImageToPointSetFilter.cpp of ToFProcessing module****
>
> ****
>
> Dear all,****
>
> ****
>
> My current work is based on MITK ToFUtil with kinect for windows and I
> have read most part of related code in ToFUtil, then I get three question
> about this plug-in:****
>
> ****
>
> 1) Where are the camera intrinsic parameters in
> mimitkToFDistanceImageToPointSetFilter.cpp\mitkToFDistanceImageToSurfaceFilter.cpp(..\MITK\Modules\ToFProcessing\)
> from? If this camera intrinsic parameters are not fit for kinect, the
> calibration for IR camera of kinect is need or not?****
>
> ****
>
> 2) Do rgb image and ir image have been calibrated in ToFUtil?(If they are
> calibrated, two pixels which have the same coordinate index in rgb image
> and ir image correspond the same point in physical space)****
>
> ****
>
> 3) Why the camera intrinsic parameters are used in 3D reconstruction from
> depth image?(In my opinion, 3D reconstruction based on depth image doesn't
> need camera intrinsic parameters) ****
>
> ****
>
> Any help is appreciated!****
>
> ****
>
> Regards,****
>
> Deqiang****
>
> ****
>
> ** **
>
------------------------------------------------------------------------------
Master SQL Server Development, Administration, T-SQL, SSAS, SSIS, SSRS
and more. Get SQL Server skills now (including 2012) with LearnDevNow -
200+ hours of step-by-step video tutorials by Microsoft MVPs and experts.
SALE $99.99 this month only - learn more at:
http://p.sf.net/sfu/learnmore_122512
_______________________________________________
mitk-users mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/mitk-users
