updated calibration and added chessboard maker

data/cameraCalibration/test.yml

@@ -0,0 +1,62 @@
+%YAML:1.0
+rgb_intrinsics: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 9.1061438818837405e+02, 0., 6.3894572030844893e+02, 0.,
+       1.0159836218047328e+03, 5.1807762268656427e+02, 0., 0., 1. ]
+rgb_distortion: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data: [ 2.4718199750604968e+00, -4.3116705379912347e+01,
+       -4.9702668292932815e-02, -4.1145800884046360e-02,
+       3.7338628370839876e+02 ]
+depth_intrinsics: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 1.1139479599585879e+03, 0., 6.4221631439259465e+02, 0.,
+       1.2721069827161714e+03, 5.1513262304913280e+02, 0., 0., 1. ]
+depth_distortion: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data: [ 2.4634104511678587e+00, -5.5287695263389288e+01,
+       -4.1883639708338062e-02, -6.9253103645225116e-03,
+       5.4926368953579049e+02 ]
+R: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 9.9979167987469042e-01, -1.6868564306266733e-02,
+       -1.1491231073729012e-02, 1.7258436669191909e-02,
+       9.9924809639754852e-01, 3.4718701150979497e-02,
+       1.0896936132692681e-02, -3.4909789230542151e-02,
+       9.9933105795767152e-01 ]
+T: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 4.8045502940719145e-02, -6.4041870553577712e-02,
+       2.3504712288040491e-01 ]
+rgb_size: !!opencv-matrix
+   rows: 1
+   cols: 2
+   dt: i
+   data: [ 1280, 1024 ]
+raw_rgb_size: !!opencv-matrix
+   rows: 1
+   cols: 2
+   dt: i
+   data: [ 1280, 1024 ]
+depth_size: !!opencv-matrix
+   rows: 1
+   cols: 2
+   dt: i
+   data: [ 1280, 1024 ]
+raw_depth_size: !!opencv-matrix
+   rows: 1
+   cols: 2
+   dt: i
+   data: [ 1280, 1024 ]

data/test.yml

@@ -0,0 +1,64 @@
+%YAML:1.0
+rgb_intrinsics: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 4.9870369441846698e+11, 0., 3.1024084351766937e+11, 0.,
+       5.1394026945009595e+11, 2.4874498430914774e+11, 0., 0.,
+       4.9085340525714284e+08 ]
+rgb_distortion: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data: [ 1.7149176721323605e+09, -4.5705082057601990e+10,
+       6.1300233385119349e+07, 1.4707749003982250e+07,
+       3.8898402418961865e+11 ]
+depth_intrinsics: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 6.3776944330971521e+11, 0., 3.0964361969722278e+11, 0.,
+       6.5498348076763049e+11, 2.5021949399358173e+11, 0., 0.,
+       4.9085340525714284e+08 ]
+depth_distortion: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data: [ 1.4919567722195122e+09, -9.6727964483120667e+10,
+       1.3062868010243942e+08, -1.4713379334027775e+07,
+       1.3217148367258694e+12 ]
+R: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 4.8834805450278050e+08, -9.2713908908333611e+06,
+       -4.8654747217836663e+07, 5.4104373610594003e+06,
+       4.8927731113027805e+08, -3.8929493102531388e+07,
+       4.9233832711299911e+07, 3.8194496679591924e+07,
+       4.8688219888642597e+08 ]
+T: !!opencv-matrix
+   rows: 3
+   cols: 1
+   dt: d
+   data: [ 1.2690452024557912e+08, 9.1742793587650061e+07,
+       2.0463881888618246e+08 ]
+rgb_size: !!opencv-matrix
+   rows: 1
+   cols: 2
+   dt: i
+   data: [ 1280, 1024 ]
+raw_rgb_size: !!opencv-matrix
+   rows: 1
+   cols: 2
+   dt: i
+   data: [ 1280, 1024 ]
+depth_size: !!opencv-matrix
+   rows: 1
+   cols: 2
+   dt: i
+   data: [ 1280, 1024 ]
+raw_depth_size: !!opencv-matrix
+   rows: 1
+   cols: 2
+   dt: i
+   data: [ 1280, 1024 ]

p3d/CMakeLists.txt

@@ -17,6 +17,10 @@ SET (p3d_sources
 		Camera/niKinect.cpp
 		Camera/multiNiKinect.h
 		Camera/multiNiKinect.cpp
+		Calibration/calibrateNiKinect.h
+		Calibration/calibrateNiKinect.cpp
+		Calibration/chessboard.h
+		Calibration/chessboard.cpp
 		CoordinateSpace/baseCoordinateSpace.h
 		CoordinateSpace/baseCoordinateSpace.cpp
 		CoordinateSpace/cameraCoordinateSpace.h