diff options
Diffstat (limited to 'fix_cv3_to_4.patch')
| -rw-r--r-- | fix_cv3_to_4.patch | 109 |
1 files changed, 109 insertions, 0 deletions
diff --git a/fix_cv3_to_4.patch b/fix_cv3_to_4.patch new file mode 100644 index 000000000000..c201eeaa46c0 --- /dev/null +++ b/fix_cv3_to_4.patch @@ -0,0 +1,109 @@ +diff --git a/kinect2_calibration/CMakeLists.txt b/kinect2_calibration/CMakeLists.txt +index 0ef4dcc..bd0fa4a 100644 +--- a/kinect2_calibration/CMakeLists.txt ++++ b/kinect2_calibration/CMakeLists.txt +@@ -88,11 +88,10 @@ target_link_libraries(kinect2_calibration + # ) + + ## Mark executables and/or libraries for installation +-# install(TARGETS kinect2_bridge kinect2_bridge_node +-# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +-# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +-# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +-# ) ++install(TARGETS kinect2_calibration kinect2_calibration ++ RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ++ ++) + + ## Mark cpp header files for installation + # install(DIRECTORY include/${PROJECT_NAME}/ +diff --git a/kinect2_calibration/src/kinect2_calibration.cpp b/kinect2_calibration/src/kinect2_calibration.cpp +index 73d7957..8e35314 100644 +--- a/kinect2_calibration/src/kinect2_calibration.cpp ++++ b/kinect2_calibration/src/kinect2_calibration.cpp +@@ -110,7 +110,7 @@ public: + circleFlags = cv::CALIB_CB_ASYMMETRIC_GRID + cv::CALIB_CB_CLUSTERING; + } + +- params.push_back(CV_IMWRITE_PNG_COMPRESSION); ++ params.push_back(cv::IMWRITE_PNG_COMPRESSION); + params.push_back(9); + + board.resize(boardDims.width * boardDims.height); +@@ -347,14 +347,14 @@ private: + + if(mode == COLOR || mode == SYNC) + { +- cv::cvtColor(color, colorDisp, CV_GRAY2BGR); ++ cv::cvtColor(color, colorDisp, cv::COLOR_GRAY2BGR); + cv::drawChessboardCorners(colorDisp, boardDims, pointsColor, foundColor); + //cv::resize(colorDisp, colorDisp, cv::Size(), 0.5, 0.5); + //cv::flip(colorDisp, colorDisp, 1); + } + if(mode == IR || mode == SYNC) + { +- cv::cvtColor(irGrey, irDisp, CV_GRAY2BGR); ++ cv::cvtColor(irGrey, irDisp, cv::COLOR_GRAY2BGR); + cv::drawChessboardCorners(irDisp, boardDims, pointsIr, foundIr); + //cv::resize(irDisp, irDisp, cv::Size(), 0.5, 0.5); + //cv::flip(irDisp, irDisp, 1); +@@ -746,6 +746,10 @@ private: + #elif CV_MAJOR_VERSION == 3 + error = cv::stereoCalibrate(pointsBoard, pointsIr, pointsColor, cameraMatrixIr, distortionIr, cameraMatrixColor, distortionColor, sizeColor, + rotation, translation, essential, fundamental, cv::CALIB_FIX_INTRINSIC, termCriteria); ++ ++#elif CV_MAJOR_VERSION == 4 ++ error = cv::stereoCalibrate(pointsBoard, pointsIr, pointsColor, cameraMatrixIr, distortionIr, cameraMatrixColor, distortionColor, sizeColor, ++ rotation, translation, essential, fundamental, cv::CALIB_FIX_INTRINSIC, termCriteria); + #endif + OUT_INFO("re-projection error: " << error << std::endl); + +@@ -997,7 +1001,7 @@ public: + } + + private: +- void compareDists(const std::vector<double> &imageDists, const std::vector<double> &depthDists) const ++void compareDists(const std::vector<double> &imageDists, const std::vector<double> &depthDists) const + { + if(imageDists.size() != depthDists.size()) + { +@@ -1043,6 +1047,8 @@ private: + + void computePointDists(const cv::Mat &normal, const double distance, const cv::Mat ®ion, const cv::Rect &roi, std::vector<double> &depthDists, std::vector<double> &imageDists) + { ++ ++ OUT_INFO( "rows:" << region.rows<<std::endl); + for(int r = 0; r < region.rows; ++r) + { + const uint16_t *itD = region.ptr<uint16_t>(r); +@@ -1051,6 +1057,7 @@ private: + for(int c = 0; c < region.cols; ++c, ++itD, ++p.x) + { + const double dDist = *itD / 1000.0; ++ OUT_INFO( "dDist:" << dDist<<std::endl); + + if(dDist < 0.1) + { +@@ -1059,6 +1066,7 @@ private: + + const double iDist = computeDistance(p, normal, distance); + const double diff = iDist - dDist; ++ OUT_INFO( "std::abs(diff) :" << std::abs(diff) <<std::endl); + + if(std::abs(diff) > 0.08) + { +@@ -1088,11 +1096,12 @@ private: + void getPlane(const size_t index, cv::Mat &normal, double &distance) const + { + cv::Mat rvec, rotation, translation; +- //cv::solvePnP(board, points[index], cameraMatrix, distortion, rvec, translation, false, cv::EPNP); + #if CV_MAJOR_VERSION == 2 + cv::solvePnPRansac(board, points[index], cameraMatrix, distortion, rvec, translation, false, 300, 0.05, board.size(), cv::noArray(), cv::ITERATIVE); + #elif CV_MAJOR_VERSION == 3 + cv::solvePnPRansac(board, points[index], cameraMatrix, distortion, rvec, translation, false, 300, 0.05, 0.99, cv::noArray(), cv::SOLVEPNP_ITERATIVE); ++#elif CV_MAJOR_VERSION == 4 ++ cv::solvePnPRansac(board, points[index], cameraMatrix, distortion, rvec, translation, false, 300, 0.05, 0.99, cv::noArray(), cv::SOLVEPNP_ITERATIVE); + #endif + cv::Rodrigues(rvec, rotation); + |