Set the lens distortion camera parameter in PCL 1.7.0?

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Set the lens distortion camera parameter in PCL 1.7.0?

c.pietrobon
Hi,
I need to improve the accuracy of my kinect in order to obtain a very precise pointcloudXYZ of a scene.
I have done the camera calibration by using OpenCV, and I've obtained the intrinsics and the distortion parameters of the IR camera.
(http://docs.opencv.org/doc/tutorials/calib3d/camera_calibration/camera_calibration.html#cameracalibrationopencv )

I set the camera intrinsics on my grabber with pcl::OpenNIGrabber::setRGBCameraIntrinsics(....) but I want also set the distortion parameter.
I see in PCL 1.4.0 the method  setLensDistortion (float k1, float k2, float t1, float t2)
http://docs.pointclouds.org/1.4.0/classpcl_1_1_open_n_i_grabber.html
but It disappears in PCL 1.7.0!?
http://docs.pointclouds.org/1.7.0/classpcl_1_1_open_n_i_grabber.html
why?
how can I set those parameter now?
any suggestion?

Thank you very much in advance and sorry for my English.
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Re: Set the lens distortion camera parameter in PCL 1.7.0?

Jochen Sprickerhof
Administrator
Hi,

* c.pietrobon <[hidden email]> [2013-12-13 04:54]:
> I need to improve the accuracy of my kinect in order to obtain a very
> precise pointcloudXYZ of a scene.

Have a look at: http://cs.stanford.edu/people/teichman/octo/clams/.

> I set the camera intrinsics on my grabber with
> pcl::OpenNIGrabber::setRGBCameraIntrinsics(....) but I want also set the
> distortion parameter.
> I see in PCL 1.4.0 the method  setLensDistortion (float k1, float k2, float
> t1, float t2)
> http://docs.pointclouds.org/1.4.0/classpcl_1_1_open_n_i_grabber.html
> but It disappears in PCL 1.7.0!?
> http://docs.pointclouds.org/1.7.0/classpcl_1_1_open_n_i_grabber.html
> why?

Seems like they where never implemented anyhow, see
https://github.com/PointCloudLibrary/pcl/commit/48b378c

> how can I set those parameter now?

Doesn't look like there is something out of the box. If you implement
it, would be great if you could provide it as a patch.

Cheers Jochen
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Re: Set the lens distortion camera parameter in PCL 1.7.0?

Tanaji_Kamble
In reply to this post by c.pietrobon
Hello Pietrobon,
I am also facing the problem of setting lens distortion parameter for Kinect grabber. Have you got the solution for that ? Also let me know how to check the correctness of default calibration parameters of Kinect sensor while using Kinect grabber.

Thanks in advance

Regards,
Tanaji

Tanaji Kamble
Center of Excellence in Signal & Image Processing,
COEP Pune.
E-mail : tanajikamble13@gmail.com
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