Calibrating Kinect-IR

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Thiago

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Aug 22, 2012, 3:57:09 PM8/22/12
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First of all, thanks Nicolas for the amazing work you have been doing to the community!
I've been using your software for quite awhile, but recently I had to start using the libfreenect drivers backened and thats where my problems started. Im currently using Windows 7 x64 bits, SP1, with lib-usb 1.2.6.0
I cannot take snapshots of both RGB and IR images at the same time. I have launched rgbd-viewer with --freenect option and checked the Dual RGB/IR Mode, but all I can see is the RGB Color Image beeing refreshed, the Infrared Image is frozen. If I click on "Show IR", at Capture, I can see the IR image just fine, but then the RGB video freezes.
Ive tried switching back to older versions of lib-usb, but that havent worked either.
I had to recompile all of your examples with vs2008.

This is the command input I use to get the Kinect Calibration: D:\Projects\RGBDemo-0.7.0-Source\buildFreenect\bin\Release>calibrate-kinect-ir.e
xe --pattern-size 0.025 --input grab1/unknown --pattern-width 9 --pattern-height 6 (Yes, somehow my serial isnt beeing recognized and yes, ive tried doing a CD to the bin/folder and retry everything from there without sucess).

What am I missing?

Best regards,
Thiago.
color.png
color.png.corners.png
depth.raw
intensity.raw

Nicolas Burrus

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Aug 28, 2012, 6:11:33 AM8/28/12
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Hmm the dual-mode might be broken, I haven't used it for quite a long
time now :-/ You should see the rgb and ir images being updated at the
same time, but slowly. Can you open an issue?
https://github.com/nburrus/rgbdemo/issues?direction=desc&sort=created&state=open

Thanks!
Nicolas

Alex Gorbachev

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Oct 6, 2012, 9:46:12 PM10/6/12
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I get the same issue but on Mac OS X (10.7 Lion).

Attached 3 images here to illustrate as I don't seem to be able to have attachements to the github bug.


 

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Thiago Motta

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Oct 7, 2012, 2:38:56 AM10/7/12
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I actually forgot to open an Issue, but it will work if you install the freenect version that comes with the rgbdemo

2012/10/6 Alex Gorbachev <gorb...@pythian.com>



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Abraço,
Thiago Ribeiro da Motta.

Alex Gorbachev

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Oct 7, 2012, 11:03:00 AM10/7/12
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Thanks for update. I didn't know there is embedded version shipped. How do you switch between internal and embedded libfreenect?

Alex

Alex Gorbachev

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Oct 7, 2012, 11:58:36 AM10/7/12
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I've also just built 0.7.0 from sources and it's behaviour is different.
First of all, there is amplitude image displayed - it's always empty but it wasn't there in pre-built version.
IR image is always black - when I select dual RGB/IR mode and/or Show IR option - it stays black. However, the RGB image never freezes and depth image is always working properly.

Attached sceenshot demonstrates it.

Alex

On Sunday, October 7, 2012 11:03:03 AM UTC-4, Alex Gorbachev wrote:
Thanks for update. I didn't know there is embedded version shipped. How do you switch between internal and embedded libfreenect?

Alex

On 2012-10-07, at 2:39 AM, Thiago Motta wrote:

I actually forgot to open an Issue, but it will work if you install the freenect version that comes with the rgbdemo

2012/10/6 Alex Gorbachev
I get the same issue but on Mac OS X (10.7 Lion).
Screen Shot 2012-10-07 at 11.53.08 AM.png

Alex Gorbachev

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Oct 7, 2012, 12:16:23 PM10/7/12
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Interesting... I just tried to calibrate from the meny interface (Show -> Calibration) when I can grab images and calibrate from the UI - this calibration reported OK (but it only shows depth and RGB screen) and saved yml file. Just retried capturing frames and calibrate from the command line - I get at the end: "FATAL failure: Could not detect the checkerboard in any IR image."

Alex

Alex Gorbachev

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Oct 7, 2012, 12:20:01 PM10/7/12
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That yml file seems to have quite a bit of data empty. I'm not sure it's good.
calibration-A00361A04932050A.yml

Alex Gorbachev

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Oct 7, 2012, 12:57:43 PM10/7/12
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I think I found the problem - it was using OpenNI driver:
Debug: [DBG] "Initializing OpenNI driver"

I forced --freenect option and it worked!

Thiago Motta

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Oct 7, 2012, 2:02:20 PM10/7/12
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the double IR/RGB mode is actually just switching between modes all the time. So first you'll have RGB mode, then it will shut it down to turn the IR mode one, shutting the IR mode down to turn the RGB mode on and so on. Thats why you have got to have a fixed calibration board, so you wont have boards in different positions. This happens because the snapshot taken from RGB and IR happens in different time.

there should be a freenect installer within rgbdemo, i just dont remember where =/

2012/10/7 Alex Gorbachev <gorb...@pythian.com>

Nicolas Burrus

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Oct 9, 2012, 12:57:23 PM10/9/12
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Note that the dual mode can only work with the libfreenect backend, not OpenNI.

salous848

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Sep 22, 2014, 10:34:20 AM9/22/14
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hi,
for IR images, how can i take it from kinect xbox360, 
is there any utility to do capturing process?
thanks
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