First solveP3P results that are looking consistent.

Translation vector in meters seems to be spot on.
Rotation angles still need to be computed.
Radial distortion still need to be taken into account.

2 files changed, 36 insertions, 6 deletions

diff --git a/tracker-kinect-face/camera_kinect_ir.cpp b/tracker-kinect-face/camera_kinect_ir.cpp
index b1975db9..8499003b 100644
--- a/tracker-kinect-face/camera_kinect_ir.cpp
+++ b/tracker-kinect-face/camera_kinect_ir.cpp
@@ -114,7 +114,7 @@ inline void SafeRelease(Interface *& pInterfaceToRelease)
     }
 }
 
-bool CameraKinectIr::start(const info& args)
+bool CameraKinectIr::start(info& aInfo)
 {
     stop();
 
@@ -146,6 +146,11 @@ bool CameraKinectIr::start(const info& args)
         }
 
         SafeRelease(pInfraredFrameSource);
+
+        if (SUCCEEDED(hr))
+        {
+            iKinectSensor->get_CoordinateMapper(&iCoordinateMapper);
+        }
     }
 
 
@@ -153,6 +158,27 @@ bool CameraKinectIr::start(const info& args)
     {
         WaitForFirstFrame();
         bool success = iMatFrame.ptr() != nullptr;
+        if (success)
+        {
+            // Provide frame info
+            aInfo.width = width;
+            aInfo.height = height;
+
+            CameraIntrinsics intrinsics;
+            hr = iCoordinateMapper->GetDepthCameraIntrinsics(&intrinsics);
+            if (SUCCEEDED(hr))
+            {
+                aInfo.focalLengthX = intrinsics.FocalLengthX;
+                aInfo.focalLengthY = intrinsics.FocalLengthY;
+                aInfo.principalPointX = intrinsics.PrincipalPointX;
+                aInfo.principalPointY = intrinsics.PrincipalPointY;
+                aInfo.radialDistortionFourthOrder = intrinsics.RadialDistortionFourthOrder;
+                aInfo.radialDistortionSecondOrder = intrinsics.RadialDistortionSecondOrder;
+                aInfo.radialDistortionSixthOrder = intrinsics.RadialDistortionSixthOrder;                
+            }
+
+        }
+
         return success;
     }
 
@@ -172,6 +198,7 @@ void CameraKinectIr::stop()
         iKinectSensor->Close();
     }
 
+    SafeRelease(iCoordinateMapper);
     SafeRelease(iKinectSensor);
 
     // Free up our memory buffer if any
@@ -253,9 +280,9 @@ bool CameraKinectIr::get_frame_(cv::Mat& frame)
             // For scalling to have more precission in the range we are interrested in
             min = max - 255;            
             // See: https://stackoverflow.com/questions/14539498/change-type-of-mat-object-from-cv-32f-to-cv-8u/14539652
-            raw.convertTo(raw8, CV_8U, 255.0 / (max - min), -255.0*min / (max - min));
+            raw.convertTo(iRaw8, CV_8U, 255.0 / (max - min), -255.0*min / (max - min));
             // Second convert to RGB
-            cv::cvtColor(raw8, frame, cv::COLOR_GRAY2BGR);
+            cv::cvtColor(iRaw8, frame, cv::COLOR_GRAY2BGR);
             //
             success = true;
         }
diff --git a/tracker-kinect-face/camera_kinect_ir.h b/tracker-kinect-face/camera_kinect_ir.h
index d9e814a0..a2ddaf76 100644
--- a/tracker-kinect-face/camera_kinect_ir.h
+++ b/tracker-kinect-face/camera_kinect_ir.h
@@ -44,8 +44,8 @@ struct CameraKinectIr final : video::impl::camera
     CameraKinectIr();
     ~CameraKinectIr() override;
 
-
-    [[nodiscard]] bool start(const info& args) override;
+    // From video::impl::camera
+    [[nodiscard]] bool start(info& args) override;
     void stop() override;
     bool is_open() override;
     std::tuple<const video::impl::frame&, bool> get_frame() override;
@@ -65,9 +65,12 @@ private:
     // Frame needs to stay alive while we access the data buffer
     IInfraredFrame* iInfraredFrame = nullptr;
 
+    //
+    ICoordinateMapper* iCoordinateMapper = nullptr;
+
     video::frame iFrame;
     cv::Mat iMatFrame;
-    cv::Mat raw8;
+    cv::Mat iRaw8;
 
     float fov = 0;
     int width = 0, height = 0;