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refactor(*): delete folder-3rdparty;style(*): change coding styles

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This commit is contained in:
Messier
2019-09-04 17:49:30 +08:00
parent 7747a0c3fc
commit 050e7d6771
294 changed files with 61 additions and 80752 deletions
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58
src/mynteye/api/processor/rectify_processor.cc
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@@ -177,7 +177,8 @@ void RectifyProcessor::stereoRectify(models::CameraPtr leftOdo,
_alpha = MIN(alpha, 1.);
{
newImgSize = newImgSize.width*newImgSize.height != 0 ? newImgSize : imageSize;
newImgSize = newImgSize.width*newImgSize.height != 0 ?
newImgSize : imageSize;
double cx1_0 = cc_new[0].x;
double cy1_0 = cc_new[0].y;
double cx2_0 = cc_new[1].x;
@@ -291,19 +292,18 @@ std::shared_ptr<struct CameraROSMsgInfoPair> RectifyProcessor::stereoRectify(
Ctain::Matrix4d T = loadT(ex_right_to_left);
Ctain::Matrix3d R = T.topLeftCorner<3, 3>();
Ctain::Vector3d t = T.topRightCorner<3, 1>();
std::cout<<"T:"<<T;
// cv::Mat cv_R, cv_t;
// cv::eigen2cv(R, cv_R);
cv::Mat cv_R(3, 3, CV_64FC1);
for(int i = 0; i < 3; ++i) {
for(int j = 0; j < 3; ++j) {
for (int i = 0; i < 3; ++i) {
for (int j = 0; j < 3; ++j) {
cv_R.at<double>(i, j) = R(i, j);
}
}
// cv::eigen2cv(t, cv_t);
cv::Mat cv_t(3, 1, CV_64FC1);
for(int i = 0; i < 3; ++i) {
cv_t.at<double>(i, 0) = t(i, 0);
for (int i = 0; i < 3; ++i) {
cv_t.at<double>(i, 0) = t(i, 0);
}
cv::Mat K1, D1, K2, D2;
cv::Size image_size1, image_size2;
@@ -406,24 +406,18 @@ void RectifyProcessor::InitParams(
in_left_cur = in_left;
in_right_cur = in_right;
ex_right_to_left_cur = ex_right_to_left;
LOG(INFO) <<"q2";
models::CameraPtr camera_odo_ptr_left =
generateCameraFromIntrinsicsEquidistant(in_left);
models::CameraPtr camera_odo_ptr_right =
generateCameraFromIntrinsicsEquidistant(in_right);
LOG(INFO) <<"q3";
auto calib_info_tmp = stereoRectify(camera_odo_ptr_left,
camera_odo_ptr_right,
in_left,
in_right,
ex_right_to_left);
LOG(INFO) <<"q4";
*calib_infos = *calib_info_tmp;
cv::Mat rect_R_l =
cv::Mat::eye(3, 3, CV_32F), rect_R_r = cv::Mat::eye(3, 3, CV_32F);
@@ -433,9 +427,7 @@ void RectifyProcessor::InitParams(
rect_R_r.at<float>(i, j) = calib_infos->right.R[i*3+j];
}
}
LOG(INFO) <<"q5";
double left_f[] =
{calib_infos->left.P[0], calib_infos->left.P[5]};
double left_center[] =
@@ -444,11 +436,7 @@ void RectifyProcessor::InitParams(
{calib_infos->right.P[0], calib_infos->right.P[5]};
double right_center[] =
{calib_infos->right.P[2], calib_infos->right.P[6]};
LOG(INFO) <<"q6";
std::cout << "rectR:" << rect_R_l;
LOG(INFO) <<"q9\n";
std::cout << "left_center:"<<left_center[0]<<","<<left_center[1]<<std::endl;
camera_odo_ptr_left->initUndistortRectifyMap(
map11, map12, left_f[0], left_f[1],
cv::Size(0, 0), left_center[0],
@@ -456,19 +444,7 @@ void RectifyProcessor::InitParams(
camera_odo_ptr_right->initUndistortRectifyMap(
map21, map22, right_f[0], right_f[1],
cv::Size(0, 0), right_center[0],
right_center[1], rect_R_r);
// cv::Mat a;
// cv::Mat b;
// camera_odo_ptr_left->initUndistortRectifyMap(
// rect_R_l, rect_R_l,0, 0);
// camera_odo_ptr_right->initUndistortRectifyMap(
// map21, map22, right_f[0], right_f[1],
// cv::Size(0, 0), right_center[0],
// right_center[1], rect_R_r);
LOG(INFO) <<"q7";
right_center[1], rect_R_r);
}
const char RectifyProcessor::NAME[] = "RectifyProcessor";
@@ -481,20 +457,12 @@ RectifyProcessor::RectifyProcessor(
: Processor(std::move(proc_period)),
calib_model(CalibrationModel::UNKNOW),
_alpha(-1) {
LOG(INFO) <<"Q";
calib_infos = std::make_shared<struct CameraROSMsgInfoPair>();
LOG(INFO) <<"W";
InitParams(
*std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_left),
*std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_right),
*extr);
LOG(INFO) <<"E";
}
RectifyProcessor::~RectifyProcessor() {