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refactor(intrinsics): apply base intrinsics

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This commit is contained in:
John Zhao
2019-01-04 13:29:06 +08:00
parent 938dc08654
commit 07570f330b
14 changed files with 143 additions and 94 deletions
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32
tools/writer/device_writer.cc
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@@ -113,7 +113,7 @@ bool DeviceWriter::WriteImuParams(const std::string &filepath) {
namespace {
cv::FileStorage &operator<<(cv::FileStorage &fs, const Intrinsics &in) {
cv::FileStorage &operator<<(cv::FileStorage &fs, const IntrinsicsPinhole &in) {
fs << "{"
<< "width" << in.width << "height" << in.height << "fx" << in.fx << "fy"
<< in.fy << "cx" << in.cx << "cy" << in.cy << "model" << in.model
@@ -152,8 +152,10 @@ cv::FileStorage &operator<<(cv::FileStorage &fs, const Extrinsics &ex) {
cv::FileStorage &operator<<(
cv::FileStorage &fs, const device::img_params_t &params) {
fs << "{"
<< "in_left" << params.in_left
<< "in_right" << params.in_right
<< "in_left"
<< *std::dynamic_pointer_cast<IntrinsicsPinhole>(params.in_left)
<< "in_right"
<< *std::dynamic_pointer_cast<IntrinsicsPinhole>(params.in_right)
<< "ex_right_to_left" << params.ex_right_to_left << "}";
return fs;
}
@@ -241,7 +243,7 @@ namespace {
void to_intrinsics(
const std::uint16_t &width, const std::uint16_t &height,
const std::uint8_t &model, const cv::Mat &M, const cv::Mat &D,
Intrinsics *in) {
IntrinsicsPinhole *in) {
in->width = width;
in->height = height;
/*
@@ -272,7 +274,7 @@ void to_extrinsics(const cv::Mat &R, const cv::Mat &T, Extrinsics *ex) {
}
}
void operator>>(const cv::FileNode &n, Intrinsics &in) {
void operator>>(const cv::FileNode &n, IntrinsicsPinhole &in) {
n["width"] >> in.width;
n["height"] >> in.height;
n["fx"] >> in.fx;
@@ -314,8 +316,12 @@ void operator>>(const cv::FileNode &n, Extrinsics &ex) {
}
void operator>>(const cv::FileNode &n, DeviceWriter::img_params_t &paramas) {
n["in_left"] >> paramas.in_left;
n["in_right"] >> paramas.in_right;
auto in_left = std::make_shared<IntrinsicsPinhole>();
auto in_right = std::make_shared<IntrinsicsPinhole>();
paramas.in_left = in_left;
paramas.in_right = in_right;
n["in_left"] >> *in_left;
n["in_right"] >> *in_right;
n["ex_right_to_left"] >> paramas.ex_right_to_left;
}
@@ -346,6 +352,10 @@ DeviceWriter::img_params_map_t DeviceWriter::LoadImgParams(
img_params_map_t img_params_map;
if (fs["version"].isNone()) {
auto in_left = std::make_shared<IntrinsicsPinhole>();
auto in_right = std::make_shared<IntrinsicsPinhole>();
img_params_map[{752, 480}].in_left = in_left;
img_params_map[{752, 480}].in_right = in_right;
if (fs["in_left"].isNone()) {
std::uint16_t w = 752;
std::uint16_t h = 480;
@@ -366,13 +376,13 @@ DeviceWriter::img_params_map_t DeviceWriter::LoadImgParams(
fs["T"] >> T;
to_intrinsics(
w, h, m, M1, D1, &img_params_map[{752, 480}].in_left);
w, h, m, M1, D1, in_left.get());
to_intrinsics(
w, h, m, M2, D2, &img_params_map[{752, 480}].in_right);
w, h, m, M2, D2, in_right.get());
to_extrinsics(R, T, &img_params_map[{752, 480}].ex_right_to_left);
} else {
fs["in_left"][0] >> img_params_map[{752, 480}].in_left;
fs["in_right"][0] >> img_params_map[{752, 480}].in_right;
fs["in_left"][0] >> *in_left;
fs["in_right"][0] >> *in_right;
fs["ex_right_to_left"] >> img_params_map[{752, 480}].ex_right_to_left;
}
} else {