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refactor(calib models): remove depedence WITH_CAM_MODELS when complie process

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This commit is contained in:
TinyOh
2019-01-09 13:07:05 +08:00
parent 9474528972
commit 210d35ffc3
4 changed files with 202 additions and 168 deletions
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177
src/mynteye/api/processor/rectify_processor.cc
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@@ -19,11 +19,6 @@
#include <opencv2/imgproc/imgproc.hpp>
#include "mynteye/logger.h"
#include "mynteye/device/device.h"
// #define WITH_CAM_MODELS
#ifdef WITH_CAM_MODELS
#include <camodocal/camera_models/Camera.h>
#include <camodocal/camera_models/CameraFactory.h>
#include <camodocal/camera_models/CataCamera.h>
@@ -344,130 +339,6 @@ struct camera_mat_info_pair stereoRectify(
return res;
}
#endif
MYNTEYE_BEGIN_NAMESPACE
const char RectifyProcessor::NAME[] = "RectifyProcessor";
RectifyProcessor::RectifyProcessor(
std::shared_ptr<Device> device, std::int32_t proc_period)
: Processor(std::move(proc_period)), device_(device) {
VLOG(2) << __func__ << ": proc_period=" << proc_period;
calib_model = CalibrationModel::UNKNOW;
NotifyImageParamsChanged();
}
RectifyProcessor::~RectifyProcessor() {
VLOG(2) << __func__;
}
std::string RectifyProcessor::Name() {
return NAME;
}
void RectifyProcessor::NotifyImageParamsChanged() {
auto in_left = device_->GetIntrinsics(Stream::LEFT);
auto in_right = device_->GetIntrinsics(Stream::RIGHT);
if (in_left->calib_model() == CalibrationModel::PINHOLE) {
InitParams(
*std::dynamic_pointer_cast<IntrinsicsPinhole>(in_left),
*std::dynamic_pointer_cast<IntrinsicsPinhole>(in_right),
device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
} else if (in_left->calib_model() ==
CalibrationModel::KANNALA_BRANDT) {
#ifdef WITH_CAM_MODELS
InitParams(
*std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_left),
*std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_right),
device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
#else
VLOG(2) << "calib model type KANNALA_BRANDT"
<< " is not been enabled.";
#endif
} else {
VLOG(2) << "calib model type "
<< in_left->calib_model()
<<" is not been enabled.";
}
}
Object *RectifyProcessor::OnCreateOutput() {
return new ObjMat2();
}
bool RectifyProcessor::OnProcess(
Object *const in, Object *const out, Processor *const parent) {
MYNTEYE_UNUSED(parent)
if (calib_model == CalibrationModel::PINHOLE) {
const ObjMat2 *input = Object::Cast<ObjMat2>(in);
ObjMat2 *output = Object::Cast<ObjMat2>(out);
cv::remap(input->first, output->first, map11, map12, cv::INTER_LINEAR);
cv::remap(input->second, output->second, map21, map22, cv::INTER_LINEAR);
output->first_id = input->first_id;
output->first_data = input->first_data;
output->second_id = input->second_id;
output->second_data = input->second_data;
return true;
} else if (calib_model == CalibrationModel::KANNALA_BRANDT) {
#ifdef WITH_CAM_MODELS
const ObjMat2 *input = Object::Cast<ObjMat2>(in);
ObjMat2 *output = Object::Cast<ObjMat2>(out);
cv::remap(input->first, output->first, map11, map12, cv::INTER_LINEAR);
cv::remap(input->second, output->second, map21, map22, cv::INTER_LINEAR);
output->first_id = input->first_id;
output->first_data = input->first_data;
output->second_id = input->second_id;
output->second_data = input->second_data;
return true;
#else
return false;
#endif
}
}
void RectifyProcessor::InitParams(
IntrinsicsPinhole in_left,
IntrinsicsPinhole in_right,
Extrinsics ex_right_to_left) {
calib_model = CalibrationModel::PINHOLE;
cv::Size size{in_left.width, in_left.height};
cv::Mat M1 =
(cv::Mat_<double>(3, 3) << in_left.fx, 0, in_left.cx, 0, in_left.fy,
in_left.cy, 0, 0, 1);
cv::Mat M2 =
(cv::Mat_<double>(3, 3) << in_right.fx, 0, in_right.cx, 0, in_right.fy,
in_right.cy, 0, 0, 1);
cv::Mat D1(1, 5, CV_64F, in_left.coeffs);
cv::Mat D2(1, 5, CV_64F, in_right.coeffs);
cv::Mat R =
(cv::Mat_<double>(3, 3) << ex_right_to_left.rotation[0][0],
ex_right_to_left.rotation[0][1], ex_right_to_left.rotation[0][2],
ex_right_to_left.rotation[1][0], ex_right_to_left.rotation[1][1],
ex_right_to_left.rotation[1][2], ex_right_to_left.rotation[2][0],
ex_right_to_left.rotation[2][1], ex_right_to_left.rotation[2][2]);
cv::Mat T(3, 1, CV_64F, ex_right_to_left.translation);
VLOG(2) << "InitParams size: " << size;
VLOG(2) << "M1: " << M1;
VLOG(2) << "M2: " << M2;
VLOG(2) << "D1: " << D1;
VLOG(2) << "D2: " << D2;
VLOG(2) << "R: " << R;
VLOG(2) << "T: " << T;
cv::Rect left_roi, right_roi;
cv::stereoRectify(
M1, D1, M2, D2, size, R, T, R1, R2, P1, P2, Q, cv::CALIB_ZERO_DISPARITY,
0, size, &left_roi, &right_roi);
cv::initUndistortRectifyMap(M1, D1, R1, P1, size, CV_16SC2, map11, map12);
cv::initUndistortRectifyMap(M2, D2, R2, P2, size, CV_16SC2, map21, map22);
}
#ifdef WITH_CAM_MODELS
camodocal::CameraPtr generateCameraFromIntrinsicsEquidistant(
const mynteye::IntrinsicsEquidistant & in) {
camodocal::EquidistantCameraPtr camera(
@@ -485,6 +356,8 @@ camodocal::CameraPtr generateCameraFromIntrinsicsEquidistant(
return camera;
}
MYNTEYE_BEGIN_NAMESPACE
void RectifyProcessor::InitParams(
IntrinsicsEquidistant in_left,
IntrinsicsEquidistant in_right,
@@ -526,6 +399,50 @@ void RectifyProcessor::InitParams(
cv::Size(0, 0), right_center[0],
right_center[1], rect_R_r);
}
#endif
const char RectifyProcessor::NAME[] = "RectifyProcessor";
RectifyProcessor::RectifyProcessor(
std::shared_ptr<Device> device, std::int32_t proc_period)
: Processor(std::move(proc_period)), device_(device) {
VLOG(2) << __func__ << ": proc_period=" << proc_period;
calib_model = CalibrationModel::UNKNOW;
NotifyImageParamsChanged();
}
RectifyProcessor::~RectifyProcessor() {
VLOG(2) << __func__;
}
std::string RectifyProcessor::Name() {
return NAME;
}
void RectifyProcessor::NotifyImageParamsChanged() {
auto in_left = device_->GetIntrinsics(Stream::LEFT);
auto in_right = device_->GetIntrinsics(Stream::RIGHT);
InitParams(
*std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_left),
*std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_right),
device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
}
Object *RectifyProcessor::OnCreateOutput() {
return new ObjMat2();
}
bool RectifyProcessor::OnProcess(
Object *const in, Object *const out, Processor *const parent) {
MYNTEYE_UNUSED(parent)
const ObjMat2 *input = Object::Cast<ObjMat2>(in);
ObjMat2 *output = Object::Cast<ObjMat2>(out);
cv::remap(input->first, output->first, map11, map12, cv::INTER_LINEAR);
cv::remap(input->second, output->second, map21, map22, cv::INTER_LINEAR);
output->first_id = input->first_id;
output->first_data = input->first_data;
output->second_id = input->second_id;
output->second_data = input->second_data;
return true;
}
MYNTEYE_END_NAMESPACE

2
src/mynteye/api/processor/rectify_processor.h
View File

@@ -48,8 +48,6 @@ class RectifyProcessor : public Processor {
Object *const in, Object *const out, Processor *const parent) override;
private:
void InitParams(IntrinsicsPinhole in_left,
IntrinsicsPinhole in_right, Extrinsics ex_right_to_left);
void InitParams(IntrinsicsEquidistant in_left,
IntrinsicsEquidistant in_right, Extrinsics ex_right_to_left);