style(calib_model): mask the depth processer temporarily;
This commit is contained in:
TinyOh
parent
cfbfcf06a5
commit
257a6c8bef
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@ -42,12 +42,16 @@ Object *PointsProcessor::OnCreateOutput() {
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bool PointsProcessor::OnProcess(
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Object *const in, Object *const out, Processor *const parent) {
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#ifdef WITH_CAM_MODELS
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#else
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MYNTEYE_UNUSED(parent)
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const ObjMat *input = Object::Cast<ObjMat>(in);
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ObjMat *output = Object::Cast<ObjMat>(out);
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cv::reprojectImageTo3D(input->value, output->value, Q_, true);
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output->id = input->id;
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output->data = input->data;
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#endif
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return true;
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}
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@ -125,32 +125,30 @@ void stereoRectify(camodocal::CameraPtr leftOdo,
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// apply to both views
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cvGEMM(&wR, &r_r, 1, 0, 0, &Ri, CV_GEMM_B_T);
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cvConvert( &Ri, _R1 );
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cvConvert(&Ri, _R1);
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cvGEMM(&wR, &r_r, 1, 0, 0, &Ri, 0);
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cvConvert( &Ri, _R2 );
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cvConvert(&Ri, _R2);
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cvMatMul(&Ri, matT, &t);
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// calculate projection/camera matrices
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// these contain the relevant rectified image internal params (fx, fy=fx, cx, cy)
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double fc_new = DBL_MAX;
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CvPoint2D64f cc_new[2] = {{0,0}, {0,0}};
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CvPoint2D64f cc_new[2] = {{0, 0}, {0, 0}};
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newImgSize = newImgSize.width * newImgSize.height != 0 ? newImgSize : imageSize;
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const double ratio_x = (double)newImgSize.width / imageSize.width / 2;
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const double ratio_y = (double)newImgSize.height / imageSize.height / 2;
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const double ratio = idx == 1 ? ratio_x : ratio_y;
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fc_new = (cvmGet(K1, idx ^ 1, idx ^ 1) + cvmGet(K2, idx ^ 1, idx ^ 1)) * ratio;
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for( k = 0; k < 2; k++ )
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{
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for (k = 0; k < 2; k++) {
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CvPoint2D32f _pts[4];
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CvPoint3D32f _pts_3[4];
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CvMat pts = cvMat(1, 4, CV_32FC2, _pts);
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CvMat pts_3 = cvMat(1, 4, CV_32FC3, _pts_3);
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Eigen::Vector2d a;
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Eigen::Vector3d b;
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for( i = 0; i < 4; i++ )
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{
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int j = (i<2) ? 0 : 1;
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for (i = 0; i < 4; i++) {
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int j = (i < 2) ? 0 : 1;
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a.x() = (float)((i % 2)*(nx));
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a.y() = (float)(j*(ny));
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if (0 == k) {
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@ -161,35 +159,33 @@ void stereoRectify(camodocal::CameraPtr leftOdo,
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_pts[i].x = b.x()/b.z();
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_pts[i].y = b.y()/b.z();
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}
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cvConvertPointsHomogeneous( &pts, &pts_3 );
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cvConvertPointsHomogeneous(&pts, &pts_3);
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//Change camera matrix to have cc=[0,0] and fc = fc_new
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// Change camera matrix to have cc=[0,0] and fc = fc_new
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double _a_tmp[3][3];
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CvMat A_tmp = cvMat(3, 3, CV_64F, _a_tmp);
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_a_tmp[0][0]=fc_new;
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_a_tmp[1][1]=fc_new;
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_a_tmp[0][2]=0.0;
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_a_tmp[1][2]=0.0;
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cvProjectPoints2( &pts_3, k == 0 ? _R1 : _R2, &Z, &A_tmp, 0, &pts );
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_a_tmp[0][0] = fc_new;
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_a_tmp[1][1] = fc_new;
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_a_tmp[0][2] = 0.0;
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_a_tmp[1][2] = 0.0;
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cvProjectPoints2(&pts_3, k == 0 ? _R1 : _R2, &Z, &A_tmp, 0, &pts);
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CvScalar avg = cvAvg(&pts);
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cc_new[k].x = (nx)/2 - avg.val[0];
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cc_new[k].y = (ny)/2 - avg.val[1];
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//cc_new[k].x = (nx)/2;
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//cc_new[k].y = (ny)/2;
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}
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if( flags & cv::CALIB_ZERO_DISPARITY )
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{
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if (flags & cv::CALIB_ZERO_DISPARITY) {
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cc_new[0].x = cc_new[1].x = (cc_new[0].x + cc_new[1].x)*0.5;
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cc_new[0].y = cc_new[1].y = (cc_new[0].y + cc_new[1].y)*0.5;
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} else if (idx == 0) {
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// horizontal stereo
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cc_new[0].y = cc_new[1].y = (cc_new[0].y + cc_new[1].y)*0.5;
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} else {
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// vertical stereo
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cc_new[0].x = cc_new[1].x = (cc_new[0].x + cc_new[1].x)*0.5;
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}
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else if( idx == 0 ) // horizontal stereo
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cc_new[0].y = cc_new[1].y = (cc_new[0].y + cc_new[1].y)*0.5;
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else // vertical stereo
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cc_new[0].x = cc_new[1].x = (cc_new[0].x + cc_new[1].x)*0.5;
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cvZero( &pp );
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cvZero(&pp);
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_pp[0][0] = _pp[1][1] = fc_new;
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_pp[0][2] = cc_new[0].x;
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_pp[1][2] = cc_new[0].y;
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@ -201,12 +197,7 @@ void stereoRectify(camodocal::CameraPtr leftOdo,
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_pp[idx][3] = _t[idx]*fc_new; // baseline * focal length
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cvConvert(&pp, _P2);
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alpha = MIN(alpha, 1.);
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//icvGetRectangles( K1, D1, _R1, _P1, imageSize, inner1, outer1 );
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//icvGetRectangles( K2, D2, _R2, _P2, imageSize, inner2, outer2 );
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{
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newImgSize = newImgSize.width*newImgSize.height != 0 ? newImgSize : imageSize;
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double cx1_0 = cc_new[0].x;
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@ -219,27 +210,6 @@ void stereoRectify(camodocal::CameraPtr leftOdo,
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double cy2 = newImgSize.height*cy2_0/imageSize.height;
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double s = 1.;
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//if( alpha >= 0 )
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//{
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// double s0 = std::max(std::max(std::max((double)cx1/(cx1_0 - inner1.x), (double)cy1/(cy1_0 - inner1.y)),
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// (double)(newImgSize.width - cx1)/(inner1.x + inner1.width - cx1_0)),
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// (double)(newImgSize.height - cy1)/(inner1.y + inner1.height - cy1_0));
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// s0 = std::max(std::max(std::max(std::max((double)cx2/(cx2_0 - inner2.x), (double)cy2/(cy2_0 - inner2.y)),
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// (double)(newImgSize.width - cx2)/(inner2.x + inner2.width - cx2_0)),
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// (double)(newImgSize.height - cy2)/(inner2.y + inner2.height - cy2_0)),
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// s0);
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// double s1 = std::min(std::min(std::min((double)cx1/(cx1_0 - outer1.x), (double)cy1/(cy1_0 - outer1.y)),
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// (double)(newImgSize.width - cx1)/(outer1.x + outer1.width - cx1_0)),
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// (double)(newImgSize.height - cy1)/(outer1.y + outer1.height - cy1_0));
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// s1 = std::min(std::min(std::min(std::min((double)cx2/(cx2_0 - outer2.x), (double)cy2/(cy2_0 - outer2.y)),
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// (double)(newImgSize.width - cx2)/(outer2.x + outer2.width - cx2_0)),
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// (double)(newImgSize.height - cy2)/(outer2.y + outer2.height - cy2_0)),
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// s1);
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// s = s0*(1 - alpha) + s1*alpha;
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//}
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fc_new *= s;
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cc_new[0] = cvPoint2D64f(cx1, cy1);
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cc_new[1] = cvPoint2D64f(cx2, cy2);
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@ -277,8 +247,9 @@ Eigen::Matrix4d loadT(const mynteye::Extrinsics& in) {
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return T;
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}
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void loadCameraMatrix(cv::Mat& K, cv::Mat& D, cv::Size& image_size,
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struct camera_info& calib_data) {
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void loadCameraMatrix(cv::Mat& K, cv::Mat& D, // NOLINT
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cv::Size& image_size, // NOLINT
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struct camera_info& calib_data) { // NOLINT
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K = cv::Mat(3, 3, CV_64F, calib_data.K);
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std::size_t d_length = 4;
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D = cv::Mat(1, d_length, CV_64F, calib_data.D);
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@ -335,16 +306,16 @@ struct camera_mat_info_pair stereoRectify(
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stereoRectify(leftOdo, rightOdo, &c_K1, &c_K2, &c_D1, &c_D2,
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image_size1, &c_R, &c_t, &c_R1, &c_R2, &c_P1, &c_P2);
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std::cout << "K1: " << K1 << std::endl;
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std::cout << "D1: " << D1 << std::endl;
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std::cout << "K2: " << K2 << std::endl;
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std::cout << "D2: " << D2 << std::endl;
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std::cout << "R: " << cv_R << std::endl;
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std::cout << "t: " << cv_t << std::endl;
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std::cout << "R1: " << R1 << std::endl;
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std::cout << "R2: " << R2 << std::endl;
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std::cout << "P1: " << P1 << std::endl;
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std::cout << "P2: " << P2 << std::endl;
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// std::cout << "K1: " << K1 << std::endl;
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// std::cout << "D1: " << D1 << std::endl;
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// std::cout << "K2: " << K2 << std::endl;
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// std::cout << "D2: " << D2 << std::endl;
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// std::cout << "R: " << cv_R << std::endl;
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// std::cout << "t: " << cv_t << std::endl;
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// std::cout << "R1: " << R1 << std::endl;
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// std::cout << "R2: " << R2 << std::endl;
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// std::cout << "P1: " << P1 << std::endl;
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// std::cout << "P2: " << P2 << std::endl;
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R1 = rectifyrad(R1);
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R2 = rectifyrad(R2);
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@ -441,7 +412,7 @@ bool RectifyProcessor::OnProcess(
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output->first_data = input->first_data;
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output->second_id = input->second_id;
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output->second_data = input->second_data;
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return true;
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return false;
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#else
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return false;
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#endif
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@ -490,23 +461,6 @@ void RectifyProcessor::InitParams(
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#ifdef WITH_CAM_MODELS
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camodocal::CameraPtr getCamOdoCameraPtr(const struct camera_info& calib_mat_data) {
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std::string camera_model = calib_mat_data.distortion_model;
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int w = calib_mat_data.width;
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int h = calib_mat_data.height;
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double fx = calib_mat_data.K[0];
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double fy = calib_mat_data.K[4];
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double cx = calib_mat_data.K[2];
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double cy = calib_mat_data.K[5];
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camodocal::EquidistantCameraPtr camera(new camodocal::EquidistantCamera);
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camodocal::EquidistantCamera::Parameters params(camera_model, w, h, calib_mat_data.D[0],
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calib_mat_data.D[1], calib_mat_data.D[2], calib_mat_data.D[3], fx, fy, cx, cy);
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camera->setParameters(params);
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return camera;
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}
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camodocal::CameraPtr generateCameraFromIntrinsicsEquidistant(
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const mynteye::IntrinsicsEquidistant & in) {
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camodocal::EquidistantCameraPtr camera(
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@ -528,24 +482,18 @@ void RectifyProcessor::InitParams(
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IntrinsicsEquidistant in_left,
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IntrinsicsEquidistant in_right,
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Extrinsics ex_right_to_left) {
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calib_model = CalibrationModel::KANNALA_BRANDT;
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camodocal::CameraPtr camera_odo_ptr_left_o =
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camodocal::CameraPtr camera_odo_ptr_left =
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generateCameraFromIntrinsicsEquidistant(in_left);
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camodocal::CameraPtr camera_odo_ptr_right_o =
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camodocal::CameraPtr camera_odo_ptr_right =
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generateCameraFromIntrinsicsEquidistant(in_right);
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struct camera_mat_info_pair calib_info_pair =
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stereoRectify(camera_odo_ptr_left_o,
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camera_odo_ptr_right_o,
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stereoRectify(camera_odo_ptr_left,
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camera_odo_ptr_right,
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in_left,
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in_right,
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ex_right_to_left);
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camodocal::CameraPtr camera_odo_ptr_left =
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getCamOdoCameraPtr(calib_info_pair.left);
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camodocal::CameraPtr camera_odo_ptr_right =
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getCamOdoCameraPtr(calib_info_pair.right);
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cv::Mat rect_R_l =
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cv::Mat::eye(3, 3, CV_32F), rect_R_r = cv::Mat::eye(3, 3, CV_32F);
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for (size_t i = 0; i < 3; i++) {
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