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Fix t as right to left

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This commit is contained in:
John Zhao
2018-07-22 10:42:15 +08:00
parent 087ef28da1
commit 54165b1acb
8 changed files with 26 additions and 26 deletions
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6
src/api/api.cc
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@@ -213,11 +213,11 @@ std::vector<std::string> get_plugin_paths() {
API::API(std::shared_ptr<Device> device) : device_(device) {
VLOG(2) << __func__;
if (std::dynamic_pointer_cast<StandardDevice>(device_) != nullptr) {
bool in_l_ok, in_r_ok, ex_l2r_ok;
bool in_l_ok, in_r_ok, ex_r2l_ok;
device_->GetIntrinsics(Stream::LEFT, &in_l_ok);
device_->GetIntrinsics(Stream::RIGHT, &in_r_ok);
device_->GetExtrinsics(Stream::LEFT, Stream::RIGHT, &ex_l2r_ok);
if (!in_l_ok || !in_r_ok || !ex_l2r_ok) {
device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT, &ex_r2l_ok);
if (!in_l_ok || !in_r_ok || !ex_r2l_ok) {
#if defined(WITH_DEVICE_INFO_REQUIRED)
LOG(FATAL)
#else

16
src/api/processor/rectify_processor.cc
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@@ -30,7 +30,7 @@ RectifyProcessor::RectifyProcessor(
VLOG(2) << __func__ << ": proc_period=" << proc_period;
InitParams(
device->GetIntrinsics(Stream::LEFT), device->GetIntrinsics(Stream::RIGHT),
device->GetExtrinsics(Stream::LEFT, Stream::RIGHT));
device->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
}
RectifyProcessor::~RectifyProcessor() {
@@ -56,7 +56,7 @@ bool RectifyProcessor::OnProcess(
}
void RectifyProcessor::InitParams(
Intrinsics in_left, Intrinsics in_right, Extrinsics ex_left_to_right) {
Intrinsics in_left, Intrinsics in_right, Extrinsics ex_right_to_left) {
cv::Size size{in_left.width, in_left.height};
cv::Mat M1 =
@@ -68,12 +68,12 @@ void RectifyProcessor::InitParams(
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_left_to_right.rotation[0][0],
ex_left_to_right.rotation[0][1], ex_left_to_right.rotation[0][2],
ex_left_to_right.rotation[1][0], ex_left_to_right.rotation[1][1],
ex_left_to_right.rotation[1][2], ex_left_to_right.rotation[2][0],
ex_left_to_right.rotation[2][1], ex_left_to_right.rotation[2][2]);
cv::Mat T(3, 1, CV_64F, ex_left_to_right.translation);
(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;

2
src/api/processor/rectify_processor.h
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@@ -47,7 +47,7 @@ class RectifyProcessor : public Processor {
private:
void InitParams(
Intrinsics in_left, Intrinsics in_right, Extrinsics ex_left_to_right);
Intrinsics in_left, Intrinsics in_right, Extrinsics ex_right_to_left);
};
MYNTEYE_END_NAMESPACE

6
src/device/device.cc
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@@ -565,11 +565,11 @@ void Device::ReadAllInfos() {
if (img_params.ok) {
SetIntrinsics(Stream::LEFT, img_params.in_left);
SetIntrinsics(Stream::RIGHT, img_params.in_right);
SetExtrinsics(Stream::LEFT, Stream::RIGHT, img_params.ex_left_to_right);
SetExtrinsics(Stream::RIGHT, Stream::LEFT, img_params.ex_right_to_left);
VLOG(2) << "Intrinsics left: {" << GetIntrinsics(Stream::LEFT) << "}";
VLOG(2) << "Intrinsics right: {" << GetIntrinsics(Stream::RIGHT) << "}";
VLOG(2) << "Extrinsics left to right: {"
<< GetExtrinsics(Stream::LEFT, Stream::RIGHT) << "}";
VLOG(2) << "Extrinsics right to left: {"
<< GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}";
} else {
LOG(WARNING) << "Intrinsics & extrinsics not exist";
}

4
src/internal/channels.cc
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@@ -515,7 +515,7 @@ std::size_t from_data(
std::size_t i = 0;
i += from_data(&img_params->in_left, data + i, spec_version);
i += from_data(&img_params->in_right, data + i, spec_version);
i += from_data(&img_params->ex_left_to_right, data + i, spec_version);
i += from_data(&img_params->ex_right_to_left, data + i, spec_version);
return i;
}
@@ -787,7 +787,7 @@ std::size_t to_data(
std::size_t i = 3; // skip id, size
i += to_data(&img_params->in_left, data + i, spec_version);
i += to_data(&img_params->in_right, data + i, spec_version);
i += to_data(&img_params->ex_left_to_right, data + i, spec_version);
i += to_data(&img_params->ex_right_to_left, data + i, spec_version);
// others
std::size_t size = i - 3;
data[0] = Channels::FID_IMG_PARAMS;

2
src/internal/channels.h
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@@ -72,7 +72,7 @@ class MYNTEYE_API Channels {
bool ok;
Intrinsics in_left;
Intrinsics in_right;
Extrinsics ex_left_to_right;
Extrinsics ex_right_to_left;
} img_params_t;
typedef struct ImuParams {