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fix(rectify): delete useless log

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This commit is contained in:
kalman 2019-01-14 18:51:06 +08:00
parent 559d605424
commit 56d9ab6e2d
4 changed files with 18 additions and 9 deletions
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4
src/mynteye/api/processor/depth_processor.cc
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@ -29,7 +29,7 @@ DepthProcessor::DepthProcessor(
std::int32_t proc_period) std::int32_t proc_period)
: Processor(std::move(proc_period)), : Processor(std::move(proc_period)),
calib_infos_(calib_infos) { calib_infos_(calib_infos) {
VLOG(2) << __func__ << ": proc_period=" << proc_period; VLOG(2) << __func__;
} }
DepthProcessor::~DepthProcessor() { DepthProcessor::~DepthProcessor() {
@ -51,7 +51,7 @@ bool DepthProcessor::OnProcess(
ObjMat *output = Object::Cast<ObjMat>(out); ObjMat *output = Object::Cast<ObjMat>(out);
int rows = input->value.rows; int rows = input->value.rows;
int cols = input->value.cols; int cols = input->value.cols;
// std::cout << calib_infos_->T_mul_f << std::endl; std::cout << calib_infos_->T_mul_f << std::endl;
// 0.0793434 // 0.0793434
cv::Mat depth_mat = cv::Mat::zeros(rows, cols, CV_16U); cv::Mat depth_mat = cv::Mat::zeros(rows, cols, CV_16U);
for (int i = 0; i < rows; i++) { for (int i = 0; i < rows; i++) {

2
src/mynteye/api/processor/points_processor.cc
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@ -57,7 +57,7 @@ PointsProcessor::PointsProcessor(
std::int32_t proc_period) std::int32_t proc_period)
: Processor(std::move(proc_period)), : Processor(std::move(proc_period)),
calib_infos_(calib_infos) { calib_infos_(calib_infos) {
VLOG(2) << __func__ << ": proc_period=" << proc_period; VLOG(2) << __func__;
} }
PointsProcessor::~PointsProcessor() { PointsProcessor::~PointsProcessor() {

17
src/mynteye/api/processor/rectify_processor.cc
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@ -339,13 +339,22 @@ void RectifyProcessor::InitParams(
generateCameraFromIntrinsicsEquidistant(in_left); generateCameraFromIntrinsicsEquidistant(in_left);
camodocal::CameraPtr camera_odo_ptr_right = camodocal::CameraPtr camera_odo_ptr_right =
generateCameraFromIntrinsicsEquidistant(in_right); generateCameraFromIntrinsicsEquidistant(in_right);
calib_infos = <<<<<<< HEAD
auto calib_infos_temp =
stereoRectify(camera_odo_ptr_left, stereoRectify(camera_odo_ptr_left,
camera_odo_ptr_right, camera_odo_ptr_right,
in_left, in_left,
in_right, in_right,
ex_right_to_left); ex_right_to_left);
*calib_infos = *calib_infos_temp;
=======
auto calib_info_tmp = stereoRectify(camera_odo_ptr_left,
camera_odo_ptr_right,
in_left,
in_right,
ex_right_to_left);
*calib_infos = *calib_info_tmp;
>>>>>>> e56bf190f6df8a0af3b1c90b0e2008c8ae68309f
cv::Mat rect_R_l = cv::Mat rect_R_l =
cv::Mat::eye(3, 3, CV_32F), rect_R_r = cv::Mat::eye(3, 3, CV_32F); cv::Mat::eye(3, 3, CV_32F), rect_R_r = cv::Mat::eye(3, 3, CV_32F);
for (size_t i = 0; i < 3; i++) { for (size_t i = 0; i < 3; i++) {
@ -381,7 +390,11 @@ RectifyProcessor::RectifyProcessor(
std::int32_t proc_period) std::int32_t proc_period)
: Processor(std::move(proc_period)), : Processor(std::move(proc_period)),
calib_model(CalibrationModel::UNKNOW) { calib_model(CalibrationModel::UNKNOW) {
<<<<<<< HEAD
=======
VLOG(2) << __func__ << ": proc_period=" << proc_period; VLOG(2) << __func__ << ": proc_period=" << proc_period;
>>>>>>> e56bf190f6df8a0af3b1c90b0e2008c8ae68309f
calib_infos = std::make_shared<struct camera_calib_info_pair>();
InitParams( InitParams(
*std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_left), *std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_left),
*std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_right), *std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_right),

4
src/mynteye/api/processor/rectify_processor.h
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@ -23,11 +23,7 @@
#include "mynteye/types.h" #include "mynteye/types.h"
#include "mynteye/api/processor.h" #include "mynteye/api/processor.h"
#include "mynteye/device/device.h" #include "mynteye/device/device.h"
#include <camodocal/camera_models/Camera.h>
#include <camodocal/camera_models/CameraFactory.h>
#include <camodocal/camera_models/EquidistantCamera.h> #include <camodocal/camera_models/EquidistantCamera.h>
#include <camodocal/gpl/gpl.h>
#include <camodocal/camera_models/Camera.h>
#include <opencv2/core/eigen.hpp> #include <opencv2/core/eigen.hpp>
#include <boost/algorithm/string.hpp> #include <boost/algorithm/string.hpp>
#include <boost/filesystem.hpp> #include <boost/filesystem.hpp>