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fix(ros): DKRP

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This commit is contained in:
TinyOh 2019-03-26 15:44:34 +08:00
parent c5d15c9000
commit 5e9ce133bb
3 changed files with 49 additions and 89 deletions
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2
samples/tutorials/data/get_img_params.cc
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@ -48,7 +48,7 @@ int main(int argc, char *argv[]) {
auto info = api->GetCameraROSMsgInfoPair(); auto info = api->GetCameraROSMsgInfoPair();
if (!info->isEmpty()) if (info && !info->isEmpty())
std::cout << "ROSMsgInfoPair:"<< std::endl << *info << std::endl; std::cout << "ROSMsgInfoPair:"<< std::endl << *info << std::endl;
return 0; return 0;

2
src/mynteye/api/synthetic.cc
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@ -579,7 +579,7 @@ std::shared_ptr<struct CameraROSMsgInfoPair>
return proc->getCameraROSMsgInfoPair(); return proc->getCameraROSMsgInfoPair();
#endif #endif
} }
return {}; return nullptr;
} }
MYNTEYE_END_NAMESPACE MYNTEYE_END_NAMESPACE

134
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -1280,101 +1280,61 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
if (camera_info_ptrs_.find(stream) != camera_info_ptrs_.end()) { if (camera_info_ptrs_.find(stream) != camera_info_ptrs_.end()) {
return camera_info_ptrs_[stream]; return camera_info_ptrs_[stream];
} }
ROS_ASSERT(api_);
// http://docs.ros.org/kinetic/api/sensor_msgs/html/msg/CameraInfo.html // http://docs.ros.org/kinetic/api/sensor_msgs/html/msg/CameraInfo.html
sensor_msgs::CameraInfo *camera_info = new sensor_msgs::CameraInfo(); sensor_msgs::CameraInfo *camera_info = new sensor_msgs::CameraInfo();
camera_info_ptrs_[stream] = sensor_msgs::CameraInfoPtr(camera_info); camera_info_ptrs_[stream] = sensor_msgs::CameraInfoPtr(camera_info);
auto info_pair = api_->GetCameraROSMsgInfoPair();
std::shared_ptr<IntrinsicsBase> in_base;
if (is_intrinsics_enable_) { if (is_intrinsics_enable_) {
if (stream == Stream::RIGHT || stream == Stream::RIGHT_RECTIFIED) { if (stream == Stream::RIGHT ||
in_base = api_->GetIntrinsicsBase(Stream::RIGHT); stream == Stream::RIGHT_RECTIFIED) {
if (info_pair->right.distortion_model == "KANNALA_BRANDT") {
camera_info->distortion_model =
sensor_msgs::distortion_models::EQUIDISTANT;
for (size_t i; i < 4; i++) {
camera_info->D.push_back(info_pair->right.D[i]);
}
} else if (info_pair->right.distortion_model == "PINHOLE") {
camera_info->distortion_model =
sensor_msgs::distortion_models::PLUMB_BOB;
for (size_t i; i < 5; i++) {
camera_info->D.push_back(info_pair->right.D[i]);
}
}
for (size_t i; i < 9; i++) {
camera_info->K.at(i) = info_pair->right.K[i];
}
for (size_t i; i < 9; i++) {
camera_info->R.at(i) = info_pair->right.R[i];
}
for (size_t i; i < 12; i++) {
camera_info->P.at(i) = info_pair->right.P[i];
}
} else { } else {
in_base = api_->GetIntrinsicsBase(Stream::LEFT); if (info_pair->left.distortion_model == "KANNALA_BRANDT") {
} camera_info->distortion_model =
} else { sensor_msgs::distortion_models::EQUIDISTANT;
in_base = getDefaultIntrinsics(); for (size_t i; i < 4; i++) {
} camera_info->D.push_back(info_pair->left.D[i]);
}
camera_info->header.frame_id = frame_ids_[stream]; } else if (info_pair->left.distortion_model == "PINHOLE") {
camera_info->distortion_model =
if (in_base->calib_model() == CalibrationModel::PINHOLE) { sensor_msgs::distortion_models::PLUMB_BOB;
auto in = std::dynamic_pointer_cast<IntrinsicsPinhole>(in_base); for (size_t i; i < 5; i++) {
in -> ResizeIntrinsics(); camera_info->D.push_back(info_pair->left.D[i]);
camera_info->width = in_base->width; }
camera_info->height = in_base->height; }
// [fx 0 cx] for (size_t i; i < 9; i++) {
// K = [ 0 fy cy] camera_info->K.at(i) = info_pair->left.K[i];
// [ 0 0 1] }
camera_info->K.at(0) = in->fx; for (size_t i; i < 9; i++) {
camera_info->K.at(2) = in->cx; camera_info->R.at(i) = info_pair->left.R[i];
camera_info->K.at(4) = in->fy; }
camera_info->K.at(5) = in->cy; for (size_t i; i < 12; i++) {
camera_info->K.at(8) = 1; camera_info->P.at(i) = info_pair->left.P[i];
// [fx' 0 cx' Tx]
// P = [ 0 fy' cy' Ty]
// [ 0 0 1 0]
cv::Mat p = left_p_;
if (stream == Stream::RIGHT || stream == Stream::RIGHT_RECTIFIED) {
p = right_p_;
}
for (int i = 0; i < p.rows; i++) {
for (int j = 0; j < p.cols; j++) {
int scale = (i == 2 && j == 2)?1:1000;
camera_info->P.at(i * p.cols + j) = p.at<double>(i, j) / scale;
} }
} }
camera_info->distortion_model = sensor_msgs::distortion_models::PLUMB_BOB; // plumb_bob
// D of plumb_bob: (k1, k2, t1, t2, k3)
for (int i = 0; i < 5; i++) {
camera_info->D.push_back(in->coeffs[i]);
}
} else if (in_base->calib_model() == CalibrationModel::KANNALA_BRANDT) {
auto in = std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_base);
in -> ResizeIntrinsics();
camera_info->width = in_base->width;
camera_info->height = in_base->height;
camera_info->distortion_model = sensor_msgs::distortion_models::EQUIDISTANT; // kannala_brandt
// coeffs: k2,k3,k4,k5,mu,mv,u0,v0
camera_info->D.push_back(in->coeffs[0]); // k2
camera_info->D.push_back(in->coeffs[1]); // k3
camera_info->D.push_back(in->coeffs[2]); // k4
camera_info->D.push_back(in->coeffs[3]); // k5
camera_info->K[0] = in->coeffs[4]; // mu
camera_info->K[4] = in->coeffs[5]; // mv
camera_info->K[2] = in->coeffs[6]; // u0
camera_info->K[5] = in->coeffs[7]; // v0
camera_info->K[8] = 1;
// auto baseline = api_->GetInfo(Info::NOMINAL_BASELINE);
// Eigen::Matrix3d K = Eigen::Matrix3d::Identity();
// K(0, 0) = camera_info->K[0];
// K(0, 2) = camera_info->K[2];
// K(1, 1) = camera_info->K[4];
// K(1, 2) = camera_info->K[5];
// Eigen::Map<Eigen::Matrix<double, 3, 4, Eigen::RowMajor>>(
// camera_info->P.data()) = (Eigen::Matrix<double, 3, 4>() <<
// K, Eigen::Vector3d(baseline * K(0, 0), 0, 0)).finished();
} else {
NODELET_FATAL_STREAM("Unknown calib model, please use latest SDK.");
} }
// R to identity matrix
camera_info->R.at(0) = 1.0;
camera_info->R.at(1) = 0.0;
camera_info->R.at(2) = 0.0;
camera_info->R.at(3) = 0.0;
camera_info->R.at(4) = 1.0;
camera_info->R.at(5) = 0.0;
camera_info->R.at(6) = 0.0;
camera_info->R.at(7) = 0.0;
camera_info->R.at(8) = 1.0;
return camera_info_ptrs_[stream]; return camera_info_ptrs_[stream];
} }