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fix(process): fix rectify slpha api.

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TinyO 2019-07-23 17:25:00 +08:00
parent aff716189e
commit 9775903fb1
1 changed files with 23 additions and 4 deletions
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27
src/mynteye/api/processor/rectify_processor.cc
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@ -172,7 +172,7 @@ void RectifyProcessor::stereoRectify(models::CameraPtr leftOdo,
*T_mul_f = 0. - _t[idx] * fc_new; *T_mul_f = 0. - _t[idx] * fc_new;
cvConvert(&pp, _P2); cvConvert(&pp, _P2);
alpha = MIN(alpha, 1.); _alpha = MIN(alpha, 1.);
{ {
newImgSize = newImgSize.width*newImgSize.height != 0 ? newImgSize : imageSize; newImgSize = newImgSize.width*newImgSize.height != 0 ? newImgSize : imageSize;
double cx1_0 = cc_new[0].x; double cx1_0 = cc_new[0].x;
@ -185,6 +185,25 @@ void RectifyProcessor::stereoRectify(models::CameraPtr leftOdo,
double cy2 = newImgSize.height*cy2_0/imageSize.height; double cy2 = newImgSize.height*cy2_0/imageSize.height;
double s = 1.; double s = 1.;
if ( _alpha >= 0 ) {
double s0 = std::max(std::max(std::max((double)cx1/(cx1_0 - inner1.x), (double)cy1/(cy1_0 - inner1.y)),
(double)(newImgSize.width - cx1)/(inner1.x + inner1.width - cx1_0)),
(double)(newImgSize.height - cy1)/(inner1.y + inner1.height - cy1_0));
s0 = std::max(std::max(std::max(std::max((double)cx2/(cx2_0 - inner2.x), (double)cy2/(cy2_0 - inner2.y)),
(double)(newImgSize.width - cx2)/(inner2.x + inner2.width - cx2_0)),
(double)(newImgSize.height - cy2)/(inner2.y + inner2.height - cy2_0)),
s0);
double s1 = std::min(std::min(std::min((double)cx1/(cx1_0 - outer1.x), (double)cy1/(cy1_0 - outer1.y)),
(double)(newImgSize.width - cx1)/(outer1.x + outer1.width - cx1_0)),
(double)(newImgSize.height - cy1)/(outer1.y + outer1.height - cy1_0));
s1 = std::min(std::min(std::min(std::min((double)cx2/(cx2_0 - outer2.x), (double)cy2/(cy2_0 - outer2.y)),
(double)(newImgSize.width - cx2)/(outer2.x + outer2.width - cx2_0)),
(double)(newImgSize.height - cy2)/(outer2.y + outer2.height - cy2_0)),
s1);
s = s0*(1 - alpha) + s1*alpha;
}
fc_new *= s; fc_new *= s;
cc_new[0] = cvPoint2D64f(cx1, cy1); cc_new[0] = cvPoint2D64f(cx1, cy1);
cc_new[1] = cvPoint2D64f(cx2, cy2); cc_new[1] = cvPoint2D64f(cx2, cy2);
@ -353,12 +372,12 @@ void RectifyProcessor::InitParams(
IntrinsicsEquidistant in_left, IntrinsicsEquidistant in_left,
IntrinsicsEquidistant in_right, IntrinsicsEquidistant in_right,
Extrinsics ex_right_to_left) { Extrinsics ex_right_to_left) {
in_left_cur = in_left;
in_right_cur = in_right;
ex_right_to_left_cur = ex_right_to_left;
calib_model = CalibrationModel::KANNALA_BRANDT; calib_model = CalibrationModel::KANNALA_BRANDT;
in_left.ResizeIntrinsics(); in_left.ResizeIntrinsics();
in_right.ResizeIntrinsics(); in_right.ResizeIntrinsics();
in_left_cur = in_left;
in_right_cur = in_right;
ex_right_to_left_cur = ex_right_to_left;
models::CameraPtr camera_odo_ptr_left = models::CameraPtr camera_odo_ptr_left =
generateCameraFromIntrinsicsEquidistant(in_left); generateCameraFromIntrinsicsEquidistant(in_left);
models::CameraPtr camera_odo_ptr_right = models::CameraPtr camera_odo_ptr_right =