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fix(data): use double instead of float ,'k' mat is overflow

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This commit is contained in:
TinyOh 2019-01-07 18:57:34 +08:00
parent d146cd92bc
commit cfbfcf06a5
1 changed files with 6 additions and 29 deletions
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35
src/mynteye/api/processor/rectify_processor.cc
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@ -36,10 +36,10 @@ struct camera_info {
unsigned int height = 0; unsigned int height = 0;
unsigned int width = 0; unsigned int width = 0;
std::string distortion_model = "null"; std::string distortion_model = "null";
float D[4] = {0}; double D[4] = {0};
float K[9] = {0}; double K[9] = {0};
float R[9] = {0}; double R[9] = {0};
float P[12] = {0}; double P[12] = {0};
}; };
struct camera_mat_info_pair { struct camera_mat_info_pair {
@ -435,9 +435,8 @@ bool RectifyProcessor::OnProcess(
#ifdef WITH_CAM_MODELS #ifdef WITH_CAM_MODELS
const ObjMat2 *input = Object::Cast<ObjMat2>(in); const ObjMat2 *input = Object::Cast<ObjMat2>(in);
ObjMat2 *output = Object::Cast<ObjMat2>(out); ObjMat2 *output = Object::Cast<ObjMat2>(out);
std::cout << in <<std::endl; cv::remap(input->first, output->first, map11, map12, cv::INTER_LINEAR);
// cv::remap(input->first, output->first, map11, map12, cv::INTER_LINEAR); cv::remap(input->second, output->second, map21, map22, cv::INTER_LINEAR);
// cv::remap(input->second, output->second, map21, map22, cv::INTER_LINEAR);
output->first_id = input->first_id; output->first_id = input->first_id;
output->first_data = input->first_data; output->first_data = input->first_data;
output->second_id = input->second_id; output->second_id = input->second_id;
@ -547,27 +546,6 @@ void RectifyProcessor::InitParams(
camodocal::CameraPtr camera_odo_ptr_right = camodocal::CameraPtr camera_odo_ptr_right =
getCamOdoCameraPtr(calib_info_pair.right); getCamOdoCameraPtr(calib_info_pair.right);
// for (int i = 0; i < 4 ; i ++) {
// std::cout << " D" << i << ": " << calib_info_pair.left.D[i];
// }
// for (int i = 0; i < 9 ; i ++) {
// std::cout << " K" << i << ": " << calib_info_pair.left.K[i];
// }
// for (int i = 0; i < 9 ; i ++) {
// std::cout << " R" << i << ": " << calib_info_pair.left.R[i];
// }
// for (int i = 0; i < 12 ; i ++) {
// if (i == 0) {
// calib_info_pair.left.P[i] = 361.184;
// }
// if (i == 5) {
// calib_info_pair.left.P[i] = 361.184;
// }
// std::cout << " P" << i << ": " << calib_info_pair.left.P[i];
// }
// D0: -0.0167962 D1: -0.0434362 D2: 0.0877926 D3: -0.0569189 K0: 361.172 K1: 0 K2: 381.437 K3: 0 K4: 361.2 K5: 244.849 K6: 0 K7: 0 K8: 1 R0: 0.999997 R1: 0.00230108 R2: 0.00118774 R3: -0.00229864 R4: 0.999995 R5: -0.00205134 R6: -0.00119245 R7: 0.0020486 R8: 0.999997 P0: 361.184 P1: 0 P2: 337.803 P3: 0 P4: 0 P5: 361.184 P6: 247.574 P7: 0 P8: 0 P9: 0 P10: 1 P11: 0
// D0: -0.0167962 D1: -0.0434362 D2: 0.0877926 D3: -0.0569189 K0: 361.172 K1: 0 K2: 381.437 K3: 0 K4: 361.2 K5: 244.849 K6: 0 K7: 0 K8: 1 R0: 1 R1: -0.000291099 R2: -2.98628e-07 R3: 0.000291099 R4: 1 R5: 1.82261e-07 R6: 2.98575e-07 R7: -1.82348e-07 R8: 1 P0: 0 P1: 0 P2: 376 P3: 0 P4: 0 P5: 0 P6: 240 P7: 0 P8: 0 P9: 0 P10: 1 P11: 0
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++) {
@ -592,7 +570,6 @@ void RectifyProcessor::InitParams(
map21, map22, right_f[0], right_f[1], map21, map22, right_f[0], right_f[1],
cv::Size(0, 0), right_center[0], cv::Size(0, 0), right_center[0],
right_center[1], rect_R_r); right_center[1], rect_R_r);
std::cout << map11 << std::endl;
} }
#endif #endif