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refactor(api): move camera models

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This commit is contained in:
John Zhao
2019-05-30 16:19:06 +08:00
parent bc7e4919e2
commit f54eef8ad1
9 changed files with 87 additions and 49 deletions
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18
src/mynteye/api/processor/rectify_processor.cc
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@@ -37,8 +37,8 @@ cv::Mat RectifyProcessor::rectifyrad(const cv::Mat& R) {
return R.clone();
}
void RectifyProcessor::stereoRectify(camodocal::CameraPtr leftOdo,
camodocal::CameraPtr rightOdo, const CvMat* K1, const CvMat* K2,
void RectifyProcessor::stereoRectify(models::CameraPtr leftOdo,
models::CameraPtr rightOdo, const CvMat* K1, const CvMat* K2,
const CvMat* D1, const CvMat* D2, CvSize imageSize,
const CvMat* matR, const CvMat* matT,
CvMat* _R1, CvMat* _R2, CvMat* _P1, CvMat* _P2, double* T_mul_f,
@@ -249,8 +249,8 @@ struct CameraROSMsgInfo RectifyProcessor::getCalibMatData(
}
std::shared_ptr<struct CameraROSMsgInfoPair> RectifyProcessor::stereoRectify(
camodocal::CameraPtr leftOdo,
camodocal::CameraPtr rightOdo,
models::CameraPtr leftOdo,
models::CameraPtr rightOdo,
mynteye::IntrinsicsEquidistant in_left,
mynteye::IntrinsicsEquidistant in_right,
mynteye::Extrinsics ex_right_to_left) {
@@ -330,10 +330,10 @@ std::shared_ptr<struct CameraROSMsgInfoPair> RectifyProcessor::stereoRectify(
return std::make_shared<struct CameraROSMsgInfoPair>(info_pair);
}
camodocal::CameraPtr RectifyProcessor::generateCameraFromIntrinsicsEquidistant(
models::CameraPtr RectifyProcessor::generateCameraFromIntrinsicsEquidistant(
const mynteye::IntrinsicsEquidistant & in) {
camodocal::EquidistantCameraPtr camera(
new camodocal::EquidistantCamera("KANNALA_BRANDT",
models::EquidistantCameraPtr camera(
new models::EquidistantCamera("KANNALA_BRANDT",
in.width,
in.height,
in.coeffs[0],
@@ -354,9 +354,9 @@ void RectifyProcessor::InitParams(
calib_model = CalibrationModel::KANNALA_BRANDT;
in_left.ResizeIntrinsics();
in_right.ResizeIntrinsics();
camodocal::CameraPtr camera_odo_ptr_left =
models::CameraPtr camera_odo_ptr_left =
generateCameraFromIntrinsicsEquidistant(in_left);
camodocal::CameraPtr camera_odo_ptr_right =
models::CameraPtr camera_odo_ptr_right =
generateCameraFromIntrinsicsEquidistant(in_right);
auto calib_info_tmp = stereoRectify(camera_odo_ptr_left,
camera_odo_ptr_right,

20
src/mynteye/api/processor/rectify_processor.h
View File

@@ -23,11 +23,13 @@
#include "mynteye/types.h"
#include "mynteye/api/processor.h"
#include "mynteye/device/device.h"
#include <camodocal/camera_models/EquidistantCamera.h>
#include <opencv2/core/eigen.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/opencv.hpp>
#include "equidistant_camera.h"
#include <opencv2/core/core.hpp>
#include <opencv2/core/eigen.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/highgui/highgui.hpp>
MYNTEYE_BEGIN_NAMESPACE
@@ -76,8 +78,8 @@ class RectifyProcessor : public Processor {
cv::Mat rectifyrad(const cv::Mat& R);
void stereoRectify(camodocal::CameraPtr leftOdo,
camodocal::CameraPtr rightOdo, const CvMat* K1, const CvMat* K2,
void stereoRectify(models::CameraPtr leftOdo,
models::CameraPtr rightOdo, const CvMat* K1, const CvMat* K2,
const CvMat* D1, const CvMat* D2, CvSize imageSize,
const CvMat* matR, const CvMat* matT,
CvMat* _R1, CvMat* _R2, CvMat* _P1, CvMat* _P2, double* T_mul_f,
@@ -93,13 +95,13 @@ class RectifyProcessor : public Processor {
const mynteye::IntrinsicsEquidistant& in);
std::shared_ptr<struct CameraROSMsgInfoPair> stereoRectify(
camodocal::CameraPtr leftOdo,
camodocal::CameraPtr rightOdo,
models::CameraPtr leftOdo,
models::CameraPtr rightOdo,
mynteye::IntrinsicsEquidistant in_left,
mynteye::IntrinsicsEquidistant in_right,
mynteye::Extrinsics ex_right_to_left);
camodocal::CameraPtr generateCameraFromIntrinsicsEquidistant(
models::CameraPtr generateCameraFromIntrinsicsEquidistant(
const mynteye::IntrinsicsEquidistant & in);
CalibrationModel calib_model;