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feat(calib models): float change to ushort ,fix the T_mul_f number

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TinyOh 2019-01-10 17:30:28 +08:00
parent 0edf5fca65
commit fbd416324e
3 changed files with 11 additions and 13 deletions
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9
src/mynteye/api/processor/depth_processor.cc
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@ -48,15 +48,14 @@ 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
// TODO(MYNTEYE): Put the corresponding parameters(T,f) cv::Mat depth_mat = cv::Mat::zeros(rows, cols, CV_16U);
cv::Mat depth_mat = cv::Mat::zeros(rows, cols, CV_32F);
for (int i = 0; i < rows; i++) { for (int i = 0; i < rows; i++) {
for (int j = 0; j < cols; j++) { for (int j = 0; j < cols; j++) {
float disparity_value = input->value.at<float>(i, j); float disparity_value = input->value.at<float>(i, j);
float depth = calib_infos_->T_mul_f * 1000.0 / disparity_value ; float depth = calib_infos_->T_mul_f / disparity_value;
depth_mat.at<float>(i, j) = depth; depth_mat.at<ushort>(i, j) = depth * 1000;
} }
} }
output->value = depth_mat; output->value = depth_mat;

13
src/mynteye/api/processor/points_processor.cc
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@ -32,7 +32,7 @@ struct DepthTraits<uint16_t> {
static inline bool valid(uint16_t depth) { return depth != 0; } static inline bool valid(uint16_t depth) { return depth != 0; }
static inline float toMeters(uint16_t depth) { return depth * 0.001f; } // originally mm static inline float toMeters(uint16_t depth) { return depth * 0.001f; } // originally mm
static inline uint16_t fromMeters(float depth) { return (depth * 1000.0f) + 0.5f; } static inline uint16_t fromMeters(float depth) { return (depth * 1000.0f) + 0.5f; }
static inline void initializeBuffer(std::vector<uint8_t>& buffer) {} // Do nothing - already zero-filled static inline void initializeBuffer(std::vector<uint16_t>& buffer) {} // Do nothing - already zero-filled
}; };
template<> template<>
@ -100,16 +100,15 @@ bool PointsProcessor::OnProcess(
for (int v = 0; v < height; ++v) { for (int v = 0; v < height; ++v) {
cv::Vec3f *dptr = output->value.ptr<cv::Vec3f>(v); cv::Vec3f *dptr = output->value.ptr<cv::Vec3f>(v);
for (int u = 0; u < width; ++u) { for (int u = 0; u < width; ++u) {
float depth = input->value.at<float>(v, u); float depth = input->value.at<uint16_t>(v, u);
// Missing points denoted by NaNs // Missing points denoted by NaNs
if (!DepthTraits<float>::valid(depth)) { if (!DepthTraits<uint16_t>::valid(depth)) {
continue; continue;
} }
dptr[u][0] = (u - center_x) * depth * constant_x * 1000.0;
dptr[u][0] = (u - center_x) * depth * constant_x; dptr[u][1] = (v - center_y) * depth * constant_y * 1000.0;
dptr[u][1] = (v - center_y) * depth * constant_y; dptr[u][2] = depth * 1000.0;
dptr[u][2] = DepthTraits<float>::toMeters(depth);
} }
} }

2
src/mynteye/api/processor/rectify_processor.cc
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@ -167,7 +167,7 @@ void RectifyProcessor::stereoRectify(camodocal::CameraPtr leftOdo,
_pp[0][2] = cc_new[1].x; _pp[0][2] = cc_new[1].x;
_pp[1][2] = cc_new[1].y; _pp[1][2] = cc_new[1].y;
_pp[idx][3] = _t[idx]*fc_new; // baseline * focal length _pp[idx][3] = _t[idx]*fc_new; // baseline * focal length
*T_mul_f = 0. - _t[idx]; *T_mul_f = 0. - _t[idx] * fc_new;
cvConvert(&pp, _P2); cvConvert(&pp, _P2);
alpha = MIN(alpha, 1.); alpha = MIN(alpha, 1.);