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DepthCalibrationDialog: added distortion model parameters

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matlabbe
2017-05-11 14:44:15 -04:00
parent c63b45dbf3
commit 414e3555a5
5 changed files with 496 additions and 157 deletions
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12
corelib/src/clams/discrete_depth_distortion_model.cpp
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@@ -40,10 +40,13 @@ using namespace Eigen;
namespace clams
{
DiscreteFrustum::DiscreteFrustum(int smoothing, double bin_depth) :
max_dist_(10),
DiscreteFrustum::DiscreteFrustum(int smoothing, double bin_depth, double max_dist) :
max_dist_(max_dist),
bin_depth_(bin_depth)
{
UASSERT(max_dist_ >= bin_depth_);
UASSERT(bin_depth_>0.0);
UASSERT(smoothing>=1);
num_bins_ = ceil(max_dist_ / bin_depth_);
counts_ = VectorXf::Ones(num_bins_) * smoothing;
total_numerators_ = VectorXf::Ones(num_bins_) * smoothing;
@@ -231,7 +234,8 @@ namespace clams
DiscreteDepthDistortionModel::DiscreteDepthDistortionModel(int width, int height,
int bin_width, int bin_height,
double bin_depth,
int smoothing) :
int smoothing,
double max_depth) :
width_(width),
height_(height),
bin_width_(bin_width),
@@ -248,7 +252,7 @@ namespace clams
for(size_t i = 0; i < frustums_.size(); ++i) {
frustums_[i].resize(num_bins_x_, NULL);
for(size_t j = 0; j < frustums_[i].size(); ++j)
frustums_[i][j] = new DiscreteFrustum(smoothing, bin_depth);
frustums_[i][j] = new DiscreteFrustum(smoothing, bin_depth, max_depth);
}
training_samples_ = 0;