i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Calibration tool: added support for rational model (8 coeff)

Browse Source
This commit is contained in:
matlabbe
2024-05-31 10:28:14 -07:00
parent 99cb02fdff
commit 8310925c81
6 changed files with 588 additions and 360 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
corelib/src/CameraModel.cpp
View File

@@ -60,7 +60,7 @@ CameraModel::CameraModel(
localTransform_(localTransform)
{
UASSERT(K_.empty() || (K_.rows == 3 && K_.cols == 3 && K_.type() == CV_64FC1));
UASSERT(D_.empty() || (D_.rows == 1 && (D_.cols == 4 || D_.cols == 5 || D_.cols == 6 || D_.cols == 8) && D_.type() == CV_64FC1));
UASSERT(D_.empty() || (D_.rows == 1 && (D_.cols == 4 || D_.cols == 5 || D_.cols == 6 || D_.cols == 8 || D_.cols == 12 || D_.cols == 14) && D_.type() == CV_64FC1));
UASSERT(R_.empty() || (R_.rows == 3 && R_.cols == 3 && R_.type() == CV_64FC1));
UASSERT(P_.empty() || (P_.rows == 3 && P_.cols == 4 && P_.type() == CV_64FC1));
}
@@ -156,7 +156,7 @@ CameraModel::CameraModel(
bool CameraModel::initRectificationMap()
{
UASSERT(imageSize_.height > 0 && imageSize_.width > 0);
UASSERT(D_.rows == 1 && (D_.cols == 4 || D_.cols == 5 || D_.cols == 6 || D_.cols == 8));
UASSERT(D_.rows == 1 && (D_.cols == 4 || D_.cols == 5 || D_.cols == 6 || D_.cols == 8 || D_.cols == 12 || D_.cols == 14));
UASSERT(R_.rows == 3 && R_.cols == 3);
UASSERT(P_.rows == 3 && P_.cols == 4);
// init rectification map
@@ -279,7 +279,7 @@ bool CameraModel::load(const std::string & filePath)
std::vector<double> data;
n["data"] >> data;
UASSERT(rows*cols == (int)data.size());
UASSERT(rows == 1 && (cols == 4 || cols == 5 || cols == 8));
UASSERT(rows == 1 && (cols == 4 || cols == 5 || cols == 8 || cols == 12 || cols == 14));
D_ = cv::Mat(rows, cols, CV_64FC1, data.data()).clone();
}
else