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Fixed build with opencv < 2.4.10 for missing fisheye model

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This commit is contained in:
matlabbe
2018-09-24 15:09:12 -04:00
parent c341648a44
commit b581a62c89
3 changed files with 42 additions and 19 deletions
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6
corelib/src/CameraModel.cpp
View File

@@ -161,6 +161,7 @@ void CameraModel::initRectificationMap()
UINFO("Initialize rectify map");
if(D_.cols == 6)
{
#if CV_MAJOR_VERSION > 2 or (CV_MAJOR_VERSION == 2 and (CV_MINOR_VERSION >4 or (CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION >=10)))
// Equidistant / FishEye
// get only k parameters (k1,k2,p1,p2,k3,k4)
cv::Mat D(1, 4, CV_64FC1);
@@ -171,6 +172,11 @@ void CameraModel::initRectificationMap()
cv::fisheye::initUndistortRectifyMap(K_, D, R_, P_, imageSize_, CV_32FC1, mapX_, mapY_);
}
else
#else
UWARN("Too old opencv version (%d,%d,%d) to support fisheye model (min 2.4.10 required)!",
CV_MAJOR_VERSION, CV_MINOR_VERSION, CV_SUBMINOR_VERSION);
}
#endif
{
// RadialTangential
cv::initUndistortRectifyMap(K_, D_, R_, P_, imageSize_, CV_32FC1, mapX_, mapY_);

12
corelib/src/Memory.cpp
View File

@@ -3883,6 +3883,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
cv::KeyPoint::convert(keypoints,pointsIn);
if(decimatedData.cameraModels()[0].D_raw().cols == 6)
{
#if CV_MAJOR_VERSION > 2 or (CV_MAJOR_VERSION == 2 and (CV_MINOR_VERSION >4 or (CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION >=10)))
// Equidistant / FishEye
// get only k parameters (k1,k2,p1,p2,k3,k4)
cv::Mat D(1, 4, CV_64FC1);
@@ -3897,6 +3898,11 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
decimatedData.cameraModels()[0].P());
}
else
#else
UWARN("Too old opencv version (%d,%d,%d) to support fisheye model (min 2.4.10 required)!",
CV_MAJOR_VERSION, CV_MINOR_VERSION, CV_SUBMINOR_VERSION);
}
#endif
{
//RadialTangential
cv::undistortPoints(pointsIn, pointsOut,
@@ -3933,6 +3939,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
pointsIn.push_back(cv::Point2f(keypoints.at(i).pt.x-subImageWidth*cameraIndex, keypoints.at(i).pt.y));
if(decimatedData.cameraModels()[cameraIndex].D_raw().cols == 6)
{
#if CV_MAJOR_VERSION > 2 or (CV_MAJOR_VERSION == 2 and (CV_MINOR_VERSION >4 or (CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION >=10)))
// Equidistant / FishEye
// get only k parameters (k1,k2,p1,p2,k3,k4)
cv::Mat D(1, 4, CV_64FC1);
@@ -3947,6 +3954,11 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
decimatedData.cameraModels()[cameraIndex].P());
}
else
#else
UWARN("Too old opencv version (%d,%d,%d) to support fisheye model (min 2.4.10 required)!",
CV_MAJOR_VERSION, CV_MINOR_VERSION, CV_SUBMINOR_VERSION);
}
#endif
{
//RadialTangential
cv::undistortPoints(pointsIn, pointsOut,