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CameraModel: Fixed fisheye distortion params copy

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matlabbe
2019-02-15 16:55:57 -05:00
parent 15ca0da89e
commit caf165a635
1 changed files with 2 additions and 2 deletions
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4
corelib/src/CameraModel.cpp
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@@ -166,8 +166,8 @@ void CameraModel::initRectificationMap()
// Equidistant / FishEye // Equidistant / FishEye
// get only k parameters (k1,k2,p1,p2,k3,k4) // get only k parameters (k1,k2,p1,p2,k3,k4)
cv::Mat D(1, 4, CV_64FC1); cv::Mat D(1, 4, CV_64FC1);
D.at<double>(0,0) = D_.at<double>(0,1); D.at<double>(0,0) = D_.at<double>(0,0);
D.at<double>(0,1) = D_.at<double>(0,2); D.at<double>(0,1) = D_.at<double>(0,1);
D.at<double>(0,2) = D_.at<double>(0,4); D.at<double>(0,2) = D_.at<double>(0,4);
D.at<double>(0,3) = D_.at<double>(0,5); D.at<double>(0,3) = D_.at<double>(0,5);
cv::fisheye::initUndistortRectifyMap(K_, D, R_, P_, imageSize_, CV_32FC1, mapX_, mapY_); cv::fisheye::initUndistortRectifyMap(K_, D, R_, P_, imageSize_, CV_32FC1, mapX_, mapY_);