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Backward compatibility (DBViewer, DBReader) with old database format not saving CameraModel's image size, cx and cy

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This commit is contained in:
matlabbe
2016-12-02 13:43:44 -05:00
parent a5f4468c54
commit d2287ab9f4
6 changed files with 131 additions and 88 deletions
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corelib/src/CameraModel.cpp
+31 -8
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@@ -76,15 +76,15 @@ CameraModel::CameraModel(
{
UASSERT_MSG(fx > 0.0, uFormat("fx=%f", fx).c_str());
UASSERT_MSG(fy > 0.0, uFormat("fy=%f", fy).c_str());
UASSERT_MSG(cx > 0.0 || imageSize.width>0, uFormat("cx=%f imageSize.width=%d", cx, imageSize.width).c_str());
UASSERT_MSG(cy > 0.0 || imageSize.height>0, uFormat("cy=%f imageSize.height=%d", cy, imageSize.height).c_str());
UASSERT_MSG(cx >= 0.0 && imageSize.width>=0, uFormat("cx=%f imageSize.width=%d", cx, imageSize.width).c_str());
UASSERT_MSG(cy >= 0.0 && imageSize.height>=0, uFormat("cy=%f imageSize.height=%d", cy, imageSize.height).c_str());
UASSERT(!localTransform.isNull());
if(cx<=0.0)
if(cx==0.0 && imageSize.width > 0)
{
cx = double(imageSize.width)/2.0-0.5;
}
if(cy<=0.0)
if(cy==0.0 && imageSize.height > 0)
{
cy = double(imageSize.height)/2.0-0.5;
}
@@ -121,15 +121,15 @@ CameraModel::CameraModel(
{
UASSERT_MSG(fx > 0.0, uFormat("fx=%f", fx).c_str());
UASSERT_MSG(fy > 0.0, uFormat("fy=%f", fy).c_str());
UASSERT_MSG(cx > 0.0 || imageSize.width>0, uFormat("cx=%f imageSize.width=%d", cx, imageSize.width).c_str());
UASSERT_MSG(cy > 0.0 || imageSize.height>0, uFormat("cy=%f imageSize.height=%d", cy, imageSize.height).c_str());
UASSERT_MSG(cx >= 0.0 && imageSize.width>=0, uFormat("cx=%f imageSize.width=%d", cx, imageSize.width).c_str());
UASSERT_MSG(cy >= 0.0 && imageSize.height>=0, uFormat("cy=%f imageSize.height=%d", cy, imageSize.height).c_str());
UASSERT(!localTransform.isNull());
if(cx<=0.0)
if(cx==0.0 && imageSize.width > 0)
{
cx = double(imageSize.width)/2.0-0.5;
}
if(cy<=0.0)
if(cy==0.0 && imageSize.height > 0)
{
cy = double(imageSize.height)/2.0-0.5;
}
@@ -161,6 +161,29 @@ void CameraModel::initRectificationMap()
cv::initUndistortRectifyMap(K_, D_, R_, P_, imageSize_, CV_32FC1, mapX_, mapY_);
}
void CameraModel::setImageSize(const cv::Size & size)
{
UASSERT((size.height > 0 && size.width > 0) || (size.height == 0 && size.width == 0));
imageSize_ = size;
double ncx = cx();
double ncy = cy();
if(ncx==0.0 && imageSize_.width > 0)
{
ncx = double(imageSize_.width)/2.0-0.5;
}
if(ncy==0.0 && imageSize_.height > 0)
{
ncy = double(imageSize_.height)/2.0-0.5;
}
if(!P_.empty())
{
P_.at<double>(0,2) = ncx;
P_.at<double>(1,2) = ncy;
}
K_.at<double>(0,2) = ncx;
K_.at<double>(1,2) = ncy;
}
bool CameraModel::load(const std::string & directory, const std::string & cameraName)
{
K_ = cv::Mat();