i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

Changed CameraModel::isValid() to CameraModel::isValidForProjection() for clarity (in contrast to CameraModel::isValidForRectification())

Browse Source
This commit is contained in:
matlabbe
2016-01-19 21:01:56 -05:00
parent d162fcf34e
commit eb21280f04
31 changed files with 157 additions and 156 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
corelib/src/StereoCameraModel.cpp
View File

@@ -84,13 +84,13 @@ StereoCameraModel::StereoCameraModel(
UASSERT(leftCameraModel.isValidForRectification() && rightCameraModel.isValidForRectification());
cv::Mat R1,R2,P1,P2,Q;
cv::stereoRectify(left_.K(), left_.D(),
right_.K(), right_.D(),
cv::stereoRectify(left_.K_raw(), left_.D_raw(),
right_.K_raw(), right_.D_raw(),
left_.imageSize(), R_, T_, R1, R2, P1, P2, Q,
cv::CALIB_ZERO_DISPARITY, 0, left_.imageSize());
left_ = CameraModel(left_.name(), left_.imageSize(), left_.K(), left_.D(), R1, P1, left_.localTransform());
right_ = CameraModel(right_.name(), right_.imageSize(), right_.K(), right_.D(), R2, P2, right_.localTransform());
left_ = CameraModel(left_.name(), left_.imageSize(), left_.K_raw(), left_.D_raw(), R1, P1, left_.localTransform());
right_ = CameraModel(right_.name(), right_.imageSize(), right_.K_raw(), right_.D_raw(), R2, P2, right_.localTransform());
}
}
@@ -114,13 +114,13 @@ StereoCameraModel::StereoCameraModel(
extrinsics.translationMatrix().convertTo(T_, CV_64FC1);
cv::Mat R1,R2,P1,P2,Q;
cv::stereoRectify(left_.K(), left_.D(),
right_.K(), right_.D(),
cv::stereoRectify(left_.K_raw(), left_.D_raw(),
right_.K_raw(), right_.D_raw(),
left_.imageSize(), R_, T_, R1, R2, P1, P2, Q,
cv::CALIB_ZERO_DISPARITY, 0, left_.imageSize());
left_ = CameraModel(left_.name(), left_.imageSize(), left_.K(), left_.D(), R1, P1, left_.localTransform());
right_ = CameraModel(right_.name(), right_.imageSize(), right_.K(), right_.D(), R2, P2, right_.localTransform());
left_ = CameraModel(left_.name(), left_.imageSize(), left_.K_raw(), left_.D_raw(), R1, P1, left_.localTransform());
right_ = CameraModel(right_.name(), right_.imageSize(), right_.K_raw(), right_.D_raw(), R2, P2, right_.localTransform());
}
}
@@ -345,7 +345,7 @@ void StereoCameraModel::scale(double scale)
float StereoCameraModel::computeDepth(float disparity) const
{
//depth = baseline * f / (disparity + cx1-cx0);
UASSERT(this->isValid());
UASSERT(this->isValidForProjection());
if(disparity == 0.0f)
{
return 0.0f;
@@ -356,7 +356,7 @@ float StereoCameraModel::computeDepth(float disparity) const
float StereoCameraModel::computeDisparity(float depth) const
{
// disparity = (baseline * fx / depth) - (cx1-cx0);
UASSERT(this->isValid());
UASSERT(this->isValidForProjection());
if(depth == 0.0f)
{
return 0.0f;
@@ -367,7 +367,7 @@ float StereoCameraModel::computeDisparity(float depth) const
float StereoCameraModel::computeDisparity(unsigned short depth) const
{
// disparity = (baseline * fx / depth) - (cx1-cx0);
UASSERT(this->isValid());
UASSERT(this->isValidForProjection());
if(depth == 0)
{
return 0.0f;