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Distortion parameters for OpenCV Calibration aren't read. #111

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Distortion parameters for OpenCV Calibration aren't read. #111

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da2b5ab
Fix: Calibration File for OpenCV camera model can now used with 'e1 e…
sebdi May 25, 2015
6bb7af5
Undo of formating
sebdi May 25, 2015
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13 changes: 9 additions & 4 deletions lsd_slam_core/src/util/Undistorter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -482,19 +482,24 @@ UndistorterOpenCV::UndistorterOpenCV(const char* configFileName)
// l3
if(l3 == "crop")
{
outputCalibration = -1;
outputCalibration[0] = -1;
printf("Out: Crop\n");
}
else if(l3 == "full")
{
outputCalibration = -2;
outputCalibration[0] = -2;
printf("Out: Full\n");
}
else if(l3 == "none")
{
printf("NO RECTIFICATION\n");
valid = false;
}
else if(std::sscanf(l3.c_str(), "%f %f %f %f %f", &outputCalibration[0], &outputCalibration[1], &outputCalibration[2], &outputCalibration[3], &outputCalibration[4]) == 5)
{
printf("Out: %f %f %f %f %f\n",
outputCalibration[0], outputCalibration[1], outputCalibration[2], outputCalibration[3], outputCalibration[4]);
}
else
{
printf("Out: Failed to Read Output pars... not rectifying.\n");
Expand All @@ -514,7 +519,7 @@ UndistorterOpenCV::UndistorterOpenCV(const char* configFileName)

cv::Mat distCoeffs = cv::Mat::zeros(4, 1, CV_32F);
for (int i = 0; i < 4; ++ i)
distCoeffs.at<float>(i, 0) = inputCalibration[4 + i];
distCoeffs.at<float>(i, 0) = outputCalibration[i];

if(inputCalibration[2] < 1.0f)
{
Expand Down Expand Up @@ -542,7 +547,7 @@ UndistorterOpenCV::UndistorterOpenCV(const char* configFileName)

if (valid)
{
K_ = cv::getOptimalNewCameraMatrix(originalK_, distCoeffs, cv::Size(in_width, in_height), (outputCalibration == -2) ? 1 : 0, cv::Size(out_width, out_height), nullptr, false);
K_ = cv::getOptimalNewCameraMatrix(originalK_, distCoeffs, cv::Size(in_width, in_height), (outputCalibration[0] == -2) ? 1 : 0, cv::Size(out_width, out_height), nullptr, false);

cv::initUndistortRectifyMap(originalK_, distCoeffs, cv::Mat(), K_,
cv::Size(out_width, out_height), CV_16SC2, map1, map2);
Expand Down
2 changes: 1 addition & 1 deletion lsd_slam_core/src/util/Undistorter.h
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Expand Up @@ -229,7 +229,7 @@ class UndistorterOpenCV : public Undistorter
cv::Mat originalK_;

float inputCalibration[10];
float outputCalibration;
float outputCalibration[5];
int out_width, out_height;
int in_width, in_height;
cv::Mat map1, map2;
Expand Down