Add more camera models in the Undistorter (PR tum-vision#19)

WFram · Nov 28, 2022 · b8d1dfd · b8d1dfd
1 parent 3feba2f
commit b8d1dfd
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Showing 6 changed files with 200 additions and 208 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -5,6 +5,8 @@ CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
 
 set(BUILD_TYPE Release)
 
+set(CMAKE_GENERATOR "Ninja")
+
 set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
 set(EXECUTABLE_OUTPUT_PATH bin)
@@ -25,10 +27,10 @@ include_directories(
 )
 
 
-add_executable(responseCalib src/main_responseCalib.cpp src/FOVUndistorter.cpp src/PhotometricUndistorter.cpp)
+add_executable(responseCalib src/main_responseCalib.cpp src/FOVUndistorter.cpp src/Undistorter.cpp src/PhotometricUndistorter.cpp)
 target_link_libraries(responseCalib ${OpenCV_LIBS} ${LIBZIP_LIBRARY})
 
-add_executable(playDataset src/main_playbackDataset.cpp src/FOVUndistorter.cpp src/PhotometricUndistorter.cpp)
+add_executable(playDataset src/main_playbackDataset.cpp src/FOVUndistorter.cpp src/Undistorter.cpp src/PhotometricUndistorter.cpp)
 target_link_libraries(playDataset ${OpenCV_LIBS} ${LIBZIP_LIBRARY})
 
 
@@ -40,7 +42,7 @@ SET(CMAKE_MODULE_PATH ${CMAKE_INSTALL_PREFIX}/lib/cmake/ )
 find_package(aruco)
 
 IF(aruco_FOUND)
-	add_executable(vignetteCalib src/main_vignetteCalib.cpp src/FOVUndistorter.cpp src/PhotometricUndistorter.cpp)
+	add_executable(vignetteCalib src/main_vignetteCalib.cpp src/FOVUndistorter.cpp src/Undistorter.cpp src/PhotometricUndistorter.cpp)
 	target_link_libraries(vignetteCalib ${OpenCV_LIBS} ${aruco_LIBS} ${LIBZIP_LIBRARY})
 ELSE()
 	message("================ aruco not found. not compiling vignetteCalib. ========================")

diff --git a/src/BenchmarkDatasetReader.h b/src/BenchmarkDatasetReader.h
@@ -35,7 +35,8 @@
 #include <algorithm>
 
 #include "opencv2/opencv.hpp"
-#include "FOVUndistorter.h"
+//#include "FOVUndistorter.h"
+#include "Undistorter.h"
 #include "PhotometricUndistorter.h"
 
 #include "zip.h"
@@ -132,7 +133,8 @@ class DatasetReader
 
 
 		// create undistorter.
-		undistorter = new UndistorterFOV((path+"camera.txt").c_str());
+		//undistorter = new UndistorterFOV((path+"camera.txt").c_str());
+		undistorter = Undistort::getUndistorterForFile((path+"camera.txt").c_str());
 		photoUndistorter = new PhotometricUndistorter(path+"pcalib.txt", path+"vignette.png",undistorter->getInputDims()[0],undistorter->getInputDims()[1]);
 
 
@@ -156,7 +158,12 @@ class DatasetReader
 
 	}
 
-	UndistorterFOV* getUndistorter()
+	/*UndistorterFOV* getUndistorter()
+	{
+		return undistorter;
+	}*/
+
+	Undistort* getUndistorter()
 	{
 		return undistorter;
 	}
@@ -249,7 +256,7 @@ class DatasetReader
 		if(!isZipped)
 		{
 			// CHANGE FOR ZIP FILE
-			return cv::imread(files[id],CV_LOAD_IMAGE_GRAYSCALE);
+			return cv::imread(files[id],cv::IMREAD_GRAYSCALE);
 		}
 		else
 		{
@@ -271,7 +278,7 @@ class DatasetReader
 					exit(1);
 				}
 			}
-			return cv::imdecode(cv::Mat(readbytes,1,CV_8U, databuffer), CV_LOAD_IMAGE_GRAYSCALE);
+			return cv::imdecode(cv::Mat(readbytes,1,CV_8U, databuffer), cv::IMREAD_GRAYSCALE);
 		}
 	}
 
@@ -336,7 +343,8 @@ class DatasetReader
 
 
 	// internal structures.
-	UndistorterFOV* undistorter;
+	//UndistorterFOV* undistorter;
+	Undistort* undistorter;
 	PhotometricUndistorter* photoUndistorter;
 	zip_t* ziparchive;
 	char* databuffer;

diff --git a/src/FOVUndistorter.cpp b/src/FOVUndistorter.cpp
@@ -55,7 +55,7 @@ UndistorterFOV::UndistorterFOV(const char* configFileName)
 	std::ifstream infile(configFileName);
 	if(!infile.good())
 	{
-		printf("Failed to read camera calibration (invalid format?)\nCalibration file: %s\n", configFileName);
+		printf("Failed to read camera calibration [1] (invalid format?)\nCalibration file: %s\n", configFileName);
 		return;
 	}
 
@@ -77,7 +77,7 @@ UndistorterFOV::UndistorterFOV(const char* configFileName)
 	}
 	else
 	{
-		printf("Failed to read camera calibration (invalid format?)\nCalibration file: %s\n", configFileName);
+		printf("Failed to read camera calibration [2] (invalid format?)\nCalibration file: %s\n", configFileName);
 		return;
 	}