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Calculate matrices from calibration parameters

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Signed-off-by: Jacki <jacki@thejackimonster.de>
This commit is contained in:
Jacki 2025-06-05 06:09:22 +02:00
parent 7097d96374
commit 262df2523c
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GPG key ID: B404184796354C5E
1 changed files with 37 additions and 0 deletions
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37
examples/debug_cam/src/camera.cpp
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@ -83,6 +83,37 @@ struct CameraCalibration {
}; };
}; };
void calculate_camera_matrices(const CameraCalibration& cam, cv::Mat& K, cv::Mat& D) {
K = cv::Mat::eye(3, 3, CV_32FC1);
D = cv::Mat::zeros(1, 12, CV_32FC1);
K.at<float>(0, 0) = cam.fx;
K.at<float>(1, 1) = cam.fy;
K.at<float>(0, 2) = cam.cx;
K.at<float>(1, 2) = cam.cy;
if (cam.num_kc >= 6) {
D.at<float>(0, 0) = cam.k1;
D.at<float>(0, 1) = cam.k2;
D.at<float>(0, 4) = cam.k3;
D.at<float>(0, 5) = cam.k4;
D.at<float>(0, 6) = cam.k5;
D.at<float>(0, 7) = cam.k6;
}
if (cam.num_kc >= 8) {
D.at<float>(0, 2) = cam.p1;
D.at<float>(0, 3) = cam.p2;
}
if (cam.num_kc >= 12) {
D.at<float>(0, 8) = cam.s1;
D.at<float>(0, 9) = cam.s2;
D.at<float>(0, 10) = cam.s3;
D.at<float>(0, 11) = cam.s4;
}
}
typedef cv::Point2f (*apply_variant_func)(const CameraCalibration& cam, float xn, float yn); typedef cv::Point2f (*apply_variant_func)(const CameraCalibration& cam, float xn, float yn);
cv::Point2f apply_intrinsic_only(const CameraCalibration& cam, float xn, float yn) { cv::Point2f apply_intrinsic_only(const CameraCalibration& cam, float xn, float yn) {
@ -355,6 +386,12 @@ int main(int argc, const char **argv) {
cv::Mat left = cv::Mat(camera_res, img.type()); cv::Mat left = cv::Mat(camera_res, img.type());
cv::Mat right = cv::Mat(camera_res, img.type()); cv::Mat right = cv::Mat(camera_res, img.type());
cv::Mat K [2];
cv::Mat D [2];
calculate_camera_matrices(cam[0], K[0], D[0]);
calculate_camera_matrices(cam[1], K[1], D[1]);
cv::Mat indices0; cv::Mat indices0;
cv::Mat indices1; cv::Mat indices1;