fix opencv init intrinsic calib #27
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BAILOOL
requested changes
Sep 7, 2022
src/Camera.cpp
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| bool valid_board = true; | ||
| if (distortion_model_ == 1) { | ||
| float thresh_border_x = im_cols_ / 20; | ||
| float thresh_border_y = im_rows_ / 20; |
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const float . Also why do we need to divide img size by this number 20?
src/Camera.cpp
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| float thresh_border_x = im_cols_ / 20; | ||
| float thresh_border_y = im_rows_ / 20; | ||
| for (int i = 0; i < board_obs_temp->pts_2d_.size(); i++) { | ||
| float pt_x = board_obs_temp->pts_2d_[i].x; |
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sorry I am not sure where you would like to set a const float&
BAILOOL
requested changes
Sep 22, 2022
src/Camera.hpp
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| @@ -44,6 +44,9 @@ class Camera final { | |||
| // camera index | |||
| int cam_idx_; | |||
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| // fisheye border margin to exclude invalid boards during initialization | |||
| const float border_marging = 0.05; // border margin tolerance | |||
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constexpr float border_margin_ = 0.05f. Also it could be inside private.
src/Camera.cpp
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| const float thresh_border_x = float(im_cols_) * border_marging; | ||
| const float thresh_border_y = float(im_rows_) * border_marging; | ||
| for (int i = 0; i < board_obs->pts_2d_.size(); i++) { | ||
| float pt_x = board_obs->pts_2d_[i].x; |
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float pt_x -> const float& pt_x
BAILOOL
approved these changes
Sep 27, 2022
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Fix the bug of OpenCV fisheye camera calibration error when points are too close to image's borders.
Notes: