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authorStanislaw Halik <sthalik@misaki.pl>2019-04-29 18:44:35 +0200
committerStanislaw Halik <sthalik@misaki.pl>2019-04-29 18:49:33 +0200
commit4a8aa4397aa578e19ce7e6a0b1fdd702bd4187d5 (patch)
tree20731fdd439c4309fbd471d2484a79d328e92292 /tracker-easy/tracker-easy.cpp
parentce79d1556bf8d43665694d7dd75571a79d175615 (diff)
video: break camera API
Diffstat (limited to 'tracker-easy/tracker-easy.cpp')
-rw-r--r--tracker-easy/tracker-easy.cpp28
1 files changed, 15 insertions, 13 deletions
diff --git a/tracker-easy/tracker-easy.cpp b/tracker-easy/tracker-easy.cpp
index 84d14db0..0217b07f 100644
--- a/tracker-easy/tracker-easy.cpp
+++ b/tracker-easy/tracker-easy.cpp
@@ -125,23 +125,25 @@ namespace EasyTracker
// Create our camera matrix
iCameraMatrix.create(3, 3, CV_64FC1);
iCameraMatrix.setTo(cv::Scalar(0));
- iCameraMatrix.at<double>(0, 0) = iCameraInfo.focalLengthX;
- iCameraMatrix.at<double>(1, 1) = iCameraInfo.focalLengthY;
- iCameraMatrix.at<double>(0, 2) = iCameraInfo.principalPointX;
- iCameraMatrix.at<double>(1, 2) = iCameraInfo.principalPointY;
+ iCameraMatrix.at<double>(0, 0) = iCameraInfo.fx;
+ iCameraMatrix.at<double>(1, 1) = iCameraInfo.fy;
+ iCameraMatrix.at<double>(0, 2) = iCameraInfo.P_x;
+ iCameraMatrix.at<double>(1, 2) = iCameraInfo.P_y;
iCameraMatrix.at<double>(2, 2) = 1;
// Create distortion cooefficients
iDistCoeffsMatrix = cv::Mat::zeros(8, 1, CV_64FC1);
// As per OpenCV docs they should be thus: k1, k2, p1, p2, k3, k4, k5, k6
- iDistCoeffsMatrix.at<double>(0, 0) = 0; // Radial first order
- iDistCoeffsMatrix.at<double>(1, 0) = iCameraInfo.radialDistortionSecondOrder; // Radial second order
- iDistCoeffsMatrix.at<double>(2, 0) = 0; // Tangential first order
- iDistCoeffsMatrix.at<double>(3, 0) = 0; // Tangential second order
- iDistCoeffsMatrix.at<double>(4, 0) = 0; // Radial third order
- iDistCoeffsMatrix.at<double>(5, 0) = iCameraInfo.radialDistortionFourthOrder; // Radial fourth order
- iDistCoeffsMatrix.at<double>(6, 0) = 0; // Radial fith order
- iDistCoeffsMatrix.at<double>(7, 0) = iCameraInfo.radialDistortionSixthOrder; // Radial sixth order
+ // 0 - Radial first order
+ // 1 - Radial second order
+ // 2 - Tangential first order
+ // 3 - Tangential second order
+ // 4 - Radial third order
+ // 5 - Radial fourth order
+ // 6 - Radial fifth order
+ // 7 - Radial sixth order
+ for (unsigned k = 0; k < 8; k++)
+ iDistCoeffsMatrix.at<double>(k, 0) = (double)iCameraInfo.dist_c[k];
}
@@ -334,7 +336,7 @@ namespace EasyTracker
// Create OpenCV matrix from our frame
// TODO: Assert channel size is one or two
- iMatFrame = cv::Mat(iFrame.height, iFrame.width, CV_MAKETYPE((iFrame.channelSize == 2 ? CV_16U : CV_8U), iFrame.channels), iFrame.data, iFrame.stride);
+ iMatFrame = cv::Mat(iFrame.height, iFrame.width, CV_MAKETYPE((iFrame.channel_size == 2 ? CV_16U : CV_8U), iFrame.channels), iFrame.data, iFrame.stride);
iFrameCount++;
bool doPreview = check_is_visible();