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added support for euroc dataset

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This commit is contained in:
Raphael Maenle
2019-06-27 18:25:43 +02:00
parent bfb2a551a7
commit 9f528c1ea1
2 changed files with 19 additions and 4 deletions
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12
src/image_handler.cpp
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@@ -40,6 +40,10 @@ void undistortImage(
cv::fisheye::undistortImage(src, dst, K, distortion_coeffs, K);
else if (distortion_model == "equidistant")
src.copyTo(dst);
else if (distortion_model == "pre-radtan")
cv::undistort(src, dst, K, distortion_coeffs, K);
else if (distortion_model == "radtan")
src.copyTo(dst);
}
void undistortPoint(
@@ -91,7 +95,7 @@ void undistortPoint(
pts_out.push_back(newPoint);
}
}
else if (distortion_model == "pre-equidistant")
else if (distortion_model == "pre-equidistant" or distortion_model == "pre-radtan")
{
std::vector<cv::Point2f> temp_pts_out;
for(int i = 0; i < pts_in.size(); i++)
@@ -152,7 +156,7 @@ void undistortPoints(
pts_out.push_back(newPoint);
}
}
else if (distortion_model == "pre-equidistant")
else if (distortion_model == "pre-equidistant" or distortion_model == "pre-radtan")
{
std::vector<cv::Point2f> temp_pts_out;
for(int i = 0; i < pts_in.size(); i++)
@@ -205,7 +209,7 @@ std::vector<cv::Point2f> distortPoints(
pts_out.push_back(newPoint);
}
}
else if (distortion_model == "pre-equidistant")
else if (distortion_model == "pre-equidistant" or distortion_model == "pre-radtan")
{
std::vector<cv::Point2f> temp_pts_out;
for(int i = 0; i < pts_in.size(); i++)
@@ -262,7 +266,7 @@ cv::Point2f distortPoint(
pts_out.push_back(newPoint);
}
}
else if (distortion_model == "pre-equidistant")
else if (distortion_model == "pre-equidistant" or distortion_model == "pre-radtan")
{
std::vector<cv::Point2f> temp_pts_out;
for(int i = 0; i < pts_in.size(); i++)