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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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11
launch/msckf_vio_euroc.launch
View File

@ -17,6 +17,17 @@
args='standalone msckf_vio/MsckfVioNodelet' args='standalone msckf_vio/MsckfVioNodelet'
output="screen"> output="screen">
<!-- Photometry Flag-->
<param name="PHOTOMETRIC" value="false"/>
<!-- Debugging Flaggs -->
<param name="StreamPause" value="true"/>
<param name="PrintImages" value="false"/>
<param name="GroundTruth" value="false"/>
<param name="patch_size_n" value="5"/>
<!-- Calibration parameters --> <!-- Calibration parameters -->
<rosparam command="load" file="$(arg calibration_file)"/> <rosparam command="load" file="$(arg calibration_file)"/>

12
src/image_handler.cpp
View File

@ -40,6 +40,10 @@ void undistortImage(
cv::fisheye::undistortImage(src, dst, K, distortion_coeffs, K); cv::fisheye::undistortImage(src, dst, K, distortion_coeffs, K);
else if (distortion_model == "equidistant") else if (distortion_model == "equidistant")
src.copyTo(dst); 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( void undistortPoint(
@ -91,7 +95,7 @@ void undistortPoint(
pts_out.push_back(newPoint); 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; std::vector<cv::Point2f> temp_pts_out;
for(int i = 0; i < pts_in.size(); i++) for(int i = 0; i < pts_in.size(); i++)
@ -152,7 +156,7 @@ void undistortPoints(
pts_out.push_back(newPoint); 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; std::vector<cv::Point2f> temp_pts_out;
for(int i = 0; i < pts_in.size(); i++) for(int i = 0; i < pts_in.size(); i++)
@ -205,7 +209,7 @@ std::vector<cv::Point2f> distortPoints(
pts_out.push_back(newPoint); 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; std::vector<cv::Point2f> temp_pts_out;
for(int i = 0; i < pts_in.size(); i++) for(int i = 0; i < pts_in.size(); i++)
@ -262,7 +266,7 @@ cv::Point2f distortPoint(
pts_out.push_back(newPoint); 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; std::vector<cv::Point2f> temp_pts_out;
for(int i = 0; i < pts_in.size(); i++) for(int i = 0; i < pts_in.size(); i++)