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Jf99 fix camera2DistortionCoef() #787

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Jf99 fix camera2DistortionCoef() #787

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da7e0e0
fix Settings::camera2DistortionCoef()
jf99 Jul 26, 2023
79d8a30
typo: distorsion -> distortion
Jul 26, 2023
94a5f9b
initialize all primitve members of Settings
Jul 26, 2023
2e4dd7c
don't forget to init imuFrequency as well
Jul 26, 2023
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64 changes: 32 additions & 32 deletions include/Settings.h
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Original file line number Diff line number Diff line change
Expand Up @@ -68,8 +68,8 @@ namespace ORB_SLAM3 {
CameraType cameraType() {return cameraType_;}
GeometricCamera* camera1() {return calibration1_;}
GeometricCamera* camera2() {return calibration2_;}
cv::Mat camera1DistortionCoef() {return cv::Mat(vPinHoleDistorsion1_.size(),1,CV_32F,vPinHoleDistorsion1_.data());}
cv::Mat camera2DistortionCoef() {return cv::Mat(vPinHoleDistorsion2_.size(),1,CV_32F,vPinHoleDistorsion1_.data());}
cv::Mat camera1DistortionCoef() {return cv::Mat(vPinHoleDistortion1_.size(),1,CV_32F,vPinHoleDistortion1_.data());}
cv::Mat camera2DistortionCoef() {return cv::Mat(vPinHoleDistortion2_.size(),1,CV_32F,vPinHoleDistortion2_.data());}

Sophus::SE3f Tlr() {return Tlr_;}
float bf() {return bf_;}
Expand Down Expand Up @@ -156,27 +156,27 @@ namespace ORB_SLAM3 {

void precomputeRectificationMaps();

int sensor_;
CameraType cameraType_; //Camera type
int sensor_ = 0;
CameraType cameraType_ = PinHole;

/*
* Visual stuff
*/
GeometricCamera* calibration1_, *calibration2_; //Camera calibration
GeometricCamera* originalCalib1_, *originalCalib2_;
std::vector<float> vPinHoleDistorsion1_, vPinHoleDistorsion2_;
GeometricCamera* calibration1_ = nullptr, *calibration2_ = nullptr; //Camera calibration
GeometricCamera* originalCalib1_ = nullptr, *originalCalib2_ = nullptr;
std::vector<float> vPinHoleDistortion1_, vPinHoleDistortion2_;

cv::Size originalImSize_, newImSize_;
float fps_;
bool bRGB_;
float fps_ = 1.f;
bool bRGB_ = false;

bool bNeedToUndistort_;
bool bNeedToRectify_;
bool bNeedToResize1_, bNeedToResize2_;
bool bNeedToUndistort_ = false;
bool bNeedToRectify_ = false;
bool bNeedToResize1_ = false, bNeedToResize2_ = false;

Sophus::SE3f Tlr_;
float thDepth_;
float bf_, b_;
float thDepth_ = 60.f;
float bf_ = 0.f, b_ = 0.f;

/*
* Rectification stuff
Expand All @@ -187,36 +187,36 @@ namespace ORB_SLAM3 {
/*
* Inertial stuff
*/
float noiseGyro_, noiseAcc_;
float gyroWalk_, accWalk_;
float imuFrequency_;
float noiseGyro_ = 0.f, noiseAcc_ = 0.f;
float gyroWalk_ = 0.f, accWalk_ = 0.f;
float imuFrequency_ = 0.f;
Sophus::SE3f Tbc_;
bool insertKFsWhenLost_;
bool insertKFsWhenLost_ = false;

/*
* RGBD stuff
*/
float depthMapFactor_;
float depthMapFactor_ = 1.f;

/*
* ORB stuff
*/
int nFeatures_;
float scaleFactor_;
int nLevels_;
int initThFAST_, minThFAST_;
int nFeatures_ = 1000;
float scaleFactor_ = 1.f;
int nLevels_ = 1;
int initThFAST_ = 20, minThFAST_ = 7;

/*
* Viewer stuff
*/
float keyFrameSize_;
float keyFrameLineWidth_;
float graphLineWidth_;
float pointSize_;
float cameraSize_;
float cameraLineWidth_;
float viewPointX_, viewPointY_, viewPointZ_, viewPointF_;
float imageViewerScale_;
float keyFrameSize_ = 0.05f;
float keyFrameLineWidth_ = 1.f;
float graphLineWidth_ = 0.9f;
float pointSize_ = 2.f;
float cameraSize_ = 0.08f;
float cameraLineWidth_ = 3.f;
float viewPointX_ = 0.f, viewPointY_ = 0.f, viewPointZ_ = 0.f, viewPointF_ = 100.f;
float imageViewerScale_ = 1.f;

/*
* Save & load maps
Expand All @@ -226,7 +226,7 @@ namespace ORB_SLAM3 {
/*
* Other stuff
*/
float thFarPoints_;
float thFarPoints_ = 100.f;

};
};
Expand Down
38 changes: 19 additions & 19 deletions src/Settings.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -207,20 +207,20 @@ namespace ORB_SLAM3 {
if(found){
readParameter<float>(fSettings,"Camera1.k3",found,false);
if(found){
vPinHoleDistorsion1_.resize(5);
vPinHoleDistorsion1_[4] = readParameter<float>(fSettings,"Camera1.k3",found);
vPinHoleDistortion1_.resize(5);
vPinHoleDistortion1_[4] = readParameter<float>(fSettings,"Camera1.k3",found);
}
else{
vPinHoleDistorsion1_.resize(4);
vPinHoleDistortion1_.resize(4);
}
vPinHoleDistorsion1_[0] = readParameter<float>(fSettings,"Camera1.k1",found);
vPinHoleDistorsion1_[1] = readParameter<float>(fSettings,"Camera1.k2",found);
vPinHoleDistorsion1_[2] = readParameter<float>(fSettings,"Camera1.p1",found);
vPinHoleDistorsion1_[3] = readParameter<float>(fSettings,"Camera1.p2",found);
vPinHoleDistortion1_[0] = readParameter<float>(fSettings,"Camera1.k1",found);
vPinHoleDistortion1_[1] = readParameter<float>(fSettings,"Camera1.k2",found);
vPinHoleDistortion1_[2] = readParameter<float>(fSettings,"Camera1.p1",found);
vPinHoleDistortion1_[3] = readParameter<float>(fSettings,"Camera1.p2",found);
}

//Check if we need to correct distortion from the images
if((sensor_ == System::MONOCULAR || sensor_ == System::IMU_MONOCULAR) && vPinHoleDistorsion1_.size() != 0){
if((sensor_ == System::MONOCULAR || sensor_ == System::IMU_MONOCULAR) && vPinHoleDistortion1_.size() != 0){
bNeedToUndistort_ = true;
}
}
Expand Down Expand Up @@ -296,16 +296,16 @@ namespace ORB_SLAM3 {
if(found){
readParameter<float>(fSettings,"Camera2.k3",found,false);
if(found){
vPinHoleDistorsion2_.resize(5);
vPinHoleDistorsion2_[4] = readParameter<float>(fSettings,"Camera2.k3",found);
vPinHoleDistortion2_.resize(5);
vPinHoleDistortion2_[4] = readParameter<float>(fSettings,"Camera2.k3",found);
}
else{
vPinHoleDistorsion2_.resize(4);
vPinHoleDistortion2_.resize(4);
}
vPinHoleDistorsion2_[0] = readParameter<float>(fSettings,"Camera2.k1",found);
vPinHoleDistorsion2_[1] = readParameter<float>(fSettings,"Camera2.k2",found);
vPinHoleDistorsion2_[2] = readParameter<float>(fSettings,"Camera2.p1",found);
vPinHoleDistorsion2_[3] = readParameter<float>(fSettings,"Camera2.p2",found);
vPinHoleDistortion2_[0] = readParameter<float>(fSettings,"Camera2.k1",found);
vPinHoleDistortion2_[1] = readParameter<float>(fSettings,"Camera2.k2",found);
vPinHoleDistortion2_[2] = readParameter<float>(fSettings,"Camera2.p1",found);
vPinHoleDistortion2_[3] = readParameter<float>(fSettings,"Camera2.p2",found);
}
}
else if(cameraType_ == KannalaBrandt){
Expand Down Expand Up @@ -542,9 +542,9 @@ namespace ORB_SLAM3 {
}
output << " ]" << endl;

if(!settings.vPinHoleDistorsion1_.empty()){
if(!settings.vPinHoleDistortion1_.empty()){
output << "\t-Camera 1 distortion parameters: [ ";
for(float d : settings.vPinHoleDistorsion1_){
for(float d : settings.vPinHoleDistortion1_){
output << " " << d;
}
output << " ]" << endl;
Expand All @@ -564,9 +564,9 @@ namespace ORB_SLAM3 {
}
output << " ]" << endl;

if(!settings.vPinHoleDistorsion2_.empty()){
if(!settings.vPinHoleDistortion2_.empty()){
output << "\t-Camera 1 distortion parameters: [ ";
for(float d : settings.vPinHoleDistorsion2_){
for(float d : settings.vPinHoleDistortion2_){
output << " " << d;
}
output << " ]" << endl;
Expand Down