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comparison c/feature-based-tracking.cpp @ 535:5ad2f51ae42f

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cleaning up initialization of intrinsic matrix
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Sun, 29 Jun 2014 23:31:38 -0400
parents d0419b1267dd
children a3add9f751ef
comparison
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534:d0419b1267dd 535:5ad2f51ae42f
71 71
72 Mat homography = ::loadMat(params.homographyFilename, " "); 72 Mat homography = ::loadMat(params.homographyFilename, " ");
73 Mat invHomography; 73 Mat invHomography;
74 if (params.display && !homography.empty()) 74 if (params.display && !homography.empty())
75 invHomography = homography.inv(); 75 invHomography = homography.inv();
76 Mat intrinsicCameraMatrix = ::loadMat(params.intrinsicCameraFilename, " ");
77 //cout << intrinsicCameraMatrix << endl;
78 76
79 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement; 77 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
80 Size window = Size(params.windowSize, params.windowSize); 78 Size window = Size(params.windowSize, params.windowSize);
81 79
82 int interpolationMethod = -1; 80 int interpolationMethod = -1;
112 cout << "Video " << params.videoFilename << 110 cout << "Video " << params.videoFilename <<
113 ": width=" << videoSize.width << 111 ": width=" << videoSize.width <<
114 ", height=" << videoSize.height << 112 ", height=" << videoSize.height <<
115 ", nframes=" << nFrames << endl; 113 ", nframes=" << nFrames << endl;
116 114
117 Mat newIntrinsicCameraMatrix = intrinsicCameraMatrix.clone();
118 Mat map1, map2; 115 Mat map1, map2;
119 if (params.undistort) { 116 if (params.undistort) {
117 Mat intrinsicCameraMatrix = ::loadMat(params.intrinsicCameraFilename, " ");
118 Mat newIntrinsicCameraMatrix = intrinsicCameraMatrix.clone();
120 videoSize = Size(static_cast<int>(round(videoSize.width*params.undistortedImageMultiplication)), static_cast<int>(round(videoSize.height*params.undistortedImageMultiplication))); 119 videoSize = Size(static_cast<int>(round(videoSize.width*params.undistortedImageMultiplication)), static_cast<int>(round(videoSize.height*params.undistortedImageMultiplication)));
121 newIntrinsicCameraMatrix.at<float>(0,2) = videoSize.width/2.; 120 newIntrinsicCameraMatrix.at<float>(0,2) = videoSize.width/2.;
122 newIntrinsicCameraMatrix.at<float>(1,2) = videoSize.height/2.; 121 newIntrinsicCameraMatrix.at<float>(1,2) = videoSize.height/2.;
123 initUndistortRectifyMap(intrinsicCameraMatrix, params.distortionCoefficients, Mat::eye(3,3, CV_32FC1), newIntrinsicCameraMatrix, videoSize, CV_32FC1, map1, map2); 122 initUndistortRectifyMap(intrinsicCameraMatrix, params.distortionCoefficients, Mat::eye(3,3, CV_32FC1), newIntrinsicCameraMatrix, videoSize, CV_32FC1, map1, map2);
124 123