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Changed all matrix types from fp32 to fp64

This commit is contained in:
Jacki 2025-07-24 13:11:52 +02:00
parent 682daf4385
commit d6609da400
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GPG Key ID: B404184796354C5E
1 changed files with 36 additions and 36 deletions
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72
examples/debug_cam/src/camera.cpp
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@ -97,50 +97,50 @@ struct CameraCalibration {
}; };
void calculate_camera_matrices(const CameraCalibration& cam, cv::Mat& K, cv::Mat& D, cv::Mat& P, cv::Mat& R) { void calculate_camera_matrices(const CameraCalibration& cam, cv::Mat& K, cv::Mat& D, cv::Mat& P, cv::Mat& R) {
K = cv::Mat::eye(3, 3, CV_32FC1); K = cv::Mat::eye(3, 3, CV_64FC1);
D = cv::Mat::zeros(1, 12, CV_32FC1); D = cv::Mat::zeros(1, 12, CV_64FC1);
P = cv::Mat::zeros(3, 1, CV_32FC1); P = cv::Mat::zeros(3, 1, CV_64FC1);
R = cv::Mat::eye(3, 3, CV_32FC1); R = cv::Mat::eye(3, 3, CV_64FC1);
K.at<float>(0, 0) = cam.fx; K.at<double>(0, 0) = cam.fx;
K.at<float>(1, 1) = cam.fy; K.at<double>(1, 1) = cam.fy;
K.at<float>(0, 2) = cam.cx; K.at<double>(0, 2) = cam.cx;
K.at<float>(1, 2) = cam.cy; K.at<double>(1, 2) = cam.cy;
if (cam.num_kc >= 6) { if (cam.num_kc >= 6) {
D.at<float>(0, 0) = cam.k1; D.at<double>(0, 0) = cam.k1;
D.at<float>(0, 1) = cam.k2; D.at<double>(0, 1) = cam.k2;
D.at<float>(0, 4) = cam.k3; D.at<double>(0, 4) = cam.k3;
D.at<float>(0, 5) = cam.k4; D.at<double>(0, 5) = cam.k4;
D.at<float>(0, 6) = cam.k5; D.at<double>(0, 6) = cam.k5;
D.at<float>(0, 7) = cam.k6; D.at<double>(0, 7) = cam.k6;
} }
if (cam.num_kc >= 8) { if (cam.num_kc >= 8) {
D.at<float>(0, 2) = cam.p1; D.at<double>(0, 2) = cam.p1;
D.at<float>(0, 3) = cam.p2; D.at<double>(0, 3) = cam.p2;
} }
if (cam.num_kc >= 12) { if (cam.num_kc >= 12) {
D.at<float>(0, 8) = cam.s1; D.at<double>(0, 8) = cam.s1;
D.at<float>(0, 9) = cam.s2; D.at<double>(0, 9) = cam.s2;
D.at<float>(0, 10) = cam.s3; D.at<double>(0, 10) = cam.s3;
D.at<float>(0, 11) = cam.s4; D.at<double>(0, 11) = cam.s4;
} }
P.at<float>(0) = cam.position[0]; P.at<double>(0) = cam.position[0];
P.at<float>(1) = cam.position[1]; P.at<double>(1) = cam.position[1];
P.at<float>(2) = cam.position[2]; P.at<double>(2) = cam.position[2];
R.at<float>(0, 0) = cam.rotation[0]; R.at<double>(0, 0) = cam.rotation[0];
R.at<float>(0, 1) = cam.rotation[1]; R.at<double>(0, 1) = cam.rotation[1];
R.at<float>(0, 2) = cam.rotation[2]; R.at<double>(0, 2) = cam.rotation[2];
R.at<float>(1, 0) = cam.rotation[3]; R.at<double>(1, 0) = cam.rotation[3];
R.at<float>(1, 1) = cam.rotation[4]; R.at<double>(1, 1) = cam.rotation[4];
R.at<float>(1, 2) = cam.rotation[5]; R.at<double>(1, 2) = cam.rotation[5];
R.at<float>(2, 0) = cam.rotation[6]; R.at<double>(2, 0) = cam.rotation[6];
R.at<float>(2, 1) = cam.rotation[7]; R.at<double>(2, 1) = cam.rotation[7];
R.at<float>(2, 2) = cam.rotation[8]; R.at<double>(2, 2) = cam.rotation[8];
} }
typedef cv::Point2f (*apply_variant_func)(const CameraCalibration& cam, float xn, float yn); typedef cv::Point2f (*apply_variant_func)(const CameraCalibration& cam, float xn, float yn);
@ -279,8 +279,8 @@ cv::Point2f apply_fisheye624(const CameraCalibration& cam, float xn, float yn) {
cv::Mat build_maps_variant(apply_variant_func func, const CameraCalibration& cam, cv::Mat& indices) { cv::Mat build_maps_variant(apply_variant_func func, const CameraCalibration& cam, cv::Mat& indices) {
const cv::Size map_size (cam.resolution.width, cam.resolution.height); const cv::Size map_size (cam.resolution.width, cam.resolution.height);
cv::Mat map_x (map_size, CV_32FC1); cv::Mat map_x (map_size, CV_64FC1);
cv::Mat map_y (map_size, CV_32FC1); cv::Mat map_y (map_size, CV_64FC1);
cv::Point2f p; cv::Point2f p;
size_t x, y; size_t x, y;
@ -295,8 +295,8 @@ cv::Mat build_maps_variant(apply_variant_func func, const CameraCalibration& cam
p = func(cam, xn, yn); p = func(cam, xn, yn);
map_x.at<float>(y, x) = p.x; map_x.at<double>(y, x) = p.x;
map_y.at<float>(y, x) = p.y; map_y.at<double>(y, x) = p.y;
} }
} }