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Task04 Артём Трубников СПбГУ #31

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Task04 Артём Трубников СПбГУ #31

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26 changes: 12 additions & 14 deletions src/phg/core/calibration.cpp
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Original file line number Diff line number Diff line change
@@ -1,19 +1,12 @@
#include <phg/sfm/defines.h>
#include "calibration.h"

#include <phg/sfm/defines.h>

phg::Calibration::Calibration(int width, int height)
: width_(width)
, height_(height)
, cx_(0)
, cy_(0)
, k1_(0)
, k2_(0)
{
: width_(width), height_(height), cx_(0), cy_(0), k1_(0), k2_(0) {
// 50mm guess

double diag_35mm = 36.0 * 36.0 + 24.0 * 24.0;
double diag_pix = (double) width * (double) width + (double) height * (double) height;
double diag_pix = (double)width * (double)width + (double)height * (double)height;

f_ = 50.0 * std::sqrt(diag_pix / diag_35mm);
}
Expand All @@ -30,13 +23,15 @@ int phg::Calibration::height() const {
return height_;
}

cv::Vec3d phg::Calibration::project(const cv::Vec3d &point) const
{
cv::Vec3d phg::Calibration::project(const cv::Vec3d &point) const {
double x = point[0] / point[2];
double y = point[1] / point[2];

// TODO 11: добавьте учет радиальных искажений (k1_, k2_) (после деления на Z, но до умножения на f)

double r = x * x + y * y;
x *= 1 + k1_ * r + k2_ * r * r;
y *= 1 + k2_ * r * k2_ * r * r;

x *= f_;
y *= f_;
Expand All @@ -47,8 +42,7 @@ cv::Vec3d phg::Calibration::project(const cv::Vec3d &point) const
return cv::Vec3d(x, y, 1.0);
}

cv::Vec3d phg::Calibration::unproject(const cv::Vec2d &pixel) const
{
cv::Vec3d phg::Calibration::unproject(const cv::Vec2d &pixel) const {
double x = pixel[0] - cx_ - width_ * 0.5;
double y = pixel[1] - cy_ - height_ * 0.5;

Expand All @@ -57,5 +51,9 @@ cv::Vec3d phg::Calibration::unproject(const cv::Vec2d &pixel) const

// TODO 12: добавьте учет радиальных искажений, когда реализуете - подумайте: почему строго говоря это - не симметричная формула формуле из project? (но лишь приближение)

double r = x * x + y * y;
x /= 1 + k1_ * r + k2_ * r * r;
y /= 1 + k2_ * r * k2_ * r * r;

return cv::Vec3d(x, y, 1.0);
}
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