VINS_Mono中图像畸变矫正

最新推荐文章于 2023-03-07 10:40:21 发布

苦型僧

最新推荐文章于 2023-03-07 10:40:21 发布

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分类专栏： VINS

本文链接：https://blog.csdn.net/SmartGro/article/details/108005258

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a.相机标定参数读取

trackerData[0].readIntrinsicParameter(sConfig_file)

readIntrinsicParameter（）函数

void FeatureTracker::readIntrinsicParameter(const string &calib_file)
{
   
   m_camera = CameraFactory::instance()->generateCameraFromYamlFile(calib_file);
}

generateCameraFromYamlFile（）函数

CameraPtr
CameraFactory::generateCameraFromYamlFile(const std::string& filename)
{
   
    cv::FileStorage fs(filename, cv::FileStorage::READ);

    if (!fs.isOpened())
    {
   
        return CameraPtr();
    }

    Camera::ModelType modelType = Camera::MEI;
    if (!fs["model_type"].isNone())
    {
   
        std::string sModelType;
        fs["model_type"] >> sModelType;

        if (boost::iequals(sModelType, "kannala_brandt"))
        {
   
            modelType = Camera::KANNALA_BRANDT;
        }
        else if (boost::iequals(sModelType, "mei"))
        {
   
            modelType = Camera::MEI;
        }
        else if (boost::iequals(sModelType, "scaramuzza"))
        {
   
            modelType = Camera::SCARAMUZZA;
        }
        else if (boost::iequals(sModelType, "pinhole"))
        {
   
            modelType = Camera::PINHOLE;
        }
        else
        {
   
            std::cerr << "# ERROR: Unknown camera model: " << sModelType << std::endl;
            return CameraPtr();
        }
    }
    switch (modelType)
    {
   
    case Camera::KANNALA_BRANDT:
    {
   
        EquidistantCameraPtr camera(new EquidistantCamera);

        EquidistantCamera::Parameters params = camera->getParameters();
        params.readFromYamlFile(filename);
        camera->setParameters(params);
        return camera;
    }
    case Camera::PIN