readImageBW_8U
cv::Mat m = cv::imread(filename, CV_LOAD_IMAGE_GRAYSCALE); MinimalImageB* img = new inimalImageB(m.cols, m.rows); memcpy(img->data, m.data, m.rows*m.cols); return img;
Undistort::undistort
主要调用
photometricUndist->processFrame(image_raw->data, exposure, factor);
内部:float* data = output->image; for(int i=0; i<wh;i++) { data[i] = factor*image_in[i]; } output->exposure_time = exposure_time; output->timestamp = 0;
还有另一个分支
data[i] = G[image_in[i]];
反正就是要对 像素值 进行转换, 转为一种 浮点型数据- 3.
photometricUndist->output->copyMetaTo(*result);
other.exposure_time = exposure_time;
else
{
memcpy(result->image, photometricUndist->output->image, sizeof(float)*w*h);
}
至此,得到了ImageAndExposure* ret2