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t/calib: Use cv::Mat_<> for wrappers since the element type is known

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Ryan Pavlik committed 2020-01-16 09:08:32 -06:00
1 parent fcdebc6e9d
commit bc49fd4803
1 file changed
+14 -19
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src/xrt/auxiliary/tracking/t_calibration_opencv.hpp
+14 -19
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@@ -37,18 +37,16 @@ t_file_save_raw_data_hack(struct t_stereo_camera_calibration *data);
struct CameraCalibrationWrapper
{
xrt_size &image_size_pixels;
cv::Mat intrinsics_mat;
cv::Mat distortion_mat;
cv::Mat distortion_fisheye_mat;
cv::Mat_<double> intrinsics_mat;
cv::Mat_<double> distortion_mat;
cv::Mat_<double> distortion_fisheye_mat;
bool &use_fisheye;
CameraCalibrationWrapper(t_camera_calibration &calib)
: image_size_pixels(calib.image_size_pixels),
intrinsics_mat(3, 3, CV_64F, &calib.intrinsics[0][0]),
distortion_mat(
XRT_DISTORTION_MAX_DIM, 1, CV_64F, &calib.distortion[0]),
distortion_fisheye_mat(
4, 1, CV_64F, &calib.distortion_fisheye[0]),
intrinsics_mat(3, 3, &calib.intrinsics[0][0]),
distortion_mat(XRT_DISTORTION_MAX_DIM, 1, &calib.distortion[0]),
distortion_fisheye_mat(4, 1, &calib.distortion_fisheye[0]),
use_fisheye(calib.use_fisheye)
{
assert(isDataStorageValid());
@@ -76,21 +74,18 @@ struct StereoCameraCalibrationWrapper
{
CameraCalibrationWrapper l_calibration;
CameraCalibrationWrapper r_calibration;
cv::Mat camera_translation_mat;
cv::Mat camera_rotation_mat;
cv::Mat camera_essential_mat;
cv::Mat camera_fundamental_mat;
cv::Mat_<double> camera_translation_mat;
cv::Mat_<double> camera_rotation_mat;
cv::Mat_<double> camera_essential_mat;
cv::Mat_<double> camera_fundamental_mat;
StereoCameraCalibrationWrapper(t_stereo_camera_calibration &stereo)
: l_calibration(stereo.l_calibration),
r_calibration(stereo.r_calibration),
camera_translation_mat(
3, 1, CV_64F, &stereo.camera_translation[0]),
camera_rotation_mat(3, 3, CV_64F, &stereo.camera_rotation[0][0]),
camera_essential_mat(
3, 3, CV_64F, &stereo.camera_essential[0][0]),
camera_fundamental_mat(
3, 3, CV_64F, &stereo.camera_fundamental[0][0])
camera_translation_mat(3, 1, &stereo.camera_translation[0]),
camera_rotation_mat(3, 3, &stereo.camera_rotation[0][0]),
camera_essential_mat(3, 3, &stereo.camera_essential[0][0]),
camera_fundamental_mat(3, 3, &stereo.camera_fundamental[0][0])
{
assert(isDataStorageValid());
}