From d386428b2de233a095d93f1f9137928a1c12d53f Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Fri, 28 Feb 2020 12:21:09 +0200
Subject: [PATCH] bug: OpenCV distortion parameter format
---
components/calibration/src/parameters.cpp | 13 ++++++++++---
1 file changed, 10 insertions(+), 3 deletions(-)
diff --git a/components/calibration/src/parameters.cpp b/components/calibration/src/parameters.cpp
index a94777137..ef352b8a1 100644
--- a/components/calibration/src/parameters.cpp
+++ b/components/calibration/src/parameters.cpp
@@ -103,16 +103,23 @@ Mat Camera::intrinsicMatrix() const {
Mat Camera::distortionCoefficients() const {
Mat D;
- // OpenCV distortion parameter sizes: 4, 5, 8, 12, 14
if (Camera::n_distortion_parameters <= 4) { D = Mat::zeros(4, 1, CV_64FC1); }
else if (Camera::n_distortion_parameters <= 5) { D = Mat::zeros(5, 1, CV_64FC1); }
else if (Camera::n_distortion_parameters <= 8) { D = Mat::zeros(8, 1, CV_64FC1); }
else if (Camera::n_distortion_parameters <= 12) { D = Mat::zeros(12, 1, CV_64FC1); }
else if (Camera::n_distortion_parameters <= 14) { D = Mat::zeros(14, 1, CV_64FC1); }
- for (int i = 0; i < Camera::n_distortion_parameters; i++) {
- D.at<double>(i) = data[Parameter::DISTORTION+i];
+ switch(Camera::n_distortion_parameters) {
+ case 14:
+ case 12:
+ case 8:
+ case 5:
+ D.at<double>(4) = data[Parameter::K3];
+ case 4:
+ D.at<double>(0) = data[Parameter::K1];
+ D.at<double>(1) = data[Parameter::K2];
}
+
return D;
}
--
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