- Class EquidistantTest
Tests with simple values (R = identity, D = 0, P = K or simple scaling)
Test projection functions for right stereo values, P(:,3) != 0
Tests for [un]rectifyImage
Tests using ROI, needs support from PinholeCameraModel
Tests for StereoCameraModel
- Member EquidistantTest::SetUp ()
- Just load these from file
- Member image_geometry::PinholeCameraModel::fromCameraInfo (const sensor_msgs::CameraInfo &msg)
Calculate and use rectified ROI
Adjust P by rectified ROI instead
- Member image_geometry::PinholeCameraModel::initRectificationMaps () const
For large binning settings, can drop extra rows/cols at bottom/right boundary. Make sure we're handling that 100% correctly.
Should binned resolution, K, P be part of public API?
Use rectified ROI
- Member image_geometry::PinholeCameraModel::initUnrectificationMaps () const
For large binning settings, can drop extra rows/cols at bottom/right boundary. Make sure we're handling that 100% correctly.
Should binned resolution, K, P be part of public API?
Use rectified ROI
- Member image_geometry::PinholeCameraModel::rectifyPoint (const cv::Point2d &uv_raw, const cv::Matx33d &K, const cv::Matx34d &P) const
- cv::undistortPoints requires the point data to be float, should allow double
- Member image_geometry::PinholeCameraModel::rectifyRoi (const cv::Rect &roi_raw) const
- Actually implement "best fit" as described by REP 104.
- Member image_geometry::PinholeCameraModel::unrectifyRoi (const cv::Rect &roi_rect) const
- Actually implement "best fit" as described by REP 104.
- Member image_geometry::StereoCameraModel::baseline () const
- Currently assuming horizontal baseline
- Class PinholeTest
Tests with simple values (R = identity, D = 0, P = K or simple scaling)
Test projection functions for right stereo values, P(:,3) != 0
Tests for rectifyImage
Tests using ROI, needs support from PinholeCameraModel
Tests for StereoCameraModel
- Member PinholeTest::SetUp ()
- Just load these from file
- Member TEST_F (EquidistantTest, rectifyPoint)
- Need R = identity for the principal point tests.
- Member TEST_F (EquidistantTest, rectifyIfCalibrated)
- use forward distortion for a better test
- Member TEST_F (PinholeTest, rectifyPoint)
- Need R = identity for the principal point tests.
- Member TEST_F (PinholeTest, rectifyIfCalibrated)
- use forward distortion for a better test