cleanup

habonlaci · Aug 26, 2014 · 2878bf2 · 2878bf2
1 parent 36c0033
commit 2878bf2
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Showing 5 changed files with 500 additions and 148 deletions.
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -37,9 +37,17 @@ SET(MAVMAP_LIBRARIES
     feature
     image
     timer
-    math)
+    math
+    rectify
+    reproject)
 
 ADD_EXECUTABLE(densemapper densemapper.cc)
+TARGET_LINK_LIBRARIES(densemapper
+    ${MAVMAP_LIBRARIES}
+    ${OpenCV_LIBRARIES}
+    ${Boost_LIBRARIES}
+    ${CERES_LIBRARIES}
+)
 ADD_EXECUTABLE(mapper mapper.cc)
 TARGET_LINK_LIBRARIES(mapper
     ${MAVMAP_LIBRARIES}

diff --git a/src/densemap/rectify.cc b/src/densemap/rectify.cc
@@ -28,17 +28,17 @@ void rectify_images(const Matrix3d& calib_matrix_,
 
 
     Mat dist_coeffs = Mat::zeros(1,8,CV_32F);
-//Mat rimage, limage;								//resizing
-    Mat const rimage = camera_poses_[ridx].read();				//rimageBig = camera_poses_[ridx].read();
-//resize(rimageBig, rimage, Size(), 0.4, 0.4, INTER_LINEAR);
+
+    Mat const rimage = camera_poses_[ridx].read();				
+
     Mat const limage = camera_poses_[lidx].read();
-//resize(limageBig, limage, Size(), 0.4, 0.4, INTER_LINEAR);
+
 
 
     Size imageSize = rimage.size();
     Mat roi= Mat::zeros(imageSize.height, imageSize.width, CV_8U), lroi, rroi, roirect;
 
-    //TODO IMPLEMENT PARAMETER FROM TERMINAL
+
     rectangle(roi, Point(15,15),Point(imageSize.width-15,imageSize.height-15),CV_RGB(255, 255, 255) ,CV_FILLED);
 
     rvec[0] = camera_poses_[ridx].roll;
@@ -50,7 +50,7 @@ void rectify_images(const Matrix3d& calib_matrix_,
     tvec[2] = camera_poses_[ridx].tz;
 
 
-    right_Rt = compose_Rt_matrix (rvec, tvec);
+    right_Rt = compose_proj_matrix (rvec, tvec);
 
     rvec[0] = camera_poses_[lidx].roll;
     rvec[1] = camera_poses_[lidx].pitch;
@@ -61,7 +61,7 @@ void rectify_images(const Matrix3d& calib_matrix_,
     tvec[2] = camera_poses_[lidx].tz;
 
 
-    left_Rt = compose_Rt_matrix (rvec, tvec);
+    left_Rt = compose_proj_matrix (rvec, tvec);
 
     right_Rt4.block<3,4>(0,0)= right_Rt;
     left_Rt4.block<3,4>(0,0)= left_Rt;
@@ -152,7 +152,7 @@ void rectify_images(const Matrix3d& calib_matrix_,
 
 
 
-    int depthmapMethod=1;  //	1: cpu sbgm	mukodik mindennel
+    int depthmapMethod=1;  //	1: cpu sbgm	
 		   //	2: gpu bm	
 		   //	3: cpu bm
 
@@ -471,7 +471,7 @@ fs.release();
 // cout<<disp;
 // waitKey();
     filterDisparity(disp);
-//TODO    bilateralFilter(disp, dispfilter, 5, 20, 20);
+
 
 //    medianBlur(disp, dispfilter, 5);	//not that good
 //    dispfilter.copyTo(disp);
@@ -539,15 +539,7 @@ cout<<"reprojection done!"<<endl;
 
 
 
-//TODO TODO TODO TODO
-/*
- * + csinalni parameterezheto ROI-t
- * 
- * regi kepek + 3k kepek block matchingel osszeallitani a kepet, depth mapet, maszkot, pointcloudot osszehasonlitasra.
- * 
- * nagytakaritas
- */
-
+
 
 cout<<"matrix:"<<endl;
 //cout<<_3dimage;    

diff --git a/src/densemap/rectify.h b/src/densemap/rectify.h
@@ -3,6 +3,7 @@
 
 
 #include "base3d/projection.h"
+#include "base2d/image.h"
 
 #include <Eigen/Geometry>
 #include <Eigen/LU>
@@ -17,11 +18,21 @@
 
 #include <opencv2/highgui.hpp>
 #include <opencv2/opencv.hpp>
+#include <opencv2/core/eigen.hpp>
 
 #include "base2d/image.h"
 #include <Eigen/Core>
 #include <vector>
 
+/**
+ * @brief rectifies an image pair
+ *
+ * @param calib_matrix_ camera calibration matrix
+ * @param camera_poses_ poses of the two cameras
+ * @param lidx left image indes
+ * @param ridx right image index
+ * @return void
+ **/
 void rectify_images (const Eigen::Matrix3d& calib_matrix_, 
 		     const std::vector<Image>& camera_poses_,
 		     int lidx, int ridx );

diff --git a/src/densemap/reproject.h b/src/densemap/reproject.h
@@ -18,7 +18,7 @@
 
 #include <cstddef>
 
-#include "util/defs.h"
+//#include "util/defs.h"
Original file line number	Diff line number	Diff line change
Expand Up		@@ -18,7 +18,7 @@

		#include <cstddef>

		#include "util/defs.h"
		//#include "util/defs.h"



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