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Fixing focal length issues for gaze esitimation experiments.

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This commit is contained in:
Tadas Baltrusaitis 2017-12-13 20:22:22 +00:00
parent 39ebc68afd
commit 45548b097a
2 changed files with 51 additions and 14 deletions
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4
lib/local/Utilities/include/ImageCapture.h
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@ -107,8 +107,8 @@ namespace Utilities
void SetCameraIntrinsics(float fx, float fy, float cx, float cy); void SetCameraIntrinsics(float fx, float fy, float cx, float cy);
// TODO make sure that can set fx, fy externally bool image_focal_length_set;
bool image_intrinsics_set; bool image_optical_center_set;
// TODO make sure the error message makes sense // TODO make sure the error message makes sense
bool no_input_specified; bool no_input_specified;

61
lib/local/Utilities/src/ImageCapture.cpp
View file

@ -189,18 +189,29 @@ bool ImageCapture::OpenImageFiles(const std::vector<std::string>& image_files, f
this->image_files = image_files; this->image_files = image_files;
// Allow for setting the camera intrinsics, but have to be the same ones for every image // Allow for setting the camera intrinsics, but have to be the same ones for every image
if (fx != -1 && fy != -1 && cx != -1 && cy != -1) if (fx != -1 && fy != -1 )
{ {
image_intrinsics_set = true; image_focal_length_set = true;
this->fx = fx; this->fx = fx;
this->fy = fy; this->fy = fy;
this->cx = cx;
this->cy = cy;
} }
else else
{ {
image_intrinsics_set = false; image_focal_length_set = false;
} }
if (cx != -1 && cy != -1)
{
this->cx = cx;
this->cy = cy;
image_optical_center_set = true;
}
else
{
image_optical_center_set = false;
}
return true; return true;
} }
@ -280,18 +291,29 @@ bool ImageCapture::OpenDirectory(std::string directory, std::string bbox_directo
} }
// Allow for setting the camera intrinsics, but have to be the same ones for every image // Allow for setting the camera intrinsics, but have to be the same ones for every image
if (fx != -1 && fy != -1 && cx != -1 && cy != -1) if (fx != -1 && fy != -1)
{ {
image_intrinsics_set = true; image_focal_length_set = true;
this->fx = fx; this->fx = fx;
this->fy = fy; this->fy = fy;
this->cx = cx;
this->cy = cy;
} }
else else
{ {
image_intrinsics_set = false; image_focal_length_set = false;
} }
if (cx != -1 && cy != -1)
{
this->cx = cx;
this->cy = cy;
image_optical_center_set = true;
}
else
{
image_optical_center_set = false;
}
return true; return true;
} }
@ -388,11 +410,26 @@ cv::Mat ImageCapture::GetNextImage()
image_width = latest_frame.size().width; image_width = latest_frame.size().width;
// Reset the intrinsics for every image if they are not set globally // Reset the intrinsics for every image if they are not set globally
if (!image_intrinsics_set) float _fx = -1;
float _fy = -1;
if (image_focal_length_set)
{ {
SetCameraIntrinsics(-1, -1, -1, -1); _fx = fx;
_fy = fy;
} }
float _cx = -1;
float _cy = -1;
if (image_optical_center_set)
{
_cx = cx;
_cy = cy;
}
SetCameraIntrinsics(_fx, _fy, _cx, _cy);
// Set the grayscale frame // Set the grayscale frame
convertToGrayscale(latest_frame, latest_gray_frame); convertToGrayscale(latest_frame, latest_gray_frame);