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fix bug in aprilgrid

This commit is contained in:
Vladyslav Usenko 2019-07-31 10:58:59 +02:00
parent 445c00db54
commit dd81f1444e
1 changed files with 5 additions and 5 deletions
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10
src/calibration/aprilgrid.cpp
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@ -60,9 +60,9 @@ AprilGrid::AprilGrid(const std::string &config_path) {
aprilgrid_corner_pos_3d.resize(tagCols * tagRows * 4);
for (int y = 0; y < tagCols; y++) {
for (int x = 0; x < tagRows; x++) {
int tag_id = tagRows * y + x;
for (int y = 0; y < tagRows; y++) {
for (int x = 0; x < tagCols; x++) {
int tag_id = tagCols * y + x;
double x_offset = x * tagSize * (1 + tagSpacing);
double y_offset = y * tagSize * (1 + tagSpacing);
@ -132,10 +132,10 @@ AprilGrid::AprilGrid(const std::string &config_path) {
double coeff = double(k + 1) / double(num_vign_points + 1);
aprilgrid_vignette_pos_3d[curr_idx + k * tagCols + i] =
aprilgrid_vignette_pos_3d[curr_idx + k * tagRows + i] =
(p0 + coeff * (p3 - p0));
aprilgrid_vignette_pos_3d[curr_idx + k * tagCols + i][0] -=
aprilgrid_vignette_pos_3d[curr_idx + k * tagRows + i][0] -=
tagSize * tagSpacing / 2;
}
}