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comparison c/Motion.cpp @ 933:8ac7f61c6e4f

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major rework of homography calibration, no in ideal points if correcting for distortion
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 14 Jul 2017 02:11:21 -0400
parents 6022350f8173
children c3c3a90c08f8
comparison
equal deleted inserted replaced
932:66f382852e61 933:8ac7f61c6e4f
123 trajectoryDB.write(*velocities, velocitiesTableName); 123 trajectoryDB.write(*velocities, velocitiesTableName);
124 } 124 }
125 125
126 #ifdef USE_OPENCV 126 #ifdef USE_OPENCV
127 /// \todo add option for anti-aliased drawing, thickness 127 /// \todo add option for anti-aliased drawing, thickness
128 void FeatureTrajectory::draw(Mat& img, const Mat& homography, const Scalar& color) const { 128 void FeatureTrajectory::draw(Mat& img, const Mat& homography, const Mat& intrinsicCameraMatrix, const Scalar& color) const {
129 Point2f p1, p2; 129 Point2f p1, p2;
130 if (!homography.empty()) 130 if (!homography.empty())
131 p1 = project((*positions)[0], homography); 131 p1 = project((*positions)[0], homography);
132 else 132 else
133 p1 = (*positions)[0]; 133 p1 = (*positions)[0];
134 if (!intrinsicCameraMatrix.empty())
135 p1 = cameraProject(p1, intrinsicCameraMatrix);
134 for (unsigned int i=1; i<positions->size(); i++) { 136 for (unsigned int i=1; i<positions->size(); i++) {
135 if (!homography.empty()) 137 if (!homography.empty())
136 p2 = project((*positions)[i], homography); 138 p2 = project((*positions)[i], homography);
137 else 139 else
138 p2 = (*positions)[i]; 140 p2 = (*positions)[i];
141 if (!intrinsicCameraMatrix.empty())
142 p2 = cameraProject(p2, intrinsicCameraMatrix);
139 line(img, p1, p2, color, 1); 143 line(img, p1, p2, color, 1);
140 p1 = p2; 144 p1 = p2;
141 } 145 }
142 } 146 }
143 #endif 147 #endif