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‎README.md

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Original file line numberDiff line numberDiff line change
@@ -259,6 +259,7 @@ make install
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```
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261261
- windows上：
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先从`http://autogit.long-horn.com:3000/Algorithm_public/SLAM_VS_PROJECT.git`下载好对应`depoly_cpp`源码压缩包并解压。
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修改根目录中的`CmakeLists.txt`中的第12行指出自己`OpenCV`安装路径，比如我windows上安装路径为`set(OpenCV_DIR "D:/opencv_4_4_0/opencv/build")`或者系统环境变量指定此`OpenCV_DIR`定义。

‎constructSrc/BuildHDMap.cpp

Lines changed: 90 additions & 92 deletions
Original file line numberDiff line numberDiff line change
@@ -84,57 +84,55 @@ BuildHDMap::BuildHDMap() {
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// 内参都一样
8686
//for (int i = 0; i < 4; i++) { //gcc可以通过，cl编译器必须逐个赋值
87-
m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.FocalLength[0] = 317.8183;
88-
m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.FocalLength[0] = 317.8183;
89-
m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.FocalLength[1] = 317.8183;
90-
m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.PrincipalPoint[0] = 2866.778010428930429;
91-
m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.PrincipalPoint[1] = 529.816904864335;
92-
m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.ImageSize[0] = 1063;
93-
m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.ImageSize[1] = 5796;
94-
m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.RadialDistortion[0] = 0,
95-
m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.RadialDistortion[1] = 0;
96-
m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.TangentialDistortion[0] = 0;
97-
m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.TangentialDistortion[1] = 0;
98-
m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.Skew = 0;
99-
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m_birdsEye360CaliParameter.birdsEye[1].Sensor.Intrinsics.FocalLength[0] = 317.8183;
101-
m_birdsEye360CaliParameter.birdsEye[1].Sensor.Intrinsics.FocalLength[1] = 317.8183;
102-
m_birdsEye360CaliParameter.birdsEye[1].Sensor.Intrinsics.PrincipalPoint[0] = 2866.778010428930429;
103-
m_birdsEye360CaliParameter.birdsEye[1].Sensor.Intrinsics.PrincipalPoint[1] = 529.816904864335;
104-
m_birdsEye360CaliParameter.birdsEye[1].Sensor.Intrinsics.ImageSize[0] = 1063;
105-
m_birdsEye360CaliParameter.birdsEye[1].Sensor.Intrinsics.ImageSize[1] = 5796;
106-
m_birdsEye360CaliParameter.birdsEye[1].Sensor.Intrinsics.RadialDistortion[0] = 0,
107-
m_birdsEye360CaliParameter.birdsEye[1].Sensor.Intrinsics.RadialDistortion[1] = 0;
108-
m_birdsEye360CaliParameter.birdsEye[1].Sensor.Intrinsics.TangentialDistortion[0] = 0;
109-
m_birdsEye360CaliParameter.birdsEye[1].Sensor.Intrinsics.TangentialDistortion[1] = 0;
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m_birdsEye360CaliParameter.birdsEye[1].Sensor.Intrinsics.Skew = 0;
111-
112-
m_birdsEye360CaliParameter.birdsEye[2].Sensor.Intrinsics.FocalLength[0] = 317.8183;
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m_birdsEye360CaliParameter.birdsEye[2].Sensor.Intrinsics.FocalLength[1] = 317.8183;
114-
m_birdsEye360CaliParameter.birdsEye[2].Sensor.Intrinsics.PrincipalPoint[0] = 2866.778010428930429;
115-
m_birdsEye360CaliParameter.birdsEye[2].Sensor.Intrinsics.PrincipalPoint[1] = 529.816904864335;
116-
m_birdsEye360CaliParameter.birdsEye[2].Sensor.Intrinsics.ImageSize[0] = 1063;
117-
m_birdsEye360CaliParameter.birdsEye[2].Sensor.Intrinsics.ImageSize[1] = 5796;
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m_birdsEye360CaliParameter.birdsEye[2].Sensor.Intrinsics.RadialDistortion[0] = 0,
119-
m_birdsEye360CaliParameter.birdsEye[2].Sensor.Intrinsics.RadialDistortion[1] = 0;
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m_birdsEye360CaliParameter.birdsEye[2].Sensor.Intrinsics.TangentialDistortion[0] = 0;
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m_birdsEye360CaliParameter.birdsEye[2].Sensor.Intrinsics.TangentialDistortion[1] = 0;
122-
m_birdsEye360CaliParameter.birdsEye[2].Sensor.Intrinsics.Skew = 0;
123-
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m_birdsEye360CaliParameter.birdsEye[3].Sensor.Intrinsics.FocalLength[0] = 317.8183;
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m_birdsEye360CaliParameter.birdsEye[3].Sensor.Intrinsics.FocalLength[1] = 317.8183;
126-
m_birdsEye360CaliParameter.birdsEye[3].Sensor.Intrinsics.PrincipalPoint[0] = 2866.778010428930429;
127-
m_birdsEye360CaliParameter.birdsEye[3].Sensor.Intrinsics.PrincipalPoint[1] = 529.816904864335;
128-
m_birdsEye360CaliParameter.birdsEye[3].Sensor.Intrinsics.ImageSize[0] = 1063;
129-
m_birdsEye360CaliParameter.birdsEye[3].Sensor.Intrinsics.ImageSize[1] = 5796;
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m_birdsEye360CaliParameter.birdsEye[3].Sensor.Intrinsics.RadialDistortion[0] = 0,
131-
m_birdsEye360CaliParameter.birdsEye[3].Sensor.Intrinsics.RadialDistortion[1] = 0;
132-
m_birdsEye360CaliParameter.birdsEye[3].Sensor.Intrinsics.TangentialDistortion[0] = 0;
133-
m_birdsEye360CaliParameter.birdsEye[3].Sensor.Intrinsics.TangentialDistortion[1] = 0;
134-
m_birdsEye360CaliParameter.birdsEye[3].Sensor.Intrinsics.Skew = 0;
135-
// }
136-
spdlog::info("check focal len:{},{}", m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.FocalLength[0], m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.FocalLength[1]);
137-
87+
m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.FocalLength[0] = 317.8183;
88+
m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.FocalLength[0] = 317.8183;
89+
m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.FocalLength[1] = 317.8183;
90+
m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.PrincipalPoint[0] = 2866.778010428930429;
91+
m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.PrincipalPoint[1] = 529.816904864335;
92+
m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.ImageSize[0] = 1063;
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m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.ImageSize[1] = 5796;
94+
m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.RadialDistortion[0] = 0,
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m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.RadialDistortion[1] = 0;
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m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.TangentialDistortion[0] = 0;
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m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.TangentialDistortion[1] = 0;
98+
m_birdsEye360CaliParameter.birdsEye[0].Sensor.Intrinsics.Skew = 0;
99+
100+
m_birdsEye360CaliParameter.birdsEye[1].Sensor.Intrinsics.FocalLength[0] = 317.8183;
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m_birdsEye360CaliParameter.birdsEye[1].Sensor.Intrinsics.FocalLength[1] = 317.8183;
102+
m_birdsEye360CaliParameter.birdsEye[1].Sensor.Intrinsics.PrincipalPoint[0] = 2866.778010428930429;
103+
m_birdsEye360CaliParameter.birdsEye[1].Sensor.Intrinsics.PrincipalPoint[1] = 529.816904864335;
104+
m_birdsEye360CaliParameter.birdsEye[1].Sensor.Intrinsics.ImageSize[0] = 1063;
105+
m_birdsEye360CaliParameter.birdsEye[1].Sensor.Intrinsics.ImageSize[1] = 5796;
106+
m_birdsEye360CaliParameter.birdsEye[1].Sensor.Intrinsics.RadialDistortion[0] = 0,
107+
m_birdsEye360CaliParameter.birdsEye[1].Sensor.Intrinsics.RadialDistortion[1] = 0;
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m_birdsEye360CaliParameter.birdsEye[1].Sensor.Intrinsics.TangentialDistortion[0] = 0;
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m_birdsEye360CaliParameter.birdsEye[1].Sensor.Intrinsics.TangentialDistortion[1] = 0;
110+
m_birdsEye360CaliParameter.birdsEye[1].Sensor.Intrinsics.Skew = 0;
111+
112+
m_birdsEye360CaliParameter.birdsEye[2].Sensor.Intrinsics.FocalLength[0] = 317.8183;
113+
m_birdsEye360CaliParameter.birdsEye[2].Sensor.Intrinsics.FocalLength[1] = 317.8183;
114+
m_birdsEye360CaliParameter.birdsEye[2].Sensor.Intrinsics.PrincipalPoint[0] = 2866.778010428930429;
115+
m_birdsEye360CaliParameter.birdsEye[2].Sensor.Intrinsics.PrincipalPoint[1] = 529.816904864335;
116+
m_birdsEye360CaliParameter.birdsEye[2].Sensor.Intrinsics.ImageSize[0] = 1063;
117+
m_birdsEye360CaliParameter.birdsEye[2].Sensor.Intrinsics.ImageSize[1] = 5796;
118+
m_birdsEye360CaliParameter.birdsEye[2].Sensor.Intrinsics.RadialDistortion[0] = 0,
119+
m_birdsEye360CaliParameter.birdsEye[2].Sensor.Intrinsics.RadialDistortion[1] = 0;
120+
m_birdsEye360CaliParameter.birdsEye[2].Sensor.Intrinsics.TangentialDistortion[0] = 0;
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m_birdsEye360CaliParameter.birdsEye[2].Sensor.Intrinsics.TangentialDistortion[1] = 0;
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m_birdsEye360CaliParameter.birdsEye[2].Sensor.Intrinsics.Skew = 0;
123+
124+
m_birdsEye360CaliParameter.birdsEye[3].Sensor.Intrinsics.FocalLength[0] = 317.8183;
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m_birdsEye360CaliParameter.birdsEye[3].Sensor.Intrinsics.FocalLength[1] = 317.8183;
126+
m_birdsEye360CaliParameter.birdsEye[3].Sensor.Intrinsics.PrincipalPoint[0] = 2866.778010428930429;
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m_birdsEye360CaliParameter.birdsEye[3].Sensor.Intrinsics.PrincipalPoint[1] = 529.816904864335;
128+
m_birdsEye360CaliParameter.birdsEye[3].Sensor.Intrinsics.ImageSize[0] = 1063;
129+
m_birdsEye360CaliParameter.birdsEye[3].Sensor.Intrinsics.ImageSize[1] = 5796;
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m_birdsEye360CaliParameter.birdsEye[3].Sensor.Intrinsics.RadialDistortion[0] = 0,
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m_birdsEye360CaliParameter.birdsEye[3].Sensor.Intrinsics.RadialDistortion[1] = 0;
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m_birdsEye360CaliParameter.birdsEye[3].Sensor.Intrinsics.TangentialDistortion[0] = 0;
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m_birdsEye360CaliParameter.birdsEye[3].Sensor.Intrinsics.TangentialDistortion[1] = 0;
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m_birdsEye360CaliParameter.birdsEye[3].Sensor.Intrinsics.Skew = 0;
135+
// }
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139137
//// 四副环视图到基准第一个到转换,gcc可以通过，cl编译器必须逐个赋值
140138
//auto init0 = std::initializer_list<double>({1, 0, 0, 0, 1, 0, 0, 0, 1});
@@ -146,51 +144,51 @@ BuildHDMap::BuildHDMap() {
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//auto init3 = std::initializer_list<double>({0.5489015, -0.01142391, 0, 0.003611683, 0.5398036, 0, 317.7876, 53.31789, 1});
147145
//std::copy(init3.begin(), init3.end(), m_birdsEye360CaliParameter.tforms[3].A);
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149-
m_birdsEye360CaliParameter.tforms[0].A[0] = 1;
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m_birdsEye360CaliParameter.tforms[0].A[1] = 0;
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m_birdsEye360CaliParameter.tforms[0].A[2] = 0;
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m_birdsEye360CaliParameter.tforms[0].A[3] = 0;
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m_birdsEye360CaliParameter.tforms[0].A[4] = 1;
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m_birdsEye360CaliParameter.tforms[0].A[5] = 0;
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m_birdsEye360CaliParameter.tforms[0].A[6] = 0;
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m_birdsEye360CaliParameter.tforms[0].A[7] = 0;
157-
m_birdsEye360CaliParameter.tforms[0].A[8] = 1;
158-
159-
m_birdsEye360CaliParameter.tforms[1].A[0] = 0.539859;
160-
m_birdsEye360CaliParameter.tforms[1].A[1] = -0.0114774;
161-
m_birdsEye360CaliParameter.tforms[1].A[2] = 0;
162-
m_birdsEye360CaliParameter.tforms[1].A[3] = 0.00148547;
163-
m_birdsEye360CaliParameter.tforms[1].A[4] = 0.54053;
164-
m_birdsEye360CaliParameter.tforms[1].A[5] = 0;
165-
m_birdsEye360CaliParameter.tforms[1].A[6] = -25.6848;
166-
m_birdsEye360CaliParameter.tforms[1].A[7] = 58.0006;
167-
m_birdsEye360CaliParameter.tforms[1].A[8] = 1;
168-
169-
m_birdsEye360CaliParameter.tforms[2].A[0] = 0.9945768;
170-
m_birdsEye360CaliParameter.tforms[2].A[1] = -0.03405895;
171-
m_birdsEye360CaliParameter.tforms[2].A[2] = 0;
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m_birdsEye360CaliParameter.tforms[2].A[3] = -0.003624775;
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m_birdsEye360CaliParameter.tforms[2].A[4] = 0.9873774;
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m_birdsEye360CaliParameter.tforms[2].A[5] = 0;
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m_birdsEye360CaliParameter.tforms[2].A[6] = 0.5879876;
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m_birdsEye360CaliParameter.tforms[2].A[7] = 430.9479;
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m_birdsEye360CaliParameter.tforms[2].A[8] = 1;
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m_birdsEye360CaliParameter.tforms[3].A[0] = 0.5489015;
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m_birdsEye360CaliParameter.tforms[3].A[1] = -0.01142391;
181-
m_birdsEye360CaliParameter.tforms[3].A[2] = 0;
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m_birdsEye360CaliParameter.tforms[3].A[3] = 0.003611683;
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m_birdsEye360CaliParameter.tforms[3].A[4] = 0.5398036;
184-
m_birdsEye360CaliParameter.tforms[3].A[5] = 0;
185-
m_birdsEye360CaliParameter.tforms[3].A[6] = 317.7876;
186-
m_birdsEye360CaliParameter.tforms[3].A[7] = 53.31789;
187-
m_birdsEye360CaliParameter.tforms[3].A[8] = 1;
147+
m_birdsEye360CaliParameter.tforms[0].A[0] = 1;
148+
m_birdsEye360CaliParameter.tforms[0].A[1] = 0;
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m_birdsEye360CaliParameter.tforms[0].A[2] = 0;
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m_birdsEye360CaliParameter.tforms[0].A[3] = 0;
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m_birdsEye360CaliParameter.tforms[0].A[4] = 1;
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m_birdsEye360CaliParameter.tforms[0].A[5] = 0;
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m_birdsEye360CaliParameter.tforms[0].A[6] = 0;
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m_birdsEye360CaliParameter.tforms[0].A[7] = 0;
155+
m_birdsEye360CaliParameter.tforms[0].A[8] = 1;
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157+
m_birdsEye360CaliParameter.tforms[1].A[0] = 0.539859;
158+
m_birdsEye360CaliParameter.tforms[1].A[1] = -0.0114774;
159+
m_birdsEye360CaliParameter.tforms[1].A[2] = 0;
160+
m_birdsEye360CaliParameter.tforms[1].A[3] = 0.00148547;
161+
m_birdsEye360CaliParameter.tforms[1].A[4] = 0.54053;
162+
m_birdsEye360CaliParameter.tforms[1].A[5] = 0;
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m_birdsEye360CaliParameter.tforms[1].A[6] = -25.6848;
164+
m_birdsEye360CaliParameter.tforms[1].A[7] = 58.0006;
165+
m_birdsEye360CaliParameter.tforms[1].A[8] = 1;
166+
167+
m_birdsEye360CaliParameter.tforms[2].A[0] = 0.9945768;
168+
m_birdsEye360CaliParameter.tforms[2].A[1] = -0.03405895;
169+
m_birdsEye360CaliParameter.tforms[2].A[2] = 0;
170+
m_birdsEye360CaliParameter.tforms[2].A[3] = -0.003624775;
171+
m_birdsEye360CaliParameter.tforms[2].A[4] = 0.9873774;
172+
m_birdsEye360CaliParameter.tforms[2].A[5] = 0;
173+
m_birdsEye360CaliParameter.tforms[2].A[6] = 0.5879876;
174+
m_birdsEye360CaliParameter.tforms[2].A[7] = 430.9479;
175+
m_birdsEye360CaliParameter.tforms[2].A[8] = 1;
176+
177+
m_birdsEye360CaliParameter.tforms[3].A[0] = 0.5489015;
178+
m_birdsEye360CaliParameter.tforms[3].A[1] = -0.01142391;
179+
m_birdsEye360CaliParameter.tforms[3].A[2] = 0;
180+
m_birdsEye360CaliParameter.tforms[3].A[3] = 0.003611683;
181+
m_birdsEye360CaliParameter.tforms[3].A[4] = 0.5398036;
182+
m_birdsEye360CaliParameter.tforms[3].A[5] = 0;
183+
m_birdsEye360CaliParameter.tforms[3].A[6] = 317.7876;
184+
m_birdsEye360CaliParameter.tforms[3].A[7] = 53.31789;
185+
m_birdsEye360CaliParameter.tforms[3].A[8] = 1;
188186
}
189187

190188
struct6_T BuildHDMap::Run(struct0_T &inputArgsPose) {
191189
struct6_T outputStruct = m_outputStruct;
192-
193-
constructWorldMap(&inputArgsPose, &m_birdsEye360CaliParameter, &outputStruct);
190+
191+
constructWorldMap(&inputArgsPose, &m_birdsEye360CaliParameter, &outputStruct);
194192

195193
return outputStruct;
196194
}

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