Undistort image in camera reader
This may be the source of bad detection at the side of the image.
Signed-off-by: Milind Upadhyay <milind.upadhyay@gmail.com>
Change-Id: Ic121ffe57ebd7d350cf486436267bc7f24150ef3
diff --git a/y2022/vision/camera_reader.h b/y2022/vision/camera_reader.h
index a777bcc..6a00351 100644
--- a/y2022/vision/camera_reader.h
+++ b/y2022/vision/camera_reader.h
@@ -63,7 +63,8 @@
const calibration::CameraCalibration *FindCameraCalibration() const;
// Processes an image (including sending the results).
- void ProcessImage(cv::Mat image, int64_t image_monotonic_timestamp_ns);
+ void ProcessImage(cv::Mat image_mat_distorted,
+ int64_t image_monotonic_timestamp_ns);
// Reads an image, and then performs all of our processing on it.
void ReadImage();
@@ -96,6 +97,7 @@
const cv::Mat result(5, 1, CV_32F,
const_cast<void *>(static_cast<const void *>(
camera_calibration_->dist_coeffs()->data())));
+ result.convertTo(result, CV_64F);
CHECK_EQ(result.total(), camera_calibration_->dist_coeffs()->size());
return result;
}