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add option to manually input forcal length #304

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merged 4 commits into from
Oct 23, 2019
Merged

add option to manually input forcal length #304

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732e551
add option to manually input forcal length
floriantschopp Oct 1, 2019
a518620
remove debug option
floriantschopp Oct 2, 2019
b4542fe
PR review @lbern
floriantschopp Oct 22, 2019
7a29676
switch to double in the first place
floriantschopp Oct 22, 2019
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14 changes: 11 additions & 3 deletions aslam_cv/aslam_cameras/include/aslam/cameras/implementation/PinholeProjection.hpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
#include <opencv2/core/eigen.hpp>
#include <Eigen/StdVector>
#include <iostream>

namespace aslam {

Expand Down Expand Up @@ -777,9 +778,16 @@ bool PinholeProjection<DISTORTION_T>::initializeIntrinsics(const std::vector<Gri
}
}

//get the median of the guesses
if(f_guesses.empty())
return false;
// Get the median of the guesses if available.
if(f_guesses.empty()) {
double input_guess;
std::cout << "Initialization of focal length failed. Provide manual initialization: ";
std::cin >> input_guess;
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SM_ASSERT_GT(std::runtime_error, input_guess, 0.0,
"Focal length needs to be positive.");
std::cout << "Initializing focal length to " << input_guess << "\n";
f_guesses.push_back(input_guess);
}
double f0 = PinholeHelpers::medianOfVectorElements(f_guesses);

//set the estimate
Expand Down