diff --git a/demos/demo_2_lasers_offline.cpp b/demos/demo_2_lasers_offline.cpp
index 40ebda489e205e21154a7501f3becacb6b8caced..16626151661e3af3700efedce76a9d5bf61657c7 100644
--- a/demos/demo_2_lasers_offline.cpp
+++ b/demos/demo_2_lasers_offline.cpp
@@ -115,7 +115,7 @@ int main(int argc, char** argv)
Eigen::VectorXd laser_1_pose2D(3), laser_2_pose2D(3); //xy + theta
// odometry intrinsics
- IntrinsicsOdom2D odom_intrinsics;
+ ParamsSensorOdom2D odom_intrinsics;
odom_intrinsics.k_disp_to_disp = odom_std_factor;
odom_intrinsics.k_rot_to_rot = odom_std_factor;
@@ -125,7 +125,7 @@ int main(int argc, char** argv)
laser_1_pose2D.head<2>() = laser_1_pose.head<2>();
laser_1_pose2D(2) = laser_1_pose(3);
std::vector<float> scan1(laser_1_params(8)); // number of ranges in a scan
- IntrinsicsLaser2D laser_1_intrinsics;
+ ParamsSensorLaser2D laser_1_intrinsics;
laser_1_intrinsics.scan_params = laserscanutils::LaserScanParams({laser_1_params(0), laser_1_params(1), laser_1_params(2), laser_1_params(3), laser_1_params(4), laser_1_params(5), laser_1_params(6), laser_1_params(7)});
ProcessorParamsLaser laser_1_processor_params;
@@ -138,7 +138,7 @@ int main(int argc, char** argv)
laser_2_pose2D.head<2>() = laser_2_pose.head<2>();
laser_2_pose2D(2) = laser_2_pose(3);
std::vector<float> scan2(laser_2_params(8));
- IntrinsicsLaser2D laser_2_intrinsics;
+ ParamsSensorLaser2D laser_2_intrinsics;
laser_2_intrinsics.scan_params = laserscanutils::LaserScanParams({laser_2_params(0), laser_2_params(1), laser_2_params(2), laser_2_params(3), laser_2_params(4), laser_2_params(5), laser_2_params(6), laser_2_params(7)});
ProcessorParamsLaser laser_2_processor_params;
diff --git a/demos/demo_diff_drive.cpp b/demos/demo_diff_drive.cpp
index 65a9dcf35ff17db6faa1195fddeca09373ea3350..4b8b77b4edd289233a8522d0b6cc742072bb487a 100644
--- a/demos/demo_diff_drive.cpp
+++ b/demos/demo_diff_drive.cpp
@@ -169,10 +169,10 @@ int main(int argc, char** argv)
Eigen::VectorXd extrinsics(3);
extrinsics << 0, 0, 0;
- IntrinsicsBasePtr intrinsics = std::make_shared<IntrinsicsDiffDrive>();
+ ParamsSensorBasePtr intrinsics = std::make_shared<ParamsSensorDiffDrive>();
- IntrinsicsDiffDrivePtr intrinsics_diff_drive =
- std::static_pointer_cast<IntrinsicsDiffDrive>(intrinsics);
+ ParamsSensorDiffDrivePtr intrinsics_diff_drive =
+ std::static_pointer_cast<ParamsSensorDiffDrive>(intrinsics);
intrinsics_diff_drive->left_radius_ = 0.1;
intrinsics_diff_drive->right_radius_ = 0.1;
diff --git a/demos/demo_factor_imu.cpp b/demos/demo_factor_imu.cpp
index f99b44448fb07d337a0319b3bb451560daf19c76..d8ab22bd322f6dd262f66a639647fb41159d27b1 100644
--- a/demos/demo_factor_imu.cpp
+++ b/demos/demo_factor_imu.cpp
@@ -26,7 +26,7 @@ int main(int argc, char** argv)
ProblemPtr wolf_problem_ptr_ = Problem::create("PQVBB 3D");
Eigen::VectorXd IMU_extrinsics(7);
IMU_extrinsics << 0,0,0, 0,0,0,1; // IMU pose in the robot
- SensorBasePtr sensor_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", IMU_extrinsics, shared_ptr<IntrinsicsBase>());
+ SensorBasePtr sensor_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", IMU_extrinsics, shared_ptr<ParamsSensorBase>());
wolf_problem_ptr_->installProcessor("IMU", "IMU pre-integrator", "Main IMU", "");
// Ceres wrappers
diff --git a/demos/demo_mpu.cpp b/demos/demo_mpu.cpp
index dbbeb886e8b1d505206053a84fa53e7f67102742..16b74b5cb2866e5b36f25d931cfd0eaedd40abf5 100644
--- a/demos/demo_mpu.cpp
+++ b/demos/demo_mpu.cpp
@@ -105,7 +105,7 @@ int main(int argc, char** argv)
ProblemPtr wolf_problem_ptr_ = Problem::create("PQVBB 3D");
Eigen::VectorXd IMU_extrinsics(7);
IMU_extrinsics << 0,0,0, 0,0,0,1; // IMU pose in the robot
- SensorBasePtr sensor_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", IMU_extrinsics, IntrinsicsBase());
+ SensorBasePtr sensor_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", IMU_extrinsics, ParamsSensorBase());
wolf_problem_ptr_->installProcessor("IMU", "IMU pre-integrator", "Main IMU", "");
// Time and data variables
diff --git a/demos/demo_processor_bundle_adjustment.cpp b/demos/demo_processor_bundle_adjustment.cpp
index 1fd45f06a8550bf6670078050f06a71e48e19854..8d38f99baabdfa8767e201a912aade54a86966df 100644
--- a/demos/demo_processor_bundle_adjustment.cpp
+++ b/demos/demo_processor_bundle_adjustment.cpp
@@ -107,7 +107,7 @@ int main(int argc, char** argv)
// Install camera
-// IntrinsicsCameraPtr intr = std::make_shared<IntrinsicsCamera>(); // TODO init params or read from YAML
+// ParamsSensorCameraPtr intr = std::make_shared<ParamsSensorCamera>(); // TODO init params or read from YAML
// intr->pinhole_model_raw = Eigen::Vector4d(320,240,320,320);
// intr->width = img_width;
// intr->height = img_height;
diff --git a/demos/demo_processor_imu.cpp b/demos/demo_processor_imu.cpp
index e6062abbc6310e580e1623b9c01d851e4184a988..b6d13a30b8a0b06a8bbe54cf66166b1c3eef3782 100644
--- a/demos/demo_processor_imu.cpp
+++ b/demos/demo_processor_imu.cpp
@@ -73,7 +73,7 @@ int main(int argc, char** argv)
ProblemPtr problem_ptr_ = Problem::create("PQVBB 3D");
Eigen::VectorXd extrinsics(7);
extrinsics << 0,0,0, 0,0,0,1; // IMU pose in the robot
- SensorBasePtr sensor_ptr = problem_ptr_->installSensor("IMU", "Main IMU", extrinsics, IntrinsicsBasePtr());
+ SensorBasePtr sensor_ptr = problem_ptr_->installSensor("IMU", "Main IMU", extrinsics, ParamsSensorBasePtr());
problem_ptr_->installProcessor("IMU", "IMU pre-integrator", "Main IMU", "");
// Time and data variables
diff --git a/demos/demo_sparsification.cpp b/demos/demo_sparsification.cpp
index 5038ac3cf5fb95e8e96ab65f2732f2f83a47f389..eaa840df5cecaf334ca4982907013cfd5122b638 100644
--- a/demos/demo_sparsification.cpp
+++ b/demos/demo_sparsification.cpp
@@ -187,7 +187,7 @@ int main(int argc, char** argv)
// Wolf problem
FrameBasePtr last_frame_ptr, frame_from_ptr, frame_to_ptr;
ProblemPtr bl_problem_ptr = Problem::create("PO_2D");
- SensorBasePtr sensor_ptr = bl_problem_ptr->installSensor("ODOM 2D", "Odometry", Eigen::VectorXd::Zero(3), IntrinsicsBasePtr());
+ SensorBasePtr sensor_ptr = bl_problem_ptr->installSensor("ODOM 2D", "Odometry", Eigen::VectorXd::Zero(3), ParamsSensorBasePtr());
// Ceres wrapper
std::string bl_summary, sp_summary;
diff --git a/demos/demo_wolf_factories.cpp b/demos/demo_wolf_factories.cpp
index a573759d216ca30beb25473deecd4ad916a2f02b..ddd2d26a78f4edb8ed4ce66d99fdf245f9ae4381 100644
--- a/demos/demo_wolf_factories.cpp
+++ b/demos/demo_wolf_factories.cpp
@@ -54,15 +54,15 @@ int main(void)
// define some useful parameters
Eigen::VectorXd pq_3d(7), po_2d(3), p_3d(3);
- shared_ptr<IntrinsicsOdom2D> intr_odom2d_ptr = nullptr;
+ shared_ptr<ParamsSensorOdom2D> intr_odom2d_ptr = nullptr;
- cout << "\n================== Intrinsics Factory ===================" << endl;
+ cout << "\n================== ParamsSensor Factory ===================" << endl;
// Use params factory for camera intrinsics
- IntrinsicsBasePtr intr_cam_ptr = IntrinsicsFactory::get().create("CAMERA", wolf_config + "/camera_params_ueye_sim.yaml");
+ ParamsSensorBasePtr intr_cam_ptr = ParamsSensorFactory::get().create("CAMERA", wolf_config + "/camera_params_ueye_sim.yaml");
ProcessorParamsBasePtr params_ptr = ProcessorParamsFactory::get().create("IMAGE FEATURE", wolf_config + "/processor_image_feature.yaml");
- cout << "CAMERA with intrinsics : " << (static_pointer_cast<IntrinsicsCamera>(intr_cam_ptr))->pinhole_model_raw.transpose() << endl;
+ cout << "CAMERA with intrinsics : " << (static_pointer_cast<ParamsSensorCamera>(intr_cam_ptr))->pinhole_model_raw.transpose() << endl;
// cout << "Processor IMAGE image width : " << (static_pointer_cast<ProcessorParamsImage>(params_ptr))->image.width << endl;
cout << "\n==================== Install Sensors ====================" << endl;
diff --git a/include/vision/sensor/sensor_camera.h b/include/vision/sensor/sensor_camera.h
index f0ff33b48a3eff87343e5057a2710c70393eb9ba..f0319260d2f3c7663a5190d0883ced96141e71d7 100644
--- a/include/vision/sensor/sensor_camera.h
+++ b/include/vision/sensor/sensor_camera.h
@@ -8,22 +8,22 @@
namespace wolf
{
-WOLF_STRUCT_PTR_TYPEDEFS(IntrinsicsCamera);
+WOLF_STRUCT_PTR_TYPEDEFS(ParamsSensorCamera);
/** Struct of intrinsic camera parameters
*/
-struct IntrinsicsCamera : public IntrinsicsBase
+struct ParamsSensorCamera : public ParamsSensorBase
{
unsigned int width; ///< Image width in pixels
unsigned int height; ///< Image height in pixels
Eigen::Vector4d pinhole_model_raw; ///< k = [u_0, v_0, alpha_u, alpha_v] vector of pinhole intrinsic parameters
Eigen::Vector4d pinhole_model_rectified;///< k = [u_0, v_0, alpha_u, alpha_v] vector of pinhole intrinsic parameters
Eigen::VectorXd distortion; ///< d = [d_1, d_2, d_3, ...] radial distortion coefficients
- IntrinsicsCamera()
+ ParamsSensorCamera()
{
//DEFINED FOR COMPATIBILITY PURPOSES. TO BE REMOVED IN THE FUTURE.
}
- IntrinsicsCamera(std::string _unique_name, const ParamsServer& _server):
- IntrinsicsBase(_unique_name, _server)
+ ParamsSensorCamera(std::string _unique_name, const ParamsServer& _server):
+ ParamsSensorBase(_unique_name, _server)
{
width = _server.getParam<unsigned int>(_unique_name + "/width");
height = _server.getParam<unsigned int>(_unique_name + "/height");
@@ -33,14 +33,14 @@ struct IntrinsicsCamera : public IntrinsicsBase
}
std::string print() const
{
- return "\n" + IntrinsicsBase::print() + "\n"
+ return "\n" + ParamsSensorBase::print() + "\n"
+ "width: " + std::to_string(width) + "\n"
+ "height: " + std::to_string(height) + "\n"
+ "pinhole: " + converter<std::string>::convert(pinhole_model_raw) + "\n"
+ "pinhole: " + converter<std::string>::convert(pinhole_model_rectified) + "\n"
+ "distortion: " + converter<std::string>::convert(distortion) + "\n";
}
- virtual ~IntrinsicsCamera() = default;
+ virtual ~ParamsSensorCamera() = default;
};
WOLF_PTR_TYPEDEFS(SensorCamera);
@@ -50,8 +50,8 @@ class SensorCamera : public SensorBase
{
public:
- SensorCamera(const Eigen::VectorXd & _extrinsics, const IntrinsicsCamera& _intrinsics);
- SensorCamera(const Eigen::VectorXd & _extrinsics, IntrinsicsCameraPtr _intrinsics_ptr);
+ SensorCamera(const Eigen::VectorXd & _extrinsics, const ParamsSensorCamera& _intrinsics);
+ SensorCamera(const Eigen::VectorXd & _extrinsics, ParamsSensorCameraPtr _intrinsics_ptr);
virtual ~SensorCamera();
@@ -85,7 +85,7 @@ class SensorCamera : public SensorBase
static SensorBasePtr create(const std::string & _unique_name, //
const Eigen::VectorXd& _extrinsics, //
- const IntrinsicsBasePtr _intrinsics);
+ const ParamsSensorBasePtr _intrinsics);
};
diff --git a/src/sensor/sensor_camera.cpp b/src/sensor/sensor_camera.cpp
index 2715173b5317dc8c1a687cf03413190e4cd7bb81..317159e9640a86c5030de3faebdcb5884c136cc4 100644
--- a/src/sensor/sensor_camera.cpp
+++ b/src/sensor/sensor_camera.cpp
@@ -8,7 +8,7 @@
namespace wolf
{
-SensorCamera::SensorCamera(const Eigen::VectorXd& _extrinsics, const IntrinsicsCamera& _intrinsics) :
+SensorCamera::SensorCamera(const Eigen::VectorXd& _extrinsics, const ParamsSensorCamera& _intrinsics) :
SensorBase("CAMERA", std::make_shared<StateBlock>(_extrinsics.head(3), true), std::make_shared<StateQuaternion>(_extrinsics.tail(4), true), std::make_shared<StateBlock>(_intrinsics.pinhole_model_raw, true), 1),
img_width_(_intrinsics.width), //
img_height_(_intrinsics.height), //
@@ -23,7 +23,7 @@ SensorCamera::SensorCamera(const Eigen::VectorXd& _extrinsics, const IntrinsicsC
pinhole::computeCorrectionModel(getIntrinsic()->getState(), distortion_, correction_);
}
-SensorCamera::SensorCamera(const Eigen::VectorXd& _extrinsics, IntrinsicsCameraPtr _intrinsics_ptr) :
+SensorCamera::SensorCamera(const Eigen::VectorXd& _extrinsics, ParamsSensorCameraPtr _intrinsics_ptr) :
SensorCamera(_extrinsics, *_intrinsics_ptr)
{
//
@@ -50,11 +50,11 @@ Eigen::Matrix3d SensorCamera::setIntrinsicMatrix(Eigen::Vector4d _pinhole_model)
// Define the factory method
SensorBasePtr SensorCamera::create(const std::string& _unique_name, //
const Eigen::VectorXd& _extrinsics_pq, //
- const IntrinsicsBasePtr _intrinsics)
+ const ParamsSensorBasePtr _intrinsics)
{
assert(_extrinsics_pq.size() == 7 && "Bad extrinsics vector length. Should be 7 for 3D.");
- std::shared_ptr<IntrinsicsCamera> intrinsics_ptr = std::static_pointer_cast<IntrinsicsCamera>(_intrinsics);
+ std::shared_ptr<ParamsSensorCamera> intrinsics_ptr = std::static_pointer_cast<ParamsSensorCamera>(_intrinsics);
SensorCameraPtr sen_ptr = std::make_shared<SensorCamera>(_extrinsics_pq, intrinsics_ptr);
sen_ptr->setName(_unique_name);
diff --git a/src/yaml/sensor_camera_yaml.cpp b/src/yaml/sensor_camera_yaml.cpp
index e9e951dff8ce49548ef6de2d82591a894b28b14b..68797cfbb80144ca2473e54af91bab41ea0219cd 100644
--- a/src/yaml/sensor_camera_yaml.cpp
+++ b/src/yaml/sensor_camera_yaml.cpp
@@ -20,7 +20,7 @@ namespace wolf
namespace
{
-static IntrinsicsBasePtr createIntrinsicsCamera(const std::string & _filename_dot_yaml)
+static ParamsSensorBasePtr createParamsSensorCamera(const std::string & _filename_dot_yaml)
{
YAML::Node camera_config = YAML::LoadFile(_filename_dot_yaml);
@@ -37,7 +37,7 @@ static IntrinsicsBasePtr createIntrinsicsCamera(const std::string & _filename_do
VectorXd projection = camera_config["projection_matrix"]["data"] .as<VectorXd>();
// Eigen:: to wolf::
- std::shared_ptr<IntrinsicsCamera> intrinsics_cam = std::make_shared<IntrinsicsCamera>();
+ std::shared_ptr<ParamsSensorCamera> intrinsics_cam = std::make_shared<ParamsSensorCamera>();
intrinsics_cam->width = width;
intrinsics_cam->height = height;
@@ -106,7 +106,7 @@ static IntrinsicsBasePtr createIntrinsicsCamera(const std::string & _filename_do
}
// Register in the SensorFactory
-const bool WOLF_UNUSED registered_camera_intr = IntrinsicsFactory::get().registerCreator("CAMERA", createIntrinsicsCamera);
+const bool WOLF_UNUSED registered_camera_intr = ParamsSensorFactory::get().registerCreator("CAMERA", createParamsSensorCamera);
} // namespace [unnamed]
diff --git a/test/gtest_factor_epipolar.cpp b/test/gtest_factor_epipolar.cpp
index 0c29c57f68848860c3bae38d88ed23de80cb8d58..a5e74cb9bc773d41f41bb4676a94c13d4ed91788 100644
--- a/test/gtest_factor_epipolar.cpp
+++ b/test/gtest_factor_epipolar.cpp
@@ -33,7 +33,7 @@ TEST(FactorEpipolar, exemple)
auto P = Problem::create("PO", 3);
// Install sensor and processor
- IntrinsicsCameraPtr intr = std::make_shared<IntrinsicsCamera>();
+ ParamsSensorCameraPtr intr = std::make_shared<ParamsSensorCamera>();
intr->pinhole_model_raw = Eigen::Vector4d(320,240,320,320);
intr->pinhole_model_rectified = Eigen::Vector4d(320,240,320,320);
intr->width = 640;
diff --git a/test/gtest_factor_pixelHP.cpp b/test/gtest_factor_pixelHP.cpp
index 63c589139ece552e2abb032af413293373423095..853cb9c9025458fa65fc6ee171a071d0f35b5783 100644
--- a/test/gtest_factor_pixelHP.cpp
+++ b/test/gtest_factor_pixelHP.cpp
@@ -154,7 +154,7 @@ class FactorPixelHPTest : public testing::Test{
// Install sensor and processor
- IntrinsicsCameraPtr intr = std::make_shared<IntrinsicsCamera>();
+ ParamsSensorCameraPtr intr = std::make_shared<ParamsSensorCamera>();
intr->pinhole_model_raw = Eigen::Vector4d(320,240,320,320);
intr->pinhole_model_rectified = Eigen::Vector4d(320,240,320,320);
intr->width = 640;
@@ -201,7 +201,7 @@ TEST(ProcessorFactorPixelHP, testZeroResidual)
CeresManagerPtr ceres_mgr = std::make_shared<CeresManager>(problem_ptr);
// Install sensor
- IntrinsicsCameraPtr intr = std::make_shared<IntrinsicsCamera>();
+ ParamsSensorCameraPtr intr = std::make_shared<ParamsSensorCamera>();
intr->pinhole_model_raw = Eigen::Vector4d(0,0,1,1);
intr->pinhole_model_rectified = Eigen::Vector4d(320,240,320,320);
intr->width = 640;
diff --git a/test/gtest_processor_bundle_adjustment.cpp b/test/gtest_processor_bundle_adjustment.cpp
index 767b5b2bd1d001d67d962ea7904e0be445825f2f..09d1ab3435eee9d540ec00df91aa047cd7ad7d30 100644
--- a/test/gtest_processor_bundle_adjustment.cpp
+++ b/test/gtest_processor_bundle_adjustment.cpp
@@ -100,7 +100,7 @@ TEST(ProcessorBundleAdjustment, installProcessor)
ProblemPtr problem = Problem::create("PO", 3);
// Install camera
- IntrinsicsCameraPtr intr = std::make_shared<IntrinsicsCamera>(); // TODO init params or read from YAML
+ ParamsSensorCameraPtr intr = std::make_shared<ParamsSensorCamera>(); // TODO init params or read from YAML
intr->width = 640;
intr->height = 480;
auto sens_cam = problem->installSensor("CAMERA", "camera", (Eigen::Vector7d() << 0,0,0, 0,0,0,1).finished(), intr);
@@ -238,7 +238,7 @@ TEST(ProcessorBundleAdjustment, emplaceLandmark)
ProblemPtr problem_ptr = Problem::create("PO", 3);
// Install sensor
- IntrinsicsCameraPtr intr = std::make_shared<IntrinsicsCamera>();
+ ParamsSensorCameraPtr intr = std::make_shared<ParamsSensorCamera>();
intr->width = 640;
intr->height = 480;
auto sens_cam = problem_ptr->installSensor("CAMERA", "camera", (Eigen::Vector7d() << 0,0,0, 0,0,0,1).finished(), intr);
@@ -282,7 +282,7 @@ TEST(ProcessorBundleAdjustment, process)
ProblemPtr problem = Problem::create("PO", 3);
// Install camera
- IntrinsicsCameraPtr intr = std::make_shared<IntrinsicsCamera>(); // TODO init params or read from YAML
+ ParamsSensorCameraPtr intr = std::make_shared<ParamsSensorCamera>(); // TODO init params or read from YAML
intr->pinhole_model_raw = Eigen::Vector4d(0,0,1,1); //TODO: initialize
intr->width = 640;
intr->height = 480;
diff --git a/test/gtest_processor_tracker_feature_trifocal.cpp b/test/gtest_processor_tracker_feature_trifocal.cpp
index c3286dcd94f8032cdc1fe2c6757b8cbe367c8cd8..314b315bf0138bfa2c2c3187737a412b3e0813e6 100644
--- a/test/gtest_processor_tracker_feature_trifocal.cpp
+++ b/test/gtest_processor_tracker_feature_trifocal.cpp
@@ -75,7 +75,7 @@ TEST(ProcessorTrackerFeatureTrifocal, KeyFrameCallback)
ProblemPtr problem = Problem::create("PO", 3);
// Install tracker (sensor and processor)
- IntrinsicsCameraPtr intr = make_shared<IntrinsicsCamera>(); // TODO init params or read from YAML
+ ParamsSensorCameraPtr intr = make_shared<ParamsSensorCamera>(); // TODO init params or read from YAML
intr->width = 640;
intr->height = 480;
// SensorCameraPtr sens_trk = make_shared<SensorCamera>((Eigen::Vector7d()<<0,0,0, 0,0,0,1).finished(),
@@ -104,7 +104,7 @@ TEST(ProcessorTrackerFeatureTrifocal, KeyFrameCallback)
// sens_trk->addProcessor(proc_trk);
// Install odometer (sensor and processor)
- IntrinsicsOdom3DPtr params = std::make_shared<IntrinsicsOdom3D>();
+ ParamsSensorOdom3DPtr params = std::make_shared<ParamsSensorOdom3D>();
params->min_disp_var = 0.000001;
params->min_rot_var = 0.000001;
SensorBasePtr sens_odo = problem->installSensor("SensorOdom3D", "odometer", (Vector7d() << 0,0,0, 0,0,0,1).finished(), params);
diff --git a/test/gtest_sensor_camera.cpp b/test/gtest_sensor_camera.cpp
index fd068a9925a4bf1601656e5ecfd24b8b15a4f9ed..e3890984dd28cd6428cb73ca77f000323a1bb339 100644
--- a/test/gtest_sensor_camera.cpp
+++ b/test/gtest_sensor_camera.cpp
@@ -16,7 +16,7 @@ using namespace wolf;
TEST(SensorCamera, Img_size)
{
Eigen::VectorXd extrinsics(7); extrinsics << 0,0,0, 0,0,0,1;
- IntrinsicsCamera params;
+ ParamsSensorCamera params;
params.width = 640;
params.height = 480;
SensorCameraPtr cam = std::make_shared<SensorCamera>(extrinsics, params);
@@ -31,10 +31,10 @@ TEST(SensorCamera, Img_size)
ASSERT_EQ(cam->getImgHeight(), 100);
}
-TEST(SensorCamera, Intrinsics_Raw_Rectified)
+TEST(SensorCamera, ParamsSensor_Raw_Rectified)
{
Eigen::VectorXd extrinsics(7); extrinsics << 0,0,0, 0,0,0,1;
- IntrinsicsCamera params;
+ ParamsSensorCamera params;
params.pinhole_model_raw << 321, 241, 321, 321;
params.pinhole_model_rectified << 320, 240, 320, 320;
SensorCameraPtr cam = std::make_shared<SensorCamera>(extrinsics, params);
@@ -64,7 +64,7 @@ TEST(SensorCamera, Intrinsics_Raw_Rectified)
TEST(SensorCamera, Distortion)
{
Eigen::VectorXd extrinsics(7); extrinsics << 0,0,0, 0,0,0,1;
- IntrinsicsCamera params;
+ ParamsSensorCamera params;
params.width = 640;
params.height = 480;
params.pinhole_model_raw << 321, 241, 321, 321;
@@ -80,7 +80,7 @@ TEST(SensorCamera, Distortion)
TEST(SensorCamera, Correction_zero)
{
Eigen::VectorXd extrinsics(7); extrinsics << 0,0,0, 0,0,0,1;
- IntrinsicsCamera params;
+ ParamsSensorCamera params;
params.width = 640;
params.height = 480;
params.pinhole_model_raw << 321, 241, 321, 321;
@@ -98,7 +98,7 @@ TEST(SensorCamera, Correction_zero)
TEST(SensorCamera, create)
{
Eigen::VectorXd extrinsics(7); extrinsics << 0,0,0, 0,0,0,1;
- IntrinsicsCameraPtr params = std::make_shared<IntrinsicsCamera>();
+ ParamsSensorCameraPtr params = std::make_shared<ParamsSensorCamera>();
params->width = 640;
params->height = 480;
params->pinhole_model_raw << 321, 241, 321, 321;
@@ -118,7 +118,7 @@ TEST(SensorCamera, create)
TEST(SensorCamera, install)
{
Eigen::VectorXd extrinsics(7); extrinsics << 0,0,0, 0,0,0,1;
- IntrinsicsCameraPtr params = std::make_shared<IntrinsicsCamera>();
+ ParamsSensorCameraPtr params = std::make_shared<ParamsSensorCamera>();
params->width = 640;
params->height = 480;
params->pinhole_model_raw << 321, 241, 321, 321;