| 32 | { |
| 33 | |
| 34 | equirectangular::equirectangular(const std::string &name, const color_order_t &color_order, |
| 35 | const unsigned int cols, const unsigned int rows, const double fps) |
| 36 | : base(name, setup_type_t::Monocular, model_type_t::Equirectangular, color_order, cols, rows, fps, 0.0, 0.0) |
| 37 | { |
| 38 | spdlog::debug("CONSTRUCT: camera::equirectangular"); |
| 39 | |
| 40 | img_bounds_ = compute_image_bounds(); |
| 41 | |
| 42 | inv_cell_width_ = static_cast<double>(num_grid_cols_) / (img_bounds_.max_x_ - img_bounds_.min_x_); |
| 43 | inv_cell_height_ = static_cast<double>(num_grid_rows_) / (img_bounds_.max_y_ - img_bounds_.min_y_); |
| 44 | } |
| 45 | |
| 46 | equirectangular::equirectangular(const YAML::Node &yaml_node) |
| 47 | : equirectangular(yaml_node["Camera.name"].as<std::string>(), |