delay

applications/calibration/src/lens.cpp

@@ -60,7 +60,7 @@ void ftl::calibration::intrinsic(map<string, string> &opt) {
 		if (found) { calib.drawPoints(img, points); }
 
 		cv::imshow("Camera", img);
-		cv::waitKey(500);
+		cv::waitKey(750);
 
 		if (!found) { continue; }
 

applications/calibration/src/stereo.cpp

@@ -25,14 +25,13 @@ void ftl::calibration::stereo(map<string, string> &opt) {
 
 	// TODO PARAMETERS TO CONFIG FILE
 	Size image_size = Size(1280, 720);
-	int iter = 35;
+	int iter = 30;
 	double max_error = 1.0;
 	string filename_intrinsics = (hasOption(opt, "profile")) ? getOption(opt, "profile") : "./panasonic.yml";
 	CalibrationChessboard calib(opt); // TODO paramters hardcoded in constructor
 	// PARAMETERS
 
-	int stereocalibrate_flags = 
-		cv::CALIB_FIX_ASPECT_RATIO | cv::CALIB_SAME_FOCAL_LENGTH | cv::CALIB_FIX_INTRINSIC |
+	int stereocalibrate_flags = cv::CALIB_FIX_INTRINSIC |
 		// K1 to K6 fixed by intrinsic calibration
 		cv::CALIB_FIX_K1 | cv::CALIB_FIX_K2 | cv::CALIB_FIX_K3 |
 		cv::CALIB_FIX_K4 | cv::CALIB_FIX_K5 | cv::CALIB_FIX_K6;
@@ -80,7 +79,7 @@ void ftl::calibration::stereo(map<string, string> &opt) {
 
 			cv::imshow("Camera: " + std::to_string(i), img);
 		}
-		cv::waitKey(500);
+		cv::waitKey(750);
 
 		if (res != 2) { LOG(WARNING) << "Input not detected on all inputs"; }
 		else {
@@ -124,7 +123,7 @@ void ftl::calibration::stereo(map<string, string> &opt) {
 		camera_matrices[0], dist_coeffs[0],
 		camera_matrices[1], dist_coeffs[1],
 		image_size, R, T, E, F, per_view_errors,
-		stereocalibrate_flags | cv::CALIB_USE_EXTRINSIC_GUESS,
+		stereocalibrate_flags,
 		cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 120, 1e-6)
 	);
 
@@ -163,6 +162,12 @@ void ftl::calibration::stereo(map<string, string> &opt) {
 			camera.retrieve(in[i]);
 			cv::imshow("Camera: " + std::to_string(i), in[i]);
 			cv::remap(in[i], out[i], map1[i], map2[i], cv::INTER_CUBIC);
+
+			// draw lines
+			for (int r = 0; r < image_size.height; r = r+50) {
+				cv::line(out[i], cv::Point(0, r), cv::Point(image_size.width-1, r), cv::Scalar(0,0,255), 1);
+			}
+
 			cv::imshow("Camera " + std::to_string(i) + " (rectified)", out[i]);
 		}
 	}