From 15eee13593ccfa6f8d4415afa917c60c0ef192b9 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Fri, 21 Aug 2020 12:46:15 +0300
Subject: [PATCH] fix incorrect unrectified intrinsic values
---
.../rgbd-sources/src/sources/stereovideo/rectification.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/components/rgbd-sources/src/sources/stereovideo/rectification.cpp b/components/rgbd-sources/src/sources/stereovideo/rectification.cpp
index 39e91193c..6e1ef7df3 100644
--- a/components/rgbd-sources/src/sources/stereovideo/rectification.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/rectification.cpp
@@ -196,10 +196,10 @@ cv::Mat StereoRectification::cameraMatrix(Channel c) {
}
else {
if (c == Channel::Left) {
- return calib_left_.intrinsic.matrix();
+ return CalibrationData::Intrinsic(calib_left_.intrinsic, image_resolution_).matrix();
}
else if (c == Channel::Right) {
- return calib_right_.intrinsic.matrix();
+ return CalibrationData::Intrinsic(calib_right_.intrinsic, image_resolution_).matrix();
}
}
throw ftl::exception("Invalid channel, expected Left or Right");
--
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