Merge branch 'master' of gitlab.utu.fi:nicolas.pope/ftl

applications/calibration-multi/src/multicalibrate.cpp

@@ -393,6 +393,13 @@ double MultiCameraCalibrationNew::calibratePair(size_t camera_from, size_t camer
 	vector<uchar> inliers;
 	Mat F, E;
 	F = cv::findFundamentalMat(points1, points2, fm_method_, fm_ransac_threshold_, fm_confidence_, inliers);
+
+	if (F.empty())
+	{
+		LOG(ERROR) << "Fundamental matrix estimation failed. Possibly degenerate configuration?";
+		return INFINITY;
+	}
+
 	E = K2.t() * F * K1;
 
 	// Only include inliers

config/config_nick.jsonc

@@ -128,7 +128,15 @@
 				"SDFUseGradients": false,
 				"showBlockBorders": false
 			},
-			"baseline": 0.5,
+			"baseline": 0.05,
+			"focal": 700,
+			"width": 1280,
+			"height": 720,
+			"maxDepth": 15.0,
+			"minDepth": 0.05,
+			"splatting": true,
+			"texturing": true,
+			"upsampling": false,
 			"uri": "device:virtual"
 		}
 	},
@@ -150,7 +158,7 @@
 			"confidenceThreshold": 0.0,
 			"mls": true,
 			"voxels": false,
-			"clipping": true,
+			"clipping": false,
 			"bbox_x_max": 0.6,
 			"bbox_x_min": -0.6,
 			"bbox_y_max": 3.0,