fix vision node baseline

components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp

@@ -199,7 +199,7 @@ void StereoVideoSource::updateParameters() {
 	cv::Mat K;
 	
 	// same for left and right
-	double baseline = calib_->getQ().at<double>(3,2);
+	double baseline = 1.0 / calib_->getQ().at<double>(3,2);
 	double doff =  -calib_->getQ().at<double>(3,3) * baseline;
 
 	// left
@@ -214,7 +214,7 @@ void StereoVideoSource::updateParameters() {
 		(unsigned int) color_size_.height,
 		0.0f,	// 0m min
 		15.0f,	// 15m max
-		1.0 / baseline, // Baseline
+		baseline, // Baseline
 		doff
 	};
 	
@@ -236,7 +236,7 @@ void StereoVideoSource::updateParameters() {
 		(unsigned int) color_size_.height,
 		0.0f,	// 0m min
 		15.0f,	// 15m max
-		1.0 / baseline, // Baseline
+		baseline, // Baseline
 		doff
 	};
 }

components/streams/src/parsers.cpp

@@ -10,7 +10,11 @@ ftl::rgbd::Camera ftl::stream::parseCalibration(const ftl::codecs::Packet &pkt)
 	auto unpacked = msgpack::unpack((const char*)pkt.data.data(), pkt.data.size());
 	unpacked.get().convert(params);
 
-	LOG(INFO) << "Got Calibration: " << std::get<0>(params).width << "x" << std::get<0>(params).height;
+	LOG(INFO) << "Got Calibration: "
+			  << std::get<0>(params).width << "x" << std::get<0>(params).height
+			  << ", fx: " << std::get<0>(params).fx
+			  << ", cx: " << std::get<0>(params).cx
+			  << ", cy: " << std::get<0>(params).cy;
 	return std::get<0>(params);
 }