From 53b2b9e5db94f4e416103d9f825eaeb6962bb5fa Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Mon, 20 Jan 2020 09:04:40 +0200
Subject: [PATCH] fix vision node baseline
---
.../rgbd-sources/src/sources/stereovideo/stereovideo.cpp | 6 +++---
components/streams/src/parsers.cpp | 6 +++++-
2 files changed, 8 insertions(+), 4 deletions(-)
diff --git a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
index ccb3cada4..3a0587ebb 100644
--- a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
+++ b/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
};
}
diff --git a/components/streams/src/parsers.cpp b/components/streams/src/parsers.cpp
index ebca4576b..f6dee9cce 100644
--- a/components/streams/src/parsers.cpp
+++ b/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);
}
--
GitLab