From 58a4fb02831f2453686c5d05acce29aa72113162 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Tue, 19 Mar 2019 14:55:44 +0200
Subject: [PATCH] Support variable delay in calibration
---
cv-node/config/config.json | 6 +++---
cv-node/include/ftl/calibrate.hpp | 2 +-
cv-node/src/calibrate.cpp | 2 +-
3 files changed, 5 insertions(+), 5 deletions(-)
diff --git a/cv-node/config/config.json b/cv-node/config/config.json
index f14b58abd..a634c12ff 100644
--- a/cv-node/config/config.json
+++ b/cv-node/config/config.json
@@ -8,8 +8,8 @@
"calibration": {
"board_size": [9,6],
"square_size": 50,
- "frame_delay": 100,
- "num_frames": 25,
+ "frame_delay": 1.0,
+ "num_frames": 35,
"assume_zero_tangential_distortion": true,
"fix_aspect_ratio": true,
"fix_principal_point_at_center": true,
@@ -33,7 +33,7 @@
"disparity": {
"algorithm": "rtcensus",
"use_cuda": true,
- "minimum": 10,
+ "minimum": 0,
"maximum": 208,
"tau": 0.0,
"gamma": 0.0,
diff --git a/cv-node/include/ftl/calibrate.hpp b/cv-node/include/ftl/calibrate.hpp
index 2539864f0..99d690847 100644
--- a/cv-node/include/ftl/calibrate.hpp
+++ b/cv-node/include/ftl/calibrate.hpp
@@ -35,7 +35,7 @@ class Calibrate {
float squareSize; // The size of a square in your defined unit (point, millimeter,etc).
int nrFrames; // The number of frames to use from the input for calibration
float aspectRatio; // The aspect ratio
- int delay; // In case of a video input
+ float delay; // In case of a video input
bool writePoints; // Write detected feature points
bool writeExtrinsics; // Write extrinsic parameters
bool writeGrid; // Write refined 3D target grid points
diff --git a/cv-node/src/calibrate.cpp b/cv-node/src/calibrate.cpp
index c4e07f071..403ad8f9e 100644
--- a/cv-node/src/calibrate.cpp
+++ b/cv-node/src/calibrate.cpp
@@ -409,7 +409,7 @@ bool Calibrate::_recalibrate(vector<vector<Point2f>> *imagePoints,
found1 = findChessboardCorners( view[0], settings_.boardSize, pointBuf[0], chessBoardFlags);
found2 = !local_->isStereo() || findChessboardCorners( view[1], settings_.boardSize, pointBuf[1], chessBoardFlags);
- if (found1 && found2 && local_->getTimestamp()-prevTimestamp > 0.5) // If done with success,
+ if (found1 && found2 && local_->getTimestamp()-prevTimestamp > settings_.delay) // If done with success,
{
prevTimestamp = local_->getTimestamp();
// improve the found corners' coordinate accuracy for chessboard
--
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