camera matrix scaling

components/codecs/include/ftl/codecs/channels.hpp

@@ -32,6 +32,7 @@ enum struct Channel : int {
 	Support2		= 14,	// 8UC4 (currently)
 	Segmentation	= 15,	// 32S?
 	ColourNormals	= 16,	// 8UC4
+	ColourHighRes	= 20,	// 8UC3 or 8UC4
 
 	AudioLeft		= 32,
 	AudioRight		= 33,

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

@@ -211,6 +211,26 @@ void Calibrate::_updateIntrinsics() {
 	map2_gpu_.second.upload(map2_.second);
 }
 
+cv::Mat Calibrate::getCameraMatrixLeft(const cv::Size res) {
+	double scale_x = ((double) res.width) / ((double) img_size_.width);
+	double scale_y = ((double) res.height) / ((double) img_size_.height);
+	Mat scale(cv::Size(3, 3), CV_64F, 0.0);
+	scale.at<double>(0, 0) = scale_x;
+	scale.at<double>(1, 1) = scale_y;
+	scale.at<double>(2, 2) = 1.0;
+	return scale * Kl_;
+}
+
+cv::Mat Calibrate::getCameraMatrixRight(const cv::Size res) {
+	double scale_x = ((double) res.width) / ((double) img_size_.width);
+	double scale_y = ((double) res.height) / ((double) img_size_.height);
+	Mat scale(cv::Size(3, 3), CV_64F, 0.0);
+	scale.at<double>(0, 0) = scale_x;
+	scale.at<double>(1, 1) = scale_y;
+	scale.at<double>(2, 2) = 1.0;
+	return scale * Kr_;
+}
+
 void Calibrate::rectifyStereo(GpuMat &l, GpuMat &r, Stream &stream) {
 	// cv::cuda::remap() can not use same Mat for input and output
 

components/rgbd-sources/src/sources/stereovideo/calibrate.hpp

@@ -55,6 +55,10 @@ class Calibrate : public ftl::Configurable {
 	 */
 	const cv::Mat &getQ() const { return Q_; }
 
+	cv::Mat getCameraMatrixLeft(const cv::Size res);
+	cv::Mat getCameraMatrixRight(const cv::Size res);
+
+	// TODO: Remove. Always require resolution for correct scaling
 	const cv::Mat &getCameraMatrixLeft() { return Kl_; }
 	const cv::Mat &getCameraMatrixRight() { return Kr_; }
 	const cv::Mat &getCameraMatrix() { return getCameraMatrixLeft(); }

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

@@ -96,7 +96,7 @@ void StereoVideoSource::init(const string &file) {
 	if (!calib_->isCalibrated()) LOG(WARNING) << "Cameras are not calibrated!";
 
 	// Generate camera parameters from camera matrix
-	cv::Mat K = calib_->getCameraMatrix();
+	cv::Mat K = calib_->getCameraMatrixLeft(depth_size_);
 	params_ = {
 		K.at<double>(0,0),	// Fx
 		K.at<double>(1,1),	// Fy
@@ -152,7 +152,7 @@ void StereoVideoSource::init(const string &file) {
 
 ftl::rgbd::Camera StereoVideoSource::parameters(Channel chan) {
 	if (chan == Channel::Right) {
-		cv::Mat q = calib_->getCameraMatrixRight();
+		cv::Mat q = calib_->getCameraMatrixRight(depth_size_);
 		ftl::rgbd::Camera params = {
 			q.at<double>(0,0),	// Fx
 			q.at<double>(1,1),	// Fy