set default values for intrinsics if no file

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

@@ -50,7 +50,6 @@ StereoVideoSource::~StereoVideoSource() {
 
 void StereoVideoSource::init(const string &file) {
 	capabilities_ = kCapVideo | kCapStereo;
-	calibrated_ = false;
 
 	if (ftl::is_video(file)) {
 		// Load video file
@@ -94,7 +93,6 @@ void StereoVideoSource::init(const string &file) {
 		if (calib_->loadCalibration(fname)) {
 			calib_->calculateRectificationParameters();
 			calib_->setRectify(true);
-			calibrated_ = true;
 		}
 	}
 	else {
@@ -103,6 +101,16 @@ void StereoVideoSource::init(const string &file) {
 								+ std::string("calibration.yml");
 
 		LOG(ERROR) << "No calibration, default path set to " + fname;
+
+		// set use config file/set (some) default values
+
+		cv::Mat K = cv::Mat::eye(cv::Size(3, 3), CV_64FC1);
+		K.at<double>(0,0) = host_->value("focal", 500.0);
+		K.at<double>(1,1) = host_->value("focal", 500.0);
+		K.at<double>(0,2) = host_->value("centre_x", -color_size_.width/2.0f);
+		K.at<double>(1,2) = host_->value("centre_y", -color_size_.height/2.0f);
+
+		calib_->setIntrinsics(color_size_, {K, K});
 	}
 
 	////////////////////////////////////////////////////////////////////////////
@@ -135,8 +143,6 @@ void StereoVideoSource::init(const string &file) {
 				}
 			}
 
-			calibrated_ = true;  // Means we have intrinsics
-
 			return true;
 	});
 
@@ -200,43 +206,27 @@ void StereoVideoSource::updateParameters() {
 	float max_depth = this->host_->getConfig().value<double>("max_depth", 15.0);
 
 	// left
-
-	// FIXME: Check this change doesn't break anything (adding of calibrated_)
-	if (calibrated_) {
-		K = calib_->getCameraMatrixLeft(color_size_);
-		state_.getLeft() = {
-			static_cast<float>(K.at<double>(0,0)),	// Fx
-			static_cast<float>(K.at<double>(1,1)),	// Fy
-			static_cast<float>(-K.at<double>(0,2)),	// Cx
-			static_cast<float>(-K.at<double>(1,2)),	// Cy
-			(unsigned int) color_size_.width,
-			(unsigned int) color_size_.height,
-			min_depth,
-			max_depth,
-			baseline,
-			doff
-		};
-		
-		host_->getConfig()["focal"] = params_.fx;
-		host_->getConfig()["centre_x"] = params_.cx;
-		host_->getConfig()["centre_y"] = params_.cy;
-		host_->getConfig()["baseline"] = params_.baseline;
-		host_->getConfig()["doffs"] = params_.doffs;
-	} else {
-		state_.getLeft() = {
-			host_->value("focal", 500.0f),	// Fx
-			host_->value("focal", 500.0f),	// Fy
-			host_->value("centre_x", -color_size_.width/2.0f),	// Cx
-			host_->value("centre_y", -color_size_.height/2.0f),	// Cy
-			(unsigned int) color_size_.width,
-			(unsigned int) color_size_.height,
-			min_depth,
-			max_depth,
-			baseline,
-			doff
-		};
-	}
-
+	
+	K = calib_->getCameraMatrixLeft(color_size_);
+	state_.getLeft() = {
+		static_cast<float>(K.at<double>(0,0)),	// Fx
+		static_cast<float>(K.at<double>(1,1)),	// Fy
+		static_cast<float>(-K.at<double>(0,2)),	// Cx
+		static_cast<float>(-K.at<double>(1,2)),	// Cy
+		(unsigned int) color_size_.width,
+		(unsigned int) color_size_.height,
+		min_depth,
+		max_depth,
+		baseline,
+		doff
+	};
+	
+	host_->getConfig()["focal"] = params_.fx;
+	host_->getConfig()["centre_x"] = params_.cx;
+	host_->getConfig()["centre_y"] = params_.cy;
+	host_->getConfig()["baseline"] = params_.baseline;
+	host_->getConfig()["doffs"] = params_.doffs;
+	
 	// right
 
 	K = calib_->getCameraMatrixRight(color_size_);

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

@@ -38,7 +38,6 @@ class StereoVideoSource : public detail::Source {
 
 	LocalSource *lsrc_;
 	Calibrate *calib_;
-	bool calibrated_;
 
 	cv::Size color_size_;
 	cv::Size depth_size_;