From 699b3da91bb87080084b7847595d885aba399448 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Wed, 7 Aug 2019 10:10:26 +0300
Subject: [PATCH] Rename Q to K (camera matrix)
---
components/rgbd-sources/src/stereovideo.cpp | 16 ++++++++--------
1 file changed, 8 insertions(+), 8 deletions(-)
diff --git a/components/rgbd-sources/src/stereovideo.cpp b/components/rgbd-sources/src/stereovideo.cpp
index aa8f8c376..d7e24de78 100644
--- a/components/rgbd-sources/src/stereovideo.cpp
+++ b/components/rgbd-sources/src/stereovideo.cpp
@@ -62,14 +62,14 @@ void StereoVideoSource::init(const string &file) {
if (!calib_->isCalibrated()) LOG(WARNING) << "Cameras are not calibrated!";
// Generate camera parameters from camera matrix
- cv::Mat q = calib_->getCameraMatrix();
+ cv::Mat K = calib_->getCameraMatrix();
params_ = {
- q.at<double>(0,0), // Fx
- q.at<double>(1,1), // Fy
- -q.at<double>(0,2), // Cx
- -q.at<double>(1,2), // Cy
- (unsigned int)lsrc_->width(),
- (unsigned int)lsrc_->height(),
+ K.at<double>(0,0), // Fx
+ K.at<double>(1,1), // Fy
+ -K.at<double>(0,2), // Cx
+ -K.at<double>(1,2), // Cy
+ (unsigned int) lsrc_->width(),
+ (unsigned int) lsrc_->height(),
0.0f, // 0m min
15.0f, // 15m max
1.0 / calib_->getQ().at<double>(3,2), // Baseline
@@ -115,7 +115,7 @@ void StereoVideoSource::init(const string &file) {
mask_l_ = (mask_l == 0);
disp_ = Disparity::create(host_, "disparity");
- if (!disp_) LOG(FATAL) << "Unknown disparity algorithm : " << *host_->get<ftl::config::json_t>("disparity");
+ if (!disp_) LOG(FATAL) << "Unknown disparity algorithm : " << *host_->get<ftl::config::json_t>("disparity");
disp_->setMask(mask_l_);
LOG(INFO) << "StereoVideo source ready...";
--
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