From 6f9d64939a8d1ddfc5b40d2058872607ea43a28b Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Wed, 26 Jun 2019 09:02:14 +0300
Subject: [PATCH] Also update principle points
---
components/rgbd-sources/src/calibrate.cpp | 3 +++
1 file changed, 3 insertions(+)
diff --git a/components/rgbd-sources/src/calibrate.cpp b/components/rgbd-sources/src/calibrate.cpp
index aaa16f91b..ad9b70462 100644
--- a/components/rgbd-sources/src/calibrate.cpp
+++ b/components/rgbd-sources/src/calibrate.cpp
@@ -120,6 +120,9 @@ void Calibrate::updateCalibration(const ftl::rgbd::Camera &p) {
Q_.at<double>(3,2) = 1.0 / p.baseline;
Q_.at<double>(2,3) = p.fx;
+ Q_.at<double>(0,3) = p.cx;
+ Q_.at<double>(1,3) = p.cy;
+ // TODO(Nick) Update camera matrix also...
initUndistortRectifyMap(M1_, D1_, R1_, P1_, img_size_, CV_32FC1, map1.first, map2.first);
initUndistortRectifyMap(M2_, D2_, R2_, P2_, img_size_, CV_32FC1, map1.second, map2.second);
--
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