From 7c017eba00d9aac21a4aa46b68da63f4c1c09467 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Wed, 26 Jun 2019 08:58:54 +0300
Subject: [PATCH] Update focal in Q matrix
---
components/rgbd-sources/src/calibrate.cpp | 1 +
1 file changed, 1 insertion(+)
diff --git a/components/rgbd-sources/src/calibrate.cpp b/components/rgbd-sources/src/calibrate.cpp
index f0b98a505..aaa16f91b 100644
--- a/components/rgbd-sources/src/calibrate.cpp
+++ b/components/rgbd-sources/src/calibrate.cpp
@@ -119,6 +119,7 @@ void Calibrate::updateCalibration(const ftl::rgbd::Camera &p) {
std::pair<Mat, Mat> map1, map2;
Q_.at<double>(3,2) = 1.0 / p.baseline;
+ Q_.at<double>(2,3) = p.fx;
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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