From bd655dbcb28b556b787d576865276494289d2e74 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Thu, 12 Dec 2019 11:00:54 +0200
Subject: [PATCH] fix left channel parameters (resolution)
---
.../src/sources/stereovideo/stereovideo.cpp | 36 ++++++++++---------
1 file changed, 20 insertions(+), 16 deletions(-)
diff --git a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
index 01afccee4..5b94356c6 100644
--- a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
@@ -151,25 +151,29 @@ void StereoVideoSource::init(const string &file) {
}
ftl::rgbd::Camera StereoVideoSource::parameters(Channel chan) {
+ cv::Mat q;
+
if (chan == Channel::Right) {
- cv::Mat q = calib_->getCameraMatrixRight(depth_size_);
- ftl::rgbd::Camera 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(),
- 0.0f, // 0m min
- 15.0f, // 15m max
- 1.0 / calib_->getQ().at<double>(3,2), // Baseline
- 0.0f // doffs
- };
- return params;
- //params_.doffs = -calib_->getQ().at<double>(3,3) * params_.baseline;
+ q = calib_->getCameraMatrixRight(depth_size_);
} else {
- return params_;
+ q = calib_->getCameraMatrixLeft(depth_size_);
}
+
+ // TODO: remove hardcoded values (min/max)
+ ftl::rgbd::Camera 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(),
+ 0.0f, // 0m min
+ 15.0f, // 15m max
+ 1.0 / calib_->getQ().at<double>(3,2), // Baseline
+ 0.0f // doffs
+ };
+
+ return params;
}
bool StereoVideoSource::capture(int64_t ts) {
--
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