diff --git a/applications/calibration/src/main.cpp b/applications/calibration/src/main.cpp index bb72d1a3b29901edfcfe7b53881234fc27516456..698c7c9027513d8cea532f0b324f329adf5a6a08 100644 --- a/applications/calibration/src/main.cpp +++ b/applications/calibration/src/main.cpp @@ -6,25 +6,25 @@ #include "align.hpp" int main(int argc, char **argv) { - loguru::g_preamble_date = false; + loguru::g_preamble_date = false; loguru::g_preamble_uptime = false; loguru::g_preamble_thread = false; loguru::init(argc, argv, "--verbosity"); - argc--; + argc--; argv++; - // Process Arguments + // Process Arguments auto options = ftl::config::read_options(&argv, &argc); - if (options.find("intrinsic") != options.end()) { - ftl::calibration::intrinsic(options); - } else if (options.find("stereo") != options.end()) { - ftl::calibration::stereo(options); - } else if (options.find("align") != options.end()) { - ftl::calibration::align(options); - } else { - LOG(ERROR) << "Must have one of: --intrinsic --stereo or --align"; - } + if (options.find("intrinsic") != options.end()) { + ftl::calibration::intrinsic(options); + } else if (options.find("stereo") != options.end()) { + ftl::calibration::stereo(options); + } else if (options.find("align") != options.end()) { + ftl::calibration::align(options); + } else { + LOG(ERROR) << "Must have one of: --intrinsic --stereo or --align"; + } - return 0; + return 0; } diff --git a/applications/calibration/src/stereo.cpp b/applications/calibration/src/stereo.cpp index 9d9dea6c1e2b88c37c1fa1d293e49b1522c7a14c..65b93e18d306ec00d10298755a4ef6accbab01ff 100644 --- a/applications/calibration/src/stereo.cpp +++ b/applications/calibration/src/stereo.cpp @@ -27,6 +27,7 @@ void ftl::calibration::stereo(map<string, string> &opt) { Size image_size = Size(1280, 720); int iter = 30; double max_error = 1.0; + float alpha = 0; string filename_intrinsics = (hasOption(opt, "profile")) ? getOption(opt, "profile") : "./panasonic.yml"; CalibrationChessboard calib(opt); // TODO paramters hardcoded in constructor // PARAMETERS @@ -143,7 +144,7 @@ void ftl::calibration::stereo(map<string, string> &opt) { camera_matrices[0], dist_coeffs[0], camera_matrices[1], dist_coeffs[1], image_size, R, T, R1, R2, P1, P2, Q, - cv::CALIB_ZERO_DISPARITY, 1, image_size, + cv::CALIB_ZERO_DISPARITY, alpha, image_size, &validRoi[0], &validRoi[1] );