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Commit ccc67e9d authored by Sebastian Hahta's avatar Sebastian Hahta
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alpha = 0

parent 13867a8e
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1 merge request!32Resolves #76 calibration rework
Pipeline #11456 passed
...@@ -27,6 +27,7 @@ void ftl::calibration::stereo(map<string, string> &opt) { ...@@ -27,6 +27,7 @@ void ftl::calibration::stereo(map<string, string> &opt) {
Size image_size = Size(1280, 720); Size image_size = Size(1280, 720);
int iter = 30; int iter = 30;
double max_error = 1.0; double max_error = 1.0;
float alpha = 0;
string filename_intrinsics = (hasOption(opt, "profile")) ? getOption(opt, "profile") : "./panasonic.yml"; string filename_intrinsics = (hasOption(opt, "profile")) ? getOption(opt, "profile") : "./panasonic.yml";
CalibrationChessboard calib(opt); // TODO paramters hardcoded in constructor CalibrationChessboard calib(opt); // TODO paramters hardcoded in constructor
// PARAMETERS // PARAMETERS
...@@ -143,7 +144,7 @@ void ftl::calibration::stereo(map<string, string> &opt) { ...@@ -143,7 +144,7 @@ void ftl::calibration::stereo(map<string, string> &opt) {
camera_matrices[0], dist_coeffs[0], camera_matrices[0], dist_coeffs[0],
camera_matrices[1], dist_coeffs[1], camera_matrices[1], dist_coeffs[1],
image_size, R, T, R1, R2, P1, P2, Q, 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] &validRoi[0], &validRoi[1]
); );
......
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