fix parameter scalign (resolution)

applications/reconstruct/src/main.cpp

@@ -82,8 +82,8 @@ static Eigen::Affine3d create_rotation_matrix(float ax, float ay, float az) {
 	return rz * rx * ry;
 }
 
-// TODO:	*	Remove this class (requires more general solution). Also does not
-//				process disconnections/reconnections/types etc. correctly.
+// TODO:	*	Remove this class (requires more general solution). Also does
+//				not process disconnections/reconnections/types etc. correctly.
 //			*	Update when new options become available.
 
 class ConfigProxy {
@@ -216,6 +216,7 @@ static void run(ftl::Configurable *root) {
 
 		for (auto &input : sources) {
 			string uri = input->getURI();
+
 			auto T = transformations.find(uri);
 			if (T == transformations.end()) {
 				LOG(WARNING) << "Camera pose for " + uri + " not found in transformations";

components/rgbd-sources/src/source.cpp

@@ -303,11 +303,6 @@ void Source::notify(int64_t ts, cv::cuda::GpuMat &c1, cv::cuda::GpuMat &c2) {
 	int max_width = max(impl_->params_.width, max(c1.cols, c2.cols));
 	int max_height = max(impl_->params_.height, max(c1.rows, c2.rows));
 
-	// Do we need to scale camera parameters
-	if (impl_->params_.width < max_width || impl_->params_.height < max_height) {
-		impl_->params_ = impl_->params_.scaled(max_width, max_height);
-	}
-
 	if (callback_) callback_(ts, c1, c2);
 }
 

components/rgbd-sources/src/sources/stereovideo/calibrate.hpp

@@ -49,20 +49,12 @@ class Calibrate : public ftl::Configurable {
 
 	void updateCalibration(const ftl::rgbd::Camera &p);
 	
-	/**
-	 * Get the camera matrix. Used to convert disparity map back to depth and
-	 * a 3D point cloud.
-	 */
+	// Get disparity to depth matrix.
 	const cv::Mat &getQ() const { return Q_; }
 
 	cv::Mat getCameraMatrixLeft(const cv::Size res);
 	cv::Mat getCameraMatrixRight(const cv::Size res);
 
-	// TODO: Remove. Always require resolution for correct scaling
-	const cv::Mat &getCameraMatrixLeft() { return Kl_; }
-	const cv::Mat &getCameraMatrixRight() { return Kr_; }
-	const cv::Mat &getCameraMatrix() { return getCameraMatrixLeft(); }
-
 private:
 	void _updateIntrinsics();
 	bool _loadCalibration(cv::Size img_size, std::pair<cv::Mat, cv::Mat> &map1, std::pair<cv::Mat, cv::Mat> &map2);

components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp

@@ -151,22 +151,22 @@ void StereoVideoSource::init(const string &file) {
 }
 
 ftl::rgbd::Camera StereoVideoSource::parameters(Channel chan) {
-	cv::Mat q;
+	cv::Mat K;
 	
 	if (chan == Channel::Right) {
-		q = calib_->getCameraMatrixRight(depth_size_);
+		K = calib_->getCameraMatrixRight(depth_size_);
 	} else {
-		q = calib_->getCameraMatrixLeft(depth_size_);
+		K = 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(),
+		K.at<double>(0,0),	// Fx
+		K.at<double>(1,1),	// Fy
+		-K.at<double>(0,2),	// Cx
+		-K.at<double>(1,2),	// Cy
+		(unsigned int) depth_size_.width,
+		(unsigned int) depth_size_.height,
 		0.0f,	// 0m min
 		15.0f,	// 15m max
 		1.0 / calib_->getQ().at<double>(3,2), // Baseline

components/rgbd-sources/src/sources/stereovideo/stereovideo.hpp

@@ -17,9 +17,7 @@ class Disparity;
 
 /**
  * RGBD source from either a stereo video file with left + right images, or
- * direct from two camera devices. A variety of algorithms are included for
- * calculating disparity, before converting to depth.  Calibration of the images
- * is also performed.
+ * direct from two camera devices. 
  */
 class StereoVideoSource : public detail::Source {
 	public:
@@ -32,7 +30,7 @@ class StereoVideoSource : public detail::Source {
 	bool retrieve();
 	bool compute(int n, int b);
 	bool isReady();
-	Camera parameters(ftl::codecs::Channel chan);
+	Camera parameters(ftl::codecs::Channel chan) override;
 
 	private:
 	LocalSource *lsrc_;