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fix: remove debug output from undistortImage function

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ob-yalian
2025-12-30 09:33:56 +08:00
parent 56c469b177
commit 462757f0a7
1 changed files with 0 additions and 3 deletions
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orbbec_camera/src/utils.cpp
-3
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@@ -940,14 +940,11 @@ UndistortedImageResult undistortImage(const cv::Mat &image, const OBCameraIntrin
// Create the distortion coefficients matrix using the extended distortion model
cv::Mat dist_coeffs = (cv::Mat_<float>(8, 1) << distortion.k1, distortion.k2, distortion.p1,
distortion.p2, distortion.k3, distortion.k4, distortion.k5, distortion.k6);
std::cout << "1" << camera_matrix << std::endl;
cv::Size image_size(image.cols, image.rows);
cv::Mat new_camera_matrix =
cv::getOptimalNewCameraMatrix(camera_matrix, dist_coeffs, image_size, 0.0, image_size);
std::cout << new_camera_matrix << std::endl;
// Undistort the image using the new camera matrix
cv::undistort(image, result.image, camera_matrix, dist_coeffs, new_camera_matrix);
std::cout << new_camera_matrix << std::endl;
// Update the intrinsic parameters with the new camera matrix
result.new_intrinsic = intrinsic; // Copy original values first
result.new_intrinsic.fx = new_camera_matrix.at<double>(0, 0);