From bc7b958218829b7d2c544a08bf3307a5d81f6fe7 Mon Sep 17 00:00:00 2001 From: ob-yalian Date: Tue, 14 Apr 2026 16:00:02 +0800 Subject: [PATCH] refactor: revert undistortion changes in image processing --- orbbec_camera/include/orbbec_camera/constants.h | 2 +- orbbec_camera/src/utils.cpp | 15 ++++++++------- 2 files changed, 9 insertions(+), 8 deletions(-) diff --git a/orbbec_camera/include/orbbec_camera/constants.h b/orbbec_camera/include/orbbec_camera/constants.h index 826175e3..bbd552cd 100644 --- a/orbbec_camera/include/orbbec_camera/constants.h +++ b/orbbec_camera/include/orbbec_camera/constants.h @@ -23,7 +23,7 @@ #define OB_ROS_MAJOR_VERSION 2 #define OB_ROS_MINOR_VERSION 7 -#define OB_ROS_PATCH_VERSION 6 +#define OB_ROS_PATCH_VERSION 6.2 #ifndef STRINGIFY #define STRINGIFY(arg) #arg diff --git a/orbbec_camera/src/utils.cpp b/orbbec_camera/src/utils.cpp index a1a504a5..09814ead 100644 --- a/orbbec_camera/src/utils.cpp +++ b/orbbec_camera/src/utils.cpp @@ -941,16 +941,17 @@ UndistortedImageResult undistortImage(const cv::Mat &image, const OBCameraIntrin cv::Mat dist_coeffs = (cv::Mat_(8, 1) << distortion.k1, distortion.k2, distortion.p1, distortion.p2, distortion.k3, distortion.k4, distortion.k5, distortion.k6); 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); + // cv::Mat new_camera_matrix = + // cv::getOptimalNewCameraMatrix(camera_matrix, dist_coeffs, image_size, 0.0, image_size); // Undistort the image using the new camera matrix - cv::undistort(image, result.image, camera_matrix, dist_coeffs, new_camera_matrix); + // cv::undistort(image, result.image, camera_matrix, dist_coeffs, new_camera_matrix); + cv::undistort(image, result.image, camera_matrix, dist_coeffs); // 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(0, 0); - result.new_intrinsic.fy = new_camera_matrix.at(1, 1); - result.new_intrinsic.cx = new_camera_matrix.at(0, 2); - result.new_intrinsic.cy = new_camera_matrix.at(1, 2); + // result.new_intrinsic.fx = new_camera_matrix.at(0, 0); + // result.new_intrinsic.fy = new_camera_matrix.at(1, 1); + // result.new_intrinsic.cx = new_camera_matrix.at(0, 2); + // result.new_intrinsic.cy = new_camera_matrix.at(1, 2); result.new_intrinsic.width = image.cols; result.new_intrinsic.height = image.rows; return result;