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Merge commit 'bc7b958218829b7d2c544a08bf3307a5d81f6fe7' into merge/sdk_2.8.2

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ob-yalian
2026-04-15 09:20:45 +08:00
parent 1b4658e3a6 bc7b958218
commit 6894dbeffa
1 changed files with 8 additions and 7 deletions
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orbbec_camera/src/utils.cpp
+8 -7
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@@ -941,16 +941,17 @@ UndistortedImageResult undistortImage(const cv::Mat &image, const OBCameraIntrin
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);
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<double>(0, 0);
result.new_intrinsic.fy = new_camera_matrix.at<double>(1, 1);
result.new_intrinsic.cx = new_camera_matrix.at<double>(0, 2);
result.new_intrinsic.cy = new_camera_matrix.at<double>(1, 2);
// result.new_intrinsic.fx = new_camera_matrix.at<double>(0, 0);
// result.new_intrinsic.fy = new_camera_matrix.at<double>(1, 1);
// result.new_intrinsic.cx = new_camera_matrix.at<double>(0, 2);
// result.new_intrinsic.cy = new_camera_matrix.at<double>(1, 2);
result.new_intrinsic.width = image.cols;
result.new_intrinsic.height = image.rows;
return result;