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chore: Add enable_color_undistortion param

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Joe Dong
2024-07-31 14:30:54 +08:00
parent 9a3c415b70
commit 87c6ee7d97
7 changed files with 60 additions and 13 deletions
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orbbec_camera/src/utils.cpp
+20
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@@ -852,4 +852,24 @@ OBStreamType obStreamTypeFromString(const std::string &stream_type) {
return OB_STREAM_UNKNOWN;
}
}
cv::Mat undistortImage(const cv::Mat &image, const OBCameraIntrinsic &intrinsic,
const OBCameraDistortion &distortion) {
cv::Mat undistorted_image;
cv::Mat camera_matrix = cv::Mat::eye(3, 3, CV_64F);
camera_matrix.at<double>(0, 0) = intrinsic.fx;
camera_matrix.at<double>(1, 1) = intrinsic.fy;
camera_matrix.at<double>(0, 2) = intrinsic.cx;
camera_matrix.at<double>(1, 2) = intrinsic.cy;
// 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);
// Undistort the image using OpenCV's undistort function
// This function corrects for lens distortion
cv::undistort(image, undistorted_image, camera_matrix, dist_coeffs);
return undistorted_image;
}
} // namespace orbbec_camera