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refactor: revert undistortion changes in image processing

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ob-yalian
2026-04-14 16:00:02 +08:00
parent c0c14f538a
commit bc7b958218
2 changed files with 9 additions and 8 deletions
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orbbec_camera/include/orbbec_camera/constants.h
+1 -1
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@@ -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
orbbec_camera/src/utils.cpp
+8 -7
View File
@@ -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;