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Add alphaScaling option

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This commit is contained in:
Borong Yuan
2023-05-31 22:15:16 +08:00
parent 54c68f8e6c
commit 31d975acd5
4 changed files with 60 additions and 17 deletions
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14
corelib/src/camera/CameraDepthAI.cpp
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@@ -56,6 +56,7 @@ CameraDepthAI::CameraDepthAI(
outputDepth_(false),
depthConfidence_(200),
resolution_(resolution),
alphaScaling_(0.0),
imuFirmwareUpdate_(false),
imuPublished_(true),
publishInterIMU_(false),
@@ -91,6 +92,15 @@ void CameraDepthAI::setOutputDepth(bool enabled, int confidence)
#endif
}
void CameraDepthAI::setAlphaScaling(float alphaScaling)
{
#ifdef RTABMAP_DEPTHAI
alphaScaling_ = alphaScaling;
#else
UERROR("CameraDepthAI: RTAB-Map is not built with depthai-core support!");
#endif
}
void CameraDepthAI::setIMUFirmwareUpdate(bool enabled)
{
#ifdef RTABMAP_DEPTHAI
@@ -218,7 +228,7 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
stereo->setSubpixelFractionalBits(4);
stereo->setExtendedDisparity(false);
stereo->setRectifyEdgeFillColor(0); // black, to better see the cutout
stereo->setAlphaScaling(0.0);
stereo->setAlphaScaling(alphaScaling_);
stereo->initialConfig.setConfidenceThreshold(depthConfidence_);
stereo->initialConfig.setLeftRightCheck(true);
stereo->initialConfig.setLeftRightCheckThreshold(5);
@@ -272,7 +282,7 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
if(calibHandler.getDistortionModel(dai::CameraBoardSocket::LEFT) == dai::CameraModel::Perspective)
distCoeffs = (cv::Mat_<double>(1,8) << coeffs[0], coeffs[1], coeffs[2], coeffs[3], coeffs[4], coeffs[5], coeffs[6], coeffs[7]);
new_camera_matrix = cv::getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, targetSize, 0.0);
new_camera_matrix = cv::getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, targetSize, alphaScaling_);
double fx = new_camera_matrix.at<double>(0, 0);
double fy = new_camera_matrix.at<double>(1, 1);
double cx = new_camera_matrix.at<double>(0, 2);