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depthai: Adding assert for min expected coeffs

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matlabbe
2025-08-04 19:40:52 -07:00
parent 330fda6522
commit 8328b22c3f
1 changed files with 3 additions and 2 deletions
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corelib/src/camera/CameraDepthAI.cpp
+3 -2
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@@ -370,9 +370,10 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
matrix[2][0], matrix[2][1], matrix[2][2]); matrix[2][0], matrix[2][1], matrix[2][2]);
std::vector<float> coeffs = calibHandler.getDistortionCoefficients(cameraId); std::vector<float> coeffs = calibHandler.getDistortionCoefficients(cameraId);
if(calibHandler.getDistortionModel(cameraId) == dai::CameraModel::Perspective) if(calibHandler.getDistortionModel(cameraId) == dai::CameraModel::Perspective) {
UASSERT(coeffs.size()>=14);
distCoeffs = (cv::Mat_<double>(1,14) << coeffs[0], coeffs[1], coeffs[2], coeffs[3], coeffs[4], coeffs[5], coeffs[6], coeffs[7], coeffs[8], coeffs[9], coeffs[10], coeffs[11], coeffs[12], coeffs[13]); distCoeffs = (cv::Mat_<double>(1,14) << coeffs[0], coeffs[1], coeffs[2], coeffs[3], coeffs[4], coeffs[5], coeffs[6], coeffs[7], coeffs[8], coeffs[9], coeffs[10], coeffs[11], coeffs[12], coeffs[13]);
}
if(alphaScaling_>-1.0f) if(alphaScaling_>-1.0f)
newCameraMatrix = cv::getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, targetSize_, alphaScaling_); newCameraMatrix = cv::getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, targetSize_, alphaScaling_);
else else