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Calibration: added support for stereo IR cameras

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This commit is contained in:
matlabbe
2016-04-25 09:52:03 -04:00
parent 4cc1c66f09
commit 8e1fc0df56
3 changed files with 18 additions and 2 deletions
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13
guilib/src/CalibrationDialog.cpp
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@@ -260,6 +260,7 @@ void CalibrationDialog::handleEvent(UEvent * event)
void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat & imageRight, const QString & cameraName)
{
UDEBUG("Processing images");
processingData_ = true;
if(cameraName_.isEmpty())
{
@@ -306,6 +307,18 @@ void CalibrationDialog::processImages(const cv::Mat & imageLeft, const cv::Mat &
{
if(images[id].type() == CV_16UC1)
{
double min, max;
cv::minMaxLoc(images[id], &min, &max);
UDEBUG("Camera IR %d: min=%f max=%f", id, min, max);
if(minIrs_[id] == 0)
{
minIrs_[id] = min;
}
if(maxIrs_[id] == 0x7fff)
{
maxIrs_[id] = max;
}
depthDetected = true;
//assume IR image: convert to gray scaled
const float factor = 255.0f / float((maxIrs_[id] - minIrs_[id]));