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alphaScaling test

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This commit is contained in:
Borong Yuan
2023-05-30 18:16:28 +08:00
parent bfc4e939d1
commit aedfcdc576
1 changed files with 18 additions and 4 deletions
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22
corelib/src/camera/CameraDepthAI.cpp
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@@ -218,6 +218,7 @@ 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->initialConfig.setConfidenceThreshold(depthConfidence_);
stereo->initialConfig.setLeftRightCheck(true);
stereo->initialConfig.setLeftRightCheckThreshold(5);
@@ -258,11 +259,24 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
UINFO("Loading eeprom calibration data");
dai::CalibrationHandler calibHandler = device_->readCalibration();
cv::Mat cameraMatrix, distCoeffs, new_camera_matrix;
std::vector<std::vector<float> > matrix = calibHandler.getCameraIntrinsics(dai::CameraBoardSocket::LEFT, dai::Size2f(targetSize.width, targetSize.height));
double fx = matrix[0][0];
double fy = matrix[1][1];
double cx = matrix[0][2];
double cy = matrix[1][2];
cameraMatrix = (cv::Mat_<double>(3,3) <<
matrix[0][0], matrix[0][1], matrix[0][2],
matrix[1][0], matrix[1][1], matrix[1][2],
matrix[2][0], matrix[2][1], matrix[2][2]);
std::vector<float> coeffs = calibHandler.getDistortionCoefficients(dai::CameraBoardSocket::LEFT);
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);
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);
double cy = new_camera_matrix.at<double>(1, 2);
double baseline = calibHandler.getBaselineDistance(dai::CameraBoardSocket::RIGHT, dai::CameraBoardSocket::LEFT, false)/100.0;
UINFO("left: fx=%f fy=%f cx=%f cy=%f baseline=%f", fx, fy, cx, cy, baseline);
stereoModel_ = StereoCameraModel(device_->getMxId(), fx, fy, cx, cy, baseline, this->getLocalTransform(), targetSize);