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Added alpha=-1 option

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This commit is contained in:
matlabbe
2023-06-05 18:59:59 -07:00
parent 879f0f6941
commit d3facb1a84
2 changed files with 131 additions and 121 deletions
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11
corelib/src/camera/CameraDepthAI.cpp
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@@ -228,7 +228,8 @@ 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(alphaScaling_);
if(alphaScaling_>-1.0f)
stereo->setAlphaScaling(alphaScaling_);
stereo->initialConfig.setConfidenceThreshold(depthConfidence_);
stereo->initialConfig.setLeftRightCheck(true);
stereo->initialConfig.setLeftRightCheckThreshold(5);
@@ -282,7 +283,13 @@ 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, alphaScaling_);
if(alphaScaling_>-1.0f) {
new_camera_matrix = cv::getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, targetSize, alphaScaling_);
}
else {
new_camera_matrix = cameraMatrix;
}
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);