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update to depthai-core v2.22.0

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This commit is contained in:
Borong Yuan
2023-06-14 17:50:12 +08:00
parent d031d79369
commit e219152e8f
1 changed files with 7 additions and 7 deletions
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14
corelib/src/camera/CameraDepthAI.cpp
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@@ -245,9 +245,9 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
// MonoCamera // MonoCamera
monoLeft->setResolution((dai::MonoCameraProperties::SensorResolution)resolution_); monoLeft->setResolution((dai::MonoCameraProperties::SensorResolution)resolution_);
monoLeft->setBoardSocket(dai::CameraBoardSocket::LEFT); monoLeft->setCamera("left");
monoRight->setResolution((dai::MonoCameraProperties::SensorResolution)resolution_); monoRight->setResolution((dai::MonoCameraProperties::SensorResolution)resolution_);
monoRight->setBoardSocket(dai::CameraBoardSocket::RIGHT); monoRight->setCamera("right");
if(this->getImageRate()>0) if(this->getImageRate()>0)
{ {
monoLeft->setFps(this->getImageRate()); monoLeft->setFps(this->getImageRate());
@@ -319,14 +319,14 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
cv::Mat cameraMatrix, distCoeffs, new_camera_matrix; cv::Mat cameraMatrix, distCoeffs, new_camera_matrix;
std::vector<std::vector<float> > matrix = calibHandler.getCameraIntrinsics(dai::CameraBoardSocket::LEFT, dai::Size2f(targetSize.width, targetSize.height)); std::vector<std::vector<float> > matrix = calibHandler.getCameraIntrinsics(dai::CameraBoardSocket::CAM_B, dai::Size2f(targetSize.width, targetSize.height));
cameraMatrix = (cv::Mat_<double>(3,3) << cameraMatrix = (cv::Mat_<double>(3,3) <<
matrix[0][0], matrix[0][1], matrix[0][2], matrix[0][0], matrix[0][1], matrix[0][2],
matrix[1][0], matrix[1][1], matrix[1][2], matrix[1][0], matrix[1][1], matrix[1][2],
matrix[2][0], matrix[2][1], matrix[2][2]); matrix[2][0], matrix[2][1], matrix[2][2]);
std::vector<float> coeffs = calibHandler.getDistortionCoefficients(dai::CameraBoardSocket::LEFT); std::vector<float> coeffs = calibHandler.getDistortionCoefficients(dai::CameraBoardSocket::CAM_B);
if(calibHandler.getDistortionModel(dai::CameraBoardSocket::LEFT) == dai::CameraModel::Perspective) if(calibHandler.getDistortionModel(dai::CameraBoardSocket::CAM_B) == 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]); distCoeffs = (cv::Mat_<double>(1,8) << coeffs[0], coeffs[1], coeffs[2], coeffs[3], coeffs[4], coeffs[5], coeffs[6], coeffs[7]);
if(alphaScaling_>-1.0f) { if(alphaScaling_>-1.0f) {
@@ -340,7 +340,7 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
double fy = new_camera_matrix.at<double>(1, 1); double fy = new_camera_matrix.at<double>(1, 1);
double cx = new_camera_matrix.at<double>(0, 2); double cx = new_camera_matrix.at<double>(0, 2);
double cy = new_camera_matrix.at<double>(1, 2); double cy = new_camera_matrix.at<double>(1, 2);
double baseline = calibHandler.getBaselineDistance(dai::CameraBoardSocket::RIGHT, dai::CameraBoardSocket::LEFT, false)/100.0; double baseline = calibHandler.getBaselineDistance(dai::CameraBoardSocket::CAM_C, dai::CameraBoardSocket::CAM_B, false)/100.0;
UINFO("left: fx=%f fy=%f cx=%f cy=%f baseline=%f", fx, fy, cx, cy, baseline); 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); stereoModel_ = StereoCameraModel(device_->getMxId(), fx, fy, cx, cy, baseline, this->getLocalTransform(), targetSize);
@@ -348,7 +348,7 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
{ {
// Cannot test the following, I get "IMU calibration data is not available on device yet." with my camera // Cannot test the following, I get "IMU calibration data is not available on device yet." with my camera
// Update: now (as March 6, 2022) it crashes in "dai::CalibrationHandler::getImuToCameraExtrinsics(dai::CameraBoardSocket, bool)" // Update: now (as March 6, 2022) it crashes in "dai::CalibrationHandler::getImuToCameraExtrinsics(dai::CameraBoardSocket, bool)"
//matrix = calibHandler.getImuToCameraExtrinsics(dai::CameraBoardSocket::LEFT); //matrix = calibHandler.getImuToCameraExtrinsics(dai::CameraBoardSocket::CAM_B);
//imuLocalTransform_ = Transform( //imuLocalTransform_ = Transform(
// matrix[0][0], matrix[0][1], matrix[0][2], matrix[0][3], // matrix[0][0], matrix[0][1], matrix[0][2], matrix[0][3],
// matrix[1][0], matrix[1][1], matrix[1][2], matrix[1][3], // matrix[1][0], matrix[1][1], matrix[1][2], matrix[1][3],