i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Get baseline using sdk method

Browse Source
This commit is contained in:
Borong Yuan
2023-05-22 22:06:45 +08:00
parent 937e9fbb3b
commit ffd89ead86
1 changed files with 1 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
corelib/src/camera/CameraDepthAI.cpp
View File

@@ -251,8 +251,7 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
double fy = matrix[1][1];
double cx = matrix[0][2];
double cy = matrix[1][2];
matrix = calibHandler.getCameraExtrinsics(dai::CameraBoardSocket::LEFT, dai::CameraBoardSocket::RIGHT);
double baseline = -matrix[0][3]/100.0;
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);