diff options
| -rw-r--r-- | camera_calib.c | 18 |
1 files changed, 13 insertions, 5 deletions
diff --git a/camera_calib.c b/camera_calib.c index 78362bd..804c40d 100644 --- a/camera_calib.c +++ b/camera_calib.c @@ -492,7 +492,7 @@ static void init_undistort_map_scalar(struct cam_calib_data_t *data) { float x_corr, y_corr; struct lense_undistort_coord_t *map; const int scale_fact = (1 << (data->calib_map_scale_fact)); - + float x_resolution_scaling, y_resolution_scaling; // camera_matrix needs to be scaled depending on the camera resolution fov_x_start = data->fov_x_start; fov_x_end = data->fov_x_end; @@ -505,10 +505,18 @@ static void init_undistort_map_scalar(struct cam_calib_data_t *data) { p2 = data->dist_coeff.p2; k3 = data->dist_coeff.k3; - fx = data->camera_matrix.a11; - fy = data->camera_matrix.a22; - cx = data->camera_matrix.a13; - cy = data->camera_matrix.a23; + /* + * While the distortion coefficients are the same regardless of the camera resolution + * used, the camera matrix coefficients should be scaled along with the current + * resolution from the calibrated resolution. (see OpenCV documentation) + */ + x_resolution_scaling = (fov_x_end - fov_x_start + 1) / data->tot_width; + y_resolution_scaling = (fov_y_end - fov_y_start + 1) / data->tot_height; + + fx = data->camera_matrix.a11/x_resolution_scaling; + fy = data->camera_matrix.a22/y_resolution_scaling; + cx = data->camera_matrix.a13/x_resolution_scaling; + cy = data->camera_matrix.a23/y_resolution_scaling; map = data->calib_map; |