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t/calib: Force the principal point to the center of the image

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This commit is contained in:
Jakob Bornecrantz 2019-11-22 15:51:58 +00:00
parent 9b60bd7c77
commit 6cba920668
1 changed files with 5 additions and 1 deletions
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6
src/xrt/auxiliary/tracking/t_calibration.cpp
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@ -636,7 +636,7 @@ process_view_samples(class Calibration &c,
flags, // flags
term_criteria); // criteria
double balance = 0.5f;
double balance = 0.1f;
cv::fisheye::estimateNewCameraMatrixForUndistortRectify(
intrinsics_mat, // K
@ -645,6 +645,10 @@ process_view_samples(class Calibration &c,
cv::Matx33d::eye(), // R
new_intrinsics_mat, // P
balance); // balance
// Probably a busted work-around for busted function.
new_intrinsics_mat.at<double>(0, 2) = (cols - 1) / 2.0;
new_intrinsics_mat.at<double>(1, 2) = (rows - 1) / 2.0;
} else {
rp_error = cv::calibrateCamera( //
c.state.board_models, // objectPoints