Fix D405 VGA resolution intrinsics calculation #13060
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Nir-Az
reviewed
Jun 20, 2024
src/ds/d400/d400-private.cpp
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| //D405 needs special calculation because the ISP crops the full sensor image using non linear transformation. | ||
| rs2_intrinsics get_d405_color_stream_intrinsic(const std::vector<uint8_t>& raw_data, uint32_t width, uint32_t height) | ||
| { | ||
| // Convert normalized focal lenght and principal point to pixel units (K matrix format) |
Nir-Az
reviewed
Jun 20, 2024
src/ds/d400/d400-private.cpp
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| k( 2, 1 ) = ( k( 2, 1 ) + 1 ) * resolutions_list[res].y / 2.f; // ppy | ||
| }; | ||
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| // Scale focal lenght and principal point in pixel units from one resolution to another (K matrix format) |
Nir-Az
reviewed
Jun 20, 2024
Nir-Az
reviewed
Jun 20, 2024
src/ds/d400/d400-private.cpp
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| }; | ||
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| auto table = check_calib< ds::d400_rgb_calibration_table >( raw_data ); | ||
| auto raw_res = width_height_to_ds_rect_resolutions( 1280, 800 ); |
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Can you explain why we take this resolution?
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This is the raw sensor resolution.
These values where also hard coded in the matlab algorithm I was based on. Special for D405 handling.
Nir-Az
reviewed
Jun 20, 2024
Nir-Az
reviewed
Jun 20, 2024
remibettan
reviewed
Jun 24, 2024
src/ds/d400/d400-private.cpp
Outdated
| rs2_intrinsics get_d405_color_stream_intrinsic(const std::vector<uint8_t>& raw_data, uint32_t width, uint32_t height) | ||
| { | ||
| // Convert normalized focal length and principal point to pixel units (K matrix format) | ||
| auto k_to_pixels = [&]( float3x3 & k, ds_rect_resolutions res ) |
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Please rename k_to_pixels to normalized_k_to_pixels
Nir-Az
reviewed
Jun 26, 2024
| k( 2, 0 ) = k( 2, 0 ) - ( resolutions_list[scale_res].x - resolutions_list[output_res].x ) / 2; // ppx | ||
| k( 2, 1 ) = k( 2, 1 ) - ( resolutions_list[scale_res].y - resolutions_list[output_res].y ) / 2; // ppy | ||
| } | ||
| else | ||
| { | ||
| k_to_pixels( k, calibration_res ); | ||
| normalized_k_to_pixels( k, calibration_res ); |
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What is the difference between normalized_k_to_pixels and k_to_pixels?
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No difference, just renaming based on Remi's comment.
The code always assumes a "normalized k" input and changes it to pixel units based on the requested resolution.
Nir-Az
approved these changes
Jun 26, 2024
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Tracked on [RSDSO-18999]