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Fix intrinsics calculation for non BROWN D500 models #12618

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merged 3 commits into from
Jan 30, 2024
Merged

Fix intrinsics calculation for non BROWN D500 models #12618

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be9762e
use magic place to remember intrinsic calc params
Nir-Az Jan 29, 2024
a642507
change LOG to exception
Nir-Az Jan 30, 2024
355640a
add comment
Nir-Az Jan 30, 2024
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27 changes: 20 additions & 7 deletions src/ds/d500/d500-private.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -194,6 +194,14 @@ namespace librealsense

// update values in the distortion params of the calibration table
rgb_coefficients_table.distortion_model = RS2_DISTORTION_BROWN_CONRADY;

// Since we override the table we need an indication that the table had changed from
// outside this function Decided to use a reserve field for that
if( rgb_coefficients_table.reserved[3] != 0 )
throw invalid_value_exception( "reserved field read from RGB distortion model table is expected to be zero" );

rgb_coefficients_table.reserved[3] = 1;

rgb_coefficients_table.distortion_coeffs[5] = 0;
rgb_coefficients_table.distortion_coeffs[6] = 0;
rgb_coefficients_table.distortion_coeffs[7] = 0;
Expand Down Expand Up @@ -222,13 +230,18 @@ namespace librealsense
intrinsics.height = height;

// For D555e, model will be brown and we need the unrectified intrinsics
auto rect_params = compute_rect_params_from_resolution( table->rgb_coefficients_table.distortion_model
== RS2_DISTORTION_BROWN_CONRADY
? table->rgb_coefficients_table.base_instrinsics
: table->rectified_intrinsics,
width,
height,
false ); // symmetry not needed for RGB
// We use reserved[3] as a flag here to indicate the full distortion module is not
// really brown but we treat it as such because the HW fixes fisheye distortion.
bool use_base_intrinsics
= ( table->rgb_coefficients_table.distortion_model == RS2_DISTORTION_BROWN_CONRADY
&& table->rgb_coefficients_table.reserved[3] == 0 );
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Maybe add a comment that we use reserved[3] as a flag here to indicate the full distortion module is not really brown but we treat it as such because the HW fixes fisheye distortion.

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Added


auto rect_params = compute_rect_params_from_resolution(
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This doesn't look like clang-format formatting :)

use_base_intrinsics ? table->rgb_coefficients_table.base_instrinsics
: table->rectified_intrinsics,
width,
height,
false ); // symmetry not needed for RGB

intrinsics.fx = rect_params[0];
intrinsics.fy = rect_params[1];
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