fix(/data/binocularCamera/..): fix wrong offline data.

Practice3DVision · May 13, 2024 · 76bdd03 · 76bdd03
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commit 76bdd03
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Showing 40 changed files with 47 additions and 47 deletions.
diff --git a/data/binocularCamera/L/0.bmp b/data/binocularCamera/L/0.bmp
diff --git a/data/binocularCamera/L/1.bmp b/data/binocularCamera/L/1.bmp
diff --git a/data/binocularCamera/L/10.bmp b/data/binocularCamera/L/10.bmp
diff --git a/data/binocularCamera/L/11.bmp b/data/binocularCamera/L/11.bmp
diff --git a/data/binocularCamera/L/12.bmp b/data/binocularCamera/L/12.bmp
diff --git a/data/binocularCamera/L/13.bmp b/data/binocularCamera/L/13.bmp
diff --git a/data/binocularCamera/L/14.bmp b/data/binocularCamera/L/14.bmp
diff --git a/data/binocularCamera/L/15.bmp b/data/binocularCamera/L/15.bmp
diff --git a/data/binocularCamera/L/16.bmp b/data/binocularCamera/L/16.bmp
diff --git a/data/binocularCamera/L/17.bmp b/data/binocularCamera/L/17.bmp
diff --git a/data/binocularCamera/L/18.bmp b/data/binocularCamera/L/18.bmp
diff --git a/data/binocularCamera/L/2.bmp b/data/binocularCamera/L/2.bmp
diff --git a/data/binocularCamera/L/3.bmp b/data/binocularCamera/L/3.bmp
diff --git a/data/binocularCamera/L/4.bmp b/data/binocularCamera/L/4.bmp
diff --git a/data/binocularCamera/L/5.bmp b/data/binocularCamera/L/5.bmp
diff --git a/data/binocularCamera/L/6.bmp b/data/binocularCamera/L/6.bmp
diff --git a/data/binocularCamera/L/7.bmp b/data/binocularCamera/L/7.bmp
diff --git a/data/binocularCamera/L/8.bmp b/data/binocularCamera/L/8.bmp
diff --git a/data/binocularCamera/L/9.bmp b/data/binocularCamera/L/9.bmp
diff --git a/data/binocularCamera/R/0.bmp b/data/binocularCamera/R/0.bmp
diff --git a/data/binocularCamera/R/1.bmp b/data/binocularCamera/R/1.bmp
diff --git a/data/binocularCamera/R/10.bmp b/data/binocularCamera/R/10.bmp
diff --git a/data/binocularCamera/R/11.bmp b/data/binocularCamera/R/11.bmp
diff --git a/data/binocularCamera/R/12.bmp b/data/binocularCamera/R/12.bmp
diff --git a/data/binocularCamera/R/13.bmp b/data/binocularCamera/R/13.bmp
diff --git a/data/binocularCamera/R/14.bmp b/data/binocularCamera/R/14.bmp
diff --git a/data/binocularCamera/R/15.bmp b/data/binocularCamera/R/15.bmp
diff --git a/data/binocularCamera/R/16.bmp b/data/binocularCamera/R/16.bmp
diff --git a/data/binocularCamera/R/17.bmp b/data/binocularCamera/R/17.bmp
diff --git a/data/binocularCamera/R/18.bmp b/data/binocularCamera/R/18.bmp
diff --git a/data/binocularCamera/R/2.bmp b/data/binocularCamera/R/2.bmp
diff --git a/data/binocularCamera/R/3.bmp b/data/binocularCamera/R/3.bmp
diff --git a/data/binocularCamera/R/4.bmp b/data/binocularCamera/R/4.bmp
diff --git a/data/binocularCamera/R/5.bmp b/data/binocularCamera/R/5.bmp
diff --git a/data/binocularCamera/R/6.bmp b/data/binocularCamera/R/6.bmp
diff --git a/data/binocularCamera/R/7.bmp b/data/binocularCamera/R/7.bmp
diff --git a/data/binocularCamera/R/8.bmp b/data/binocularCamera/R/8.bmp
diff --git a/data/binocularCamera/R/9.bmp b/data/binocularCamera/R/9.bmp
diff --git a/data/binocularCamera/caliInfo.yml b/data/binocularCamera/caliInfo.yml
@@ -4,104 +4,104 @@ M1: !!opencv-matrix
    rows: 3
    cols: 3
    dt: d
-   data: [ 8.3216441850898354e+03, 0., 8.5910025256079746e+02, 0.,
-       8.3226446029479794e+03, 6.2094729502070970e+02, 0., 0., 1. ]
+   data: [ 1.7530279712582255e+03, 0., 6.3920545111405750e+02, 0.,
+       1.7530710502741013e+03, 5.1146852562070677e+02, 0., 0., 1. ]
 D1: !!opencv-matrix
    rows: 1
    cols: 5
    dt: d
-   data: [ 3.0651239240753258e-02, -5.5002385855518554e+00,
-       -7.5914701431790913e-03, 1.1610695196260163e-02,
-       -2.1671734441928150e-01 ]
+   data: [ 6.2605679517616206e-04, -3.0665051433404370e-02,
+       -7.0304655714944632e-05, -1.2416260833037932e-04,
+       1.5137402885932413e-01 ]
 S: !!opencv-matrix
    rows: 2
    cols: 1
    dt: d
-   data: [ 1624., 1240. ]
+   data: [ 1280., 1024. ]
 M2: !!opencv-matrix
    rows: 3
    cols: 3
    dt: d
-   data: [ 9.4318144327545888e+03, 0., 9.3737206195200395e+02, 0.,
-       9.3033593223973730e+03, 5.4751676692305398e+02, 0., 0., 1. ]
+   data: [ 1.7647370952727294e+03, 0., 6.3588564369774349e+02, 0.,
+       1.7650942572782662e+03, 5.1142720988843496e+02, 0., 0., 1. ]
 D2: !!opencv-matrix
    rows: 1
    cols: 5
    dt: d
-   data: [ 1.1131768684644343e-01, -1.8348491814468211e+01,
-       2.7071041846956048e-03, -9.2588718312042895e-03,
-       -1.0141407300393566e-01 ]
+   data: [ -1.2949996088563149e-04, -6.2087432947742069e-03,
+       -8.0474451622499722e-05, 6.1769783622975778e-05,
+       -3.1868691085941821e-04 ]
 R1: !!opencv-matrix
    rows: 3
    cols: 3
    dt: d
-   data: [ 9.9465923564456493e-01, -3.8026830452302235e-02,
-       9.5952931756783488e-02, 3.8373092008801811e-02,
-       9.9926192236589151e-01, -1.7653099748256925e-03,
-       -9.5814981900818191e-02, 5.4378925490531811e-03,
-       9.9538430697292535e-01 ]
+   data: [ 9.8828056353478455e-01, -1.6843908224344100e-04,
+       1.5264828648774334e-01, 1.6873302284510966e-04,
+       9.9999998570376725e-01, 1.1028705069933261e-05,
+       -1.5264828616311285e-01, 1.4857351949630659e-05,
+       9.8828057782733125e-01 ]
 P1: !!opencv-matrix
    rows: 3
    cols: 4
    dt: d
-   data: [ 8.8130019626726753e+03, 0., 3.7762106895446777e+01, 0., 0.,
-       8.8130019626726753e+03, 7.0705427551269531e+02, 0., 0., 0., 1.,
+   data: [ 1.7590826537761836e+03, 0., 3.4993888092041016e+02, 0., 0.,
+       1.7590826537761836e+03, 5.2573482894897461e+02, 0., 0., 0., 1.,
        0. ]
 R2: !!opencv-matrix
    rows: 3
    cols: 3
    dt: d
-   data: [ 8.8099183367265355e-01, -3.3092301939403483e-02,
-       -4.7197276251331177e-01, 3.4847225016631574e-02,
-       9.9938001793688191e-01, -5.0250031958169634e-03,
-       4.7184643678927568e-01, -1.2019954277328857e-02,
-       8.8159880943002356e-01 ]
+   data: [ 9.8071937061257708e-01, -1.8230544495351637e-04,
+       -1.9542129584565585e-01, 1.8268246712737176e-04,
+       9.9999998318404149e-01, -1.6094498253920296e-05,
+       1.9542129549357412e-01, -1.9915858256402486e-05,
+       9.8071938742484943e-01 ]
 P2: !!opencv-matrix
    rows: 3
    cols: 4
    dt: d
-   data: [ 8.8130019626726753e+03, 0., 5.8799299316406250e+03,
-       -1.3284226328950168e+06, 0., 8.8130019626726753e+03,
-       7.0705427551269531e+02, 0., 0., 0., 1., 0. ]
+   data: [ 1.7590826537761836e+03, 0., 1.0599595947265625e+03,
+       -3.5183932054920029e+05, 0., 1.7590826537761836e+03,
+       5.2573482894897461e+02, 0., 0., 0., 1., 0. ]
 Q: !!opencv-matrix
    rows: 4
    cols: 4
    dt: d
-   data: [ 1., 0., 0., -3.7762106895446777e+01, 0., 1., 0.,
-       -7.0705427551269531e+02, 0., 0., 0., 8.8130019626726753e+03, 0.,
-       0., 6.6341853446644445e-03, 3.8758024163994619e+01 ]
+   data: [ 1., 0., 0., -3.4993888092041016e+02, 0., 1., 0.,
+       -5.2573482894897461e+02, 0., 0., 0., 1.7590826537761836e+03, 0.,
+       0., 4.9996761334985531e-03, 3.5498736171062264e+00 ]
 Rlr: !!opencv-matrix
    rows: 3
    cols: 3
    dt: d
-   data: [ 8.3241390186082964e-01, 3.8860281932169005e-03,
-       5.5414077162189634e-01, 6.5854293288146841e-03,
-       9.9983543003298903e-01, -1.6903992762157153e-02,
-       -5.5411526608584272e-01, 1.7720373461905293e-02,
-       8.3225132036842475e-01 ]
+   data: [ 9.3939519724617260e-01, 2.0394436756953942e-05,
+       3.4283620429425404e-01, -8.3957862361113626e-06,
+       9.9999999929927397e-01, -3.6482364810629548e-05,
+       -3.4283620479805704e-01, 3.1392978802033809e-05,
+       9.3939519675914118e-01 ]
 Tlr: !!opencv-matrix
    rows: 3
    cols: 1
    dt: d
-   data: [ -1.3279578243637596e+02, 4.9881485397477006e+00,
-       7.1142534914689563e+01 ]
+   data: [ -1.9615657983156441e+02, 3.6463450848762076e-02,
+       3.9086790949579587e+01 ]
 E: !!opencv-matrix
    rows: 3
    cols: 3
    dt: d
-   data: [ -3.2325133913314241e+00, -7.1042435135057787e+01,
-       5.3539861036782783e+00, -1.4364135243203094e+01,
-       2.6296527553539066e+00, 1.4994244446479576e+02,
-       -5.0267214294321878e+00, -1.3279331232469860e+02,
-       -5.1935753563093101e-01 ]
+   data: [ -1.2172826761361839e-02, -3.9086789777494111e+01,
+       3.5679569151289503e-02, -3.0531633681820416e+01,
+       6.9550924385852345e-03, 1.9766891595366951e+02,
+       -3.2606701889276439e-02, -1.9615658043776395e+02,
+       -5.3447351790391739e-03 ]
 F: !!opencv-matrix
    rows: 3
    cols: 3
    dt: d
-   data: [ 4.8510399294790049e-07, 1.0660072266776316e-05,
-       -1.3722319641060843e-02, 2.1853925326416087e-06,
-       -4.0003331942196517e-07, -1.9146731147107388e-01,
-       5.4637327410909011e-03, 1.7816420753624693e-01, 1. ]
+   data: [ 5.3274743095917741e-10, 1.7106030952397386e-06,
+       -8.7799757878075123e-04, 1.3359557657413873e-06,
+       -3.0432264491098858e-10, -1.6016240370213687e-02,
+       -6.8106454206230520e-04, 1.4062041910671124e-02, 1. ]
 epilines31: !!opencv-matrix
    rows: 0
    cols: 0

diff --git a/gui/qml/res/config/binocularCameraConfig.json b/gui/qml/res/config/binocularCameraConfig.json
@@ -17,12 +17,12 @@
             "type" : "number"
          },
          {
-            "data" : 0.10000000149011612,
+            "data" : 0.30000001192092896,
             "title" : "Max Cost",
             "type" : "number"
          },
          {
-            "data" : 0.0,
+            "data" : -512.0,
             "title" : "Min Disparity",
             "type" : "number"
          },