Obtain intrinsics dynamically

luxonis · Nov 18, 2024 · e33723b · e33723b
1 parent e6f60aa
commit e33723b
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Showing 4 changed files with 7 additions and 4 deletions.
diff --git a/examples/ImageAlign/depth_align.py b/examples/ImageAlign/depth_align.py
@@ -34,7 +34,6 @@ def getFps(self):
 device = dai.Device()
 
 calibrationHandler = device.readCalibration()
-rgbIntrinsics = calibrationHandler.getCameraIntrinsics(RGB_SOCKET, int(1920 / ISP_SCALE), int(1080 / ISP_SCALE))
 rgbDistortion = calibrationHandler.getDistortionCoefficients(RGB_SOCKET)
 distortionModel = calibrationHandler.getDistortionModel(RGB_SOCKET)
 if distortionModel != dai.CameraModel.Perspective:
@@ -160,6 +159,8 @@ def updateBlendWeights(percentRgb):
         if frameDepth is not None:
             cvFrame = frameRgb.getCvFrame()
 
+            rgbIntrinsics = calibrationHandler.getCameraIntrinsics(RGB_SOCKET, int(cvFrame.shape[1]), int(cvFrame.shape[0]))
+
             # Undistort the rgb frame
             cvFrameUndistorted = cv2.undistort(
                 cvFrame,

diff --git a/examples/ImageAlign/image_align.py b/examples/ImageAlign/image_align.py
@@ -20,7 +20,6 @@
 device = dai.Device()
 
 calibrationHandler = device.readCalibration()
-rgbIntrinsics = calibrationHandler.getCameraIntrinsics(RGB_SOCKET, int(1920 / ISP_SCALE), int(1080 / ISP_SCALE))
 rgbDistortion = calibrationHandler.getDistortionCoefficients(RGB_SOCKET)
 distortionModel = calibrationHandler.getDistortionModel(RGB_SOCKET)
 if distortionModel != dai.CameraModel.Perspective:
@@ -120,6 +119,8 @@ def updateDepthPlane(depth):
         # Colorize the aligned depth
         leftCv = leftAligned.getCvFrame()
 
+        rgbIntrinsics = calibrationHandler.getCameraIntrinsics(RGB_SOCKET, int(frameRgbCv.shape[1]), int(frameRgbCv.shape[0]))
+
         cvFrameUndistorted = cv2.undistort(
             frameRgbCv,
             np.array(rgbIntrinsics),

diff --git a/examples/ImageAlign/thermal_align.py b/examples/ImageAlign/thermal_align.py
@@ -45,7 +45,6 @@ def getFps(self):
 device = dai.Device()
 
 calibrationHandler = device.readCalibration()
-rgbIntrinsics = calibrationHandler.getCameraIntrinsics(RGB_SOCKET, int(1920 / ISP_SCALE), int(1080 / ISP_SCALE))
 rgbDistortion = calibrationHandler.getDistortionCoefficients(RGB_SOCKET)
 distortionModel = calibrationHandler.getDistortionModel(RGB_SOCKET)
 if distortionModel != dai.CameraModel.Perspective:
@@ -143,6 +142,8 @@ def updateDepthPlane(depth):
         frameRgbCv = frameRgb.getCvFrame()
         fpsCounter.tick()
 
+        rgbIntrinsics = calibrationHandler.getCameraIntrinsics(RGB_SOCKET, int(frameRgbCv.shape[1]), int(frameRgbCv.shape[0]))
+
         cvFrameUndistorted = cv2.undistort(
             frameRgbCv,
             np.array(rgbIntrinsics),

diff --git a/examples/ImageAlign/tof_align.py b/examples/ImageAlign/tof_align.py
@@ -34,7 +34,6 @@ def getFps(self):
 device = dai.Device()
 
 calibrationHandler = device.readCalibration()
-rgbIntrinsics = calibrationHandler.getCameraIntrinsics(RGB_SOCKET, int(1920 / ISP_SCALE), int(1080 / ISP_SCALE))
 rgbDistortion = calibrationHandler.getDistortionCoefficients(RGB_SOCKET)
 distortionModel = calibrationHandler.getDistortionModel(RGB_SOCKET)
 if distortionModel != dai.CameraModel.Perspective:
@@ -150,6 +149,7 @@ def updateBlendWeights(percentRgb):
         # Blend when both received
         if frameDepth is not None:
             cvFrame = frameRgb.getCvFrame()
+            rgbIntrinsics = calibrationHandler.getCameraIntrinsics(RGB_SOCKET, int(cvFrame.shape[1]), int(cvFrame.shape[0]))
             cvFrameUndistorted = cv2.undistort(
                 cvFrame,
                 np.array(rgbIntrinsics),