Hello everyone,
We had a slight hiccup in our data collection process. We recorded a rather large dataset (left/right rectified frames, RGB and depth) with an OAK-D Pro, but unfortunately the distortion correction seems to have been disabled. This leads to very distorted depth information and obviously also very unrealistic point clouds with a large curvature away from the camera. We fixed that since then, by setting enableDistortionCorrection(False), but would be delighted if there was a way to repair the already collected dataset (on-site collection is rather work intensive).
Would it be possible to invert the rectification operation, such that we get the original unrectified (and in our case distorted) monocamera frames so that we can just put them through the complete stereo-pipeline again (which itself then performs distortion correction and again rectifies the frames)? The transformation matrices for rectification seem to be retrievable by the device API, so it should be possible to calculate the inverse transform?
I already tried "stereoNode.setRectification(False)" previously, but that seemed to disable both rectification and distortion correction. Which makes sense, as I understand that these two operations are not independent of each other and their order of application would make a difference.
Best regards,
Daniel