Intrinsics of undistorted image (or fov)

MattFranklin

I'm using the camera node in order to get undistorted images from a bunch of OAK-D-PRO-W-POE cameras, and it works pretty well, but I can't figure out how to get the correct intrinsics that represent the updated fovs after the undistortion is taken into account.

I tried using the getCalibrationAlpha function, but it returns None (I'm in python)

The socket is CAM_A, and the resolution is 1920x1080. This code prints "Alpha: None"

self.pipeline = depthai.Pipeline()
# create color camera node
colorCam = self.pipeline.create(depthai.node.Camera) colorCam.setBoardSocket(self.color_cam_socket)
colorCam.setSize(*self.color_cam_resolution) colorCam.setMeshSource(depthai.CameraProperties.WarpMeshSource.CALIBRATION)
self.alpha = colorCam.getCalibrationAlpha()
print(f"Alpha: {self.alpha}")

MattFranklin

Messing around a bit more. I can see clearly taht using colorCam.setCalibrationAlpha(0) does not produce the same result as when I don't manually set it, and setting it to anything greater than 0 makes it even more off. The main thing that bothers me about this is that the StereoDepth node lines up perfectly with the image that is corrected using colorCam.setMeshSource(depthai.CameraProperties.WarpMeshSource.CALIBRATION) and if I can simply get an intrinsics matrix from that for doing solvepnp calculations with the undistorted image, I'll be golden.

MattFranklin

I feel pretty dumb. The right intrinsics were in there, but the camera info wasn't updating in RVIZ so everything looked skewed. Grabbing the intrinsics from calibration as usual worked great.