Intel RealSense D400 Series, Руководство пользователя

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Developing Custom Calibration Application
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m_rsDevice->SetAeControl(800);
else
m_rsDevice->SetAeControl(500);
5.2.3 Streaming Resolution and Format
Calibration frame resolutions and formats are described in Table 2-1 Frame Formats
Used in Custom Calibration, for example, in this sample, or D415 device, the
resolution is 1920x1080 with frame rate of 15 fps. The L/R format is Y16 and the RGB
format is YUY2.
m_rsDevice->SetMediaMode(m_width, m_height, m_fps, m_rgbWidth,
m_rgbHeight, m_cameraInfo.isRGB);
m_rsDevice->StartCapture([&](const void *leftImage, const void *rightImage,
const void *colorImage, const uint64_t timeStamp)
5.2.4 Image Captures
The sample app captures 6 images. More images from different positions may improve
accurate. The number of images is defined in CalibrationManager.h:
const int NUM_SHOTS = 6;
5.2.5 Demosaic Left/Right Images for ASR / PSR SKUs
For ASR/PSR SKUs, left and right images need to be demosaiced .
5.3 Detecting the Chessboard in an Image with
OpenCV
For each of the captured images, find the chessboard corners with OpenCV
findChessboardCorners.
#include <opencv2/opencv.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/calib3d.hpp>
#include <vector>
using namespace std;
using namespace cv;
bool DetectChessboard(const Mat& image, const Size& chessboardSize, vector<Point2f>&
corners)