MYNT-EYE-S-SDK/samples/tutorials/data/get_img_params.cc

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// Copyright 2018 Slightech Co., Ltd. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
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#include "mynteye/logger.h"
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#include "mynteye/api/api.h"
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#include "mynteye/types.h"
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MYNTEYE_USE_NAMESPACE
int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api) return 1;
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bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
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auto in_left = api->GetIntrinsicsBase(Stream::LEFT);
auto in_right = api->GetIntrinsicsBase(Stream::RIGHT);
if (in_left->calib_model() == CalibrationModel::PINHOLE) {
in_left = std::dynamic_pointer_cast<IntrinsicsPinhole>(in_left);
in_right = std::dynamic_pointer_cast<IntrinsicsPinhole>(in_right);
} else if (in_left->calib_model() == CalibrationModel::KANNALA_BRANDT) {
in_left = std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_left);
in_right = std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_right);
} else {
LOG(INFO) << "UNKNOW CALIB MODEL.";
return 0;
}
in_left -> ResizeIntrinsics();
in_right -> ResizeIntrinsics();
LOG(INFO) << "Intrinsics left: {" << *in_left << "}";
LOG(INFO) << "Intrinsics right: {" << *in_right << "}";
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LOG(INFO) << "Extrinsics right to left: {"
<< api->GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}";
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auto info = api->GetCameraROSMsgInfoPair();
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if (info && !info->isEmpty())
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std::cout << "ROSMsgInfoPair:"<< std::endl << *info << std::endl;
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return 0;
}