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refactor(types): protected calib model member

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This commit is contained in:
John Zhao 2019-01-05 23:16:14 +08:00
parent c580f6e8dc
commit 05c5c1f238
5 changed files with 17 additions and 14 deletions
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13
include/mynteye/types.h
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@ -417,16 +417,21 @@ inline std::ostream &operator<<(std::ostream &os,
struct MYNTEYE_API IntrinsicsBase { struct MYNTEYE_API IntrinsicsBase {
IntrinsicsBase() { IntrinsicsBase() {
calib_model = CalibrationModel::UNKNOW; calib_model_ = CalibrationModel::UNKNOW;
} }
virtual ~IntrinsicsBase() {} virtual ~IntrinsicsBase() {}
/** The calibration model */ /** The calibration model */
CalibrationModel calib_model; CalibrationModel calib_model() const {
return calib_model_;
}
/** The width of the image in pixels */ /** The width of the image in pixels */
std::uint16_t width; std::uint16_t width;
/** The height of the image in pixels */ /** The height of the image in pixels */
std::uint16_t height; std::uint16_t height;
protected:
CalibrationModel calib_model_;
}; };
/** /**
@ -435,7 +440,7 @@ struct MYNTEYE_API IntrinsicsBase {
*/ */
struct MYNTEYE_API IntrinsicsPinhole : public IntrinsicsBase { struct MYNTEYE_API IntrinsicsPinhole : public IntrinsicsBase {
IntrinsicsPinhole() { IntrinsicsPinhole() {
calib_model = CalibrationModel::PINHOLE; calib_model_ = CalibrationModel::PINHOLE;
} }
/** The focal length of the image plane, as a multiple of pixel width */ /** The focal length of the image plane, as a multiple of pixel width */
double fx; double fx;
@ -465,7 +470,7 @@ using Intrinsics = IntrinsicsPinhole;
*/ */
struct MYNTEYE_API IntrinsicsEquidistant : public IntrinsicsBase { struct MYNTEYE_API IntrinsicsEquidistant : public IntrinsicsBase {
IntrinsicsEquidistant() { IntrinsicsEquidistant() {
calib_model = CalibrationModel::KANNALA_BRANDT; calib_model_ = CalibrationModel::KANNALA_BRANDT;
} }
/** The distortion coefficients: k2,k3,k4,k5,mu,mv,u0,v0 */ /** The distortion coefficients: k2,k3,k4,k5,mu,mv,u0,v0 */
double coeffs[8]; double coeffs[8];

2
src/mynteye/api/api.cc
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@ -296,7 +296,7 @@ std::string API::GetInfo(const Info &info) const {
IntrinsicsPinhole API::GetIntrinsics(const Stream &stream) const { IntrinsicsPinhole API::GetIntrinsics(const Stream &stream) const {
auto in = GetIntrinsicsBase(stream); auto in = GetIntrinsicsBase(stream);
if (in->calib_model == CalibrationModel::PINHOLE) { if (in->calib_model() == CalibrationModel::PINHOLE) {
return *std::dynamic_pointer_cast<IntrinsicsPinhole>(in); return *std::dynamic_pointer_cast<IntrinsicsPinhole>(in);
} }
throw std::runtime_error("Intrinsics is not pinhole model" throw std::runtime_error("Intrinsics is not pinhole model"

4
src/mynteye/api/processor/rectify_processor.cc
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@ -43,12 +43,12 @@ std::string RectifyProcessor::Name() {
void RectifyProcessor::NotifyImageParamsChanged() { void RectifyProcessor::NotifyImageParamsChanged() {
auto in_left = device_->GetIntrinsics(Stream::LEFT); auto in_left = device_->GetIntrinsics(Stream::LEFT);
auto in_right = device_->GetIntrinsics(Stream::RIGHT); auto in_right = device_->GetIntrinsics(Stream::RIGHT);
if (in_left->calib_model == CalibrationModel::PINHOLE) { if (in_left->calib_model() == CalibrationModel::PINHOLE) {
InitParams( InitParams(
*std::dynamic_pointer_cast<IntrinsicsPinhole>(in_left), *std::dynamic_pointer_cast<IntrinsicsPinhole>(in_left),
*std::dynamic_pointer_cast<IntrinsicsPinhole>(in_right), *std::dynamic_pointer_cast<IntrinsicsPinhole>(in_right),
device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT)); device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
} else if (in_left->calib_model == } else if (in_left->calib_model() ==
CalibrationModel::KANNALA_BRANDT) { CalibrationModel::KANNALA_BRANDT) {
InitParams( InitParams(
*std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_left), *std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_left),

8
src/mynteye/device/channel/bytes.cc
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@ -32,7 +32,7 @@ std::string _from_data(const std::uint8_t *data, std::size_t count) {
std::size_t from_data(IntrinsicsBase *in, const std::uint8_t *data, std::size_t from_data(IntrinsicsBase *in, const std::uint8_t *data,
bool get_size) { bool get_size) {
switch (in->calib_model) { switch (in->calib_model()) {
case CalibrationModel::PINHOLE: case CalibrationModel::PINHOLE:
return from_data(dynamic_cast<IntrinsicsPinhole *>(in), data, return from_data(dynamic_cast<IntrinsicsPinhole *>(in), data,
get_size); get_size);
@ -40,7 +40,7 @@ std::size_t from_data(IntrinsicsBase *in, const std::uint8_t *data,
return from_data(dynamic_cast<IntrinsicsEquidistant *>(in), data, return from_data(dynamic_cast<IntrinsicsEquidistant *>(in), data,
get_size); get_size);
default: default:
LOG(FATAL) << "Unknown calib model: " << in->calib_model; LOG(FATAL) << "Unknown calib model: " << in->calib_model();
} }
} }
@ -163,7 +163,7 @@ std::size_t _to_data(std::string value, std::uint8_t *data, std::size_t count) {
std::size_t to_data(const IntrinsicsBase *in, std::uint8_t *data, std::size_t to_data(const IntrinsicsBase *in, std::uint8_t *data,
bool set_size) { bool set_size) {
switch (in->calib_model) { switch (in->calib_model()) {
case CalibrationModel::PINHOLE: case CalibrationModel::PINHOLE:
return to_data(dynamic_cast<const IntrinsicsPinhole *>(in), data, return to_data(dynamic_cast<const IntrinsicsPinhole *>(in), data,
set_size); set_size);
@ -171,7 +171,7 @@ std::size_t to_data(const IntrinsicsBase *in, std::uint8_t *data,
return to_data(dynamic_cast<const IntrinsicsEquidistant *>(in), data, return to_data(dynamic_cast<const IntrinsicsEquidistant *>(in), data,
set_size); set_size);
default: default:
LOG(FATAL) << "Unknown calib model: " << in->calib_model; LOG(FATAL) << "Unknown calib model: " << in->calib_model();
} }
} }

4
src/mynteye/device/channel/file_channel.cc
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@ -334,10 +334,8 @@ std::size_t ImgParamsParser::GetFromData_new(
i += bytes::from_data(in_left.get(), data + i, false); i += bytes::from_data(in_left.get(), data + i, false);
i += bytes::from_data(in_right.get(), data + i, false); i += bytes::from_data(in_right.get(), data + i, false);
i += bytes::from_data(&ex_right_to_left, data + i); i += bytes::from_data(&ex_right_to_left, data + i);
in_left->calib_model = calib_model;
in_left->width = width; in_left->width = width;
in_left->height = height; in_left->height = height;
in_right->calib_model = calib_model;
in_right->width = width; in_right->width = width;
in_right->height = height; in_right->height = height;
(*img_params)[{width, height}] = {true, version.to_string(), (*img_params)[{width, height}] = {true, version.to_string(),
@ -369,7 +367,7 @@ std::size_t ImgParamsParser::SetToData_new(
for (auto &&entry : *img_params) { for (auto &&entry : *img_params) {
auto &&params = entry.second; auto &&params = entry.second;
// calib_model, 1 // calib_model, 1
data[i] = static_cast<std::uint8_t>(params.in_left->calib_model); data[i] = static_cast<std::uint8_t>(params.in_left->calib_model());
i += 1; i += 1;
// width, 2 // width, 2
bytes::_to_data(params.in_left->width, data + i); bytes::_to_data(params.in_left->width, data + i);