refactor(intrinsics): apply base intrinsics

include/mynteye/api/api.h

@@ -187,14 +187,18 @@ class MYNTEYE_API API {
   std::string GetInfo(const Info &info) const;
 
   /**
-   * Get the intrinsics of stream.
+   * @deprecated Get the intrinsics (pinhole) of stream.
    */
-  Intrinsics GetIntrinsics(const Stream &stream) const;
+  IntrinsicsPinhole GetIntrinsics(const Stream &stream) const;
   /**
    * Get the intrinsics of stream.
    */
-  template<typename T>
-  T GetIntrinsics(const Stream &from) const;
+  template <typename T>
+  T GetIntrinsics(const Stream &stream) const;
+  /**
+   * Get the intrinsics base of stream.
+   */
+  std::shared_ptr<IntrinsicsBase> GetIntrinsicsBase(const Stream &stream) const;
   /**
    * Get the extrinsics from one stream to another.
    */
@@ -311,8 +315,9 @@ class MYNTEYE_API API {
 };
 
 template <typename T>
-T API::GetIntrinsics(const Stream &from) const {
-  return device_->GetIntrinsics<T>(from);
+T API::GetIntrinsics(const Stream &stream) const {
+  auto in = GetIntrinsicsBase(stream);
+  return *std::dynamic_pointer_cast<T>(in);
 }
 
 MYNTEYE_END_NAMESPACE

include/mynteye/device/callbacks.h

@@ -32,8 +32,8 @@ namespace device {
 
 typedef struct ImgParams {
   bool ok;
-  Intrinsics in_left;
-  Intrinsics in_right;
+  std::shared_ptr<IntrinsicsBase> in_left;
+  std::shared_ptr<IntrinsicsBase> in_right;
   Extrinsics ex_right_to_left;
 } img_params_t;
 

include/mynteye/device/device.h

@@ -153,12 +153,7 @@ class MYNTEYE_API Device {
   /**
    * Get the intrinsics of stream.
    */
-  Intrinsics GetIntrinsics(const Stream &stream) const;
-  /**
-   * Get the intrinsics of stream.
-   */
-  template<typename T>
-  T GetIntrinsics(const Stream &from) const;
+  std::shared_ptr<IntrinsicsBase> GetIntrinsics(const Stream &stream) const;
   /**
    * Get the extrinsics from one stream to another.
    */
@@ -175,7 +170,8 @@ class MYNTEYE_API Device {
   /**
    * Get the intrinsics of stream.
    */
-  Intrinsics GetIntrinsics(const Stream &stream, bool *ok) const;
+  std::shared_ptr<IntrinsicsBase> GetIntrinsics(
+      const Stream &stream, bool *ok) const;
   /**
    * Get the extrinsics from one stream to another.
    */
@@ -193,7 +189,8 @@ class MYNTEYE_API Device {
   /**
    * Set the intrinsics of stream.
    */
-  void SetIntrinsics(const Stream &stream, const Intrinsics &in);
+  void SetIntrinsics(const Stream &stream,
+      const std::shared_ptr<IntrinsicsBase> &in);
   /**
    * Set the extrinsics from one stream to another.
    */
@@ -332,7 +329,7 @@ class MYNTEYE_API Device {
   std::map<Resolution, device::img_params_t> all_img_params_;
   device::imu_params_t imu_params_;
 
-  std::map<Stream, Intrinsics> stream_intrinsics_;
+  std::map<Stream, std::shared_ptr<IntrinsicsBase>> stream_intrinsics_;
   std::map<Stream, std::map<Stream, Extrinsics>> stream_from_extrinsics_;
 
   std::shared_ptr<MotionIntrinsics> motion_intrinsics_;
@@ -365,13 +362,6 @@ class MYNTEYE_API Device {
   friend tools::DeviceWriter;
 };
 
-template <typename T>
-T Device::GetIntrinsics(const Stream &from) const {
-  T res;
-  printf("type %d\n", res.calib_model_);
-  return res;
-}
-
 MYNTEYE_END_NAMESPACE
 
 #endif  // MYNTEYE_DEVICE_DEVICE_H_

include/mynteye/types.h

@@ -414,6 +414,7 @@ struct MYNTEYE_API IntrinsicsBase {
   IntrinsicsBase() {
     calib_model = CalibrationModel::CALIB_MODEL_UNKNOW;
   }
+  virtual ~IntrinsicsBase() {}
   CalibrationModel calib_model;
 };
 
@@ -447,8 +448,7 @@ MYNTEYE_API
 std::ostream &operator<<(std::ostream &os, const IntrinsicsPinhole &in);
 
 /**
- * @ingroup calibration
- * Stream intrinsics (Pinhole)
+ * @deprecated Replaced by IntrinsicsPinhole.
  */
 using Intrinsics = IntrinsicsPinhole;