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refactor(intrinsics): apply base intrinsics

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This commit is contained in:
John Zhao
2019-01-04 13:29:06 +08:00
parent 938dc08654
commit 07570f330b
14 changed files with 143 additions and 94 deletions
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17
include/mynteye/api/api.h
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@@ -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