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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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4
include/mynteye/device/callbacks.h
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@@ -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;

22
include/mynteye/device/device.h
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@@ -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_