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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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12
src/mynteye/api/api.cc
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@@ -294,7 +294,17 @@ std::string API::GetInfo(const Info &info) const {
return device_->GetInfo(info);
}
Intrinsics API::GetIntrinsics(const Stream &stream) const {
IntrinsicsPinhole API::GetIntrinsics(const Stream &stream) const {
auto in = GetIntrinsicsBase(stream);
if (in->calib_model == CalibrationModel::CALIB_MODEL_PINHOLE) {
return *std::dynamic_pointer_cast<IntrinsicsPinhole>(in);
}
throw std::runtime_error("Intrinsics is not pinhole model"
", please use GetIntrinsicsBase() or GetIntrinsics<T>() instead.");
}
std::shared_ptr<IntrinsicsBase> API::GetIntrinsicsBase(
const Stream &stream) const {
return device_->GetIntrinsics(stream);
}

10
src/mynteye/api/processor/rectify_processor.cc
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@@ -41,9 +41,11 @@ std::string RectifyProcessor::Name() {
}
void RectifyProcessor::NotifyImageParamsChanged() {
auto in_left = device_->GetIntrinsics(Stream::LEFT);
auto in_right = device_->GetIntrinsics(Stream::RIGHT);
InitParams(
device_->GetIntrinsics(Stream::LEFT),
device_->GetIntrinsics(Stream::RIGHT),
*std::dynamic_pointer_cast<IntrinsicsPinhole>(in_left),
*std::dynamic_pointer_cast<IntrinsicsPinhole>(in_right),
device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
}
@@ -66,7 +68,9 @@ bool RectifyProcessor::OnProcess(
}
void RectifyProcessor::InitParams(
Intrinsics in_left, Intrinsics in_right, Extrinsics ex_right_to_left) {
IntrinsicsPinhole in_left,
IntrinsicsPinhole in_right,
Extrinsics ex_right_to_left) {
cv::Size size{in_left.width, in_left.height};
cv::Mat M1 =

4
src/mynteye/api/processor/rectify_processor.h
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@@ -48,8 +48,8 @@ class RectifyProcessor : public Processor {
Object *const in, Object *const out, Processor *const parent) override;
private:
void InitParams(
Intrinsics in_left, Intrinsics in_right, Extrinsics ex_right_to_left);
void InitParams(IntrinsicsPinhole in_left,
IntrinsicsPinhole in_right, Extrinsics ex_right_to_left);
std::shared_ptr<Device> device_;
};

4
src/mynteye/device/channels.cc
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@@ -811,7 +811,7 @@ std::size_t from_data(Channels::device_info_t *info, const std::uint8_t *data) {
return i;
}
std::size_t from_data(Intrinsics *in, const std::uint8_t *data,
std::size_t from_data(IntrinsicsPinhole *in, const std::uint8_t *data,
const Version *spec_version) {
std::size_t i = 0;
@@ -954,7 +954,7 @@ std::size_t to_data(const Channels::device_info_t *info, std::uint8_t *data,
return size + 3;
}
std::size_t to_data(const Intrinsics *in, std::uint8_t *data,
std::size_t to_data(const IntrinsicsPinhole *in, std::uint8_t *data,
const Version *spec_version) {
std::size_t i = 0;

4
src/mynteye/device/channels.h
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@@ -204,7 +204,7 @@ std::string _from_data(const std::uint8_t *data, std::size_t count);
std::size_t from_data(Channels::device_info_t *info, const std::uint8_t *data);
std::size_t from_data(Intrinsics *in, const std::uint8_t *data,
std::size_t from_data(IntrinsicsPinhole *in, const std::uint8_t *data,
const Version *spec_version);
std::size_t from_data(ImuIntrinsics *in, const std::uint8_t *data,
@@ -236,7 +236,7 @@ std::size_t _to_data(std::string value, std::uint8_t *data, std::size_t count);
std::size_t to_data(const Channels::device_info_t *info, std::uint8_t *data,
const Version *spec_version);
std::size_t to_data(const Intrinsics *in, std::uint8_t *data,
std::size_t to_data(const IntrinsicsPinhole *in, std::uint8_t *data,
const Version *spec_version);
std::size_t to_data(const ImuIntrinsics *in, std::uint8_t *data,

9
src/mynteye/device/device.cc
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@@ -240,7 +240,8 @@ std::string Device::GetInfo(const Info &info) const {
}
}
Intrinsics Device::GetIntrinsics(const Stream &stream) const {
std::shared_ptr<IntrinsicsBase> Device::GetIntrinsics(
const Stream &stream) const {
bool ok;
return GetIntrinsics(stream, &ok);
}
@@ -260,7 +261,8 @@ Extrinsics Device::GetMotionExtrinsics(const Stream &from) const {
return GetMotionExtrinsics(from, &ok);
}
Intrinsics Device::GetIntrinsics(const Stream &stream, bool *ok) const {
std::shared_ptr<IntrinsicsBase> Device::GetIntrinsics(
const Stream &stream, bool *ok) const {
try {
*ok = true;
return stream_intrinsics_.at(stream);
@@ -311,7 +313,8 @@ Extrinsics Device::GetMotionExtrinsics(const Stream &from, bool *ok) const {
}
}
void Device::SetIntrinsics(const Stream &stream, const Intrinsics &in) {
void Device::SetIntrinsics(const Stream &stream,
const std::shared_ptr<IntrinsicsBase> &in) {
stream_intrinsics_[stream] = in;
}

15
src/mynteye/device/standard/channels_adapter_s.cc
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@@ -131,11 +131,12 @@ std::size_t StandardChannelsAdapter::GetImgParamsFromData(
Channels::img_params_t *img_params) {
std::size_t i = 0;
Intrinsics in_left, in_right;
auto in_left = std::make_shared<IntrinsicsPinhole>();
auto in_right = std::make_shared<IntrinsicsPinhole>();
Extrinsics ex_right_to_left;
i += bytes::from_data(&in_left, data + i, version);
i += bytes::from_data(&in_right, data + i, version);
i += bytes::from_data(in_left.get(), data + i, version);
i += bytes::from_data(in_right.get(), data + i, version);
i += bytes::from_data(&ex_right_to_left, data + i, version);
(*img_params)[{752, 480}] = {true, in_left, in_right, ex_right_to_left};
@@ -147,9 +148,11 @@ std::size_t StandardChannelsAdapter::SetImgParamsToData(
std::uint8_t *data) {
std::size_t i = 3; // skip id, size
auto &&params = (*img_params).at({752, 480});
i += bytes::to_data(&params.in_left, data + i, version);
i += bytes::to_data(&params.in_right, data + i, version);
auto params = (*img_params).at({752, 480});
auto in_left = std::dynamic_pointer_cast<IntrinsicsPinhole>(params.in_left);
auto in_right = std::dynamic_pointer_cast<IntrinsicsPinhole>(params.in_right);
i += bytes::to_data(in_left.get(), data + i, version);
i += bytes::to_data(in_right.get(), data + i, version);
i += bytes::to_data(&params.ex_right_to_left, data + i, version);
// others

50
src/mynteye/device/standard2/channels_adapter_s2.cc
View File

@@ -127,20 +127,26 @@ std::size_t Standard2ChannelsAdapter::GetImgParamsFromData(
Channels::img_params_t *img_params) {
std::size_t i = 0;
Intrinsics in_left, in_right;
Extrinsics ex_right_to_left;
i += bytes::from_data(&in_left, data + i, version);
i += bytes::from_data(&in_right, data + i, version);
(*img_params)[{1280, 400}] = {true, in_left, in_right, ex_right_to_left};
i += bytes::from_data(&in_left, data + i, version);
i += bytes::from_data(&in_right, data + i, version);
(*img_params)[{2560, 800}] = {true, in_left, in_right, ex_right_to_left};
i += bytes::from_data(&ex_right_to_left, data + i, version);
(*img_params)[{1280, 400}].ex_right_to_left = ex_right_to_left;
(*img_params)[{2560, 800}].ex_right_to_left = ex_right_to_left;
{
auto in_left = std::make_shared<IntrinsicsPinhole>();
auto in_right = std::make_shared<IntrinsicsPinhole>();
i += bytes::from_data(in_left.get(), data + i, version);
i += bytes::from_data(in_right.get(), data + i, version);
(*img_params)[{1280, 400}] = {true, in_left, in_right, ex_right_to_left};
}
{
auto in_left = std::make_shared<IntrinsicsPinhole>();
auto in_right = std::make_shared<IntrinsicsPinhole>();
i += bytes::from_data(in_left.get(), data + i, version);
i += bytes::from_data(in_right.get(), data + i, version);
(*img_params)[{2560, 800}] = {true, in_left, in_right, ex_right_to_left};
}
{
i += bytes::from_data(&ex_right_to_left, data + i, version);
(*img_params)[{1280, 400}].ex_right_to_left = ex_right_to_left;
(*img_params)[{2560, 800}].ex_right_to_left = ex_right_to_left;
}
return i;
}
@@ -151,14 +157,20 @@ std::size_t Standard2ChannelsAdapter::SetImgParamsToData(
std::size_t i = 3; // skip id, size
{
auto &&params = (*img_params).at({1280, 400});
i += bytes::to_data(&params.in_left, data + i, version);
i += bytes::to_data(&params.in_right, data + i, version);
auto params = (*img_params).at({1280, 400});
auto in_left = std::dynamic_pointer_cast<IntrinsicsPinhole>(params.in_left);
auto in_right = std::dynamic_pointer_cast<IntrinsicsPinhole>(
params.in_right);
i += bytes::to_data(in_left.get(), data + i, version);
i += bytes::to_data(in_right.get(), data + i, version);
}
{
auto &&params = (*img_params).at({2560, 800});
i += bytes::to_data(&params.in_left, data + i, version);
i += bytes::to_data(&params.in_right, data + i, version);
auto params = (*img_params).at({2560, 800});
auto in_left = std::dynamic_pointer_cast<IntrinsicsPinhole>(params.in_left);
auto in_right = std::dynamic_pointer_cast<IntrinsicsPinhole>(
params.in_right);
i += bytes::to_data(in_left.get(), data + i, version);
i += bytes::to_data(in_right.get(), data + i, version);
i += bytes::to_data(&params.ex_right_to_left, data + i, version);
}

50
src/mynteye/device/standard2/channels_adapter_s210a.cc
View File

@@ -127,20 +127,26 @@ std::size_t Standard210aChannelsAdapter::GetImgParamsFromData(
Channels::img_params_t *img_params) {
std::size_t i = 0;
Intrinsics in_left, in_right;
Extrinsics ex_right_to_left;
i += bytes::from_data(&in_left, data + i, version);
i += bytes::from_data(&in_right, data + i, version);
(*img_params)[{1280, 400}] = {true, in_left, in_right, ex_right_to_left};
i += bytes::from_data(&in_left, data + i, version);
i += bytes::from_data(&in_right, data + i, version);
(*img_params)[{2560, 800}] = {true, in_left, in_right, ex_right_to_left};
i += bytes::from_data(&ex_right_to_left, data + i, version);
(*img_params)[{1280, 400}].ex_right_to_left = ex_right_to_left;
(*img_params)[{2560, 800}].ex_right_to_left = ex_right_to_left;
{
auto in_left = std::make_shared<IntrinsicsPinhole>();
auto in_right = std::make_shared<IntrinsicsPinhole>();
i += bytes::from_data(in_left.get(), data + i, version);
i += bytes::from_data(in_right.get(), data + i, version);
(*img_params)[{1280, 400}] = {true, in_left, in_right, ex_right_to_left};
}
{
auto in_left = std::make_shared<IntrinsicsPinhole>();
auto in_right = std::make_shared<IntrinsicsPinhole>();
i += bytes::from_data(in_left.get(), data + i, version);
i += bytes::from_data(in_right.get(), data + i, version);
(*img_params)[{2560, 800}] = {true, in_left, in_right, ex_right_to_left};
}
{
i += bytes::from_data(&ex_right_to_left, data + i, version);
(*img_params)[{1280, 400}].ex_right_to_left = ex_right_to_left;
(*img_params)[{2560, 800}].ex_right_to_left = ex_right_to_left;
}
return i;
}
@@ -151,14 +157,20 @@ std::size_t Standard210aChannelsAdapter::SetImgParamsToData(
std::size_t i = 3; // skip id, size
{
auto &&params = (*img_params).at({1280, 400});
i += bytes::to_data(&params.in_left, data + i, version);
i += bytes::to_data(&params.in_right, data + i, version);
auto params = (*img_params).at({1280, 400});
auto in_left = std::dynamic_pointer_cast<IntrinsicsPinhole>(params.in_left);
auto in_right = std::dynamic_pointer_cast<IntrinsicsPinhole>(
params.in_right);
i += bytes::to_data(in_left.get(), data + i, version);
i += bytes::to_data(in_right.get(), data + i, version);
}
{
auto &&params = (*img_params).at({2560, 800});
i += bytes::to_data(&params.in_left, data + i, version);
i += bytes::to_data(&params.in_right, data + i, version);
auto params = (*img_params).at({2560, 800});
auto in_left = std::dynamic_pointer_cast<IntrinsicsPinhole>(params.in_left);
auto in_right = std::dynamic_pointer_cast<IntrinsicsPinhole>(
params.in_right);
i += bytes::to_data(in_left.get(), data + i, version);
i += bytes::to_data(in_right.get(), data + i, version);
i += bytes::to_data(&params.ex_right_to_left, data + i, version);
}