refactor(intrinsics): apply base intrinsics

src/mynteye/api/api.cc

@@ -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);
 }
 

src/mynteye/api/processor/rectify_processor.cc

@@ -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 =

src/mynteye/api/processor/rectify_processor.h

@@ -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_;
 };