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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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10
src/mynteye/api/processor/rectify_processor.cc
View File

@@ -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
View File

@@ -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_;
};