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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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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;
}