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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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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);
}