From 1cda60d137d41146b075ac307bf6e939a56febb5 Mon Sep 17 00:00:00 2001
From: Osenberg <junyangqu@slightech.com>
Date: Tue, 6 Aug 2019 15:13:29 +0800
Subject: [PATCH] fix(src): Determine the default intrinsics based on the
 resulution

---
 src/mynteye/api/config.cc    | 7 +++++++
 src/mynteye/api/config.h     | 1 +
 src/mynteye/api/synthetic.cc | 5 +++--
 3 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/src/mynteye/api/config.cc b/src/mynteye/api/config.cc
index 7cd5184..4d20964 100644
--- a/src/mynteye/api/config.cc
+++ b/src/mynteye/api/config.cc
@@ -41,6 +41,13 @@ std::shared_ptr<IntrinsicsBase> getDefaultIntrinsics() {
   return res;
 }
 
+std::shared_ptr<IntrinsicsBase> getDefaultIntrinsics(const StreamRequest &request) {
+  auto res = getDefaultIntrinsics();
+  res->resize_scale = static_cast<double>(request.width / res->width);
+  res->ResizeIntrinsics();
+  return res;
+}
+
 std::shared_ptr<Extrinsics> getDefaultExtrinsics() {
   auto res = std::make_shared<Extrinsics>();
   double rotation[9] = {
diff --git a/src/mynteye/api/config.h b/src/mynteye/api/config.h
index 8376cdd..7768c22 100644
--- a/src/mynteye/api/config.h
+++ b/src/mynteye/api/config.h
@@ -20,6 +20,7 @@
 MYNTEYE_BEGIN_NAMESPACE
 
 std::shared_ptr<IntrinsicsBase> getDefaultIntrinsics();
+std::shared_ptr<IntrinsicsBase> getDefaultIntrinsics(const StreamRequest &request);
 
 std::shared_ptr<Extrinsics> getDefaultExtrinsics();
 
diff --git a/src/mynteye/api/synthetic.cc b/src/mynteye/api/synthetic.cc
index 851e24d..8aa83ab 100644
--- a/src/mynteye/api/synthetic.cc
+++ b/src/mynteye/api/synthetic.cc
@@ -66,8 +66,9 @@ void Synthetic::InitCalibInfo() {
     calib_default_tag_ = true;
     calib_model_ = CalibrationModel::PINHOLE;
     LOG(INFO) << "camera calib model: unknow, use default pinhole data";
-    intr_left_ = getDefaultIntrinsics();
-    intr_right_ = getDefaultIntrinsics();
+    auto stream_request = api_->GetStreamRequest();
+    intr_left_ = getDefaultIntrinsics(stream_request);
+    intr_right_ = getDefaultIntrinsics(stream_request);
     extr_ =  getDefaultExtrinsics();
   }
 }