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fix(src): Determine the default intrinsics based on the resulution

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This commit is contained in:
Osenberg
2019-08-06 20:04:38 +08:00
parent 1cda60d137
commit 2260f5c582
11 changed files with 128 additions and 225 deletions
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31
src/mynteye/device/device.cc
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@@ -89,7 +89,8 @@ Device::Device(const Model &model,
device_(device),
streams_(std::make_shared<Streams>(streams_adapter)),
channels_(std::make_shared<Channels>(device_, channels_adapter)),
motions_(std::make_shared<Motions>(channels_)) {
motions_(std::make_shared<Motions>(channels_)),
is_default_intrinsics_(false) {
VLOG(2) << __func__;
ReadAllInfos();
}
@@ -612,11 +613,28 @@ void Device::ReadAllInfos() {
motions_->SetDeviceInfo(device_info_);
bool img_params_ok = false;
if (all_img_params_.empty()) {
is_default_intrinsics_ = true;
LOG(ERROR) << "Image params not found, but we need it to process the "
"images. Please `make tools` and use `img_params_writer` "
"to write the image params. If you update the SDK from "
"1.x, the `SN*.conf` is the file contains them. Besides, "
"you could also calibrate them by yourself. Read the guide "
"doc (https://github.com/slightech/MYNT-EYE-SDK-2-Guide) "
"to learn more.";
LOG(WARNING) << "Intrinsics & extrinsics not exist. Use default intrinsics.";
LOG(INFO) << "camera calib model: unknow, use default pinhole data";
auto spec_string = device_info_->spec_version.to_string();
for (auto &&resolution : resolution_list) {
all_img_params_[resolution] = {
true, spec_string, getDefaultIntrinsics(resolution),
getDefaultIntrinsics(resolution), *getDefaultExtrinsics()};
}
}
for (auto &&params : all_img_params_) {
auto &&img_params = params.second;
if (img_params.ok) {
img_params_ok = true;
SetIntrinsics(Stream::LEFT, img_params.in_left);
SetIntrinsics(Stream::RIGHT, img_params.in_right);
SetExtrinsics(Stream::RIGHT, Stream::LEFT, img_params.ex_right_to_left);
@@ -627,9 +645,6 @@ void Device::ReadAllInfos() {
break;
}
}
if (!img_params_ok) {
LOG(WARNING) << "Intrinsics & extrinsics not exist";
}
if (imu_params.ok) {
imu_params_ = imu_params;
@@ -726,4 +741,8 @@ void Device::EnableProcessMode(const std::int32_t& mode) {
motions_->EnableProcessMode(mode);
}
bool Device::CheckImageParams() {
return is_default_intrinsics_;
}
MYNTEYE_END_NAMESPACE