From da0566b896ece35a165a7eb32cc63d4ac43a85f4 Mon Sep 17 00:00:00 2001
From: John Zhao <johnzhao@slightech.com>
Date: Wed, 9 Jan 2019 11:29:23 +0800
Subject: [PATCH 1/5] feat(channels): Limit image params resolution when write
 it

---
 src/mynteye/device/channel/channels.cc        | 57 +++++++++++++++++--
 src/mynteye/device/channel/channels.h         |  9 ++-
 .../device/standard/channels_adapter_s.cc     |  8 +--
 .../device/standard/channels_adapter_s.h      |  2 -
 .../device/standard2/channels_adapter_s2.cc   |  8 +--
 .../device/standard2/channels_adapter_s2.h    |  2 -
 .../standard2/channels_adapter_s210a.cc       |  8 +--
 .../device/standard2/channels_adapter_s210a.h |  2 -
 8 files changed, 66 insertions(+), 30 deletions(-)

diff --git a/src/mynteye/device/channel/channels.cc b/src/mynteye/device/channel/channels.cc
index 7b70e9d..6619cd7 100644
--- a/src/mynteye/device/channel/channels.cc
+++ b/src/mynteye/device/channel/channels.cc
@@ -22,6 +22,7 @@
 #include <string>
 #include <vector>
 
+#include "mynteye/device/config.h"
 #include "mynteye/logger.h"
 #include "mynteye/util/times.h"
 
@@ -520,10 +521,31 @@ bool Channels::SetFiles(
     }
   }
   if (img_params != nullptr) {
-    auto n = file_channel_.SetImgParamsToData(img_params, data + 3 + size);
-    if (n > 0) {
-      header[1] = true;
-      size += n;
+    // remove not supported resolution
+    auto&& res = adapter_->GetResolutionSupports();
+    for (auto it = img_params->begin(); it != img_params->end(); ) {
+      if (res.find(it->first) == res.end()) {
+        LOG(WARNING) << "Image params of resolution "
+            << it->first.width << "x" << it->first.height << " not supported";
+        it = img_params->erase(it);
+      } else {
+        ++it;
+      }
+    }
+
+    if (img_params->empty()) {
+      std::ostringstream os;
+      os << "Image params resolution must be ";
+      for (auto&& r : res) {
+        os << r.width << "x" << r.height << " ";
+      }
+      LOG(WARNING) << os.str();
+    } else {
+      auto n = file_channel_.SetImgParamsToData(img_params, data + 3 + size);
+      if (n > 0) {
+        header[1] = true;
+        size += n;
+      }
     }
   }
   if (imu_params != nullptr) {
@@ -719,4 +741,31 @@ Channels::control_info_t Channels::XuControlInfo(Option option) const {
   return {min, max, def};
 }
 
+// ChannelsAdapter
+
+ChannelsAdapter::ChannelsAdapter(const Model &model)
+  : model_(model) {
+}
+
+ChannelsAdapter::~ChannelsAdapter() {
+}
+
+std::set<Option> ChannelsAdapter::GetOptionSupports() {
+  return option_supports_map.at(model_);
+}
+
+std::set<Resolution> ChannelsAdapter::GetResolutionSupports() {
+  std::set<Resolution> res;
+  auto requests_map = stream_requests_map.at(model_);
+  for (auto&& r_map : requests_map) {
+    if (r_map.first == Capabilities::STEREO ||
+        r_map.first == Capabilities::STEREO_COLOR) {
+      for (auto&& r : r_map.second) {
+        res.insert({r.width, r.height});
+      }
+    }
+  }
+  return res;
+}
+
 MYNTEYE_END_NAMESPACE
diff --git a/src/mynteye/device/channel/channels.h b/src/mynteye/device/channel/channels.h
index 8b0f0de..9393f1a 100644
--- a/src/mynteye/device/channel/channels.h
+++ b/src/mynteye/device/channel/channels.h
@@ -136,9 +136,11 @@ class MYNTEYE_API Channels {
 
 class ChannelsAdapter {
  public:
-  virtual ~ChannelsAdapter() {}
+  explicit ChannelsAdapter(const Model &model);
+  virtual ~ChannelsAdapter();
 
-  virtual std::set<Option> GetOptionSupports() = 0;
+  virtual std::set<Option> GetOptionSupports();
+  virtual std::set<Resolution> GetResolutionSupports();
 
   virtual std::int32_t GetAccelRangeDefault() = 0;
   virtual std::vector<std::int32_t> GetAccelRangeValues() = 0;
@@ -147,6 +149,9 @@ class ChannelsAdapter {
   virtual std::vector<std::int32_t> GetGyroRangeValues() = 0;
 
   virtual void GetImuResPacket(const std::uint8_t *data, ImuResPacket *res) = 0;
+
+ protected:
+  Model model_;
 };
 
 MYNTEYE_END_NAMESPACE
diff --git a/src/mynteye/device/standard/channels_adapter_s.cc b/src/mynteye/device/standard/channels_adapter_s.cc
index a2fc0ee..118ac29 100644
--- a/src/mynteye/device/standard/channels_adapter_s.cc
+++ b/src/mynteye/device/standard/channels_adapter_s.cc
@@ -13,7 +13,6 @@
 // limitations under the License.
 #include "mynteye/device/standard/channels_adapter_s.h"
 
-#include "mynteye/device/config.h"
 #include "mynteye/logger.h"
 
 MYNTEYE_BEGIN_NAMESPACE
@@ -95,16 +94,13 @@ void unpack_imu_res_packet(const std::uint8_t *data, ImuResPacket *res) {
 
 }  // namespace
 
-StandardChannelsAdapter::StandardChannelsAdapter() {
+StandardChannelsAdapter::StandardChannelsAdapter()
+  : ChannelsAdapter(Model::STANDARD) {
 }
 
 StandardChannelsAdapter::~StandardChannelsAdapter() {
 }
 
-std::set<Option> StandardChannelsAdapter::GetOptionSupports() {
-  return option_supports_map.at(Model::STANDARD);
-}
-
 std::int32_t StandardChannelsAdapter::GetAccelRangeDefault() {
   return 8;
 }
diff --git a/src/mynteye/device/standard/channels_adapter_s.h b/src/mynteye/device/standard/channels_adapter_s.h
index 54205a3..bc3fcbd 100644
--- a/src/mynteye/device/standard/channels_adapter_s.h
+++ b/src/mynteye/device/standard/channels_adapter_s.h
@@ -28,8 +28,6 @@ class StandardChannelsAdapter : public ChannelsAdapter {
   StandardChannelsAdapter();
   virtual ~StandardChannelsAdapter();
 
-  std::set<Option> GetOptionSupports() override;
-
   std::int32_t GetAccelRangeDefault() override;
   std::vector<std::int32_t> GetAccelRangeValues() override;
 
diff --git a/src/mynteye/device/standard2/channels_adapter_s2.cc b/src/mynteye/device/standard2/channels_adapter_s2.cc
index 3257039..99083c3 100644
--- a/src/mynteye/device/standard2/channels_adapter_s2.cc
+++ b/src/mynteye/device/standard2/channels_adapter_s2.cc
@@ -13,7 +13,6 @@
 // limitations under the License.
 #include "mynteye/device/standard2/channels_adapter_s2.h"
 
-#include "mynteye/device/config.h"
 #include "mynteye/logger.h"
 
 MYNTEYE_BEGIN_NAMESPACE
@@ -91,16 +90,13 @@ void unpack_imu_res_packet(const std::uint8_t *data, ImuResPacket *res) {
 
 }  // namespace
 
-Standard2ChannelsAdapter::Standard2ChannelsAdapter() {
+Standard2ChannelsAdapter::Standard2ChannelsAdapter()
+  : ChannelsAdapter(Model::STANDARD2) {
 }
 
 Standard2ChannelsAdapter::~Standard2ChannelsAdapter() {
 }
 
-std::set<Option> Standard2ChannelsAdapter::GetOptionSupports() {
-  return option_supports_map.at(Model::STANDARD2);
-}
-
 std::int32_t Standard2ChannelsAdapter::GetAccelRangeDefault() {
   return 12;
 }
diff --git a/src/mynteye/device/standard2/channels_adapter_s2.h b/src/mynteye/device/standard2/channels_adapter_s2.h
index 375ba3e..3aaeb96 100644
--- a/src/mynteye/device/standard2/channels_adapter_s2.h
+++ b/src/mynteye/device/standard2/channels_adapter_s2.h
@@ -28,8 +28,6 @@ class Standard2ChannelsAdapter : public ChannelsAdapter {
   Standard2ChannelsAdapter();
   virtual ~Standard2ChannelsAdapter();
 
-  std::set<Option> GetOptionSupports() override;
-
   std::int32_t GetAccelRangeDefault() override;
   std::vector<std::int32_t> GetAccelRangeValues() override;
 
diff --git a/src/mynteye/device/standard2/channels_adapter_s210a.cc b/src/mynteye/device/standard2/channels_adapter_s210a.cc
index e2ff9af..e345a0f 100644
--- a/src/mynteye/device/standard2/channels_adapter_s210a.cc
+++ b/src/mynteye/device/standard2/channels_adapter_s210a.cc
@@ -13,7 +13,6 @@
 // limitations under the License.
 #include "mynteye/device/standard2/channels_adapter_s210a.h"
 
-#include "mynteye/device/config.h"
 #include "mynteye/logger.h"
 
 MYNTEYE_BEGIN_NAMESPACE
@@ -91,16 +90,13 @@ void unpack_imu_res_packet(const std::uint8_t *data, ImuResPacket *res) {
 
 }  // namespace
 
-Standard210aChannelsAdapter::Standard210aChannelsAdapter() {
+Standard210aChannelsAdapter::Standard210aChannelsAdapter()
+  : ChannelsAdapter(Model::STANDARD210A) {
 }
 
 Standard210aChannelsAdapter::~Standard210aChannelsAdapter() {
 }
 
-std::set<Option> Standard210aChannelsAdapter::GetOptionSupports() {
-  return option_supports_map.at(Model::STANDARD210A);
-}
-
 std::int32_t Standard210aChannelsAdapter::GetAccelRangeDefault() {
   return 12;
 }
diff --git a/src/mynteye/device/standard2/channels_adapter_s210a.h b/src/mynteye/device/standard2/channels_adapter_s210a.h
index b63e4dc..b700814 100644
--- a/src/mynteye/device/standard2/channels_adapter_s210a.h
+++ b/src/mynteye/device/standard2/channels_adapter_s210a.h
@@ -28,8 +28,6 @@ class Standard210aChannelsAdapter : public ChannelsAdapter {
   Standard210aChannelsAdapter();
   virtual ~Standard210aChannelsAdapter();
 
-  std::set<Option> GetOptionSupports() override;
-
   std::int32_t GetAccelRangeDefault() override;
   std::vector<std::int32_t> GetAccelRangeValues() override;
 

From 210d35ffc3ef222d35f13321b6f250bdd671b333 Mon Sep 17 00:00:00 2001
From: TinyOh <tinyoh@slightech.com>
Date: Wed, 9 Jan 2019 13:07:05 +0800
Subject: [PATCH 2/5] refactor(calib models): remove depedence WITH_CAM_MODELS
 when complie process

---
 CMakeLists.txt                                |  12 +-
 .../api/processor/rectify_processor.cc        | 177 +++++------------
 src/mynteye/api/processor/rectify_processor.h |   2 -
 src/mynteye/api/synthetic.cc                  | 179 ++++++++++++++----
 4 files changed, 202 insertions(+), 168 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 724d1fa..3c01f53 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -218,13 +218,19 @@ if(WITH_API)
     src/mynteye/api/dl.cc
     src/mynteye/api/processor.cc
     src/mynteye/api/synthetic.cc
-    src/mynteye/api/processor/rectify_processor.cc
     src/mynteye/api/processor/disparity_processor.cc
     src/mynteye/api/processor/disparity_normalized_processor.cc
-    src/mynteye/api/processor/depth_processor.cc
-    src/mynteye/api/processor/points_processor.cc
     src/mynteye/api/processor/points_processor_ocv.cc
     src/mynteye/api/processor/depth_processor_ocv.cc
+    src/mynteye/api/processor/rectify_processor_ocv.cc
+  )
+endif()
+
+if(WITH_CAM_MODELS)
+  list(APPEND MYNTEYE_SRCS
+    src/mynteye/api/processor/depth_processor.cc
+    src/mynteye/api/processor/points_processor.cc
+    src/mynteye/api/processor/rectify_processor.cc
   )
 endif()
 if(NOT WITH_GLOG)
diff --git a/src/mynteye/api/processor/rectify_processor.cc b/src/mynteye/api/processor/rectify_processor.cc
index 585ed12..f4556de 100644
--- a/src/mynteye/api/processor/rectify_processor.cc
+++ b/src/mynteye/api/processor/rectify_processor.cc
@@ -19,11 +19,6 @@
 #include <opencv2/imgproc/imgproc.hpp>
 #include "mynteye/logger.h"
 #include "mynteye/device/device.h"
-
-// #define WITH_CAM_MODELS
-
-#ifdef WITH_CAM_MODELS
-
 #include <camodocal/camera_models/Camera.h>
 #include <camodocal/camera_models/CameraFactory.h>
 #include <camodocal/camera_models/CataCamera.h>
@@ -344,130 +339,6 @@ struct camera_mat_info_pair stereoRectify(
   return res;
 }
 
-#endif
-
-MYNTEYE_BEGIN_NAMESPACE
-
-const char RectifyProcessor::NAME[] = "RectifyProcessor";
-
-RectifyProcessor::RectifyProcessor(
-    std::shared_ptr<Device> device, std::int32_t proc_period)
-    : Processor(std::move(proc_period)), device_(device) {
-  VLOG(2) << __func__ << ": proc_period=" << proc_period;
-  calib_model = CalibrationModel::UNKNOW;
-  NotifyImageParamsChanged();
-}
-
-RectifyProcessor::~RectifyProcessor() {
-  VLOG(2) << __func__;
-}
-
-std::string RectifyProcessor::Name() {
-  return NAME;
-}
-
-void RectifyProcessor::NotifyImageParamsChanged() {
-  auto in_left = device_->GetIntrinsics(Stream::LEFT);
-  auto in_right = device_->GetIntrinsics(Stream::RIGHT);
-  if (in_left->calib_model() == CalibrationModel::PINHOLE) {
-    InitParams(
-      *std::dynamic_pointer_cast<IntrinsicsPinhole>(in_left),
-      *std::dynamic_pointer_cast<IntrinsicsPinhole>(in_right),
-      device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
-  } else if (in_left->calib_model() ==
-             CalibrationModel::KANNALA_BRANDT) {
-#ifdef WITH_CAM_MODELS
-    InitParams(
-      *std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_left),
-      *std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_right),
-      device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
-#else
-     VLOG(2) << "calib model type KANNALA_BRANDT"
-             << " is not been enabled.";
-#endif
-  } else {
-    VLOG(2) << "calib model type "
-            << in_left->calib_model()
-            <<" is not been enabled.";
-  }
-}
-
-Object *RectifyProcessor::OnCreateOutput() {
-  return new ObjMat2();
-}
-
-bool RectifyProcessor::OnProcess(
-    Object *const in, Object *const out, Processor *const parent) {
-  MYNTEYE_UNUSED(parent)
-  if (calib_model == CalibrationModel::PINHOLE) {
-    const ObjMat2 *input = Object::Cast<ObjMat2>(in);
-    ObjMat2 *output = Object::Cast<ObjMat2>(out);
-    cv::remap(input->first, output->first, map11, map12, cv::INTER_LINEAR);
-    cv::remap(input->second, output->second, map21, map22, cv::INTER_LINEAR);
-    output->first_id = input->first_id;
-    output->first_data = input->first_data;
-    output->second_id = input->second_id;
-    output->second_data = input->second_data;
-    return true;
-  } else if (calib_model == CalibrationModel::KANNALA_BRANDT) {
-#ifdef WITH_CAM_MODELS
-    const ObjMat2 *input = Object::Cast<ObjMat2>(in);
-    ObjMat2 *output = Object::Cast<ObjMat2>(out);
-    cv::remap(input->first, output->first, map11, map12, cv::INTER_LINEAR);
-    cv::remap(input->second, output->second, map21, map22, cv::INTER_LINEAR);
-    output->first_id = input->first_id;
-    output->first_data = input->first_data;
-    output->second_id = input->second_id;
-    output->second_data = input->second_data;
-    return true;
-#else
-    return false;
-#endif
-  }
-}
-
-void RectifyProcessor::InitParams(
-    IntrinsicsPinhole in_left,
-    IntrinsicsPinhole in_right,
-    Extrinsics ex_right_to_left) {
-  calib_model = CalibrationModel::PINHOLE;
-  cv::Size size{in_left.width, in_left.height};
-
-  cv::Mat M1 =
-      (cv::Mat_<double>(3, 3) << in_left.fx, 0, in_left.cx, 0, in_left.fy,
-       in_left.cy, 0, 0, 1);
-  cv::Mat M2 =
-      (cv::Mat_<double>(3, 3) << in_right.fx, 0, in_right.cx, 0, in_right.fy,
-       in_right.cy, 0, 0, 1);
-  cv::Mat D1(1, 5, CV_64F, in_left.coeffs);
-  cv::Mat D2(1, 5, CV_64F, in_right.coeffs);
-  cv::Mat R =
-      (cv::Mat_<double>(3, 3) << ex_right_to_left.rotation[0][0],
-       ex_right_to_left.rotation[0][1], ex_right_to_left.rotation[0][2],
-       ex_right_to_left.rotation[1][0], ex_right_to_left.rotation[1][1],
-       ex_right_to_left.rotation[1][2], ex_right_to_left.rotation[2][0],
-       ex_right_to_left.rotation[2][1], ex_right_to_left.rotation[2][2]);
-  cv::Mat T(3, 1, CV_64F, ex_right_to_left.translation);
-
-  VLOG(2) << "InitParams size: " << size;
-  VLOG(2) << "M1: " << M1;
-  VLOG(2) << "M2: " << M2;
-  VLOG(2) << "D1: " << D1;
-  VLOG(2) << "D2: " << D2;
-  VLOG(2) << "R: " << R;
-  VLOG(2) << "T: " << T;
-
-  cv::Rect left_roi, right_roi;
-  cv::stereoRectify(
-      M1, D1, M2, D2, size, R, T, R1, R2, P1, P2, Q, cv::CALIB_ZERO_DISPARITY,
-      0, size, &left_roi, &right_roi);
-
-  cv::initUndistortRectifyMap(M1, D1, R1, P1, size, CV_16SC2, map11, map12);
-  cv::initUndistortRectifyMap(M2, D2, R2, P2, size, CV_16SC2, map21, map22);
-}
-
-#ifdef WITH_CAM_MODELS
-
 camodocal::CameraPtr generateCameraFromIntrinsicsEquidistant(
     const mynteye::IntrinsicsEquidistant & in) {
   camodocal::EquidistantCameraPtr camera(
@@ -485,6 +356,8 @@ camodocal::CameraPtr generateCameraFromIntrinsicsEquidistant(
   return camera;
 }
 
+MYNTEYE_BEGIN_NAMESPACE
+
 void RectifyProcessor::InitParams(
     IntrinsicsEquidistant in_left,
     IntrinsicsEquidistant in_right,
@@ -526,6 +399,50 @@ void RectifyProcessor::InitParams(
       cv::Size(0, 0), right_center[0],
       right_center[1], rect_R_r);
 }
-#endif
+
+const char RectifyProcessor::NAME[] = "RectifyProcessor";
+
+RectifyProcessor::RectifyProcessor(
+    std::shared_ptr<Device> device, std::int32_t proc_period)
+    : Processor(std::move(proc_period)), device_(device) {
+  VLOG(2) << __func__ << ": proc_period=" << proc_period;
+  calib_model = CalibrationModel::UNKNOW;
+  NotifyImageParamsChanged();
+}
+
+RectifyProcessor::~RectifyProcessor() {
+  VLOG(2) << __func__;
+}
+
+std::string RectifyProcessor::Name() {
+  return NAME;
+}
+
+void RectifyProcessor::NotifyImageParamsChanged() {
+  auto in_left = device_->GetIntrinsics(Stream::LEFT);
+  auto in_right = device_->GetIntrinsics(Stream::RIGHT);
+  InitParams(
+    *std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_left),
+    *std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_right),
+    device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
+}
+
+Object *RectifyProcessor::OnCreateOutput() {
+  return new ObjMat2();
+}
+
+bool RectifyProcessor::OnProcess(
+    Object *const in, Object *const out, Processor *const parent) {
+  MYNTEYE_UNUSED(parent)
+  const ObjMat2 *input = Object::Cast<ObjMat2>(in);
+  ObjMat2 *output = Object::Cast<ObjMat2>(out);
+  cv::remap(input->first, output->first, map11, map12, cv::INTER_LINEAR);
+  cv::remap(input->second, output->second, map21, map22, cv::INTER_LINEAR);
+  output->first_id = input->first_id;
+  output->first_data = input->first_data;
+  output->second_id = input->second_id;
+  output->second_data = input->second_data;
+  return true;
+}
 
 MYNTEYE_END_NAMESPACE
diff --git a/src/mynteye/api/processor/rectify_processor.h b/src/mynteye/api/processor/rectify_processor.h
index eda5b6c..c6744ed 100644
--- a/src/mynteye/api/processor/rectify_processor.h
+++ b/src/mynteye/api/processor/rectify_processor.h
@@ -48,8 +48,6 @@ class RectifyProcessor : public Processor {
       Object *const in, Object *const out, Processor *const parent) override;
 
  private:
-  void InitParams(IntrinsicsPinhole in_left,
-        IntrinsicsPinhole in_right, Extrinsics ex_right_to_left);
   void InitParams(IntrinsicsEquidistant in_left,
         IntrinsicsEquidistant in_right, Extrinsics ex_right_to_left);
 
diff --git a/src/mynteye/api/synthetic.cc b/src/mynteye/api/synthetic.cc
index f2a3232..46a5601 100644
--- a/src/mynteye/api/synthetic.cc
+++ b/src/mynteye/api/synthetic.cc
@@ -23,13 +23,16 @@
 #include "mynteye/api/object.h"
 #include "mynteye/api/plugin.h"
 #include "mynteye/api/processor.h"
-#include "mynteye/api/processor/depth_processor.h"
 #include "mynteye/api/processor/disparity_normalized_processor.h"
 #include "mynteye/api/processor/disparity_processor.h"
-#include "mynteye/api/processor/points_processor.h"
-#include "mynteye/api/processor/rectify_processor.h"
+#include "mynteye/api/processor/rectify_processor_ocv.h"
 #include "mynteye/api/processor/depth_processor_ocv.h"
 #include "mynteye/api/processor/points_processor_ocv.h"
+#ifdef WITH_CAM_MODELS
+#include "mynteye/api/processor/depth_processor.h"
+#include "mynteye/api/processor/points_processor.h"
+#include "mynteye/api/processor/rectify_processor.h"
+#endif
 #include "mynteye/device/device.h"
 
 #define RECTIFY_PROC_PERIOD 0
@@ -87,8 +90,20 @@ Synthetic::~Synthetic() {
 }
 
 void Synthetic::NotifyImageParamsChanged() {
-  auto &&processor = find_processor<RectifyProcessor>(processor_);
-  if (processor) processor->NotifyImageParamsChanged();
+  if (calib_model_ ==  CalibrationModel::PINHOLE) {
+    auto &&processor = find_processor<RectifyProcessorOCV>(processor_);
+    if (processor) processor->NotifyImageParamsChanged();
+#ifdef WITH_CAM_MODELS
+  } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
+    auto &&processor = find_processor<RectifyProcessor>(processor_);
+    if (processor) processor->NotifyImageParamsChanged();
+#endif
+  } else {
+    LOG(ERROR) << "Unknow calib model type in device: "
+              << calib_model_ << ", use default pinhole model";
+    auto &&processor = find_processor<RectifyProcessorOCV>(processor_);
+    if (processor) processor->NotifyImageParamsChanged();
+  }
 }
 
 bool Synthetic::Supports(const Stream &stream) const {
@@ -173,7 +188,18 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
   } else if (mode == MODE_SYNTHETIC) {
     if (stream == Stream::LEFT_RECTIFIED || stream == Stream::RIGHT_RECTIFIED) {
       static std::shared_ptr<ObjMat2> output = nullptr;
-      auto &&processor = find_processor<RectifyProcessor>(processor_);
+      std::shared_ptr<Processor> processor = nullptr;
+      if (calib_model_ ==  CalibrationModel::PINHOLE) {
+        processor = find_processor<RectifyProcessorOCV>(processor_);
+#ifdef WITH_CAM_MODELS
+      } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
+        processor = find_processor<RectifyProcessor>(processor_);
+#endif
+      } else {
+        LOG(ERROR) << "Unknow calib model type in device: "
+                  << calib_model_ << ", use default pinhole model";
+        processor = find_processor<RectifyProcessorOCV>(processor_);
+      }
       auto &&out = processor->GetOutput();
       if (out != nullptr) {
         // Obtain the output, out will be nullptr if get again immediately.
@@ -219,6 +245,7 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
             return {output->data, output->value, nullptr, output->id};
           }
           VLOG(2) << "Points not ready now";
+#ifdef WITH_CAM_MODELS
         } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
           auto &&processor = find_processor<PointsProcessor>(processor_);
           auto &&out = processor->GetOutput();
@@ -227,6 +254,7 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
             return {output->data, output->value, nullptr, output->id};
           }
           VLOG(2) << "Points not ready now";
+#endif
         } else {
           // UNKNOW
           LOG(ERROR) << "Unknow calib model type in device: "
@@ -242,6 +270,7 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
             return {output->data, output->value, nullptr, output->id};
           }
           VLOG(2) << "Depth not ready now";
+#ifdef WITH_CAM_MODELS
         } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
           auto &&processor = find_processor<DepthProcessor>(processor_);
           auto &&out = processor->GetOutput();
@@ -250,6 +279,7 @@ api::StreamData Synthetic::GetStreamData(const Stream &stream) {
             return {output->data, output->value, nullptr, output->id};
           }
           VLOG(2) << "Depth not ready now";
+#endif
         } else {
           // UNKNOW
           LOG(ERROR) << "Unknow calib model type in device: "
@@ -346,13 +376,33 @@ void Synthetic::EnableStreamData(const Stream &stream, std::uint32_t depth) {
       if (!IsStreamDataEnabled(Stream::LEFT))
         break;
       stream_enabled_mode_[stream] = MODE_SYNTHETIC;
-      CHECK(ActivateProcessor<RectifyProcessor>());
+      if (calib_model_ ==  CalibrationModel::PINHOLE) {
+        CHECK(ActivateProcessor<RectifyProcessorOCV>());
+#ifdef WITH_CAM_MODELS
+      } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
+        CHECK(ActivateProcessor<RectifyProcessor>());
+#endif
+      } else {
+        LOG(ERROR) << "Unknow calib model type in device: "
+                  << calib_model_ << ", use default pinhole model";
+        CHECK(ActivateProcessor<RectifyProcessorOCV>());
+      }
     } return;
     case Stream::RIGHT_RECTIFIED: {
       if (!IsStreamDataEnabled(Stream::RIGHT))
         break;
       stream_enabled_mode_[stream] = MODE_SYNTHETIC;
-      CHECK(ActivateProcessor<RectifyProcessor>());
+      if (calib_model_ ==  CalibrationModel::PINHOLE) {
+        CHECK(ActivateProcessor<RectifyProcessorOCV>());
+#ifdef WITH_CAM_MODELS
+      } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
+        CHECK(ActivateProcessor<RectifyProcessor>());
+#endif
+      } else {
+        LOG(ERROR) << "Unknow calib model type in device: "
+                  << calib_model_ << ", use default pinhole model";
+        CHECK(ActivateProcessor<RectifyProcessorOCV>());
+      }
     } return;
     case Stream::DISPARITY: {
       stream_enabled_mode_[stream] = MODE_SYNTHETIC;
@@ -370,8 +420,10 @@ void Synthetic::EnableStreamData(const Stream &stream, std::uint32_t depth) {
       EnableStreamData(Stream::DISPARITY, depth + 1);
       if (calib_model_ ==  CalibrationModel::PINHOLE) {
         CHECK(ActivateProcessor<PointsProcessorOCV>());
+#ifdef WITH_CAM_MODELS
       } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
         CHECK(ActivateProcessor<PointsProcessor>());
+#endif
       } else {
         LOG(ERROR) << "Unknow calib model type in device: "
                    << calib_model_;
@@ -382,8 +434,10 @@ void Synthetic::EnableStreamData(const Stream &stream, std::uint32_t depth) {
       EnableStreamData(Stream::POINTS, depth + 1);
       if (calib_model_ ==  CalibrationModel::PINHOLE) {
         CHECK(ActivateProcessor<DepthProcessorOCV>());
+#ifdef WITH_CAM_MODELS
       } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
         CHECK(ActivateProcessor<DepthProcessor>());
+#endif
       } else {
         LOG(ERROR) << "Unknow calib model type in device: "
                    << calib_model_;
@@ -410,7 +464,17 @@ void Synthetic::DisableStreamData(const Stream &stream, std::uint32_t depth) {
         if (IsStreamEnabledSynthetic(Stream::DISPARITY)) {
           DisableStreamData(Stream::DISPARITY, depth + 1);
         }
-        DeactivateProcessor<RectifyProcessor>();
+        if (calib_model_ ==  CalibrationModel::PINHOLE) {
+          DeactivateProcessor<RectifyProcessorOCV>();
+#ifdef WITH_CAM_MODELS
+        } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
+          DeactivateProcessor<RectifyProcessor>();
+#endif
+        } else {
+          LOG(ERROR) << "Unknow calib model type in device: "
+                    << calib_model_ << ", use default pinhole model";
+          DeactivateProcessor<RectifyProcessorOCV>();
+        }
       } break;
       case Stream::RIGHT_RECTIFIED: {
         if (IsStreamEnabledSynthetic(Stream::LEFT_RECTIFIED)) {
@@ -419,7 +483,17 @@ void Synthetic::DisableStreamData(const Stream &stream, std::uint32_t depth) {
         if (IsStreamEnabledSynthetic(Stream::DISPARITY)) {
           DisableStreamData(Stream::DISPARITY, depth + 1);
         }
-        DeactivateProcessor<RectifyProcessor>();
+        if (calib_model_ ==  CalibrationModel::PINHOLE) {
+          DeactivateProcessor<RectifyProcessorOCV>();
+#ifdef WITH_CAM_MODELS
+        } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
+          DeactivateProcessor<RectifyProcessor>();
+#endif
+        } else {
+          LOG(ERROR) << "Unknow calib model type in device: "
+                    << calib_model_ << ", use default pinhole model";
+          DeactivateProcessor<RectifyProcessorOCV>();
+        }
       } break;
       case Stream::DISPARITY: {
         if (IsStreamEnabledSynthetic(Stream::DISPARITY_NORMALIZED)) {
@@ -439,8 +513,10 @@ void Synthetic::DisableStreamData(const Stream &stream, std::uint32_t depth) {
             DisableStreamData(Stream::DEPTH, depth + 1);
           }
           DeactivateProcessor<PointsProcessorOCV>();
+#ifdef WITH_CAM_MODELS
         } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
           DeactivateProcessor<PointsProcessor>();
+#endif
         } else {
           LOG(ERROR) << "Unknow calib model type in device: "
                     << calib_model_;
@@ -449,11 +525,13 @@ void Synthetic::DisableStreamData(const Stream &stream, std::uint32_t depth) {
       case Stream::DEPTH: {
         if (calib_model_ ==  CalibrationModel::PINHOLE) {
           DeactivateProcessor<DepthProcessorOCV>();
+#ifdef WITH_CAM_MODELS
         } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
           if (IsStreamEnabledSynthetic(Stream::DEPTH)) {
             DisableStreamData(Stream::POINTS, depth + 1);
           }
           DeactivateProcessor<DepthProcessor>();
+#endif
         } else {
           LOG(ERROR) << "Unknow calib model type in device: "
                     << calib_model_;
@@ -470,8 +548,27 @@ void Synthetic::DisableStreamData(const Stream &stream, std::uint32_t depth) {
 }
 
 void Synthetic::InitProcessors() {
-  auto &&rectify_processor =
-      std::make_shared<RectifyProcessor>(api_->device(), RECTIFY_PROC_PERIOD);
+  std::shared_ptr<Processor> rectify_processor = nullptr;
+  cv::Mat Q;
+  if (calib_model_ ==  CalibrationModel::PINHOLE) {
+    auto &&rectify_processor_ocv =
+        std::make_shared<RectifyProcessorOCV>(api_->device(),
+                                              RECTIFY_PROC_PERIOD);
+    rectify_processor = rectify_processor_ocv;
+    Q = rectify_processor_ocv->Q;
+#ifdef WITH_CAM_MODELS
+  } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
+    rectify_processor =
+        std::make_shared<RectifyProcessor>(api_->device(), RECTIFY_PROC_PERIOD);
+#endif
+  } else {
+    LOG(ERROR) << "Unknow calib model type in device: "
+              << calib_model_ << ", use default pinhole model";
+    auto &&rectify_processor_ocv =
+        std::make_shared<RectifyProcessorOCV>(api_->device(),
+                                              RECTIFY_PROC_PERIOD);
+    rectify_processor = rectify_processor_ocv;
+  }
   auto &&disparity_processor =
       std::make_shared<DisparityProcessor>(DISPARITY_PROC_PERIOD);
   auto &&disparitynormalized_processor =
@@ -479,33 +576,26 @@ void Synthetic::InitProcessors() {
           DISPARITY_NORM_PROC_PERIOD);
   std::shared_ptr<Processor> points_processor = nullptr;
   if (calib_model_ ==  CalibrationModel::PINHOLE) {
-    auto &&points_processor_pin = std::make_shared<PointsProcessorOCV>(
-        rectify_processor->Q, POINTS_PROC_PERIOD);
-    points_processor = points_processor_pin;
+    points_processor = std::make_shared<PointsProcessorOCV>(
+        Q, POINTS_PROC_PERIOD);
+#ifdef WITH_CAM_MODELS
   } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
-    auto &&points_processor_kan = std::make_shared<PointsProcessor>(
+    points_processor = std::make_shared<PointsProcessor>(
         POINTS_PROC_PERIOD);
-    points_processor = points_processor_kan;
+#endif
   } else {
-    LOG(ERROR) << "Unknow calib model type in device: "
-              << calib_model_ << ", use default pinhole model";
-    auto &&points_processor_pin = std::make_shared<PointsProcessorOCV>(
-        rectify_processor->Q, POINTS_PROC_PERIOD);
-    points_processor = points_processor_pin;
+    points_processor = std::make_shared<PointsProcessorOCV>(
+        Q, POINTS_PROC_PERIOD);
   }
   std::shared_ptr<Processor> depth_processor = nullptr;
   if (calib_model_ ==  CalibrationModel::PINHOLE) {
-    auto &&depth_processor_pin =
-        std::make_shared<DepthProcessorOCV>(DEPTH_PROC_PERIOD);
-    depth_processor = depth_processor_pin;
+    depth_processor = std::make_shared<DepthProcessorOCV>(DEPTH_PROC_PERIOD);
+#ifdef WITH_CAM_MODELS
   } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
-    auto &&depth_processor_kan =
-        std::make_shared<DepthProcessor>(DEPTH_PROC_PERIOD);
-    depth_processor = depth_processor_kan;
+    depth_processor = std::make_shared<DepthProcessor>(DEPTH_PROC_PERIOD);
+#endif
   } else {
-    auto &&depth_processor_pin =
-        std::make_shared<DepthProcessorOCV>(DEPTH_PROC_PERIOD);
-    depth_processor = depth_processor_pin;
+    depth_processor = std::make_shared<DepthProcessorOCV>(DEPTH_PROC_PERIOD);
   }
 
   using namespace std::placeholders;  // NOLINT
@@ -563,7 +653,18 @@ void Synthetic::ProcessNativeStream(
     }
     if (left_data.img && right_data.img &&
         left_data.img->frame_id == right_data.img->frame_id) {
-      auto &&processor = find_processor<RectifyProcessor>(processor_);
+      std::shared_ptr<Processor> processor = nullptr;
+      if (calib_model_ ==  CalibrationModel::PINHOLE) {
+        processor = find_processor<RectifyProcessorOCV>(processor_);
+#ifdef WITH_CAM_MODELS
+      } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
+        processor = find_processor<RectifyProcessor>(processor_);
+#endif
+      } else {
+        LOG(ERROR) << "Unknow calib model type in device: "
+                  << calib_model_ << ", use default pinhole model";
+        processor = find_processor<RectifyProcessorOCV>(processor_);
+      }
       processor->Process(ObjMat2{
           left_data.frame, left_data.frame_id, left_data.img,
           right_data.frame, right_data.frame_id, right_data.img});
@@ -580,8 +681,16 @@ void Synthetic::ProcessNativeStream(
     }
     if (left_rect_data.img && right_rect_data.img &&
         left_rect_data.img->frame_id == right_rect_data.img->frame_id) {
+      std::string name = RectifyProcessorOCV::NAME;
+      if (calib_model_ ==  CalibrationModel::PINHOLE) {
+        name = RectifyProcessorOCV::NAME;
+#ifdef WITH_CAM_MODELS
+      } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
+        name = RectifyProcessor::NAME;
+#endif
+      }
       process_childs(
-          processor_, RectifyProcessor::NAME, ObjMat2{
+          processor_, name, ObjMat2{
               left_rect_data.frame, left_rect_data.frame_id, left_rect_data.img,
               right_rect_data.frame, right_rect_data.frame_id,
               right_rect_data.img});
@@ -603,10 +712,12 @@ void Synthetic::ProcessNativeStream(
         // PINHOLE
         process_childs(processor_, PointsProcessorOCV::NAME,
             ObjMat{data.frame, data.frame_id, data.img});
+#ifdef WITH_CAM_MODELS
       } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
         // KANNALA_BRANDT
         process_childs(processor_, PointsProcessor::NAME,
             ObjMat{data.frame, data.frame_id, data.img});
+#endif
       } else {
         // UNKNOW
         LOG(ERROR) << "Unknow calib model type in device: "
@@ -618,10 +729,12 @@ void Synthetic::ProcessNativeStream(
         // PINHOLE
         process_childs(processor_, DepthProcessorOCV::NAME,
             ObjMat{data.frame, data.frame_id, data.img});
+#ifdef WITH_CAM_MODELS
       } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
         // KANNALA_BRANDT
         process_childs(processor_, DepthProcessor::NAME,
             ObjMat{data.frame, data.frame_id, data.img});
+#endif
       } else {
         // UNKNOW
         LOG(ERROR) << "Unknow calib model type in device: "

From eea273b0db9d837abd479196b8fb2d8dee9de76a Mon Sep 17 00:00:00 2001
From: TinyOh <tinyoh@slightech.com>
Date: Wed, 9 Jan 2019 13:09:44 +0800
Subject: [PATCH 3/5] refactor(calib models): add rectify_processor_ocv.cc

---
 .../api/processor/rectify_processor_ocv.cc    | 110 ++++++++++++++++++
 .../api/processor/rectify_processor_ocv.h     |  60 ++++++++++
 2 files changed, 170 insertions(+)
 create mode 100644 src/mynteye/api/processor/rectify_processor_ocv.cc
 create mode 100644 src/mynteye/api/processor/rectify_processor_ocv.h

diff --git a/src/mynteye/api/processor/rectify_processor_ocv.cc b/src/mynteye/api/processor/rectify_processor_ocv.cc
new file mode 100644
index 0000000..bd94504
--- /dev/null
+++ b/src/mynteye/api/processor/rectify_processor_ocv.cc
@@ -0,0 +1,110 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#include "mynteye/api/processor/rectify_processor_ocv.h"
+
+#include <utility>
+
+#include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include "mynteye/logger.h"
+#include "mynteye/device/device.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+const char RectifyProcessorOCV::NAME[] = "RectifyProcessorOCV";
+
+RectifyProcessorOCV::RectifyProcessorOCV(
+    std::shared_ptr<Device> device, std::int32_t proc_period)
+    : Processor(std::move(proc_period)), device_(device) {
+  VLOG(2) << __func__ << ": proc_period=" << proc_period;
+  calib_model = CalibrationModel::UNKNOW;
+  NotifyImageParamsChanged();
+}
+
+RectifyProcessorOCV::~RectifyProcessorOCV() {
+  VLOG(2) << __func__;
+}
+
+std::string RectifyProcessorOCV::Name() {
+  return NAME;
+}
+
+void RectifyProcessorOCV::NotifyImageParamsChanged() {
+  auto in_left = device_->GetIntrinsics(Stream::LEFT);
+  auto in_right = device_->GetIntrinsics(Stream::RIGHT);
+  InitParams(
+    *std::dynamic_pointer_cast<IntrinsicsPinhole>(in_left),
+    *std::dynamic_pointer_cast<IntrinsicsPinhole>(in_right),
+    device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
+}
+
+Object *RectifyProcessorOCV::OnCreateOutput() {
+  return new ObjMat2();
+}
+
+bool RectifyProcessorOCV::OnProcess(
+    Object *const in, Object *const out, Processor *const parent) {
+  MYNTEYE_UNUSED(parent)
+  const ObjMat2 *input = Object::Cast<ObjMat2>(in);
+  ObjMat2 *output = Object::Cast<ObjMat2>(out);
+  cv::remap(input->first, output->first, map11, map12, cv::INTER_LINEAR);
+  cv::remap(input->second, output->second, map21, map22, cv::INTER_LINEAR);
+  output->first_id = input->first_id;
+  output->first_data = input->first_data;
+  output->second_id = input->second_id;
+  output->second_data = input->second_data;
+  return true;
+}
+
+void RectifyProcessorOCV::InitParams(
+    IntrinsicsPinhole in_left,
+    IntrinsicsPinhole in_right,
+    Extrinsics ex_right_to_left) {
+  calib_model = CalibrationModel::PINHOLE;
+  cv::Size size{in_left.width, in_left.height};
+
+  cv::Mat M1 =
+      (cv::Mat_<double>(3, 3) << in_left.fx, 0, in_left.cx, 0, in_left.fy,
+       in_left.cy, 0, 0, 1);
+  cv::Mat M2 =
+      (cv::Mat_<double>(3, 3) << in_right.fx, 0, in_right.cx, 0, in_right.fy,
+       in_right.cy, 0, 0, 1);
+  cv::Mat D1(1, 5, CV_64F, in_left.coeffs);
+  cv::Mat D2(1, 5, CV_64F, in_right.coeffs);
+  cv::Mat R =
+      (cv::Mat_<double>(3, 3) << ex_right_to_left.rotation[0][0],
+       ex_right_to_left.rotation[0][1], ex_right_to_left.rotation[0][2],
+       ex_right_to_left.rotation[1][0], ex_right_to_left.rotation[1][1],
+       ex_right_to_left.rotation[1][2], ex_right_to_left.rotation[2][0],
+       ex_right_to_left.rotation[2][1], ex_right_to_left.rotation[2][2]);
+  cv::Mat T(3, 1, CV_64F, ex_right_to_left.translation);
+
+  VLOG(2) << "InitParams size: " << size;
+  VLOG(2) << "M1: " << M1;
+  VLOG(2) << "M2: " << M2;
+  VLOG(2) << "D1: " << D1;
+  VLOG(2) << "D2: " << D2;
+  VLOG(2) << "R: " << R;
+  VLOG(2) << "T: " << T;
+
+  cv::Rect left_roi, right_roi;
+  cv::stereoRectify(
+      M1, D1, M2, D2, size, R, T, R1, R2, P1, P2, Q, cv::CALIB_ZERO_DISPARITY,
+      0, size, &left_roi, &right_roi);
+
+  cv::initUndistortRectifyMap(M1, D1, R1, P1, size, CV_16SC2, map11, map12);
+  cv::initUndistortRectifyMap(M2, D2, R2, P2, size, CV_16SC2, map21, map22);
+}
+
+MYNTEYE_END_NAMESPACE
diff --git a/src/mynteye/api/processor/rectify_processor_ocv.h b/src/mynteye/api/processor/rectify_processor_ocv.h
new file mode 100644
index 0000000..c5baee3
--- /dev/null
+++ b/src/mynteye/api/processor/rectify_processor_ocv.h
@@ -0,0 +1,60 @@
+// Copyright 2018 Slightech Co., Ltd. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#ifndef MYNTEYE_API_PROCESSOR_RECTIFY_PROCESSOR_OCV_H_
+#define MYNTEYE_API_PROCESSOR_RECTIFY_PROCESSOR_OCV_H_
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include <opencv2/core/core.hpp>
+
+#include "mynteye/types.h"
+#include "mynteye/api/processor.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+class Device;
+
+class RectifyProcessorOCV : public Processor {
+ public:
+  static const char NAME[];
+
+  RectifyProcessorOCV(
+      std::shared_ptr<Device> device, std::int32_t proc_period = 0);
+  virtual ~RectifyProcessorOCV();
+
+  std::string Name() override;
+
+  void NotifyImageParamsChanged();
+
+  cv::Mat R1, P1, R2, P2, Q;
+  cv::Mat map11, map12, map21, map22;
+
+ protected:
+  Object *OnCreateOutput() override;
+  bool OnProcess(
+      Object *const in, Object *const out, Processor *const parent) override;
+
+ private:
+  void InitParams(IntrinsicsPinhole in_left,
+        IntrinsicsPinhole in_right, Extrinsics ex_right_to_left);
+
+  std::shared_ptr<Device> device_;
+  CalibrationModel calib_model;
+};
+
+MYNTEYE_END_NAMESPACE
+
+#endif  // MYNTEYE_API_PROCESSOR_RECTIFY_PROCESSOR_OCV_H_

From 9a7e420c3a5fa525f45b0791049c5e0986fdcd91 Mon Sep 17 00:00:00 2001
From: kalman <kalmanxiong@slightech.com>
Date: Wed, 9 Jan 2019 14:22:11 +0800
Subject: [PATCH 4/5] feat(depth_processor.cc): implement Onprocess

---
 src/mynteye/api/processor/depth_processor.cc | 24 ++++++++++++++------
 1 file changed, 17 insertions(+), 7 deletions(-)

diff --git a/src/mynteye/api/processor/depth_processor.cc b/src/mynteye/api/processor/depth_processor.cc
index e9ceea6..e6e5746 100644
--- a/src/mynteye/api/processor/depth_processor.cc
+++ b/src/mynteye/api/processor/depth_processor.cc
@@ -41,13 +41,23 @@ Object *DepthProcessor::OnCreateOutput() {
 bool DepthProcessor::OnProcess(
     Object *const in, Object *const out, Processor *const parent) {
   MYNTEYE_UNUSED(parent)
-  // const ObjMat *input = Object::Cast<ObjMat>(in);
-  // ObjMat *output = Object::Cast<ObjMat>(out);
-  // cv::Mat channels[3 /*input->value.channels()*/];
-  // cv::split(input->value, channels);
-  // channels[2].convertTo(output->value, CV_16UC1);
-  // output->id = input->id;
-  // output->data = input->data;
+  const ObjMat *input = Object::Cast<ObjMat>(in);
+  ObjMat *output = Object::Cast<ObjMat>(out);
+  int rows = input->value.rows;
+  int cols = input->value.cols;
+  float T = 0.08;
+  float f = 0.01;
+  cv::Mat depth_mat = cv::Mat::zeros(rows, cols, CV_32F);
+  for (int i = 0; i < rows; i++) {
+    for (int j = 0; j < cols; j++) {
+      float disparity_value = input->value.at<float>(i, j);
+      float depth = T * f / disparity_value;
+      depth_mat.at<float>(i, j) = depth;
+    }
+  }
+  output->value = depth_mat;
+  output->id = input->id;
+  output->data = input->data;
   return true;
 }
 

From ee2d437c89a47df873ede8cb1d224f87818bb52d Mon Sep 17 00:00:00 2001
From: John Zhao <johnzhao@slightech.com>
Date: Wed, 9 Jan 2019 14:30:21 +0800
Subject: [PATCH 5/5] build(cmake): add install rpath

---
 CMakeLists.txt           | 12 ++++++++++++
 cmake/DetectOpenCV.cmake | 19 +++++++++++++++++++
 2 files changed, 31 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3c01f53..65fc184 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -94,6 +94,18 @@ if(OS_WIN)
   )
 endif()
 
+# rpath
+
+set(CMAKE_MACOSX_RPATH 1)
+set(MYNTEYE_CMAKE_RPATH "")
+if(WITH_OPENCV)
+  list(APPEND MYNTEYE_CMAKE_RPATH ${OpenCV_LIB_PATH})
+endif()
+if(MYNTEYE_CMAKE_RPATH)
+  message(STATUS "RPATH: ${MYNTEYE_CMAKE_RPATH}")
+  set(CMAKE_INSTALL_RPATH "${MYNTEYE_CMAKE_RPATH}")
+endif()
+
 # targets
 
 add_definitions(-DMYNTEYE_EXPORTS)
diff --git a/cmake/DetectOpenCV.cmake b/cmake/DetectOpenCV.cmake
index 34a5779..d166f50 100644
--- a/cmake/DetectOpenCV.cmake
+++ b/cmake/DetectOpenCV.cmake
@@ -41,6 +41,25 @@ if(${__index} GREATER -1)
   set(WITH_OPENCV_WORLD TRUE)
 endif()
 
+if(NOT OpenCV_LIB_PATH)
+  list(LENGTH OpenCV_INCLUDE_DIRS __length)
+  if(${__length} GREATER 0)
+    list(GET OpenCV_INCLUDE_DIRS 0 __include_dir)
+    string(REGEX REPLACE "include.*$" "lib" __lib_dir "${__include_dir}")
+    find_library(__opencv_lib
+      NAMES opencv_core3 opencv_core opencv_world
+      PATHS "${__lib_dir}" "${__lib_dir}/x86_64-linux-gnu"
+      NO_DEFAULT_PATH)
+    #message(STATUS "__opencv_lib: ${__opencv_lib}")
+    if(__opencv_lib)
+      get_filename_component(OpenCV_LIB_PATH "${__opencv_lib}" DIRECTORY)
+    else()
+      set(OpenCV_LIB_PATH "${__lib_dir}")
+    endif()
+    #message(STATUS "OpenCV_LIB_PATH: ${OpenCV_LIB_PATH}")
+  endif()
+endif()
+
 if(MSVC OR MSYS OR MINGW)
   get_filename_component(OpenCV_LIB_SEARCH_PATH "${OpenCV_LIB_PATH}/../bin" ABSOLUTE)
 else()