From 49e65f8060d9eb88fdf45abc6b5643f1ad6bc33f Mon Sep 17 00:00:00 2001 From: TinyOh Date: Fri, 4 Jan 2019 09:55:30 +0800 Subject: [PATCH] feat(img params): prepare data format --- include/mynteye/api/api.h | 18 +++++ include/mynteye/device/device.h | 6 ++ include/mynteye/types.h | 86 +++++++++++++++++++++++- samples/tutorials/data/get_img_params.cc | 23 +++++++ 4 files changed, 132 insertions(+), 1 deletion(-) diff --git a/include/mynteye/api/api.h b/include/mynteye/api/api.h index 37a9aed..1a9b42e 100644 --- a/include/mynteye/api/api.h +++ b/include/mynteye/api/api.h @@ -25,6 +25,7 @@ #include "mynteye/mynteye.h" #include "mynteye/types.h" +#include "mynteye/device.h" MYNTEYE_BEGIN_NAMESPACE @@ -201,6 +202,11 @@ class MYNTEYE_API API { * Get the extrinsics from one stream to motion. */ Extrinsics GetMotionExtrinsics(const Stream &from) const; + /** + * Get the intrinsics of stream. + */ + template + T GetIntrinsics(const Stream &from) const; /** * Log all option infos. @@ -304,6 +310,18 @@ class MYNTEYE_API API { void CheckImageParams(); }; +template +T API::GetIntrinsics(const Stream &from) const { + return device_->GetIntrinsics(from); +} + +template +T Device::GetIntrinsics(const Stream &from) const { + T res; + printf("type %d\n", res.calib_model_); + return res; +} + MYNTEYE_END_NAMESPACE #endif // MYNTEYE_API_API_H_ diff --git a/include/mynteye/device/device.h b/include/mynteye/device/device.h index 617aaf1..633c015 100644 --- a/include/mynteye/device/device.h +++ b/include/mynteye/device/device.h @@ -203,6 +203,12 @@ class MYNTEYE_API Device { */ void SetMotionExtrinsics(const Stream &from, const Extrinsics &ex); + /** + * Get the intrinsics of stream. + */ + template + T GetIntrinsics(const Stream &from) const; + /** * Log all option infos. */ diff --git a/include/mynteye/types.h b/include/mynteye/types.h index 3c8b2f9..c714f75 100644 --- a/include/mynteye/types.h +++ b/include/mynteye/types.h @@ -15,6 +15,8 @@ #define MYNTEYE_TYPES_H_ #pragma once +#include + #include #include @@ -389,11 +391,33 @@ std::ostream &operator<<(std::ostream &os, const StreamRequest &request); * @brief Intrinsic and extrinsic properties. */ +/** different model of camera calibration */ +typedef enum CalibrationModel { + /** pinhole camera */ + CALIB_MODEL_PINHOLE = 0, + /** equidistant camera */ + CALIB_MODEL_KANNALA_BRANDT = 1, + + CALIB_MODEL_UNKNOW, + // CALIB_MODEL_SCARAMUZZA, + // CALIB_MODEL_MEI +}CALIB_MODEL; + /** * @ingroup calibration * Stream intrinsics, */ -struct MYNTEYE_API Intrinsics { +struct MYNTEYE_API IntrinsicsBase { + IntrinsicsBase() { + calib_model_ = CALIB_MODEL_UNKNOW; + } + CALIB_MODEL calib_model_; +}; + +struct MYNTEYE_API Intrinsics : public IntrinsicsBase { + Intrinsics() { + calib_model_ = CALIB_MODEL_PINHOLE; + } /** The width of the image in pixels */ std::uint16_t width; /** The height of the image in pixels */ @@ -412,6 +436,66 @@ struct MYNTEYE_API Intrinsics { double coeffs[5]; }; +/* +model_type: KANNALA_BRANDT +camera_name: KANNALA_BRANDT +image_width: 640 +image_height: 400 +projection_parameters: +k2: 4.9972342319338209e-01 +k3: 4.3314206872885375e-01 +k4: -9.2064699153680563e-01 +k5: 4.1211925379358533e-01 +mu: 2.0077513040612871e+02 +mv: 2.0099851605062454e+02 +u0: 3.1079403134153824e+02 +v0: 2.1225649273618896e+02 +*/ + +struct MYNTEYE_API Intrinsics2 : public IntrinsicsBase { + Intrinsics2() { + calib_model_ = CALIB_MODEL_KANNALA_BRANDT; + } + /** The width of the image in pixels */ + std::uint16_t width; + /** The height of the image in pixels */ + std::uint16_t height; + /** The distortion coefficients */ + double k2; + double k3; + double k4; + double k5; + double mu; + double mv; + double u0; + double v0; +}; + +// union MYNTEYE_API CameraParameters { +// struct IntrinsicsBase intrinsics_base; +// struct Intrinsics intrinsics10; +// struct Intrinsics2 intrinsics20; +// unsigned char raw[]; +// CameraParameters(struct IntrinsicsBase& base) { +// memset(raw, 0, sizeof(union CameraParameters)); +// switch (base.calib_model_) { +// case CALIB_MODEL_10: +// intrinsics10 = static_cast(base); +// break; +// case CALIB_MODEL_20: +// intrinsics20 = static_cast(base); +// break; +// default: +// // warning!!! no impl!!! +// intrinsics_base = base; +// return; +// } +// } +// CALIB_MODEL getModelType() {return intrinsics_base.calib_model_;} +// }; +// MYNTEYE_API +// std::ostream &operator<<(std::ostream &os, const CameraParameters &in); + MYNTEYE_API std::ostream &operator<<(std::ostream &os, const Intrinsics &in); diff --git a/samples/tutorials/data/get_img_params.cc b/samples/tutorials/data/get_img_params.cc index 41bfbce..4b71c05 100644 --- a/samples/tutorials/data/get_img_params.cc +++ b/samples/tutorials/data/get_img_params.cc @@ -13,6 +13,7 @@ // limitations under the License. #include "mynteye/logger.h" #include "mynteye/api/api.h" +#include "mynteye/types.h" MYNTEYE_USE_NAMESPACE @@ -30,6 +31,28 @@ int main(int argc, char *argv[]) { << "}"; LOG(INFO) << "Extrinsics right to left: {" << api->GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}"; + auto inr = api->GetIntrinsics(Stream::LEFT); + // CameraParameters cmm(inr); + // for (int i = 0;i< sizeof(cmm) ; i++) { + // printf(" %x ",cmm.raw[i]); + // } + // printf("end: %d\n", (int)(cmm.getModelType())); + + // Intrinsics2 xxx2; + // CameraParameters cmm2(xxx2); + // for (int i = 0;i< sizeof(cmm2) ; i++) { + // printf(" %x ",cmm2.raw[i]); + // } + // printf("end: %d\n", (int)(cmm2.getModelType())); + + // IntrinsicsBase xxx3; + // CameraParameters cmm3(xxx3); + // for (int i = 0;i< sizeof(cmm3) ; i++) { + // printf(" %x ",cmm3.raw[i]); + // } + // printf("end: %d\n", (int)(cmm3.getModelType())); + + api->GetIntrinsics(Stream::LEFT); return 0; }