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Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-sdk-2 into develop

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This commit is contained in:
TinyOh
2019-01-14 20:08:41 +08:00
parent c82a29968d feabcf294f
commit 456613a030
5 changed files with 28 additions and 14 deletions
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4
src/mynteye/api/processor/depth_processor.cc
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@@ -29,7 +29,7 @@ DepthProcessor::DepthProcessor(
std::int32_t proc_period)
: Processor(std::move(proc_period)),
calib_infos_(calib_infos) {
VLOG(2) << __func__ << ": proc_period=" << proc_period;
VLOG(2) << __func__;
}
DepthProcessor::~DepthProcessor() {
@@ -51,7 +51,7 @@ bool DepthProcessor::OnProcess(
ObjMat *output = Object::Cast<ObjMat>(out);
int rows = input->value.rows;
int cols = input->value.cols;
// std::cout << calib_infos_->T_mul_f << std::endl;
std::cout << calib_infos_->T_mul_f << std::endl;
// 0.0793434
cv::Mat depth_mat = cv::Mat::zeros(rows, cols, CV_16U);
for (int i = 0; i < rows; i++) {

2
src/mynteye/api/processor/points_processor.cc
View File

@@ -57,7 +57,7 @@ PointsProcessor::PointsProcessor(
std::int32_t proc_period)
: Processor(std::move(proc_period)),
calib_infos_(calib_infos) {
VLOG(2) << __func__ << ": proc_period=" << proc_period;
VLOG(2) << __func__;
}
PointsProcessor::~PointsProcessor() {

8
src/mynteye/api/processor/rectify_processor.cc
View File

@@ -339,6 +339,13 @@ void RectifyProcessor::InitParams(
generateCameraFromIntrinsicsEquidistant(in_left);
camodocal::CameraPtr camera_odo_ptr_right =
generateCameraFromIntrinsicsEquidistant(in_right);
auto calib_infos_temp =
stereoRectify(camera_odo_ptr_left,
camera_odo_ptr_right,
in_left,
in_right,
ex_right_to_left);
*calib_infos = *calib_infos_temp;
auto calib_info_tmp = stereoRectify(camera_odo_ptr_left,
camera_odo_ptr_right,
in_left,
@@ -380,7 +387,6 @@ RectifyProcessor::RectifyProcessor(
std::int32_t proc_period)
: Processor(std::move(proc_period)),
calib_model(CalibrationModel::UNKNOW) {
VLOG(2) << __func__ << ": proc_period=" << proc_period;
calib_infos = std::make_shared<struct camera_calib_info_pair>();
InitParams(
*std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_left),