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

CMakeLists.txt

@@ -235,6 +235,7 @@ if(WITH_API)
     src/mynteye/api/processor/points_processor_ocv.cc
     src/mynteye/api/processor/depth_processor_ocv.cc
     src/mynteye/api/processor/rectify_processor_ocv.cc
+    src/mynteye/api/config.cc
   )
   if(WITH_CAM_MODELS)
     list(APPEND MYNTEYE_SRCS

src/mynteye/api/api.cc

@@ -246,13 +246,16 @@ std::shared_ptr<API> API::Create(const std::shared_ptr<Device> &device) {
                     "to learn more.";
       LOG(WARNING) << "use pinhole as default";
       api = std::make_shared<API>(device, CalibrationModel::UNKNOW);
+      return api;
     } else {
       if (left_intr->calib_model() != right_intr->calib_model()) {
         LOG(ERROR) << "left camera and right camera use different calib models!";
         LOG(WARNING) << "use pinhole as default";
         api = std::make_shared<API>(device, CalibrationModel::UNKNOW);
+        return api;
       } else {
         api = std::make_shared<API>(device, left_intr->calib_model());
+        return api;
       }
     }
   } else {

src/mynteye/api/config.cc

@@ -21,6 +21,9 @@ MYNTEYE_BEGIN_NAMESPACE
 
 std::shared_ptr<IntrinsicsBase> getDefaultIntrinsics() {
   auto res = std::make_shared<IntrinsicsPinhole>();
+  res->width = 640;
+  res->height = 400;
+  res->model = 0;
   res->fx = 3.6220059643202876e+02;
   res->fy = 3.6350065250745848e+02;
   res->cx = 4.0658699068023441e+02;

src/mynteye/api/synthetic.cc

@@ -28,6 +28,7 @@
 #include "mynteye/api/processor/rectify_processor_ocv.h"
 #include "mynteye/api/processor/depth_processor_ocv.h"
 #include "mynteye/api/processor/points_processor_ocv.h"
+#include "mynteye/api/config.h"
 #ifdef WITH_CAM_MODELS
 #include "mynteye/api/processor/depth_processor.h"
 #include "mynteye/api/processor/points_processor.h"
@@ -74,27 +75,35 @@ void process_childs(
 }  // namespace
 
 void Synthetic::InitCalibInfo() {
-  if (calib_model_ == CalibrationModel::UNKNOW) {
+  if (calib_model_ == CalibrationModel::PINHOLE) {
-    calib_model_ = CalibrationModel::PINHOLE;
+    LOG(INFO) << "camera calib model: pinhole";
-    LOG(INFO) << "camera calib model: unknow";
-    // use default
-  } else {
-    if (calib_model_ == CalibrationModel::PINHOLE) {
-      LOG(INFO) << "camera calib model: pinhole";
-    } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
-      LOG(INFO) << "camera calib model: kannala_brandt";
-    }
     intr_left_ = api_->GetIntrinsicsBase(Stream::LEFT);
     intr_right_ = api_->GetIntrinsicsBase(Stream::RIGHT);
     extr_ =  std::make_shared<Extrinsics>(
         api_->GetExtrinsics(Stream::LEFT, Stream::RIGHT));
+#ifdef WITH_CAM_MODELS
+  } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
+    LOG(INFO) << "camera calib model: kannala_brandt";
+    intr_left_ = api_->GetIntrinsicsBase(Stream::LEFT);
+    intr_right_ = api_->GetIntrinsicsBase(Stream::RIGHT);
+    extr_ =  std::make_shared<Extrinsics>(
+        api_->GetExtrinsics(Stream::LEFT, Stream::RIGHT));
+#endif
+  } else {
+    calib_default_tag_ = true;
+    calib_model_ = CalibrationModel::PINHOLE;
+    LOG(INFO) << "camera calib model: unknow ,use default pinhole data";
+    intr_left_ = getDefaultIntrinsics();
+    intr_right_ = getDefaultIntrinsics();
+    extr_ =  getDefaultExtrinsics();
   }
 }
 
 Synthetic::Synthetic(API *api, CalibrationModel calib_model)
     : api_(api),
       plugin_(nullptr),
-      calib_model_(calib_model) {
+      calib_model_(calib_model),
+      calib_default_tag_(false) {
   VLOG(2) << __func__;
   CHECK_NOTNULL(api_);
   InitCalibInfo();
@@ -111,10 +120,12 @@ Synthetic::~Synthetic() {
 }
 
 void Synthetic::NotifyImageParamsChanged() {
+  if (!calib_default_tag_) {
     intr_left_ = api_->GetIntrinsicsBase(Stream::LEFT);
     intr_right_ = api_->GetIntrinsicsBase(Stream::RIGHT);
     extr_ =  std::make_shared<Extrinsics>(
         api_->GetExtrinsics(Stream::LEFT, Stream::RIGHT));
+  }
   if (calib_model_ ==  CalibrationModel::PINHOLE) {
     auto &&processor = find_processor<RectifyProcessorOCV>(processor_);
     if (processor) processor->ReloadImageParams(intr_left_, intr_right_, extr_);

src/mynteye/api/synthetic.h

@@ -120,6 +120,7 @@ class Synthetic {
   std::shared_ptr<IntrinsicsBase> intr_left_;
   std::shared_ptr<IntrinsicsBase> intr_right_;
   std::shared_ptr<Extrinsics> extr_;
+  bool calib_default_tag_;
 };
 
 template <class T, class P>