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feat(*): add depth resize

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This commit is contained in:
kalman
2019-03-15 17:10:52 +08:00
parent 189a2bd6b7
commit 620b834b6c
8 changed files with 70 additions and 15 deletions
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20
include/mynteye/types.h
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@@ -424,6 +424,7 @@ struct MYNTEYE_API IntrinsicsBase {
calib_model_ = CalibrationModel::UNKNOW;
}
virtual ~IntrinsicsBase() {}
virtual void ResizeIntrinsics() {}
/** The calibration model */
CalibrationModel calib_model() const {
@@ -433,7 +434,8 @@ struct MYNTEYE_API IntrinsicsBase {
std::uint16_t width;
/** The height of the image in pixels */
std::uint16_t height;
/** Resize scale */
double resize_scale = 1.0;
protected:
CalibrationModel calib_model_;
};
@@ -449,6 +451,14 @@ struct MYNTEYE_API IntrinsicsPinhole : public IntrinsicsBase {
IntrinsicsPinhole() {
calib_model_ = CalibrationModel::PINHOLE;
}
void ResizeIntrinsics() {
width = static_cast<std::uint16_t>(width * resize_scale);
height = static_cast<std::uint16_t>(height * resize_scale);
fx *= resize_scale;
fy *= resize_scale;
cx *= resize_scale;
cy *= resize_scale;
}
/** The focal length of the image plane, as a multiple of pixel width */
double fx;
/** The focal length of the image plane, as a multiple of pixel height */
@@ -481,6 +491,14 @@ struct MYNTEYE_API IntrinsicsEquidistant : public IntrinsicsBase {
}
/** The distortion coefficients: k2,k3,k4,k5,mu,mv,u0,v0 */
double coeffs[8];
void ResizeIntrinsics() {
width = static_cast<std::uint16_t>(width * resize_scale);
height = static_cast<std::uint16_t>(height * resize_scale);
coeffs[4] *= resize_scale;
coeffs[5] *= resize_scale;
coeffs[6] *= resize_scale;
coeffs[7] *= resize_scale;
}
};
MYNTEYE_API