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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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21
samples/tutorials/data/get_img_params.cc
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@@ -25,11 +25,22 @@ int main(int argc, char *argv[]) {
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);
LOG(INFO) << "Intrinsics left: {" << *api->GetIntrinsicsBase(Stream::LEFT)
<< "}";
LOG(INFO) << "Intrinsics right: {" << *api->GetIntrinsicsBase(Stream::RIGHT)
<< "}";
auto in_left = api->GetIntrinsicsBase(Stream::LEFT);
auto in_right = api->GetIntrinsicsBase(Stream::RIGHT);
if (in_left->calib_model() == CalibrationModel::PINHOLE) {
in_left = std::dynamic_pointer_cast<IntrinsicsPinhole>(in_left);
in_right = std::dynamic_pointer_cast<IntrinsicsPinhole>(in_right);
} else if (in_left->calib_model() == CalibrationModel::KANNALA_BRANDT) {
in_left = std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_left);
in_right = std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_right);
} else {
LOG(INFO) << "UNKNOW CALIB MODEL.";
return 0;
}
in_left -> ResizeIntrinsics();
in_right -> ResizeIntrinsics();
LOG(INFO) << "Intrinsics left: {" << *in_left << "}";
LOG(INFO) << "Intrinsics right: {" << *in_right << "}";
LOG(INFO) << "Extrinsics right to left: {"
<< api->GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}";