feat(process): add rectify slpha api.

src/mynteye/api/processor/rectify_processor.cc

@@ -43,6 +43,8 @@ void RectifyProcessor::stereoRectify(models::CameraPtr leftOdo,
     const CvMat* matR, const CvMat* matT,
     CvMat* _R1, CvMat* _R2, CvMat* _P1, CvMat* _P2, double* T_mul_f,
     int flags, double alpha, CvSize newImgSize) {
+  // std::cout << _alpha << std::endl;
+  alpha = _alpha;
   double _om[3], _t[3] = {0}, _uu[3]={0, 0, 0}, _r_r[3][3], _pp[3][4];
   double _ww[3], _wr[3][3], _z[3] = {0, 0, 0}, _ri[3][3], _w3[3];
   cv::Rect_<float> inner1, inner2, outer1, outer2;
@@ -351,6 +353,9 @@ void RectifyProcessor::InitParams(
     IntrinsicsEquidistant in_left,
     IntrinsicsEquidistant in_right,
     Extrinsics ex_right_to_left) {
+  in_left_cur = in_left;
+  in_right_cur = in_right;
+  ex_right_to_left_cur = ex_right_to_left;
   calib_model = CalibrationModel::KANNALA_BRANDT;
   in_left.ResizeIntrinsics();
   in_right.ResizeIntrinsics();
@@ -398,7 +403,8 @@ RectifyProcessor::RectifyProcessor(
       std::shared_ptr<Extrinsics> extr,
       std::int32_t proc_period)
     : Processor(std::move(proc_period)),
-      calib_model(CalibrationModel::UNKNOW) {
+      calib_model(CalibrationModel::UNKNOW),
+      _alpha(-1) {
   calib_infos = std::make_shared<struct CameraROSMsgInfoPair>();
   InitParams(
     *std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_left),
@@ -428,6 +434,11 @@ Object *RectifyProcessor::OnCreateOutput() {
   return new ObjMat2();
 }
 
+bool RectifyProcessor::SetRectifyAlpha(float alpha) {
+  _alpha = alpha;
+  ReloadImageParams();
+}
+
 bool RectifyProcessor::OnProcess(
     Object *const in, Object *const out,
     std::shared_ptr<Processor> const parent) {

src/mynteye/api/processor/rectify_processor.h

@@ -52,6 +52,9 @@ class RectifyProcessor : public Processor {
       std::shared_ptr<IntrinsicsBase> intr_left,
       std::shared_ptr<IntrinsicsBase> intr_right,
       std::shared_ptr<Extrinsics> extr);
+  void ReloadImageParams() {
+    InitParams(in_left_cur, in_right_cur, ex_right_to_left_cur);
+  }
 
   cv::Mat R1, P1, R2, P2, Q;
   cv::Mat map11, map12, map21, map22;
@@ -59,6 +62,7 @@ class RectifyProcessor : public Processor {
       getCameraROSMsgInfoPair() {
     return calib_infos;
   }
+  bool SetRectifyAlpha(float alpha);
 
  protected:
   Object *OnCreateOutput() override;
@@ -106,6 +110,10 @@ class RectifyProcessor : public Processor {
 
   CalibrationModel calib_model;
   std::shared_ptr<struct CameraROSMsgInfoPair> calib_infos;
+  double _alpha;
+  IntrinsicsEquidistant in_left_cur;
+  IntrinsicsEquidistant in_right_cur;
+  Extrinsics ex_right_to_left_cur;
 };
 
 MYNTEYE_END_NAMESPACE