feat(process): add rectify slpha api.

include/mynteye/api/api.h

@@ -237,6 +237,11 @@ class MYNTEYE_API API {
   void SetDisparityComputingMethodType(
       const DisparityComputingMethod &MethodType);
 
+  /**
+   * Set the rectify bord cut alpha.
+   */
+  void SetRectifyAlpha(const double &alpha);
+
   /**
    * Set if the duplicate frames is enable.
    */

samples/tutorials/data/get_stereo_rectified.cc

@@ -30,6 +30,11 @@ int main(int argc, char *argv[]) {
   api->EnableStreamData(Stream::LEFT_RECTIFIED);
   api->EnableStreamData(Stream::RIGHT_RECTIFIED);
 
+  /** SetRectifyAlpha
+      -1 is default
+  */
+  // api->SetRectifyAlpha(0.5);
+
   api->Start(Source::VIDEO_STREAMING);
 
   double fps;

src/mynteye/api/api.cc

@@ -562,6 +562,10 @@ void API::SetDisparityComputingMethodType(
   synthetic_->SetDisparityComputingMethodType(MethodType);
 }
 
+void API::SetRectifyAlpha(const double &alpha) {
+  synthetic_->SetRectifyAlpha(alpha);
+}
+
 std::shared_ptr<Device> API::device() {
   return device_;
 }

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

src/mynteye/api/synthetic.cc

@@ -565,6 +565,19 @@ void Synthetic::SetDisparityComputingMethodType(
   LOG(ERROR) << "ERROR: no suited processor for disparity computing.";
 }
 
+bool Synthetic::SetRectifyAlpha(const double &alpha) {
+  if (checkControlDateWithStream(Stream::LEFT_RECTIFIED)) {
+#ifdef WITH_CAM_MODELS
+    auto processor = find_processor<RectifyProcessor>(processor_);
+    if (processor)
+      processor->SetRectifyAlpha(alpha);
+    return true;
+#endif
+  }
+  LOG(ERROR) << "ERROR: no suited processor for rectify.";
+  return false;
+}
+
 void Synthetic::NotifyStreamData(
     const Stream &stream, const api::StreamData &data) {
   if (stream_data_listener_) {

src/mynteye/api/synthetic.h

@@ -95,6 +95,7 @@ class Synthetic {
       const DisparityComputingMethod &MethoType);
   std::shared_ptr<struct CameraROSMsgInfoPair> GetCameraROSMsgInfoPair();
   bool ConfigDisparityFromFile(const std::string& config_file);
+  bool SetRectifyAlpha(const double &alpha);
 
  private:
   void InitCalibInfo();