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feat(calib models): prepare to abstract the process order by calib model

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TinyOh
2019-01-08 16:18:34 +08:00
parent 7a556143aa
commit 6e3afaec29
6 changed files with 41 additions and 19 deletions
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22
src/mynteye/api/synthetic.cc
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@@ -68,7 +68,8 @@ void process_childs(
} // namespace
Synthetic::Synthetic(API *api) : api_(api), plugin_(nullptr) {
Synthetic::Synthetic(API *api, CalibrationModel calib_model)
: api_(api), plugin_(nullptr), calib_model_(calib_model) {
VLOG(2) << __func__;
CHECK_NOTNULL(api_);
InitStreamSupports();
@@ -442,10 +443,21 @@ void Synthetic::InitProcessors() {
depth_processor->SetPostProcessCallback(
std::bind(&Synthetic::OnDepthPostProcess, this, _1));
rectify_processor->AddChild(disparity_processor);
disparity_processor->AddChild(disparitynormalized_processor);
disparity_processor->AddChild(points_processor);
points_processor->AddChild(depth_processor);
if (calib_model_ == CalibrationModel::PINHOLE) {
// PINHOLE
rectify_processor->AddChild(disparity_processor);
disparity_processor->AddChild(disparitynormalized_processor);
disparity_processor->AddChild(points_processor);
points_processor->AddChild(depth_processor);
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
// KANNALA_BRANDT
rectify_processor->AddChild(disparity_processor);
disparity_processor->AddChild(disparitynormalized_processor);
disparity_processor->AddChild(points_processor);
points_processor->AddChild(depth_processor);
} else {
// UNKNOW
}
processor_ = rectify_processor;
}