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

include/mynteye/api/api.h

@@ -93,7 +93,7 @@ class MYNTEYE_API API {
   /** The api::MotionData callback. */
   using motion_callback_t = std::function<void(const api::MotionData &data)>;
 
-  explicit API(std::shared_ptr<Device> device);
+  explicit API(std::shared_ptr<Device> device, CalibrationModel calib_model);
   virtual ~API();
 
   /**

src/mynteye/api/api.cc

@@ -207,10 +207,11 @@ std::vector<std::string> get_plugin_paths() {
 
 }  // namespace
 
-API::API(std::shared_ptr<Device> device) : device_(device) {
+API::API(std::shared_ptr<Device> device, CalibrationModel calib_model)
+    : device_(device) {
   VLOG(2) << __func__;
   // std::dynamic_pointer_cast<StandardDevice>(device_);
-  synthetic_.reset(new Synthetic(this));
+  synthetic_.reset(new Synthetic(this, calib_model));
 }
 
 API::~API() {
@@ -230,7 +231,15 @@ std::shared_ptr<API> API::Create(
 }
 
 std::shared_ptr<API> API::Create(const std::shared_ptr<Device> &device) {
-  return std::make_shared<API>(device);
+  auto left_intr = device -> GetIntrinsics(Stream::LEFT);
+  auto right_intr = device -> GetIntrinsics(Stream::RIGHT);
+  if (left_intr->calib_model() != right_intr->calib_model()) {
+    VLOG(2) << __func__
+            << "ERROR: "
+            <<"left camera and right camera use different calib models!";
+  }
+  auto api = std::make_shared<API>(device, left_intr->calib_model());
+  return api;
 }
 
 Model API::GetModel() const {

src/mynteye/api/processor/rectify_processor.cc

@@ -24,6 +24,13 @@
 
 #ifdef WITH_CAM_MODELS
 
+#include <camodocal/camera_models/Camera.h>
+#include <camodocal/camera_models/CameraFactory.h>
+#include <camodocal/camera_models/CataCamera.h>
+#include <camodocal/camera_models/EquidistantCamera.h>
+#include <camodocal/camera_models/PinholeCamera.h>
+#include <camodocal/gpl/gpl.h>
+#include <camodocal/camera_models/Camera.h>
 #include <boost/algorithm/string.hpp>
 #include <boost/filesystem.hpp>
 #include <boost/program_options.hpp>

src/mynteye/api/processor/rectify_processor.h

@@ -22,15 +22,6 @@
 
 #include "mynteye/types.h"
 #include "mynteye/api/processor.h"
-#ifdef WITH_CAM_MODELS
-#include <camodocal/camera_models/Camera.h>
-#include <camodocal/camera_models/CameraFactory.h>
-#include <camodocal/camera_models/CataCamera.h>
-#include <camodocal/camera_models/EquidistantCamera.h>
-#include <camodocal/camera_models/PinholeCamera.h>
-#include <camodocal/gpl/gpl.h>
-#include <camodocal/camera_models/Camera.h>
-#endif
 
 MYNTEYE_BEGIN_NAMESPACE
 

src/mynteye/api/synthetic.cc

@@ -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;
 }

src/mynteye/api/synthetic.h

@@ -21,6 +21,7 @@
 #include <vector>
 
 #include "mynteye/api/api.h"
+// #include ""
 
 MYNTEYE_BEGIN_NAMESPACE
 
@@ -40,7 +41,7 @@ class Synthetic {
     MODE_LAST        // Unsupported
   } mode_t;
 
-  explicit Synthetic(API *api);
+  explicit Synthetic(API *api, CalibrationModel calib_model);
   ~Synthetic();
 
   void NotifyImageParamsChanged();
@@ -112,6 +113,8 @@ class Synthetic {
   std::shared_ptr<Processor> processor_;
 
   std::shared_ptr<Plugin> plugin_;
+
+  CalibrationModel calib_model_;
 };
 
 template <class T, class P>