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refactor(calib models): add default calib model(pinhole)

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This commit is contained in:
TinyOh
2019-01-09 16:12:43 +08:00
parent eea273b0db
commit 6ee7539b8e
9 changed files with 187 additions and 32 deletions
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20
src/mynteye/api/processor/rectify_processor.cc
View File

@@ -403,10 +403,16 @@ void RectifyProcessor::InitParams(
const char RectifyProcessor::NAME[] = "RectifyProcessor";
RectifyProcessor::RectifyProcessor(
std::shared_ptr<Device> device, std::int32_t proc_period)
: Processor(std::move(proc_period)), device_(device) {
std::shared_ptr<IntrinsicsBase> intr_left,
std::shared_ptr<IntrinsicsBase> intr_right,
std::shared_ptr<Extrinsics> extr,
std::int32_t proc_period)
: Processor(std::move(proc_period)),
calib_model(CalibrationModel::UNKNOW) {
intr_left_ = intr_left;
intr_right_ = intr_right;
extr_ = extr;
VLOG(2) << __func__ << ": proc_period=" << proc_period;
calib_model = CalibrationModel::UNKNOW;
NotifyImageParamsChanged();
}
@@ -419,12 +425,10 @@ std::string RectifyProcessor::Name() {
}
void RectifyProcessor::NotifyImageParamsChanged() {
auto in_left = device_->GetIntrinsics(Stream::LEFT);
auto in_right = device_->GetIntrinsics(Stream::RIGHT);
InitParams(
*std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_left),
*std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_right),
device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
*std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_left_),
*std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_right_),
*extr_);
}
Object *RectifyProcessor::OnCreateOutput() {

9
src/mynteye/api/processor/rectify_processor.h
View File

@@ -32,7 +32,10 @@ class RectifyProcessor : public Processor {
static const char NAME[];
RectifyProcessor(
std::shared_ptr<Device> device, std::int32_t proc_period = 0);
std::shared_ptr<IntrinsicsBase> intr_left,
std::shared_ptr<IntrinsicsBase> intr_right,
std::shared_ptr<Extrinsics> extr,
std::int32_t proc_period = 0);
virtual ~RectifyProcessor();
std::string Name() override;
@@ -51,7 +54,9 @@ class RectifyProcessor : public Processor {
void InitParams(IntrinsicsEquidistant in_left,
IntrinsicsEquidistant in_right, Extrinsics ex_right_to_left);
std::shared_ptr<Device> device_;
std::shared_ptr<IntrinsicsBase> intr_left_;
std::shared_ptr<IntrinsicsBase> intr_right_;
std::shared_ptr<Extrinsics> extr_;
CalibrationModel calib_model;
};

20
src/mynteye/api/processor/rectify_processor_ocv.cc
View File

@@ -25,10 +25,16 @@ MYNTEYE_BEGIN_NAMESPACE
const char RectifyProcessorOCV::NAME[] = "RectifyProcessorOCV";
RectifyProcessorOCV::RectifyProcessorOCV(
std::shared_ptr<Device> device, std::int32_t proc_period)
: Processor(std::move(proc_period)), device_(device) {
std::shared_ptr<IntrinsicsBase> intr_left,
std::shared_ptr<IntrinsicsBase> intr_right,
std::shared_ptr<Extrinsics> extr,
std::int32_t proc_period)
: Processor(std::move(proc_period)),
calib_model(CalibrationModel::UNKNOW) {
VLOG(2) << __func__ << ": proc_period=" << proc_period;
calib_model = CalibrationModel::UNKNOW;
intr_left_ = intr_left;
intr_right_ = intr_right;
extr_ = extr;
NotifyImageParamsChanged();
}
@@ -41,12 +47,10 @@ std::string RectifyProcessorOCV::Name() {
}
void RectifyProcessorOCV::NotifyImageParamsChanged() {
auto in_left = device_->GetIntrinsics(Stream::LEFT);
auto in_right = device_->GetIntrinsics(Stream::RIGHT);
InitParams(
*std::dynamic_pointer_cast<IntrinsicsPinhole>(in_left),
*std::dynamic_pointer_cast<IntrinsicsPinhole>(in_right),
device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
*std::dynamic_pointer_cast<IntrinsicsPinhole>(intr_left_),
*std::dynamic_pointer_cast<IntrinsicsPinhole>(intr_right_),
*extr_);
}
Object *RectifyProcessorOCV::OnCreateOutput() {

10
src/mynteye/api/processor/rectify_processor_ocv.h
View File

@@ -32,7 +32,10 @@ class RectifyProcessorOCV : public Processor {
static const char NAME[];
RectifyProcessorOCV(
std::shared_ptr<Device> device, std::int32_t proc_period = 0);
std::shared_ptr<IntrinsicsBase> intr_left,
std::shared_ptr<IntrinsicsBase> intr_right,
std::shared_ptr<Extrinsics> extr,
std::int32_t proc_period = 0);
virtual ~RectifyProcessorOCV();
std::string Name() override;
@@ -51,7 +54,10 @@ class RectifyProcessorOCV : public Processor {
void InitParams(IntrinsicsPinhole in_left,
IntrinsicsPinhole in_right, Extrinsics ex_right_to_left);
std::shared_ptr<Device> device_;
std::shared_ptr<IntrinsicsBase> intr_left_;
std::shared_ptr<IntrinsicsBase> intr_right_;
std::shared_ptr<Extrinsics> extr_;
CalibrationModel calib_model;
};