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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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30
src/mynteye/api/synthetic.cc
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@@ -73,10 +73,31 @@ void process_childs(
} // namespace
void Synthetic::InitCalibInfo() {
if (calib_model_ == CalibrationModel::UNKNOW) {
calib_model_ = CalibrationModel::PINHOLE;
LOG(INFO) << "camera calib model: unknow";
// use default
} else {
if (calib_model_ == CalibrationModel::PINHOLE) {
LOG(INFO) << "camera calib model: pinhole";
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
LOG(INFO) << "camera calib model: kannala_brandt";
}
intr_left_ = api_->GetIntrinsicsBase(Stream::LEFT);
intr_right_ = api_->GetIntrinsicsBase(Stream::RIGHT);
extr_ = std::make_shared<Extrinsics>(
api_->GetExtrinsics(Stream::LEFT, Stream::RIGHT));
}
}
Synthetic::Synthetic(API *api, CalibrationModel calib_model)
: api_(api), plugin_(nullptr), calib_model_(calib_model) {
: api_(api),
plugin_(nullptr),
calib_model_(calib_model) {
VLOG(2) << __func__;
CHECK_NOTNULL(api_);
InitCalibInfo();
InitStreamSupports();
InitProcessors();
}
@@ -552,20 +573,21 @@ void Synthetic::InitProcessors() {
cv::Mat Q;
if (calib_model_ == CalibrationModel::PINHOLE) {
auto &&rectify_processor_ocv =
std::make_shared<RectifyProcessorOCV>(api_->device(),
std::make_shared<RectifyProcessorOCV>(intr_left_, intr_right_, extr_,
RECTIFY_PROC_PERIOD);
rectify_processor = rectify_processor_ocv;
Q = rectify_processor_ocv->Q;
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
rectify_processor =
std::make_shared<RectifyProcessor>(api_->device(), RECTIFY_PROC_PERIOD);
std::make_shared<RectifyProcessor>(intr_left_, intr_right_, extr_,
RECTIFY_PROC_PERIOD);
#endif
} else {
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_ << ", use default pinhole model";
auto &&rectify_processor_ocv =
std::make_shared<RectifyProcessorOCV>(api_->device(),
std::make_shared<RectifyProcessorOCV>(intr_left_, intr_right_, extr_,
RECTIFY_PROC_PERIOD);
rectify_processor = rectify_processor_ocv;
}