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feat(calib depth/points) add calib prams in constructed function;

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This commit is contained in:
TinyOh
2019-01-09 17:30:38 +08:00
parent 94bf528f8b
commit 733a91c68c
7 changed files with 110 additions and 61 deletions
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11
src/mynteye/api/synthetic.cc
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@@ -570,6 +570,9 @@ void Synthetic::DisableStreamData(const Stream &stream, std::uint32_t depth) {
void Synthetic::InitProcessors() {
std::shared_ptr<Processor> rectify_processor = nullptr;
#ifdef WITH_CAM_MODELS
std::shared_ptr<RectifyProcessor> rectify_processor_imp = nullptr;
#endif
cv::Mat Q;
if (calib_model_ == CalibrationModel::PINHOLE) {
auto &&rectify_processor_ocv =
@@ -579,9 +582,10 @@ void Synthetic::InitProcessors() {
Q = rectify_processor_ocv->Q;
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
rectify_processor =
rectify_processor_imp =
std::make_shared<RectifyProcessor>(intr_left_, intr_right_, extr_,
RECTIFY_PROC_PERIOD);
rectify_processor = rectify_processor_imp;
#endif
} else {
LOG(ERROR) << "Unknow calib model type in device: "
@@ -603,6 +607,7 @@ void Synthetic::InitProcessors() {
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
points_processor = std::make_shared<PointsProcessor>(
rectify_processor_imp -> getCalibInfoPair(),
POINTS_PROC_PERIOD);
#endif
} else {
@@ -614,7 +619,9 @@ void Synthetic::InitProcessors() {
depth_processor = std::make_shared<DepthProcessorOCV>(DEPTH_PROC_PERIOD);
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
depth_processor = std::make_shared<DepthProcessor>(DEPTH_PROC_PERIOD);
depth_processor = std::make_shared<DepthProcessor>(
rectify_processor_imp -> getCalibInfoPair(),
DEPTH_PROC_PERIOD);
#endif
} else {
depth_processor = std::make_shared<DepthProcessorOCV>(DEPTH_PROC_PERIOD);