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fix(calib models): use shared ptr value change instead of ptr change

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This commit is contained in:
TinyOh 2019-01-14 17:28:57 +08:00
parent e46c9371db
commit 7985a8ffe7
2 changed files with 11 additions and 7 deletions
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14
src/mynteye/api/processor/rectify_processor.cc
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@ -339,13 +339,21 @@ void RectifyProcessor::InitParams(
generateCameraFromIntrinsicsEquidistant(in_left);
camodocal::CameraPtr camera_odo_ptr_right =
generateCameraFromIntrinsicsEquidistant(in_right);
calib_infos =
stereoRectify(camera_odo_ptr_left,
if (calib_infos) {
auto calib_info_tmp = stereoRectify(camera_odo_ptr_left,
camera_odo_ptr_right,
in_left,
in_right,
ex_right_to_left);
*calib_infos = *calib_info_tmp;
} else {
calib_infos =
stereoRectify(camera_odo_ptr_left,
camera_odo_ptr_right,
in_left,
in_right,
ex_right_to_left);
}
cv::Mat rect_R_l =
cv::Mat::eye(3, 3, CV_32F), rect_R_r = cv::Mat::eye(3, 3, CV_32F);
for (size_t i = 0; i < 3; i++) {

4
src/mynteye/api/processor/rectify_processor.h
View File

@ -23,11 +23,7 @@
#include "mynteye/types.h"
#include "mynteye/api/processor.h"
#include "mynteye/device/device.h"
#include <camodocal/camera_models/Camera.h>
#include <camodocal/camera_models/CameraFactory.h>
#include <camodocal/camera_models/EquidistantCamera.h>
#include <camodocal/gpl/gpl.h>
#include <camodocal/camera_models/Camera.h>
#include <opencv2/core/eigen.hpp>
#include <boost/algorithm/string.hpp>
#include <boost/filesystem.hpp>