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fix(processor): fix reload image params bug

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This commit is contained in:
kalman
2019-01-12 18:53:14 +08:00
parent 7746d2b116
commit 883aef5341
5 changed files with 37 additions and 28 deletions
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10
src/mynteye/api/synthetic.cc
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@@ -111,19 +111,23 @@ Synthetic::~Synthetic() {
}
void Synthetic::NotifyImageParamsChanged() {
intr_left_ = api_->GetIntrinsicsBase(Stream::LEFT);
intr_right_ = api_->GetIntrinsicsBase(Stream::RIGHT);
extr_ = std::make_shared<Extrinsics>(
api_->GetExtrinsics(Stream::LEFT, Stream::RIGHT));
if (calib_model_ == CalibrationModel::PINHOLE) {
auto &&processor = find_processor<RectifyProcessorOCV>(processor_);
if (processor) processor->NotifyImageParamsChanged();
if (processor) processor->ReloadImageParams(intr_left_, intr_right_, extr_);
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
auto &&processor = find_processor<RectifyProcessor>(processor_);
if (processor) processor->NotifyImageParamsChanged();
if (processor) processor->ReloadImageParams(intr_left_, intr_right_, extr_);
#endif
} else {
LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_ << ", use default pinhole model";
auto &&processor = find_processor<RectifyProcessorOCV>(processor_);
if (processor) processor->NotifyImageParamsChanged();
if (processor) processor->ReloadImageParams(intr_left_, intr_right_, extr_);
}
}