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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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19
src/mynteye/api/processor/rectify_processor.cc
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@ -381,11 +381,11 @@ RectifyProcessor::RectifyProcessor(
std::int32_t proc_period) std::int32_t proc_period)
: Processor(std::move(proc_period)), : Processor(std::move(proc_period)),
calib_model(CalibrationModel::UNKNOW) { calib_model(CalibrationModel::UNKNOW) {
intr_left_ = intr_left;
intr_right_ = intr_right;
extr_ = extr;
VLOG(2) << __func__ << ": proc_period=" << proc_period; VLOG(2) << __func__ << ": proc_period=" << proc_period;
NotifyImageParamsChanged(); InitParams(
*std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_left),
*std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_right),
*extr);
} }
RectifyProcessor::~RectifyProcessor() { RectifyProcessor::~RectifyProcessor() {
@ -396,11 +396,14 @@ std::string RectifyProcessor::Name() {
return NAME; return NAME;
} }
void RectifyProcessor::NotifyImageParamsChanged() { void RectifyProcessor::ReloadImageParams(
std::shared_ptr<IntrinsicsBase> intr_left,
std::shared_ptr<IntrinsicsBase> intr_right,
std::shared_ptr<Extrinsics> extr) {
InitParams( InitParams(
*std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_left_), *std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_left),
*std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_right_), *std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_right),
*extr_); *extr);
} }
Object *RectifyProcessor::OnCreateOutput() { Object *RectifyProcessor::OnCreateOutput() {

8
src/mynteye/api/processor/rectify_processor.h
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@ -71,7 +71,10 @@ class RectifyProcessor : public Processor {
std::string Name() override; std::string Name() override;
void NotifyImageParamsChanged(); void ReloadImageParams(
std::shared_ptr<IntrinsicsBase> intr_left,
std::shared_ptr<IntrinsicsBase> intr_right,
std::shared_ptr<Extrinsics> extr);
cv::Mat R1, P1, R2, P2, Q; cv::Mat R1, P1, R2, P2, Q;
cv::Mat map11, map12, map21, map22; cv::Mat map11, map12, map21, map22;
@ -117,9 +120,6 @@ class RectifyProcessor : public Processor {
camodocal::CameraPtr generateCameraFromIntrinsicsEquidistant( camodocal::CameraPtr generateCameraFromIntrinsicsEquidistant(
const mynteye::IntrinsicsEquidistant & in); const mynteye::IntrinsicsEquidistant & in);
std::shared_ptr<IntrinsicsBase> intr_left_;
std::shared_ptr<IntrinsicsBase> intr_right_;
std::shared_ptr<Extrinsics> extr_;
CalibrationModel calib_model; CalibrationModel calib_model;
std::shared_ptr<struct camera_calib_info_pair> calib_infos; std::shared_ptr<struct camera_calib_info_pair> calib_infos;
}; };

19
src/mynteye/api/processor/rectify_processor_ocv.cc
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@ -32,10 +32,10 @@ RectifyProcessorOCV::RectifyProcessorOCV(
: Processor(std::move(proc_period)), : Processor(std::move(proc_period)),
calib_model(CalibrationModel::UNKNOW) { calib_model(CalibrationModel::UNKNOW) {
VLOG(2) << __func__ << ": proc_period=" << proc_period; VLOG(2) << __func__ << ": proc_period=" << proc_period;
intr_left_ = intr_left; InitParams(
intr_right_ = intr_right; *std::dynamic_pointer_cast<IntrinsicsPinhole>(intr_left),
extr_ = extr; *std::dynamic_pointer_cast<IntrinsicsPinhole>(intr_right),
NotifyImageParamsChanged(); *extr);
} }
RectifyProcessorOCV::~RectifyProcessorOCV() { RectifyProcessorOCV::~RectifyProcessorOCV() {
@ -46,11 +46,14 @@ std::string RectifyProcessorOCV::Name() {
return NAME; return NAME;
} }
void RectifyProcessorOCV::NotifyImageParamsChanged() { void RectifyProcessorOCV::ReloadImageParams(
std::shared_ptr<IntrinsicsBase> intr_left,
std::shared_ptr<IntrinsicsBase> intr_right,
std::shared_ptr<Extrinsics> extr) {
InitParams( InitParams(
*std::dynamic_pointer_cast<IntrinsicsPinhole>(intr_left_), *std::dynamic_pointer_cast<IntrinsicsPinhole>(intr_left),
*std::dynamic_pointer_cast<IntrinsicsPinhole>(intr_right_), *std::dynamic_pointer_cast<IntrinsicsPinhole>(intr_right),
*extr_); *extr);
} }
Object *RectifyProcessorOCV::OnCreateOutput() { Object *RectifyProcessorOCV::OnCreateOutput() {

9
src/mynteye/api/processor/rectify_processor_ocv.h
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@ -40,7 +40,10 @@ class RectifyProcessorOCV : public Processor {
std::string Name() override; std::string Name() override;
void NotifyImageParamsChanged(); void ReloadImageParams(
std::shared_ptr<IntrinsicsBase> intr_left,
std::shared_ptr<IntrinsicsBase> intr_right,
std::shared_ptr<Extrinsics> extr);
cv::Mat R1, P1, R2, P2, Q; cv::Mat R1, P1, R2, P2, Q;
cv::Mat map11, map12, map21, map22; cv::Mat map11, map12, map21, map22;
@ -54,10 +57,6 @@ class RectifyProcessorOCV : public Processor {
void InitParams(IntrinsicsPinhole in_left, void InitParams(IntrinsicsPinhole in_left,
IntrinsicsPinhole in_right, Extrinsics ex_right_to_left); IntrinsicsPinhole in_right, Extrinsics ex_right_to_left);
std::shared_ptr<IntrinsicsBase> intr_left_;
std::shared_ptr<IntrinsicsBase> intr_right_;
std::shared_ptr<Extrinsics> extr_;
CalibrationModel calib_model; CalibrationModel calib_model;
}; };

10
src/mynteye/api/synthetic.cc
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@ -111,19 +111,23 @@ Synthetic::~Synthetic() {
} }
void Synthetic::NotifyImageParamsChanged() { 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) { if (calib_model_ == CalibrationModel::PINHOLE) {
auto &&processor = find_processor<RectifyProcessorOCV>(processor_); auto &&processor = find_processor<RectifyProcessorOCV>(processor_);
if (processor) processor->NotifyImageParamsChanged(); if (processor) processor->ReloadImageParams(intr_left_, intr_right_, extr_);
#ifdef WITH_CAM_MODELS #ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) { } else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
auto &&processor = find_processor<RectifyProcessor>(processor_); auto &&processor = find_processor<RectifyProcessor>(processor_);
if (processor) processor->NotifyImageParamsChanged(); if (processor) processor->ReloadImageParams(intr_left_, intr_right_, extr_);
#endif #endif
} else { } else {
LOG(ERROR) << "Unknow calib model type in device: " LOG(ERROR) << "Unknow calib model type in device: "
<< calib_model_ << ", use default pinhole model"; << calib_model_ << ", use default pinhole model";
auto &&processor = find_processor<RectifyProcessorOCV>(processor_); auto &&processor = find_processor<RectifyProcessorOCV>(processor_);
if (processor) processor->NotifyImageParamsChanged(); if (processor) processor->ReloadImageParams(intr_left_, intr_right_, extr_);
} }
} }