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fix(discut): fix discut boost & add ros disparity_type_

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TinyOh 2019-01-28 10:00:22 +08:00
parent 7dabf5cc9d
commit 8b5c886b78
4 changed files with 20 additions and 5 deletions
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6
src/mynteye/api/camodocal/include/camodocal/camera_models/Camera.h
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@ -15,7 +15,7 @@
#define SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_CAMERA_MODELS_CAMERA_H_ #define SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_CAMERA_MODELS_CAMERA_H_
#include <vector> #include <vector>
#include <boost/shared_ptr.hpp> #include <memory>
#include "eigen3/Eigen/Dense" #include "eigen3/Eigen/Dense"
#include <opencv2/core/core.hpp> #include <opencv2/core/core.hpp>
@ -130,8 +130,8 @@ class Camera {
cv::Mat m_mask; cv::Mat m_mask;
}; };
typedef boost::shared_ptr<Camera> CameraPtr; typedef std::shared_ptr<Camera> CameraPtr;
typedef boost::shared_ptr<const Camera> CameraConstPtr; typedef std::shared_ptr<const Camera> CameraConstPtr;
} }
#endif // SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_CAMERA_MODELS_CAMERA_H_ #endif // SRC_MYNTEYE_API_CAMODOCAL_INCLUDE_CAMODOCAL_CAMERA_MODELS_CAMERA_H_

4
src/mynteye/api/camodocal/include/camodocal/camera_models/EquidistantCamera.h
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@ -166,8 +166,8 @@ class EquidistantCamera : public Camera {
double m_inv_K11, m_inv_K13, m_inv_K22, m_inv_K23; double m_inv_K11, m_inv_K13, m_inv_K22, m_inv_K23;
}; };
typedef boost::shared_ptr<EquidistantCamera> EquidistantCameraPtr; typedef std::shared_ptr<EquidistantCamera> EquidistantCameraPtr;
typedef boost::shared_ptr<const EquidistantCamera> EquidistantCameraConstPtr; typedef std::shared_ptr<const EquidistantCamera> EquidistantCameraConstPtr;
template <typename T> template <typename T>
T EquidistantCamera::r(T k2, T k3, T k4, T k5, T theta) { T EquidistantCamera::r(T k2, T k3, T k4, T k5, T theta) {

7
wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
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@ -56,6 +56,11 @@
<arg name="request_index" default="$(arg index_s2_2)" /> <arg name="request_index" default="$(arg index_s2_2)" />
<!-- disparity computing method type -->
<arg name="sgbm" default="0" />
<arg name="bm" default="1" />
<arg name="disparity_computing_method" default="$(arg sgbm)" />
<arg name="enable_left_rect" default="false" /> <arg name="enable_left_rect" default="false" />
<arg name="enable_right_rect" default="false" /> <arg name="enable_right_rect" default="false" />
<arg name="enable_disparity" default="false" /> <arg name="enable_disparity" default="false" />
@ -242,6 +247,8 @@
<param name="gravity" value="$(arg gravity)" /> <param name="gravity" value="$(arg gravity)" />
<param name="disparity_computing_method" value="$(arg disparity_computing_method)" />
<!-- stream toggles --> <!-- stream toggles -->
<param name="enable_left_rect" value="$(arg enable_left_rect)" /> <param name="enable_left_rect" value="$(arg enable_left_rect)" />

8
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -226,6 +226,12 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
gravity_ = 9.8; gravity_ = 9.8;
private_nh_.getParam("gravity", gravity_); private_nh_.getParam("gravity", gravity_);
int tmp_disparity_type_ = 0;
disparity_type_ = DisparityComputingMethod::BM;
private_nh_.getParam("disparity_computing_method", tmp_disparity_type_);
disparity_type_ = (DisparityComputingMethod)tmp_disparity_type_;
api_->SetDisparityComputingMethodType(disparity_type_);
// device options of standard210a // device options of standard210a
if (model_ == Model::STANDARD210A) { if (model_ == Model::STANDARD210A) {
option_names_ = { option_names_ = {
@ -1317,6 +1323,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
double gravity_; double gravity_;
// disparity type
DisparityComputingMethod disparity_type_;
// api // api
std::shared_ptr<API> api_; std::shared_ptr<API> api_;