Check image params when use api

src/api/api.cc

@@ -29,6 +29,7 @@
 #include "api/plugin.h"
 #include "api/synthetic.h"
 #include "device/device.h"
+#include "device/device_s.h"
 #include "internal/dl.h"
 
 #if defined(WITH_FILESYSTEM) && defined(WITH_NATIVE_FILESYSTEM)
@@ -73,12 +74,14 @@ bool dir_exists(const fs::path &p) {
 
 bool file_exists(const std::string &p) {
   DWORD attrs = GetFileAttributes(p.c_str());
-  return (attrs != INVALID_FILE_ATTRIBUTES && !(attrs & FILE_ATTRIBUTE_DIRECTORY));
+  return (attrs != INVALID_FILE_ATTRIBUTES) &&
+         !(attrs & FILE_ATTRIBUTE_DIRECTORY);
 }
 
 bool dir_exists(const std::string &p) {
   DWORD attrs = GetFileAttributes(p.c_str());
-  return (attrs != INVALID_FILE_ATTRIBUTES && (attrs & FILE_ATTRIBUTE_DIRECTORY));
+  return (attrs != INVALID_FILE_ATTRIBUTES) &&
+         (attrs & FILE_ATTRIBUTE_DIRECTORY);
 }
 
 #else
@@ -207,9 +210,24 @@ std::vector<std::string> get_plugin_paths() {
 
 }  // namespace
 
-API::API(std::shared_ptr<Device> device)
-    : device_(device), synthetic_(new Synthetic(this)) {
+API::API(std::shared_ptr<Device> device) : device_(device) {
   VLOG(2) << __func__;
+  if (std::dynamic_pointer_cast<StandardDevice>(device_) != nullptr) {
+    bool in_l_ok, in_r_ok, ex_l2r_ok;
+    device_->GetIntrinsics(Stream::LEFT, &in_l_ok);
+    device_->GetIntrinsics(Stream::RIGHT, &in_r_ok);
+    device_->GetExtrinsics(Stream::LEFT, Stream::RIGHT, &ex_l2r_ok);
+    if (!in_l_ok || !in_r_ok || !ex_l2r_ok) {
+      LOG(FATAL) << "Image params not found, but we need it to process the "
+                    "images. Please `make tools` and use `img_params_writer` "
+                    "to write the image params. If you update the SDK from "
+                    "1.x, the `SN*.conf` is the file contains them. Besides, "
+                    "you could also calibrate them by yourself. Read the guide "
+                    "doc (https://github.com/slightech/MYNT-EYE-SDK-2-Guide) "
+                    "to learn more.";
+    }
+  }
+  synthetic_.reset(new Synthetic(this));
 }
 
 API::~API() {

src/device/device.cc

@@ -198,21 +198,47 @@ std::string Device::GetInfo(const Info &info) const {
 }
 
 Intrinsics Device::GetIntrinsics(const Stream &stream) const {
+  bool ok;
+  return GetIntrinsics(stream, &ok);
+}
+
+Extrinsics Device::GetExtrinsics(const Stream &from, const Stream &to) const {
+  bool ok;
+  return GetExtrinsics(from, to, &ok);
+}
+
+MotionIntrinsics Device::GetMotionIntrinsics() const {
+  bool ok;
+  return GetMotionIntrinsics(&ok);
+}
+
+Extrinsics Device::GetMotionExtrinsics(const Stream &from) const {
+  bool ok;
+  return GetMotionExtrinsics(from, &ok);
+}
+
+Intrinsics Device::GetIntrinsics(const Stream &stream, bool *ok) const {
   try {
+    *ok = true;
     return stream_intrinsics_.at(stream);
   } catch (const std::out_of_range &e) {
+    *ok = false;
     LOG(WARNING) << "Intrinsics of " << stream << " not found";
     return {};
   }
 }
 
-Extrinsics Device::GetExtrinsics(const Stream &from, const Stream &to) const {
+Extrinsics Device::GetExtrinsics(
+    const Stream &from, const Stream &to, bool *ok) const {
   try {
+    *ok = true;
     return stream_from_extrinsics_.at(from).at(to);
   } catch (const std::out_of_range &e) {
     try {
+      *ok = true;
       return stream_from_extrinsics_.at(to).at(from).Inverse();
     } catch (const std::out_of_range &e) {
+      *ok = false;
       LOG(WARNING) << "Extrinsics from " << from << " to " << to
                    << " not found";
       return {};
@@ -220,19 +246,23 @@ Extrinsics Device::GetExtrinsics(const Stream &from, const Stream &to) const {
   }
 }
 
-MotionIntrinsics Device::GetMotionIntrinsics() const {
+MotionIntrinsics Device::GetMotionIntrinsics(bool *ok) const {
   if (motion_intrinsics_) {
+    *ok = true;
     return *motion_intrinsics_;
   } else {
+    *ok = false;
     LOG(WARNING) << "Motion intrinsics not found";
     return {};
   }
 }
 
-Extrinsics Device::GetMotionExtrinsics(const Stream &from) const {
+Extrinsics Device::GetMotionExtrinsics(const Stream &from, bool *ok) const {
   try {
+    *ok = true;
     return motion_from_extrinsics_.at(from);
   } catch (const std::out_of_range &e) {
+    *ok = false;
     LOG(WARNING) << "Motion extrinsics from " << from << " not found";
     return {};
   }

src/device/device.h

@@ -140,6 +140,24 @@ class MYNTEYE_API Device {
    */
   Extrinsics GetMotionExtrinsics(const Stream &from) const;
 
+  /**
+   * Get the intrinsics of stream.
+   */
+  Intrinsics GetIntrinsics(const Stream &stream, bool *ok) const;
+  /**
+   * Get the extrinsics from one stream to another.
+   */
+  Extrinsics GetExtrinsics(
+      const Stream &from, const Stream &to, bool *ok) const;
+  /**
+   * Get the intrinsics of motion.
+   */
+  MotionIntrinsics GetMotionIntrinsics(bool *ok) const;
+  /**
+   * Get the extrinsics from one stream to motion.
+   */
+  Extrinsics GetMotionExtrinsics(const Stream &from, bool *ok) const;
+
   /**
    * Set the intrinsics of stream.
    */