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fix(api): update rectify params after config stream request

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This commit is contained in:
John Zhao
2018-12-20 22:08:29 +08:00
parent 1652d976bf
commit a38e6a782a
5 changed files with 31 additions and 21 deletions
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13
src/mynteye/api/processor/rectify_processor.cc
View File

@@ -27,11 +27,9 @@ const char RectifyProcessor::NAME[] = "RectifyProcessor";
RectifyProcessor::RectifyProcessor(
std::shared_ptr<Device> device, std::int32_t proc_period)
: Processor(std::move(proc_period)) {
: Processor(std::move(proc_period)), device_(device) {
VLOG(2) << __func__ << ": proc_period=" << proc_period;
InitParams(
device->GetIntrinsics(Stream::LEFT), device->GetIntrinsics(Stream::RIGHT),
device->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
NotifyImageParamsChanged();
}
RectifyProcessor::~RectifyProcessor() {
@@ -42,6 +40,13 @@ std::string RectifyProcessor::Name() {
return NAME;
}
void RectifyProcessor::NotifyImageParamsChanged() {
InitParams(
device_->GetIntrinsics(Stream::LEFT),
device_->GetIntrinsics(Stream::RIGHT),
device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
}
Object *RectifyProcessor::OnCreateOutput() {
return new ObjMat2();
}

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

@@ -37,6 +37,8 @@ class RectifyProcessor : public Processor {
std::string Name() override;
void NotifyImageParamsChanged();
cv::Mat R1, P1, R2, P2, Q;
cv::Mat map11, map12, map21, map22;
@@ -48,6 +50,8 @@ class RectifyProcessor : public Processor {
private:
void InitParams(
Intrinsics in_left, Intrinsics in_right, Extrinsics ex_right_to_left);
std::shared_ptr<Device> device_;
};
MYNTEYE_END_NAMESPACE