fix: use normalized and real depth in depth sample.

include/mynteye/api/api.h

@@ -204,6 +204,15 @@ class MYNTEYE_API API {
    * Get the intrinsics base of stream.
    */
   std::shared_ptr<IntrinsicsBase> GetIntrinsicsBase(const Stream &stream) const;
+  /**
+   * Get the intrinsics of stream.
+   */
+  template <typename T>
+  T GetDisparityParams() const;
+  /**
+   * Get the intrinsics base of stream.
+   */
+  std::shared_ptr<DisparityParamsBase> GetDisparityParamsBase() const;
   /**
    * Get the extrinsics from one stream to another.
    */

include/mynteye/types.h

@@ -626,6 +626,10 @@ struct MYNTEYE_API Extrinsics {
 MYNTEYE_API
 std::ostream &operator<<(std::ostream &os, const Extrinsics &ex);
 
+
+/**
+ * @defgroup disparity params
+ */
 /**
  * @ingroup disparity
  * Camera disparity computing method type.
@@ -639,6 +643,33 @@ enum class DisparityComputingMethod : std::uint8_t {
   UNKNOW
 };
 
+struct MYNTEYE_API DisparityParamsBase {
+  DisparityParamsBase() {
+    disparity_model_ = DisparityComputingMethod::UNKNOW;
+  }
+  virtual ~DisparityParamsBase() {}
+  virtual void ResizeIntrinsics() {}
+
+  /** The calibration model */
+  DisparityComputingMethod disparity_model() const {
+    return disparity_model_;
+  }
+ protected:
+  DisparityComputingMethod disparity_model_;
+};
+
+struct MYNTEYE_API DisparityParamsSGBM : public DisparityParamsBase {
+  DisparityParamsSGBM() {
+    disparity_model_ = DisparityComputingMethod::SGBM;
+  }
+};
+
+struct MYNTEYE_API DisparityParamsBM : public DisparityParamsBase {
+  DisparityParamsBM() {
+    disparity_model_ = DisparityComputingMethod::BM;
+  }
+};
+
 
 /**
  * @defgroup datatypes Datatypes