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feat(channels): add img params new parser

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This commit is contained in:
John Zhao
2019-01-05 22:04:59 +08:00
parent e539cb9fe0
commit c580f6e8dc
11 changed files with 329 additions and 139 deletions
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37
include/mynteye/types.h
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@@ -400,22 +400,33 @@ std::ostream &operator<<(std::ostream &os, const StreamRequest &request);
* Camera calibration model.
*/
enum class CalibrationModel : std::uint8_t {
/** Unknow */
CALIB_MODEL_UNKNOW = 0,
/** Pinhole */
CALIB_MODEL_PINHOLE = 1,
PINHOLE = 0,
/** Equidistant: KANNALA_BRANDT */
CALIB_MODEL_KANNALA_BRANDT = 2,
// CALIB_MODEL_SCARAMUZZA,
// CALIB_MODEL_MEI,
KANNALA_BRANDT = 1,
/** Unknow */
UNKNOW
};
MYNTEYE_API const char *to_string(const CalibrationModel &model);
inline std::ostream &operator<<(std::ostream &os,
const CalibrationModel &model) {
return os << to_string(model);
}
struct MYNTEYE_API IntrinsicsBase {
IntrinsicsBase() {
calib_model = CalibrationModel::CALIB_MODEL_UNKNOW;
calib_model = CalibrationModel::UNKNOW;
}
virtual ~IntrinsicsBase() {}
/** The calibration model */
CalibrationModel calib_model;
/** The width of the image in pixels */
std::uint16_t width;
/** The height of the image in pixels */
std::uint16_t height;
};
/**
@@ -424,12 +435,8 @@ struct MYNTEYE_API IntrinsicsBase {
*/
struct MYNTEYE_API IntrinsicsPinhole : public IntrinsicsBase {
IntrinsicsPinhole() {
calib_model = CalibrationModel::CALIB_MODEL_PINHOLE;
calib_model = CalibrationModel::PINHOLE;
}
/** The width of the image in pixels */
std::uint16_t width;
/** The height of the image in pixels */
std::uint16_t height;
/** The focal length of the image plane, as a multiple of pixel width */
double fx;
/** The focal length of the image plane, as a multiple of pixel height */
@@ -458,12 +465,8 @@ using Intrinsics = IntrinsicsPinhole;
*/
struct MYNTEYE_API IntrinsicsEquidistant : public IntrinsicsBase {
IntrinsicsEquidistant() {
calib_model = CalibrationModel::CALIB_MODEL_KANNALA_BRANDT;
calib_model = CalibrationModel::KANNALA_BRANDT;
}
/** The width of the image in pixels */
std::uint16_t width;
/** The height of the image in pixels */
std::uint16_t height;
/** The distortion coefficients: k2,k3,k4,k5,mu,mv,u0,v0 */
double coeffs[8];
};