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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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4
src/mynteye/api/processor/rectify_processor.cc
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@@ -43,13 +43,13 @@ std::string RectifyProcessor::Name() {
void RectifyProcessor::NotifyImageParamsChanged() {
auto in_left = device_->GetIntrinsics(Stream::LEFT);
auto in_right = device_->GetIntrinsics(Stream::RIGHT);
if (in_left->calib_model == CalibrationModel::CALIB_MODEL_PINHOLE) {
if (in_left->calib_model == CalibrationModel::PINHOLE) {
InitParams(
*std::dynamic_pointer_cast<IntrinsicsPinhole>(in_left),
*std::dynamic_pointer_cast<IntrinsicsPinhole>(in_right),
device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT));
} else if (in_left->calib_model ==
CalibrationModel::CALIB_MODEL_KANNALA_BRANDT) {
CalibrationModel::KANNALA_BRANDT) {
InitParams(
*std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_left),
*std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_right),