feat: add disparity params load file.

include/mynteye/api/api.h

@@ -204,15 +204,6 @@ 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.
    */
@@ -368,6 +359,11 @@ class MYNTEYE_API API {
    */
   std::shared_ptr<struct CameraROSMsgInfoPair> GetCameraROSMsgInfoPair();
 
+  /**
+   * Load disparity config from file.
+   */
+  bool ConfigDisparityFromFile(const std::string& config_file);
+
  private:
   std::shared_ptr<Device> device_;
 

include/mynteye/types.h

@@ -644,33 +644,6 @@ 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
  * @brief Public data types.