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Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-s-sdk into develop

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Osenberg
2019-03-15 19:46:30 +08:00
parent ccf7e7cb08 272ba40b68
commit cdbe614072
8 changed files with 70 additions and 15 deletions
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20
include/mynteye/types.h
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@@ -448,6 +448,7 @@ struct MYNTEYE_API IntrinsicsBase {
calib_model_ = CalibrationModel::UNKNOW;
}
virtual ~IntrinsicsBase() {}
virtual void ResizeIntrinsics() {}
/** The calibration model */
CalibrationModel calib_model() const {
@@ -457,7 +458,8 @@ struct MYNTEYE_API IntrinsicsBase {
std::uint16_t width;
/** The height of the image in pixels */
std::uint16_t height;
/** Resize scale */
double resize_scale = 1.0;
protected:
CalibrationModel calib_model_;
};
@@ -473,6 +475,14 @@ struct MYNTEYE_API IntrinsicsPinhole : public IntrinsicsBase {
IntrinsicsPinhole() {
calib_model_ = CalibrationModel::PINHOLE;
}
void ResizeIntrinsics() {
width = static_cast<std::uint16_t>(width * resize_scale);
height = static_cast<std::uint16_t>(height * resize_scale);
fx *= resize_scale;
fy *= resize_scale;
cx *= resize_scale;
cy *= resize_scale;
}
/** 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 */
@@ -505,6 +515,14 @@ struct MYNTEYE_API IntrinsicsEquidistant : public IntrinsicsBase {
}
/** The distortion coefficients: k2,k3,k4,k5,mu,mv,u0,v0 */
double coeffs[8];
void ResizeIntrinsics() {
width = static_cast<std::uint16_t>(width * resize_scale);
height = static_cast<std::uint16_t>(height * resize_scale);
coeffs[4] *= resize_scale;
coeffs[5] *= resize_scale;
coeffs[6] *= resize_scale;
coeffs[7] *= resize_scale;
}
};
MYNTEYE_API