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

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This commit is contained in:
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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2
src/mynteye/api/processor/disparity_processor.cc
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@@ -80,7 +80,7 @@ DisparityProcessor::DisparityProcessor(DisparityComputingMethod type,
bm_matcher->setBlockSize(15);
bm_matcher->setMinDisparity(0);
bm_matcher->setNumDisparities(64);
bm_matcher->setUniquenessRatio(15);
bm_matcher->setUniquenessRatio(60);
bm_matcher->setTextureThreshold(10);
bm_matcher->setSpeckleWindowSize(100);
bm_matcher->setSpeckleRange(4);

2
src/mynteye/api/processor/rectify_processor.cc
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@@ -335,6 +335,8 @@ void RectifyProcessor::InitParams(
IntrinsicsEquidistant in_right,
Extrinsics ex_right_to_left) {
calib_model = CalibrationModel::KANNALA_BRANDT;
in_left.ResizeIntrinsics();
in_right.ResizeIntrinsics();
camodocal::CameraPtr camera_odo_ptr_left =
generateCameraFromIntrinsicsEquidistant(in_left);
camodocal::CameraPtr camera_odo_ptr_right =

2
src/mynteye/api/processor/rectify_processor_ocv.cc
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@@ -80,6 +80,8 @@ void RectifyProcessorOCV::InitParams(
IntrinsicsPinhole in_right,
Extrinsics ex_right_to_left) {
calib_model = CalibrationModel::PINHOLE;
in_left.ResizeIntrinsics();
in_right.ResizeIntrinsics();
cv::Size size{in_left.width, in_left.height};
cv::Mat M1 =

13
src/mynteye/device/device.cc
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@@ -657,7 +657,18 @@ void Device::UpdateStreamIntrinsics(
img_res.height == request.GetResolution().height &&
img_res.width == request.GetResolution().width / 2;
} else if (capability == Capabilities::STEREO) {
ok = img_params.ok && img_res == request.GetResolution();
if (img_res == request.GetResolution()) {
ok = img_params.ok;
} else if (request.GetResolution().height / img_res.height ==
request.GetResolution().width / img_res.width) {
double scale = static_cast<double> (
1.0 * request.GetResolution().height / img_res.height);
img_params.in_left->resize_scale = scale;
img_params.in_right->resize_scale = scale;
ok = img_params.ok;
} else {
ok = false;
}
}
if (ok) {
SetIntrinsics(Stream::LEFT, img_params.in_left);