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fix(calib model): default config now work

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This commit is contained in:
TinyOh
2019-01-14 16:06:35 +08:00
parent 60ea66b1ec
commit d42b8ef69c
5 changed files with 32 additions and 14 deletions
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37
src/mynteye/api/synthetic.cc
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@@ -28,6 +28,7 @@
#include "mynteye/api/processor/rectify_processor_ocv.h"
#include "mynteye/api/processor/depth_processor_ocv.h"
#include "mynteye/api/processor/points_processor_ocv.h"
#include "mynteye/api/config.h"
#ifdef WITH_CAM_MODELS
#include "mynteye/api/processor/depth_processor.h"
#include "mynteye/api/processor/points_processor.h"
@@ -74,20 +75,26 @@ void process_childs(
} // namespace
void Synthetic::InitCalibInfo() {
if (calib_model_ == CalibrationModel::UNKNOW) {
calib_model_ = CalibrationModel::PINHOLE;
LOG(INFO) << "camera calib model: unknow";
// use default
} else {
if (calib_model_ == CalibrationModel::PINHOLE) {
LOG(INFO) << "camera calib model: pinhole";
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
LOG(INFO) << "camera calib model: kannala_brandt";
}
if (calib_model_ == CalibrationModel::PINHOLE) {
LOG(INFO) << "camera calib model: pinhole";
intr_left_ = api_->GetIntrinsicsBase(Stream::LEFT);
intr_right_ = api_->GetIntrinsicsBase(Stream::RIGHT);
extr_ = std::make_shared<Extrinsics>(
api_->GetExtrinsics(Stream::LEFT, Stream::RIGHT));
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
LOG(INFO) << "camera calib model: kannala_brandt";
intr_left_ = api_->GetIntrinsicsBase(Stream::LEFT);
intr_right_ = api_->GetIntrinsicsBase(Stream::RIGHT);
extr_ = std::make_shared<Extrinsics>(
api_->GetExtrinsics(Stream::LEFT, Stream::RIGHT));
#endif
} else {
calib_model_ = CalibrationModel::PINHOLE;
LOG(INFO) << "camera calib model: unknow ,use default pinhole data";
intr_left_ = getDefaultIntrinsics();
intr_right_ = getDefaultIntrinsics();
extr_ = getDefaultExtrinsics();
}
}
@@ -110,16 +117,20 @@ Synthetic::~Synthetic() {
}
}
void Synthetic::NotifyImageParamsChanged() {
void Synthetic::NotifyImageParamsChanged(bool is_from_dev) {
if (is_from_dev && calib_model_ == CalibrationModel::PINHOLE) {
intr_left_ = api_->GetIntrinsicsBase(Stream::LEFT);
intr_right_ = api_->GetIntrinsicsBase(Stream::RIGHT);
extr_ = std::make_shared<Extrinsics>(
api_->GetExtrinsics(Stream::LEFT, Stream::RIGHT));
if (calib_model_ == CalibrationModel::PINHOLE) {
auto &&processor = find_processor<RectifyProcessorOCV>(processor_);
if (processor) processor->ReloadImageParams(intr_left_, intr_right_, extr_);
#ifdef WITH_CAM_MODELS
} else if (calib_model_ == CalibrationModel::KANNALA_BRANDT) {
} else if (is_from_dev && calib_model_ == CalibrationModel::KANNALA_BRANDT) {
intr_left_ = api_->GetIntrinsicsBase(Stream::LEFT);
intr_right_ = api_->GetIntrinsicsBase(Stream::RIGHT);
extr_ = std::make_shared<Extrinsics>(
api_->GetExtrinsics(Stream::LEFT, Stream::RIGHT));
auto &&processor = find_processor<RectifyProcessor>(processor_);
if (processor) processor->ReloadImageParams(intr_left_, intr_right_, extr_);
#endif