From 7985a8ffe7abe207a0750542dc68517cab606e91 Mon Sep 17 00:00:00 2001
From: TinyOh <tinyoh@slightech.com>
Date: Mon, 14 Jan 2019 17:28:57 +0800
Subject: [PATCH 1/2] fix(calib models): use shared ptr value change instead of
 ptr change

---
 src/mynteye/api/processor/rectify_processor.cc | 14 +++++++++++---
 src/mynteye/api/processor/rectify_processor.h  |  4 ----
 2 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/src/mynteye/api/processor/rectify_processor.cc b/src/mynteye/api/processor/rectify_processor.cc
index cf34e73..6a130bc 100644
--- a/src/mynteye/api/processor/rectify_processor.cc
+++ b/src/mynteye/api/processor/rectify_processor.cc
@@ -339,13 +339,21 @@ void RectifyProcessor::InitParams(
       generateCameraFromIntrinsicsEquidistant(in_left);
   camodocal::CameraPtr camera_odo_ptr_right =
       generateCameraFromIntrinsicsEquidistant(in_right);
-  calib_infos =
-      stereoRectify(camera_odo_ptr_left,
+  if (calib_infos) {
+    auto calib_info_tmp = stereoRectify(camera_odo_ptr_left,
+        camera_odo_ptr_right,
+        in_left,
+        in_right,
+        ex_right_to_left);
+    *calib_infos = *calib_info_tmp;
+  } else {
+    calib_infos =
+        stereoRectify(camera_odo_ptr_left,
                     camera_odo_ptr_right,
                     in_left,
                     in_right,
                     ex_right_to_left);
-
+  }
   cv::Mat rect_R_l =
       cv::Mat::eye(3, 3, CV_32F), rect_R_r = cv::Mat::eye(3, 3, CV_32F);
   for (size_t i = 0; i < 3; i++) {
diff --git a/src/mynteye/api/processor/rectify_processor.h b/src/mynteye/api/processor/rectify_processor.h
index 5929dfc..147bc1e 100644
--- a/src/mynteye/api/processor/rectify_processor.h
+++ b/src/mynteye/api/processor/rectify_processor.h
@@ -23,11 +23,7 @@
 #include "mynteye/types.h"
 #include "mynteye/api/processor.h"
 #include "mynteye/device/device.h"
-#include <camodocal/camera_models/Camera.h>
-#include <camodocal/camera_models/CameraFactory.h>
 #include <camodocal/camera_models/EquidistantCamera.h>
-#include <camodocal/gpl/gpl.h>
-#include <camodocal/camera_models/Camera.h>
 #include <opencv2/core/eigen.hpp>
 #include <boost/algorithm/string.hpp>
 #include <boost/filesystem.hpp>

From e56bf190f6df8a0af3b1c90b0e2008c8ae68309f Mon Sep 17 00:00:00 2001
From: TinyOh <tinyoh@slightech.com>
Date: Mon, 14 Jan 2019 17:48:24 +0800
Subject: [PATCH 2/2] fix(calib models): calib struct update

---
 src/mynteye/api/processor/rectify_processor.cc | 14 +++-----------
 1 file changed, 3 insertions(+), 11 deletions(-)

diff --git a/src/mynteye/api/processor/rectify_processor.cc b/src/mynteye/api/processor/rectify_processor.cc
index 6a130bc..e668eca 100644
--- a/src/mynteye/api/processor/rectify_processor.cc
+++ b/src/mynteye/api/processor/rectify_processor.cc
@@ -339,21 +339,12 @@ void RectifyProcessor::InitParams(
       generateCameraFromIntrinsicsEquidistant(in_left);
   camodocal::CameraPtr camera_odo_ptr_right =
       generateCameraFromIntrinsicsEquidistant(in_right);
-  if (calib_infos) {
-    auto calib_info_tmp = stereoRectify(camera_odo_ptr_left,
+  auto calib_info_tmp = stereoRectify(camera_odo_ptr_left,
         camera_odo_ptr_right,
         in_left,
         in_right,
         ex_right_to_left);
-    *calib_infos = *calib_info_tmp;
-  } else {
-    calib_infos =
-        stereoRectify(camera_odo_ptr_left,
-                    camera_odo_ptr_right,
-                    in_left,
-                    in_right,
-                    ex_right_to_left);
-  }
+  *calib_infos = *calib_info_tmp;
   cv::Mat rect_R_l =
       cv::Mat::eye(3, 3, CV_32F), rect_R_r = cv::Mat::eye(3, 3, CV_32F);
   for (size_t i = 0; i < 3; i++) {
@@ -390,6 +381,7 @@ RectifyProcessor::RectifyProcessor(
     : Processor(std::move(proc_period)),
       calib_model(CalibrationModel::UNKNOW) {
   VLOG(2) << __func__ << ": proc_period=" << proc_period;
+  calib_infos = std::make_shared<struct camera_calib_info_pair>();
   InitParams(
     *std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_left),
     *std::dynamic_pointer_cast<IntrinsicsEquidistant>(intr_right),