Merge branch 'develop' of http://gitlab.mynt.com/mynteye/mynt-eye-sdk-2 into develop

include/mynteye/api/api.h

@@ -190,6 +190,11 @@ class MYNTEYE_API API {
    * Get the intrinsics of stream.
    */
   Intrinsics GetIntrinsics(const Stream &stream) const;
+  /**
+   * Get the intrinsics of stream.
+   */
+  template<typename T>
+  T GetIntrinsics(const Stream &from) const;
   /**
    * Get the extrinsics from one stream to another.
    */
@@ -202,11 +207,6 @@ class MYNTEYE_API API {
    * Get the extrinsics from one stream to motion.
    */
   Extrinsics GetMotionExtrinsics(const Stream &from) const;
-  /**
-   * Get the intrinsics of stream.
-   */
-  template<typename T>
-  T GetIntrinsics(const Stream &from) const;
 
   /**
    * Log all option infos.
@@ -315,13 +315,6 @@ T API::GetIntrinsics(const Stream &from) const {
   return device_->GetIntrinsics<T>(from);
 }
 
-template <typename T>
-T Device::GetIntrinsics(const Stream &from) const {
-  T res;
-  printf("type %d\n", res.calib_model_);
-  return res;
-}
-
 MYNTEYE_END_NAMESPACE
 
 #endif  // MYNTEYE_API_API_H_

include/mynteye/device/device.h

@@ -154,6 +154,11 @@ class MYNTEYE_API Device {
    * Get the intrinsics of stream.
    */
   Intrinsics GetIntrinsics(const Stream &stream) const;
+  /**
+   * Get the intrinsics of stream.
+   */
+  template<typename T>
+  T GetIntrinsics(const Stream &from) const;
   /**
    * Get the extrinsics from one stream to another.
    */
@@ -203,12 +208,6 @@ class MYNTEYE_API Device {
    */
   void SetMotionExtrinsics(const Stream &from, const Extrinsics &ex);
 
-  /**
-   * Get the intrinsics of stream.
-   */
-  template<typename T>
-  T GetIntrinsics(const Stream &from) const;
-
   /**
    * Log all option infos.
    */
@@ -372,6 +371,13 @@ class MYNTEYE_API Device {
   friend tools::DeviceWriter;
 };
 
+template <typename T>
+T Device::GetIntrinsics(const Stream &from) const {
+  T res;
+  printf("type %d\n", res.calib_model_);
+  return res;
+}
+
 MYNTEYE_END_NAMESPACE
 
 #endif  // MYNTEYE_DEVICE_DEVICE_H_

include/mynteye/types.h

@@ -395,32 +395,35 @@ std::ostream &operator<<(std::ostream &os, const StreamRequest &request);
  * @brief Intrinsic and extrinsic properties.
  */
 
-/** different model of camera calibration */
+/**
-typedef enum CalibrationModel {
+ * @ingroup calibration
-  /** pinhole camera */
+ * Camera calibration model.
-  CALIB_MODEL_PINHOLE = 0,
+ */
-  /** equidistant camera */
+enum class CalibrationModel : std::uint8_t {
-  CALIB_MODEL_KANNALA_BRANDT = 1,
+  /** Unknow */
-
+  CALIB_MODEL_UNKNOW = 0,
-  CALIB_MODEL_UNKNOW,
+  /** Pinhole */
+  CALIB_MODEL_PINHOLE = 1,
+  /** Equidistant: KANNALA_BRANDT */
+  CALIB_MODEL_KANNALA_BRANDT = 2,
   // CALIB_MODEL_SCARAMUZZA,
-  // CALIB_MODEL_MEI
+  // CALIB_MODEL_MEI,
-}CALIB_MODEL;
+};
+
+struct MYNTEYE_API IntrinsicsBase {
+  IntrinsicsBase() {
+    calib_model = CalibrationModel::CALIB_MODEL_UNKNOW;
+  }
+  CalibrationModel calib_model;
+};
 
 /**
  * @ingroup calibration
- * Stream intrinsics,
+ * Stream intrinsics (Pinhole)
  */
-struct MYNTEYE_API IntrinsicsBase {
+struct MYNTEYE_API IntrinsicsPinhole : public IntrinsicsBase {
-  IntrinsicsBase() {
+  IntrinsicsPinhole() {
-    calib_model_ = CALIB_MODEL_UNKNOW;
+    calib_model = CalibrationModel::CALIB_MODEL_PINHOLE;
-  }
-  CALIB_MODEL calib_model_;
-};
-
-struct MYNTEYE_API Intrinsics : public IntrinsicsBase {
-  Intrinsics() {
-    calib_model_ = CALIB_MODEL_PINHOLE;
   }
   /** The width of the image in pixels */
   std::uint16_t width;
@@ -440,25 +443,22 @@ struct MYNTEYE_API Intrinsics : public IntrinsicsBase {
   double coeffs[5];
 };
 
-/*
+MYNTEYE_API
-model_type:  KANNALA_BRANDT
+std::ostream &operator<<(std::ostream &os, const IntrinsicsPinhole &in);
-camera_name: KANNALA_BRANDT
-image_width: 640
-image_height: 400
-projection_parameters:
-k2: 4.9972342319338209e-01
-k3: 4.3314206872885375e-01
-k4: -9.2064699153680563e-01
-k5: 4.1211925379358533e-01
-mu: 2.0077513040612871e+02
-mv: 2.0099851605062454e+02
-u0: 3.1079403134153824e+02
-v0: 2.1225649273618896e+02 
-*/
 
-struct MYNTEYE_API Intrinsics2 : public IntrinsicsBase {
+/**
-  Intrinsics2() {
+ * @ingroup calibration
-    calib_model_ = CALIB_MODEL_KANNALA_BRANDT;
+ * Stream intrinsics (Pinhole)
+ */
+using Intrinsics = IntrinsicsPinhole;
+
+/**
+ * @ingroup calibration
+ * Stream intrinsics (Equidistant: KANNALA_BRANDT)
+ */
+struct MYNTEYE_API IntrinsicsEquidistant : public IntrinsicsBase {
+  IntrinsicsEquidistant() {
+    calib_model = CalibrationModel::CALIB_MODEL_KANNALA_BRANDT;
   }
   /** The width of the image in pixels */
   std::uint16_t width;
@@ -475,33 +475,8 @@ struct MYNTEYE_API Intrinsics2 : public IntrinsicsBase {
   double v0;
 };
 
-// union MYNTEYE_API CameraParameters {
-//   struct IntrinsicsBase intrinsics_base;
-//   struct Intrinsics intrinsics10;
-//   struct Intrinsics2 intrinsics20;
-//   unsigned char raw[];
-//   CameraParameters(struct IntrinsicsBase& base) {
-//     memset(raw, 0, sizeof(union CameraParameters));
-//     switch (base.calib_model_) {
-//       case CALIB_MODEL_10:
-//         intrinsics10 = static_cast<struct Intrinsics&>(base);
-//       break;
-//       case CALIB_MODEL_20:
-//         intrinsics20 = static_cast<struct Intrinsics2&>(base);
-//       break;
-//       default:
-//         // warning!!! no impl!!!
-//         intrinsics_base = base;
-//       return;
-//     }
-//   }
-//   CALIB_MODEL getModelType() {return intrinsics_base.calib_model_;}
-// };
-// MYNTEYE_API
-// std::ostream &operator<<(std::ostream &os, const CameraParameters &in);
-
 MYNTEYE_API
-std::ostream &operator<<(std::ostream &os, const Intrinsics &in);
+std::ostream &operator<<(std::ostream &os, const IntrinsicsEquidistant &in);
 
 /**
  * @ingroup calibration

samples/tutorials/data/get_img_params.cc

@@ -31,28 +31,6 @@ int main(int argc, char *argv[]) {
             << "}";
   LOG(INFO) << "Extrinsics right to left: {"
             << api->GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}";
-  auto inr = api->GetIntrinsics(Stream::LEFT);
-  // CameraParameters cmm(inr);
-  // for (int i = 0;i< sizeof(cmm) ; i++) {
-  //   printf(" %x ",cmm.raw[i]);
-  // }
-  // printf("end: %d\n", (int)(cmm.getModelType()));
-
-  // Intrinsics2 xxx2;
-  // CameraParameters cmm2(xxx2);
-  // for (int i = 0;i< sizeof(cmm2) ; i++) {
-  //   printf(" %x ",cmm2.raw[i]);
-  // }
-  // printf("end: %d\n", (int)(cmm2.getModelType()));
-
-  // IntrinsicsBase xxx3;
-  // CameraParameters cmm3(xxx3);
-  // for (int i = 0;i< sizeof(cmm3) ; i++) {
-  //   printf(" %x ",cmm3.raw[i]);
-  // }
-  // printf("end: %d\n", (int)(cmm3.getModelType()));
-
-  api->GetIntrinsics<Intrinsics>(Stream::LEFT);
 
   return 0;
 }

src/mynteye/types.cc

@@ -188,8 +188,9 @@ std::ostream &operator<<(std::ostream &os, const StreamRequest &request) {
             << ", format: " << request.format << ", fps: " << request.fps;
 }
 
-std::ostream &operator<<(std::ostream &os, const Intrinsics &in) {
+std::ostream &operator<<(std::ostream &os, const IntrinsicsPinhole &in) {
-  os << FULL_PRECISION << "width: " << in.width << ", height: " << in.height
+  os << "pinhole, " << FULL_PRECISION
+     << "width: " << in.width << ", height: " << in.height
      << ", fx: " << in.fx << ", fy: " << in.fy << ", cx: " << in.cx
      << ", cy: " << in.cy << ", model: " << static_cast<int>(in.model)
      << ", coeffs: [";
@@ -198,6 +199,16 @@ std::ostream &operator<<(std::ostream &os, const Intrinsics &in) {
   return os << in.coeffs[4] << "]";
 }
 
+std::ostream &operator<<(std::ostream &os, const IntrinsicsEquidistant &in) {
+  os << "equidistant, " << FULL_PRECISION
+     << "width: " << in.width << ", height: " << in.height
+     << ", k2: " << in.k2 << ", k3: " << in.k3
+     << ", k4: " << in.k4 << ", k5: " << in.k5
+     << ", mu: " << in.mu << ", mv: " << in.mv
+     << ", u0: " << in.u0 << ", v0: " << in.v0;
+  return os;
+}
+
 std::ostream &operator<<(std::ostream &os, const ImuIntrinsics &in) {
   os << FULL_PRECISION << "scale: [";
   for (int i = 0; i <= 2; i++)