69 lines
2.6 KiB
C++
69 lines
2.6 KiB
C++
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "mynteye/logger.h"
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#include "mynteye/api/api.h"
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#include "mynteye/types.h"
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MYNTEYE_USE_NAMESPACE
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int main(int argc, char *argv[]) {
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auto &&api = API::Create(argc, argv);
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if (!api) return 1;
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bool ok;
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auto &&request = api->SelectStreamRequest(&ok);
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if (!ok) return 1;
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api->ConfigStreamRequest(request);
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auto in_left = api->GetIntrinsicsBase(Stream::LEFT);
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auto in_right = api->GetIntrinsicsBase(Stream::RIGHT);
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if (in_left->calib_model() == CalibrationModel::PINHOLE) {
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in_left = std::dynamic_pointer_cast<IntrinsicsPinhole>(in_left);
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in_right = std::dynamic_pointer_cast<IntrinsicsPinhole>(in_right);
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} else if (in_left->calib_model() == CalibrationModel::KANNALA_BRANDT) {
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in_left = std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_left);
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in_right = std::dynamic_pointer_cast<IntrinsicsEquidistant>(in_right);
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} else {
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LOG(INFO) << "UNKNOW CALIB MODEL.";
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return 0;
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}
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in_left -> ResizeIntrinsics();
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in_right -> ResizeIntrinsics();
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LOG(INFO) << "Intrinsics left: {" << *in_left << "}";
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LOG(INFO) << "Intrinsics right: {" << *in_right << "}";
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LOG(INFO) << "Extrinsics right to left: {"
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<< api->GetExtrinsics(Stream::RIGHT, Stream::LEFT) << "}";
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auto info = api->GetCameraROSMsgInfoPair();
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if (info && !info->isEmpty()) {
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LOG(INFO) << "ROSMsgInfoPair:";
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LOG(INFO) << *info;
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}
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if (api->IsDefaultIntrinsics()) {
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LOG(WARNING) << "Default intrinsics are currently being used.";
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LOG(WARNING) << "Image params not found, but we need it to process the "
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"images. Please `make tools` and use `img_params_writer` "
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"to write the image params. If you update the SDK from "
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"1.x, the `SN*.conf` is the file contains them. Besides, "
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"you could also calibrate them by yourself. Read the guide "
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"doc (https://github.com/slightech/MYNT-EYE-SDK-2-Guide) "
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"to learn more.";
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}
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return 0;
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}
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