MYNT-EYE-S-SDK/samples/tutorials/data/get_img_params.cc

69 lines
2.6 KiB
C++

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