获取图像标定参数

通过获取API GetStreamIntrinsics(),GetStreamExtrinsics()函数，可以获取当前打开设备的图像标定参数。

参考代码片段：

auto vga_intrinsics = cam.GetStreamIntrinsics(StreamMode::STREAM_1280x480, &in_ok);
auto vga_extrinsics = cam.GetStreamExtrinsics(StreamMode::STREAM_1280x480, &ex_ok);
std::cout << "VGA Intrinsics left: {" << vga_intrinsics.left << "}" << std::endl;
std::cout << "VGA Intrinsics right: {" << vga_intrinsics.right << "}" << std::endl;
std::cout << "VGA Extrinsics left to right: {" << vga_extrinsics << "}" << std::endl;
out << "VGA Intrinsics left: {" << vga_intrinsics.left << "}" << std::endl;
out << "VGA Intrinsics right: {" << vga_intrinsics.right << "}" << std::endl;
out << "VGA Extrinsics left to right: {" << vga_extrinsics << "}" << std::endl;

运行结果保存在当前目录下，参考运行结果：

VGA Intrinsics left: {width: [640], height: [480], fx: [358.45721435546875000], fy: [359.53115844726562500], cx: [311.12109375000000000], cy: [242.63494873046875000]coeffs: [-0.28297042846679688, 0.06178283691406250, -0.00030517578125000, 0.00218200683593750, 0.00000000000000000]}
VGA Intrinsics right: {width: [640], height: [480], fx: [360.13885498046875000], fy: [360.89624023437500000], cx: [325.11029052734375000], cy: [251.46371459960937500]coeffs: [-0.30667877197265625, 0.08611679077148438, -0.00030136108398438, 0.00155639648437500, 0.00000000000000000]}
VGA Extrinsics left to right: {rotation: [0.99996054172515869, 0.00149095058441162, 0.00875246524810791, -0.00148832798004150, 0.99999880790710449, -0.00030362606048584, -0.00875294208526611, 0.00029063224792480, 0.99996161460876465], translation: [-120.36341094970703125, 0.00000000000000000, 0.00000000000000000]}

完整代码样例，请见get_img_params.cc 。