std::shared_ptr<CameraDriverInterface> GetDevice(const Uri& uri)
{
const Uri input_uri = Uri(uri.url);
// Create input camera
std::shared_ptr<CameraDriverInterface> input =
DeviceRegistry<hal::CameraDriverInterface>::I().Create(input_uri);
std::string filename = ExpandTildePath(
uri.properties.Get<std::string>("file", "cameras.xml")
);
if(!FileExists(filename))
{
std::string dir = input->GetDeviceProperty(hal::DeviceDirectory);
while(!dir.empty() && !FileExists(dir+"/"+filename)) {
dir = DirUp(dir);
}
filename = (dir.empty() ? "" : dir + "/") + filename;
}
calibu::CameraRig rig = calibu::ReadXmlRig( filename );
if(rig.cameras.size() != 2) {
throw DeviceException("Unable to find 2 cameras in file '" + filename + "'");
}
RectifyDriver* rectify = new RectifyDriver( input, rig );
return std::shared_ptr<CameraDriverInterface>( rectify );
}
std::shared_ptr<CameraDriverInterface> GetDevice(const Uri& uri)
{
const Uri input_uri = Uri(uri.url);
// Create input camera
std::shared_ptr<CameraDriverInterface> input =
DeviceRegistry<hal::CameraDriverInterface>::I().Create(input_uri);
std::string filename = ExpandTildePath(
uri.properties.Get<std::string>("file", "cameras.xml")
);
if(!FileExists(filename))
{
std::string dir = input->GetDeviceProperty(hal::DeviceDirectory);
while(!dir.empty() && !FileExists(dir+"/"+filename)) {
dir = DirUp(dir);
}
filename = (dir.empty() ? "" : dir + "/") + filename;
}
std::shared_ptr<calibu::Rig<double>> rig = calibu::ReadXmlRig( filename );
UndistortDriver* pDriver = new UndistortDriver( input, rig );
return std::shared_ptr<CameraDriverInterface>( pDriver );
}
std::string ProtoReaderDriver::GetDeviceProperty(const std::string& sProperty) {
if(sProperty == hal::DeviceDirectory) {
return DirUp(m_reader.GetFilename());
}
return std::string();
}
