获取矫正图像

矫正图像为SDK处理图像，获取矫正图像需要 EnableRectifyProcessor 开启深度计算，然后通过回调获取。 参考代码片段：

auto m_pSDK = new CIMRSDK();
MRCONFIG config = {0};
config.bSlam = false;
config.imgResolution = IMG_640;
config.imgFrequency = 50;
config.imuFrequency = 1000;

m_pSDK->Init(config);
std::queue<cv::Mat> rectified_queue;
int rectified_img_count = 0;
if (m_pSDK->EnableRectifyProcessor()) {
  m_pSDK->RegistRectifiedImgCallback(
      [&rectified_img_count, &rectified_queue](double time, cv::Mat left,
                                               cv::Mat right) {
        if (!left.empty() && !right.empty()) {
          cv::Mat img;
          cv::hconcat(left, right, img);
          rectified_queue.push(img);
          ++rectified_img_count;
        }
      });
}
auto &&time_beg = times::now();
while (true) {
  if (!rectified_queue.empty()) {
    cv::imshow("rectified_img", rectified_queue.front());
    rectified_queue.pop();
  }
  char key = static_cast<char>(cv::waitKey(1));
  if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
    break;
  }
}
delete m_pSDK;
return 0;

上述代码，用了 OpenCV 来显示图像。选中显示窗口时，按 ESC/Q 就会结束程序。

完整代码样例，请见 _get_rectified_img.cpp 。