Intrinsics and Extrinsics 'Impl'

[jangernert]

Instead of having a virtual implementation of GetIntrinsics and GetExtrinsics that by default try to load files from disc and can be overridden by the camera implementation, it would be nice to have a non-virtual method in the Camera class with a corresponding Impl method in the camera implementation. This way a cache could be implemented in the Camera class itself. Loading the intrinsics or extrinsics from file as a fallback would still be possible.

Trigger:
The Camera class already has an cache for ex/intrinsics. But the current implementation only works if the camera implementation doesn't override the methods of the Camera class. So the cache effectively only avoids having to load the files multiple times in fallback mode. The camera implementations don't profit from the cache at all.

[f00f]

This would help to globally fix #164.

[jangernert]

Simons idea:

• public virtual GetFactoryIntrinsics is part of the public interface
• GetIntrinsics tries to load intrinsics from file first, calls GetFactoryIntrinsics if no file is available

this way we could access factory calibration even if a pt file is present.

[f00f]

Simons idea:

• public virtual GetFactoryIntrinsics is part of the public interface
• GetIntrinsics tries to load intrinsics from file first, calls GetFactoryIntrinsics if no file is available

this way we could access factory calibration even if a pt file is present.

Isn't that a separate topic? This was about caching of transformations for all cameras. So I suggest opening an own issue for the new topic of accessing the factory transformations.

• I like Simon's proposal
• I would also implement it for extrinsics, if possible