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fix save img params bug

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This commit is contained in:
Kalman 2018-09-20 15:53:55 +08:00
parent 6feeb49d62
commit 13e9a89b59
4 changed files with 22 additions and 23 deletions
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3
samples/tutorials/data/get_img_params.cc
View File

@ -21,7 +21,8 @@ int main(int argc, char *argv[]) {
auto &&api = API::Create(argc, argv);
if (!api)
return 1;
api->SetStreamRequest(
Resolution::RES_2560x800, Format::BGR888, FrameRate::RATE_30_FPS);
LOG(INFO) << "Intrinsics left: {" << api->GetIntrinsics(Stream::LEFT) << "}";
LOG(INFO) << "Intrinsics right: {" << api->GetIntrinsics(Stream::RIGHT)
<< "}";

3
src/internal/channels.cc
View File

@ -663,7 +663,8 @@ bool Channels::GetFiles(
img_params->ok = file_size > 0;
if (img_params->ok) {
CheckSpecVersion(spec_ver);
CHECK_EQ(from_data(img_params, data + i, spec_ver), file_size);
from_data(img_params, data + i, spec_ver);
// CHECK_EQ(from_data(img_params, data + i, spec_ver), file_size);
}
} break;
case FID_IMU_PARAMS: {

1
tools/writer/config/img.params
View File

@ -1,5 +1,6 @@
%YAML:1.0
---
version: 1.1
in_left_map:
-
width: 640

38
tools/writer/device_writer.cc
View File

@ -130,6 +130,16 @@ cv::FileStorage &operator<<(
return fs;
}
cv::FileStorage &operator<<(
cv::FileStorage &fs, const std::map<Resolution, Intrinsics> &mapIn) {
fs << "[";
std::map<Resolution, Intrinsics>::const_iterator it;
for (it = mapIn.begin(); it != mapIn.end(); it++)
fs << (*it).second;
fs << "]";
return fs;
}
cv::FileStorage &operator<<(cv::FileStorage &fs, const ImuIntrinsics &in) {
std::vector<double> scales;
for (std::size_t i = 0; i < 3; i++) {
@ -189,26 +199,9 @@ bool DeviceWriter::SaveImgParams(
return false;
}
std::vector<Intrinsics> v_left;
std::vector<Intrinsics> v_right;
std::map<Resolution, Intrinsics>::const_iterator it;
for (it = params.in_left_map.begin(); it != params.in_left_map.end(); it++)
v_left.push_back((*it).second);
for (it = params.in_right_map.begin(); it != params.in_right_map.end(); it++)
v_right.push_back((*it).second);
if (v_left.size() == v_right.size() && v_left.size() > 0) {
fs << "in_left_map";
for (unsigned int i = 0; i < v_left.size(); i++)
fs << v_left[i];
fs << "in_right_map";
for (unsigned int i = 0; i < v_right.size(); i++)
fs << v_right[i];
fs << "ex_left_to_right" << params.ex_left_to_right;
if (params.in_left_map.size() == params.in_right_map.size()) {
fs << "in_left_map" << params.in_left_map << "in_right_map"
<< params.in_right_map << "ex_left_to_right" << params.ex_left_to_right;
fs.release();
return true;
} else {
@ -351,6 +344,7 @@ DeviceWriter::img_params_t DeviceWriter::LoadImgParams(
img_params_t params;
if (fs["version"].isNone()) {
if (fs["in_left"].isNone()) {
LOG(INFO) << "static_cast<double>(fs[version]) == 0.1";
std::uint16_t w = 752;
std::uint16_t h = 480;
std::uint8_t m = 0;
@ -381,15 +375,17 @@ DeviceWriter::img_params_t DeviceWriter::LoadImgParams(
}
} else {
if (static_cast<double>(fs["version"]) == 1.0) {
LOG(INFO) << "static_cast<double>(fs[version]) == 1.0";
fs["in_left_map"][0] >> params.in_left_map[Resolution::RES_752x480];
fs["in_right_map"][0] >> params.in_right_map[Resolution::RES_752x480];
fs["ex_left_to_right"] >> params.ex_left_to_right;
}
if (static_cast<double>(fs["version"]) == 1.1) {
LOG(INFO) << "static_cast<double>(fs[version]) == 1.1";
fs["in_left_map"][0] >> params.in_left_map[Resolution::RES_1280x400];
fs["in_left_map"][1] >> params.in_left_map[Resolution::RES_2560x800];
fs["in_right_map"][0] >> params.in_right_map[Resolution::RES_1280x400];
fs["in_right_map"][1] >> params.in_left_map[Resolution::RES_2560x800];
fs["in_right_map"][1] >> params.in_right_map[Resolution::RES_2560x800];
fs["ex_left_to_right"] >> params.ex_left_to_right;
}
}