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feat(tools): enhance device writer with new format

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This commit is contained in:
John Zhao 2019-01-06 13:30:48 +08:00
parent 656c101e80
commit 19e5f60566
16 changed files with 432 additions and 46 deletions
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3
include/mynteye/types.h
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@ -434,6 +434,9 @@ struct MYNTEYE_API IntrinsicsBase {
CalibrationModel calib_model_;
};
MYNTEYE_API
std::ostream &operator<<(std::ostream &os, const IntrinsicsBase &in);
/**
* @ingroup calibration
* Stream intrinsics (Pinhole)

1
src/mynteye/device/types.cc
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@ -43,6 +43,7 @@ std::vector<std::string> Version::split(const std::string &s) {
}
Version::value_t Version::parse_part(const std::string &name, size_t part) {
if (name.empty()) return 0;
return std::stoi(split(name)[part]);
}

11
src/mynteye/types.cc
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@ -201,6 +201,17 @@ const char *to_string(const CalibrationModel &model) {
#undef CASE
}
std::ostream &operator<<(std::ostream &os, const IntrinsicsBase &in) {
switch (in.calib_model()) {
case CalibrationModel::PINHOLE:
return os << dynamic_cast<const IntrinsicsPinhole &>(in);
case CalibrationModel::KANNALA_BRANDT:
return os << dynamic_cast<const IntrinsicsEquidistant &>(in);
default:
return os << "unknown calib model";
}
}
std::ostream &operator<<(std::ostream &os, const IntrinsicsPinhole &in) {
os << "pinhole, " << FULL_PRECISION
<< "width: " << in.width << ", height: " << in.height

0
tools/writer/config/S1030/img.params.old → tools/writer/config/S1030/deprecated/img.params.old
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30
tools/writer/config/S1030/deprecated/img.params.old2 Normal file
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@ -0,0 +1,30 @@
%YAML:1.0
---
in_left:
width: 752
height: 480
fx: 3.6220059643202876e+02
fy: 3.6350065250745848e+02
cx: 4.0658699068023441e+02
cy: 2.3435161110061483e+02
model: 0
coeffs: [ -2.5034765682756088e-01, 5.0579399202897619e-02,
-7.0536676161976066e-04, -8.5255451307033846e-03, 0. ]
in_right:
width: 752
height: 480
fx: 3.6514014888558478e+02
fy: 3.6513385298966961e+02
cx: 3.8932395100630907e+02
cy: 2.3495160212312547e+02
model: 0
coeffs: [ -3.0377346762098512e-01, 7.9929693673999838e-02,
5.1547517530716883e-05, -6.7345903740579250e-04, 0. ]
ex_right_to_left:
rotation: [ 9.9867908939669447e-01, -6.3445566137485428e-03,
5.0988459509619687e-02, 5.9890316389333252e-03,
9.9995670037792639e-01, 7.1224201868366971e-03,
-5.1031440326695092e-02, -6.8076406092671274e-03,
9.9867384471984544e-01 ]
translation: [ -1.2002489764113250e+02, -1.1782637409050747e+00,
-5.2058205159996538e+00 ]

0
tools/writer/config/S1030/img.params → tools/writer/config/S1030/deprecated/img.params.old3
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24
tools/writer/config/S1030/deprecated/imu.params.old Normal file
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@ -0,0 +1,24 @@
%YAML:1.0
---
in_accel:
scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
drift: [ 0., 0., 0. ]
noise: [ 1.6925432397973516e-02, 1.6735310195561025e-02,
1.7452487504590969e-02 ]
bias: [ 1.9031356589714596e-04, 1.6996777864587261e-04,
5.4490537096493644e-04 ]
in_gyro:
scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
drift: [ 0., 0., 0. ]
noise: [ 1.0848026158819934e-03, 1.2466367883501759e-03,
1.1003229919806443e-03 ]
bias: [ 2.3404834136742844e-05, 2.3596771567764949e-05,
1.4970418056326829e-05 ]
ex_left_to_imu:
rotation: [ -6.4662000000000001e-03, -9.9994994000000004e-01,
-7.6356499999999999e-03, 9.9997908999999996e-01,
-6.4656599999999998e-03, -9.5580000000000003e-05,
4.6199999999999998e-05, -7.6361099999999998e-03,
9.9997084000000003e-01 ]
translation: [ 5.3364600000000003e-03, -4.3029220000000000e-02,
2.3031240000000001e-02 ]

28
tools/writer/config/S1030/img.params.equidistant Normal file
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@ -0,0 +1,28 @@
%YAML:1.0
---
version: "1.2"
img_params:
-
model: 1
width: 752
height: 480
in_left:
# coeffs: k2,k3,k4,k5,mu,mv,u0,v0
coeffs: [ -1.3549950401924169e-02, -3.2306077263853893e-02,
5.3814579203036512e-02, -3.6663721418756977e-02,
3.6797709792391299e+02, 3.6808712539453859e+02,
3.7414963027144353e+02, 2.3125000326472903e+02 ]
in_right:
# coeffs: k2,k3,k4,k5,mu,mv,u0,v0
coeffs: [ -1.8964880945048872e-02, -2.6172447729615463e-02,
4.0863326732708288e-02, -2.1522718578606163e-02,
3.6807315003638877e+02, 3.6806204885853174e+02,
3.8499216569965887e+02, 2.3183027347834383e+02 ]
ex_right_to_left:
rotation: [ 9.9867908939669447e-01, -6.3445566137485428e-03,
5.0988459509619687e-02, 5.9890316389333252e-03,
9.9995670037792639e-01, 7.1224201868366971e-03,
-5.1031440326695092e-02, -6.8076406092671274e-03,
9.9867384471984544e-01 ]
translation: [ -1.2002489764113250e+02, -1.1782637409050747e+00,
-5.2058205159996538e+00 ]

38
tools/writer/config/S1030/img.params.pinhole Normal file
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@ -0,0 +1,38 @@
%YAML:1.0
---
version: "1.2"
img_params:
-
model: 0
width: 752
height: 480
in_left:
# [fx 0 cx]
# [ 0 fy cy]
# [ 0 0 1]
fx: 3.6220059643202876e+02
fy: 3.6350065250745848e+02
cx: 4.0658699068023441e+02
cy: 2.3435161110061483e+02
# coeffs: k1,k2,p1,p2,k3
coeffs: [ -2.5034765682756088e-01, 5.0579399202897619e-02,
-7.0536676161976066e-04, -8.5255451307033846e-03, 0. ]
in_right:
# [fx 0 cx]
# [ 0 fy cy]
# [ 0 0 1]
fx: 3.6514014888558478e+02
fy: 3.6513385298966961e+02
cx: 3.8932395100630907e+02
cy: 2.3495160212312547e+02
# coeffs: k1,k2,p1,p2,k3
coeffs: [ -3.0377346762098512e-01, 7.9929693673999838e-02,
5.1547517530716883e-05, -6.7345903740579250e-04, 0. ]
ex_right_to_left:
rotation: [ 9.9867908939669447e-01, -6.3445566137485428e-03,
5.0988459509619687e-02, 5.9890316389333252e-03,
9.9995670037792639e-01, 7.1224201868366971e-03,
-5.1031440326695092e-02, -6.8076406092671274e-03,
9.9867384471984544e-01 ]
translation: [ -1.2002489764113250e+02, -1.1782637409050747e+00,
-5.2058205159996538e+00 ]

1
tools/writer/config/S1030/imu.params
View File

@ -1,5 +1,6 @@
%YAML:1.0
---
version: "1.2"
in_accel:
scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
drift: [ 0., 0., 0. ]

0
tools/writer/config/S210A/img.params → tools/writer/config/S210A/deprecated/img.params.old
View File

15
tools/writer/config/S210A/deprecated/imu.params.old Normal file
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@ -0,0 +1,15 @@
%YAML:1.0
---
in_accel:
scale: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
drift: [ 0., 0., 0. ]
noise: [ 0., 0., 0. ]
bias: [ 0., 0., 0. ]
in_gyro:
scale: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
drift: [ 0., 0., 0. ]
noise: [ 0., 0., 0. ]
bias: [ 0., 0., 0. ]
ex_left_to_imu:
rotation: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
translation: [ 0., 0., 0. ]

51
tools/writer/config/S210A/img.params.equidistant Normal file
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@ -0,0 +1,51 @@
%YAML:1.0
---
version: "1.2"
img_params:
# There are two params of resolution [640x400], [1280x800].
# If you only set one of them, write will keep another params if it exists.
-
model: 1
width: 640
height: 400
in_left:
# coeffs: k2,k3,k4,k5,mu,mv,u0,v0
coeffs: [ -1.3549950401924169e-02, -3.2306077263853893e-02,
5.3814579203036512e-02, -3.6663721418756977e-02,
3.6797709792391299e+02, 3.6808712539453859e+02,
3.7414963027144353e+02, 2.3125000326472903e+02 ]
in_right:
coeffs: [ -1.8964880945048872e-02, -2.6172447729615463e-02,
4.0863326732708288e-02, -2.1522718578606163e-02,
3.6807315003638877e+02, 3.6806204885853174e+02,
3.8499216569965887e+02, 2.3183027347834383e+02 ]
ex_right_to_left:
rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
-4.3917309443490191e-03, 1.8166060642710027e-03,
9.9968925981619028e-01, -2.4861290203142431e-02,
4.4382582477776426e-03, 2.4853026274046636e-02,
9.9968126367795229e-01 ]
translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
2.2588034344482368e+00 ]
-
model: 1
width: 1280
height: 800
in_left:
coeffs: [ -1.3549950401924169e-02, -3.2306077263853893e-02,
5.3814579203036512e-02, -3.6663721418756977e-02,
3.6797709792391299e+02, 3.6808712539453859e+02,
3.7414963027144353e+02, 2.3125000326472903e+02 ]
in_right:
coeffs: [ -1.3549950401924169e-02, -3.2306077263853893e-02,
5.3814579203036512e-02, -3.6663721418756977e-02,
3.6797709792391299e+02, 3.6808712539453859e+02,
3.7414963027144353e+02, 2.3125000326472903e+02 ]
ex_right_to_left:
rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
-4.3917309443490191e-03, 1.8166060642710027e-03,
9.9968925981619028e-01, -2.4861290203142431e-02,
4.4382582477776426e-03, 2.4853026274046636e-02,
9.9968126367795229e-01 ]
translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
2.2588034344482368e+00 ]

62
tools/writer/config/S210A/img.params.pinhole Normal file
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@ -0,0 +1,62 @@
%YAML:1.0
---
version: "1.2"
img_params:
# There are two params of resolution [640x400], [1280x800].
# If you only set one of them, write will keep another params if it exists.
-
model: 0
width: 640
height: 400
in_left:
# [fx 0 cx]
# [ 0 fy cy]
# [ 0 0 1]
fx: 1.9739641213416058e+02
fy: 1.9772337597617189e+02
cx: 3.2611983633916327e+02
cy: 1.9986969132833946e+02
# coeffs: k1,k2,p1,p2,k3
coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
in_right:
fx: 2.0335498653655989e+02
fy: 2.0453858622699008e+02
cx: 3.1589962248180814e+02
cy: 2.1871688038954812e+02
coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
ex_right_to_left:
rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
-4.3917309443490191e-03, 1.8166060642710027e-03,
9.9968925981619028e-01, -2.4861290203142431e-02,
4.4382582477776426e-03, 2.4853026274046636e-02,
9.9968126367795229e-01 ]
translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
2.2588034344482368e+00 ]
-
model: 0
width: 1280
height: 800
in_left:
fx: 1.9739641213416058e+02
fy: 1.9772337597617189e+02
cx: 3.2611983633916327e+02
cy: 1.9986969132833946e+02
coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
in_right:
fx: 2.0335498653655989e+02
fy: 2.0453858622699008e+02
cx: 3.1589962248180814e+02
cy: 2.1871688038954812e+02
coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
ex_right_to_left:
rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
-4.3917309443490191e-03, 1.8166060642710027e-03,
9.9968925981619028e-01, -2.4861290203142431e-02,
4.4382582477776426e-03, 2.4853026274046636e-02,
9.9968126367795229e-01 ]
translation: [ -8.2270200890555529e+01, -1.9535144360069059e+00,
2.2588034344482368e+00 ]

26
tools/writer/config/S210A/imu.params
View File

@ -1,15 +1,25 @@
%YAML:1.0
---
version: "1.2"
in_accel:
scale: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
drift: [ 0., 0., 0. ]
noise: [ 0., 0., 0. ]
bias: [ 0., 0., 0. ]
noise: [ 1.6925432397973516e-02, 1.6735310195561025e-02,
1.7452487504590969e-02 ]
bias: [ 1.9031356589714596e-04, 1.6996777864587261e-04,
5.4490537096493644e-04 ]
in_gyro:
scale: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
drift: [ 0., 0., 0. ]
noise: [ 0., 0., 0. ]
bias: [ 0., 0., 0. ]
noise: [ 1.0848026158819934e-03, 1.2466367883501759e-03,
1.1003229919806443e-03 ]
bias: [ 2.3404834136742844e-05, 2.3596771567764949e-05,
1.4970418056326829e-05 ]
ex_left_to_imu:
rotation: [ 0., 0., 0., 0., 0., 0., 0., 0., 0. ]
translation: [ 0., 0., 0. ]
rotation: [ -6.4662000000000001e-03, -9.9994994000000004e-01,
-7.6356499999999999e-03, 9.9997908999999996e-01,
-6.4656599999999998e-03, -9.5580000000000003e-05,
4.6199999999999998e-05, -7.6361099999999998e-03,
9.9997084000000003e-01 ]
translation: [ 5.3364600000000003e-03, -4.3029220000000000e-02,
2.3031240000000001e-02 ]

188
tools/writer/device_writer.cc
View File

@ -37,10 +37,13 @@ DeviceWriter::~DeviceWriter() {
bool DeviceWriter::WriteDeviceInfo(const dev_info_t &info) {
auto &&channels = device_->channels();
// Update device info
auto &&dev_info = device_->GetInfo();
dev_info->lens_type = Type(info.lens_type);
dev_info->imu_type = Type(info.imu_type);
dev_info->nominal_baseline = info.nominal_baseline;
if (channels->SetFiles(dev_info.get(), nullptr, nullptr)) {
LOG(INFO) << "Write device info success";
LOG(INFO) << "Device info: {name: " << dev_info->name
@ -66,17 +69,26 @@ bool DeviceWriter::WriteDeviceInfo(const std::string &filepath) {
bool DeviceWriter::WriteImgParams(const img_params_map_t &img_params_map) {
auto &&channels = device_->channels();
auto &&dev_info = device_->GetInfo();
if (channels->SetFiles(
nullptr, const_cast<img_params_map_t *>(&img_params_map), nullptr)) {
img_params_map_t *img_params_new =
const_cast<img_params_map_t *>(&img_params_map);
// Update image params with raw
auto &&img_params_raw = device_->GetImgParams();
for (auto entry_raw : img_params_raw) {
// Add raw params if not load this resolution
if (img_params_new->find(entry_raw.first) == img_params_new->end()) {
(*img_params_new)[entry_raw.first] = entry_raw.second;
}
}
if (channels->SetFiles(nullptr, img_params_new, nullptr)) {
LOG(INFO) << "Write img params success";
std::map<Resolution, device::img_params_t>::const_iterator it;
for (it = img_params_map.begin(); it != img_params_map.end(); it++) {
LOG(INFO) << "Image params for resolution "
<< (*it).first.width << "x" << (*it).first.height << " :";
LOG(INFO) << "Intrinsics left: {" << (*it).second.in_left << "}";
LOG(INFO) << "Intrinsics right: {" << (*it).second.in_right << "}";
LOG(INFO) << "Extrinsics left to right: {"
for (auto it = img_params_new->begin(); it != img_params_new->end(); it++) {
LOG(INFO) << "Resolution: {width: " << (*it).first.width
<< ", height: " << (*it).first.height << "}";
LOG(INFO) << "Intrinsics left: {" << *(*it).second.in_left << "}";
LOG(INFO) << "Intrinsics right: {" << *(*it).second.in_right << "}";
LOG(INFO) << "Extrinsics right to left: {"
<< (*it).second.ex_right_to_left << "}";
}
return true;
@ -92,7 +104,6 @@ bool DeviceWriter::WriteImgParams(const std::string &filepath) {
bool DeviceWriter::WriteImuParams(const imu_params_t &params) {
auto &&channels = device_->channels();
auto &&dev_info = device_->GetInfo();
if (channels->SetFiles(
nullptr, nullptr, const_cast<imu_params_t *>(&params))) {
LOG(INFO) << "Write imu params success";
@ -277,6 +288,7 @@ void DeviceWriter::SaveAllInfos(const std::string &dir) {
namespace {
// old
void to_intrinsics(
const std::uint16_t &width, const std::uint16_t &height,
const std::uint8_t &model, const cv::Mat &M, const cv::Mat &D,
@ -300,6 +312,7 @@ void to_intrinsics(
}
}
// old
void to_extrinsics(const cv::Mat &R, const cv::Mat &T, Extrinsics *ex) {
for (std::size_t i = 0; i < 3; i++) {
for (std::size_t j = 0; j < 3; j++) {
@ -310,7 +323,7 @@ void to_extrinsics(const cv::Mat &R, const cv::Mat &T, Extrinsics *ex) {
ex->translation[i] = T.at<double>(i);
}
}
// old
void operator>>(const cv::FileNode &n, IntrinsicsPinhole &in) {
n["width"] >> in.width;
n["height"] >> in.height;
@ -352,14 +365,76 @@ void operator>>(const cv::FileNode &n, Extrinsics &ex) {
}
}
void operator>>(const cv::FileNode &n, DeviceWriter::img_params_t &paramas) {
// old
void operator>>(const cv::FileNode &n, DeviceWriter::img_params_t &params) {
auto in_left = std::make_shared<IntrinsicsPinhole>();
auto in_right = std::make_shared<IntrinsicsPinhole>();
paramas.in_left = in_left;
paramas.in_right = in_right;
params.in_left = in_left;
params.in_right = in_right;
n["in_left"] >> *in_left;
n["in_right"] >> *in_right;
n["ex_right_to_left"] >> paramas.ex_right_to_left;
n["ex_right_to_left"] >> params.ex_right_to_left;
}
std::shared_ptr<IntrinsicsPinhole> to_intrinsics_pinhole(
const cv::FileNode &n, const std::uint8_t &model,
const std::uint16_t &width, const std::uint16_t &height) {
auto in = std::make_shared<IntrinsicsPinhole>();
in->width = width;
in->height = height;
in->model = model;
n["fx"] >> in->fx;
n["fy"] >> in->fy;
n["cx"] >> in->cx;
n["cy"] >> in->cy;
for (std::size_t i = 0; i < 5; i++) {
in->coeffs[i] = n["coeffs"][i];
}
return in;
}
std::shared_ptr<IntrinsicsEquidistant> to_intrinsics_equidistant(
const cv::FileNode &n, const std::uint8_t &model,
const std::uint16_t &width, const std::uint16_t &height) {
auto in = std::make_shared<IntrinsicsEquidistant>();
in->width = width;
in->height = height;
for (std::size_t i = 0; i < 8; i++) {
in->coeffs[i] = n["coeffs"][i];
}
MYNTEYE_UNUSED(model)
return in;
}
DeviceWriter::img_params_t to_img_params(
const cv::FileNode &n, const std::uint8_t &model,
const std::uint16_t &width, const std::uint16_t &height) {
DeviceWriter::img_params_t params;
params.ok = false;
CalibrationModel calib_model = static_cast<CalibrationModel>(model);
switch (calib_model) {
case CalibrationModel::PINHOLE: {
params.ok = true;
params.in_left = to_intrinsics_pinhole(
n["in_left"], model, width, height);
params.in_right = to_intrinsics_pinhole(
n["in_right"], model, width, height);
n["ex_right_to_left"] >> params.ex_right_to_left;
} break;
case CalibrationModel::KANNALA_BRANDT: {
params.ok = true;
params.in_left = to_intrinsics_equidistant(
n["in_left"], model, width, height);
params.in_right = to_intrinsics_equidistant(
n["in_right"], model, width, height);
n["ex_right_to_left"] >> params.ex_right_to_left;
} break;
default:
LOG(FATAL) << "Could not load img params as unknown calib model"
", please use latest SDK.";
}
return params;
}
} // namespace
@ -388,11 +463,37 @@ DeviceWriter::img_params_map_t DeviceWriter::LoadImgParams(
}
img_params_map_t img_params_map;
if (fs["version"].isNone()) {
if (!fs["version"].isNone()) {
std::string version = std::string(fs["version"]);
// load params according to verison
if (version == "1.0") {
fs["img_params_map"][0] >> img_params_map[{752, 480}];
} else if (version == "1.1") {
fs["img_params_map"][0] >> img_params_map[{1280, 400}];
fs["img_params_map"][1] >> img_params_map[{2560, 800}];
} else if (version == "1.2") {
auto node = fs["img_params"];
for (auto it = node.begin(); it < node.end(); it++) {
std::uint8_t model;
std::uint16_t width, height;
(*it)["model"] >> model;
(*it)["width"] >> width;
(*it)["height"] >> height;
auto params = to_img_params(*it, model, width, height);
if (params.ok) {
params.version = version;
img_params_map[{width, height}] = params;
}
}
} else {
LOG(ERROR) << "Failed to load img params of version " << version
<< ", please use latest SDK.";
}
} else {
// load old params s1030
auto in_left = std::make_shared<IntrinsicsPinhole>();
auto in_right = std::make_shared<IntrinsicsPinhole>();
img_params_map[{752, 480}].in_left = in_left;
img_params_map[{752, 480}].in_right = in_right;
Extrinsics ex_right_to_left;
if (fs["in_left"].isNone()) {
std::uint16_t w = 752;
std::uint16_t h = 480;
@ -412,25 +513,19 @@ DeviceWriter::img_params_map_t DeviceWriter::LoadImgParams(
fs["R"] >> R;
fs["T"] >> T;
to_intrinsics(
w, h, m, M1, D1, in_left.get());
to_intrinsics(
w, h, m, M2, D2, in_right.get());
to_extrinsics(R, T, &img_params_map[{752, 480}].ex_right_to_left);
to_intrinsics(w, h, m, M1, D1, in_left.get());
to_intrinsics(w, h, m, M2, D2, in_right.get());
to_extrinsics(R, T, &ex_right_to_left);
} else {
fs["in_left"][0] >> *in_left;
fs["in_right"][0] >> *in_right;
fs["ex_right_to_left"] >> img_params_map[{752, 480}].ex_right_to_left;
}
} else {
if (static_cast<std::string>(fs["version"]) == "1.0") {
fs["img_params_map"][0] >> img_params_map[{752, 480}];
}
if (static_cast<std::string>(fs["version"]) == "1.1") {
fs["img_params_map"][0] >> img_params_map[{1280, 400}];
fs["img_params_map"][1] >> img_params_map[{2560, 800}];
fs["in_left"] >> *in_left;
fs["in_right"] >> *in_right;
fs["ex_right_to_left"] >> ex_right_to_left;
}
img_params_map[{752, 480}] = {
true, "1.0", in_left, in_right, ex_right_to_left
};
}
fs.release();
return img_params_map;
}
@ -442,10 +537,27 @@ DeviceWriter::imu_params_t DeviceWriter::LoadImuParams(
if (!fs.isOpened()) {
LOG(FATAL) << "Failed to load file: " << filepath;
}
imu_params_t params;
fs["in_accel"] >> params.in_accel;
fs["in_gyro"] >> params.in_gyro;
fs["ex_left_to_imu"] >> params.ex_left_to_imu;
if (!fs["version"].isNone()) {
std::string version = std::string(fs["version"]);
// load params according to verison
if (version == "1.2") {
params.version = version;
fs["in_accel"] >> params.in_accel;
fs["in_gyro"] >> params.in_gyro;
fs["ex_left_to_imu"] >> params.ex_left_to_imu;
} else {
LOG(ERROR) << "Failed to load imu params of version " << version
<< ", please use latest SDK.";
}
} else {
// load old params
fs["in_accel"] >> params.in_accel;
fs["in_gyro"] >> params.in_gyro;
fs["ex_left_to_imu"] >> params.ex_left_to_imu;
}
fs.release();
return params;
}