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Fix t as right to left

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This commit is contained in:
John Zhao
2018-07-22 10:42:15 +08:00
parent 087ef28da1
commit 54165b1acb
8 changed files with 26 additions and 26 deletions
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12
tools/writer/device_writer.cc
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@@ -72,7 +72,7 @@ bool DeviceWriter::WriteImgParams(const img_params_t &params) {
LOG(INFO) << "Write img params success";
LOG(INFO) << "Intrinsics left: {" << params.in_left << "}";
LOG(INFO) << "Intrinsics right: {" << params.in_right << "}";
LOG(INFO) << "Extrinsics left to right: {" << params.ex_left_to_right
LOG(INFO) << "Extrinsics right to left: {" << params.ex_right_to_left
<< "}";
return true;
} else {
@@ -185,8 +185,8 @@ bool DeviceWriter::SaveImgParams(
return false;
}
fs << "in_left" << std::vector<Intrinsics>{params.in_left} << "in_right"
<< std::vector<Intrinsics>{params.in_right} << "ex_left_to_right"
<< params.ex_left_to_right;
<< std::vector<Intrinsics>{params.in_right} << "ex_right_to_left"
<< params.ex_right_to_left;
fs.release();
return true;
}
@@ -213,7 +213,7 @@ void DeviceWriter::SaveAllInfos(const std::string &dir) {
SaveImgParams(
{false, device_->GetIntrinsics(Stream::LEFT),
device_->GetIntrinsics(Stream::RIGHT),
device_->GetExtrinsics(Stream::LEFT, Stream::RIGHT)},
device_->GetExtrinsics(Stream::RIGHT, Stream::LEFT)},
dir + OS_SEP "img.params");
auto &&m_in = device_->GetMotionIntrinsics();
SaveImuParams(
@@ -348,11 +348,11 @@ DeviceWriter::img_params_t DeviceWriter::LoadImgParams(
to_intrinsics(w, h, m, M1, D1, &params.in_left);
to_intrinsics(w, h, m, M2, D2, &params.in_right);
to_extrinsics(R, T, &params.ex_left_to_right);
to_extrinsics(R, T, &params.ex_right_to_left);
} else {
fs["in_left"][0] >> params.in_left;
fs["in_right"][0] >> params.in_right;
fs["ex_left_to_right"] >> params.ex_left_to_right;
fs["ex_right_to_left"] >> params.ex_right_to_left;
}
fs.release();