feat(device_writer): always save params with latest version format

src/mynteye/device/channel/bytes.cc

@@ -68,9 +68,11 @@ std::size_t from_data(IntrinsicsPinhole *in, const std::uint8_t *data,
   // cy, 8
   in->cy = _from_data<double>(data + i);
   i += 8;
-  // model, 1
-  in->model = data[i];
-  i += 1;
+  if (get_size) {
+    // model, 1
+    in->model = data[i];
+    i += 1;
+  }
   // coeffs, 40
   for (std::size_t j = 0; j < 5; j++) {
     in->coeffs[j] = _from_data<double>(data + i + j * 8);
@@ -199,9 +201,11 @@ std::size_t to_data(const IntrinsicsPinhole *in, std::uint8_t *data,
   // cy, 8
   _to_data(in->cy, data + i);
   i += 8;
-  // model, 1
-  data[i] = in->model;
-  i += 1;
+  if (set_size) {
+    // model, 1
+    data[i] = in->model;
+    i += 1;
+  }
   // coeffs, 40
   for (std::size_t j = 0; j < 5; j++) {
     _to_data(in->coeffs[j], data + i + j * 8);

src/mynteye/device/channel/file_channel.cc

@@ -297,7 +297,8 @@ std::size_t ImgParamsParser::GetFromData_new(
   if (version == Version(1, 2)) {  // v1.2
     for (; i < data_size;) {
       // calib_model, 1
-      auto calib_model = static_cast<CalibrationModel>(data[i]);
+      auto model = data[i];
+      auto calib_model = static_cast<CalibrationModel>(model);
       i += 1;
       // width, 2
       auto width = bytes::_from_data<std::uint16_t>(data + i);
@@ -309,14 +310,18 @@ std::size_t ImgParamsParser::GetFromData_new(
       std::shared_ptr<IntrinsicsBase> in_left, in_right;
       Extrinsics ex_right_to_left;
       switch (calib_model) {
-        case CalibrationModel::PINHOLE:
-          in_left = std::make_shared<IntrinsicsPinhole>();
-          in_right = std::make_shared<IntrinsicsPinhole>();
-          break;
-        case CalibrationModel::KANNALA_BRANDT:
+        case CalibrationModel::PINHOLE: {
+          auto in_left_p = std::make_shared<IntrinsicsPinhole>();
+          in_left_p->model = model;
+          in_left = in_left_p;
+          auto in_right_p = std::make_shared<IntrinsicsPinhole>();
+          in_right_p->model = model;
+          in_right = in_right_p;
+        } break;
+        case CalibrationModel::KANNALA_BRANDT: {
           in_left = std::make_shared<IntrinsicsEquidistant>();
           in_right = std::make_shared<IntrinsicsEquidistant>();
-          break;
+        } break;
         default:
           LOG(FATAL) << "Could not get img params as unknown calib model"
               ", please use latest SDK.";
@@ -421,6 +426,7 @@ std::size_t ImuParamsParser::GetFromData_old(
   i += bytes::from_data(&imu_params->in_accel, data + i);
   i += bytes::from_data(&imu_params->in_gyro, data + i);
   i += bytes::from_data(&imu_params->ex_left_to_imu, data + i);
+  imu_params->version = spec_version_.to_string();
   MYNTEYE_UNUSED(data_size)
   return i;
 }

src/mynteye/device/device.cc

@@ -626,6 +626,7 @@ void Device::ReadAllInfos() {
     VLOG(2) << "Motion extrinsics left to imu: {"
             << GetMotionExtrinsics(Stream::LEFT) << "}";
   } else {
+    imu_params_.ok = false;
     VLOG(2) << "Motion intrinsics & extrinsics not exist";
   }
 }