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Select the img params by resolution

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This commit is contained in:
Kalman
2018-09-14 20:00:28 +08:00
parent 3c670cedb3
commit 6feeb49d62
14 changed files with 221 additions and 75 deletions
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4
tools/dataset/CMakeLists.txt
View File

@@ -20,6 +20,10 @@ set_outdir(
"${OUT_DIR}/bin/${DIR_NAME}"
)
include_directories(
${PRO_DIR}/src
)
## record
make_executable(record

24
tools/writer/config/img.params
View File

@@ -1,6 +1,6 @@
%YAML:1.0
---
in_left:
in_left_map:
-
width: 640
height: 400
@@ -11,7 +11,17 @@ in_left:
model: 0
coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
in_right:
-
width: 1280
height: 800
fx: 1.9739641213416058e+02
fy: 1.9772337597617189e+02
cx: 3.2611983633916327e+02
cy: 1.9986969132833946e+02
model: 0
coeffs: [ 1.2135236310725651e-01, -8.5442776049177036e-02,
2.4914898631983504e-03, -3.7752063658256863e-03, 0. ]
in_right_map:
-
width: 640
height: 400
@@ -22,6 +32,16 @@ in_right:
model: 0
coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
-
width: 1280
height: 800
fx: 2.0335498653655989e+02
fy: 2.0453858622699008e+02
cx: 3.1589962248180814e+02
cy: 2.1871688038954812e+02
model: 0
coeffs: [ 2.2904330559241560e-02, -2.9561990079971841e-02,
3.9725942760981507e-03, -3.9689073214945591e-03, 0. ]
ex_left_to_right:
rotation: [ 9.9998850083695123e-01, -1.9263678722299450e-03,
-4.3917309443490191e-03, 1.8166060642710027e-03,

110
tools/writer/device_writer.cc
View File

@@ -17,10 +17,14 @@
#include <glog/logging.h>
#include <map>
#include <vector>
#include "mynteye/device.h"
#include "mynteye/files.h"
#include "mynteye/types.h"
#include "internal/types.h"
MYNTEYE_BEGIN_NAMESPACE
@@ -70,8 +74,8 @@ bool DeviceWriter::WriteImgParams(const img_params_t &params) {
nullptr, const_cast<img_params_t *>(&params), nullptr,
&dev_info->spec_version)) {
LOG(INFO) << "Write img params success";
LOG(INFO) << "Intrinsics left: {" << params.in_left << "}";
LOG(INFO) << "Intrinsics right: {" << params.in_right << "}";
// 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
<< "}";
return true;
@@ -184,11 +188,33 @@ bool DeviceWriter::SaveImgParams(
LOG(ERROR) << "Failed to save file: " << filepath;
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;
fs.release();
return true;
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;
fs.release();
return true;
} else {
fs.release();
return false;
}
}
bool DeviceWriter::SaveImuParams(
@@ -210,11 +236,7 @@ void DeviceWriter::SaveAllInfos(const std::string &dir) {
LOG(FATAL) << "Create directory failed: " << dir;
}
SaveDeviceInfo(*device_->GetInfo(), dir + OS_SEP "device.info");
SaveImgParams(
{false, device_->GetIntrinsics(Stream::LEFT),
device_->GetIntrinsics(Stream::RIGHT),
device_->GetExtrinsics(Stream::LEFT, Stream::RIGHT)},
dir + OS_SEP "img.params");
SaveImgParams(device_->GetImgParams(), dir + OS_SEP "img.params");
auto &&m_in = device_->GetMotionIntrinsics();
SaveImuParams(
{
@@ -327,34 +349,50 @@ DeviceWriter::img_params_t DeviceWriter::LoadImgParams(
}
img_params_t params;
if (fs["in_left"].isNone()) {
std::uint16_t w = 640;
std::uint16_t h = 400;
std::uint8_t m = 0;
if (!fs["width"].isNone())
w = static_cast<int>(fs["width"]);
if (!fs["height"].isNone())
h = static_cast<int>(fs["height"]);
if (!fs["model"].isNone())
m = static_cast<int>(fs["model"]);
if (fs["version"].isNone()) {
if (fs["in_left"].isNone()) {
std::uint16_t w = 752;
std::uint16_t h = 480;
std::uint8_t m = 0;
if (!fs["width"].isNone())
w = static_cast<int>(fs["width"]);
if (!fs["height"].isNone())
h = static_cast<int>(fs["height"]);
if (!fs["model"].isNone())
m = static_cast<int>(fs["model"]);
cv::Mat M1, D1, M2, D2, R, T;
fs["M1"] >> M1;
fs["D1"] >> D1;
fs["M2"] >> M2;
fs["D2"] >> D2;
fs["R"] >> R;
fs["T"] >> T;
cv::Mat M1, D1, M2, D2, R, T;
fs["M1"] >> M1;
fs["D1"] >> D1;
fs["M2"] >> M2;
fs["D2"] >> D2;
fs["R"] >> R;
fs["T"] >> T;
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_intrinsics(
w, h, m, M1, D1, &params.in_left_map[Resolution::RES_752x480]);
to_intrinsics(
w, h, m, M2, D2, &params.in_right_map[Resolution::RES_752x480]);
to_extrinsics(R, T, &params.ex_left_to_right);
} else {
fs["in_left"][0] >> params.in_left_map[Resolution::RES_752x480];
fs["in_right"][0] >> params.in_right_map[Resolution::RES_752x480];
fs["ex_left_to_right"] >> params.ex_left_to_right;
}
} 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;
if (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) {
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["ex_left_to_right"] >> params.ex_left_to_right;
}
}
fs.release();
return params;
}