feat: add disparity params load file.

src/mynteye/api/api.cc

@@ -604,4 +604,8 @@ std::shared_ptr<struct CameraROSMsgInfoPair> API::GetCameraROSMsgInfoPair() {
   return synthetic_->GetCameraROSMsgInfoPair();
 }
 
+bool API::ConfigDisparityFromFile(const std::string& config_file) {
+  return synthetic_->ConfigDisparityFromFile(config_file);
+}
+
 MYNTEYE_END_NAMESPACE

src/mynteye/api/processor/disparity_processor.cc

@@ -17,6 +17,7 @@
 
 #include <opencv2/calib3d/calib3d.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/core/persistence.hpp>
 
 #include "mynteye/logger.h"
 
@@ -103,6 +104,24 @@ void DisparityProcessor::SetDisparityComputingMethodType(
   NotifyComputingTypeChanged(MethodType);
 }
 
+bool DisparityProcessor::ConfigFromFile(const std::string& config_file) {
+  cv::FileStorage fsSettings(config_file, cv::FileStorage::READ);
+  if (!fsSettings.isOpened()) {
+      std::cerr << "ERROR: Wrong path to settings" << std::endl;
+      return false;
+  }
+  cv::FileNode node_sgbm = fsSettings["SGBM"];
+  if (node_sgbm.type() == cv::FileNode::MAP) {
+    sgbm_matcher->read(node_sgbm);
+  }
+
+  cv::FileNode node_bm = fsSettings["BM"];
+  if (node_bm.type() == cv::FileNode::MAP) {
+    bm_matcher->read(node_bm);
+  }
+  return true;
+}
+
 std::string DisparityProcessor::Name() {
   return NAME;
 }

src/mynteye/api/processor/disparity_processor.h

@@ -39,6 +39,7 @@ class DisparityProcessor : public Processor {
   void SetDisparityComputingMethodType(
       const DisparityComputingMethod &MethodType);
   void NotifyComputingTypeChanged(const DisparityComputingMethod &MethodType);
+  bool ConfigFromFile(const std::string& config);
 
  protected:
   // inline Processor::process_type ProcessOutputConnection() override {

src/mynteye/api/synthetic.cc

@@ -119,6 +119,12 @@ void Synthetic::NotifyImageParamsChanged() {
   }
 }
 
+bool Synthetic::ConfigDisparityFromFile(const std::string& config_file) {
+  auto processor = getProcessorWithStream(Stream::DISPARITY);
+  auto proc = static_cast<DisparityProcessor*>(&(*processor));
+  return proc->ConfigFromFile(config_file);
+}
+
 const struct Synthetic::stream_control_t Synthetic::getControlDateWithStream(
     const Stream& stream) const {
   for (auto &&it : processors_) {

src/mynteye/api/synthetic.h

@@ -94,6 +94,7 @@ class Synthetic {
   void SetDisparityComputingMethodType(
       const DisparityComputingMethod &MethoType);
   std::shared_ptr<struct CameraROSMsgInfoPair> GetCameraROSMsgInfoPair();
+  bool ConfigDisparityFromFile(const std::string& config_file);
 
  private:
   void InitCalibInfo();