Method ParseCamParamFile

src/Tracking.cc:619–1215

}

bool Tracking::ParseCamParamFile(cv::FileStorage &fSettings)
{
    mDistCoef = cv::Mat::zeros(4,1,CV_32F);
    cout << endl << "Camera Parameters: " << endl;
    bool b_miss_params = false;

    string sCameraName = fSettings["Camera.type"];
    if(sCameraName == "PinHole")
    {
        float fx, fy, cx, cy;
        mImageScale = 1.f;

        // Camera calibration parameters
        cv::FileNode node = fSettings["Camera.fx"];
        if(!node.empty() && node.isReal())
        {
            fx = node.real();
        }
        else
        {
            std::cerr << "*Camera.fx parameter doesn't exist or is not a real number*" << std::endl;
            b_miss_params = true;
        }

        node = fSettings["Camera.fy"];
        if(!node.empty() && node.isReal())
        {
            fy = node.real();
        }
        else
        {
            std::cerr << "*Camera.fy parameter doesn't exist or is not a real number*" << std::endl;
            b_miss_params = true;
        }

        node = fSettings["Camera.cx"];
        if(!node.empty() && node.isReal())
        {
            cx = node.real();
        }
        else
        {
            std::cerr << "*Camera.cx parameter doesn't exist or is not a real number*" << std::endl;
            b_miss_params = true;
        }

        node = fSettings["Camera.cy"];
        if(!node.empty() && node.isReal())
        {
            cy = node.real();
        }
        else
        {
            std::cerr << "*Camera.cy parameter doesn't exist or is not a real number*" << std::endl;
            b_miss_params = true;
        }

        // Distortion parameters