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Improved constructor for loading parameters from file

release/4.3a0
Varun Agrawal 2020-12-02 08:36:23 -05:00
parent e488dc8e9c
commit ecb0af57fd
2 changed files with 11 additions and 4 deletions
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5
gtsam/geometry/Cal3.cpp
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@ -33,12 +33,11 @@ Cal3::Cal3(double fov, int w, int h)
} }
/* ************************************************************************* */ /* ************************************************************************* */
Cal3::Cal3(const std::string& path) Cal3::Cal3(const std::string& path) {
: fx_(320), fy_(320), s_(0), u0_(320), v0_(140) {
const auto buffer = path + std::string("/calibration_info.txt"); const auto buffer = path + std::string("/calibration_info.txt");
std::ifstream infile(buffer, std::ios::in); std::ifstream infile(buffer, std::ios::in);
if (infile) { if (infile && !infile.eof()) {
infile >> fx_ >> fy_ >> s_ >> u0_ >> v0_; infile >> fx_ >> fy_ >> s_ >> u0_ >> v0_;
} else { } else {
throw std::runtime_error("Cal3: Unable to load the calibration"); throw std::runtime_error("Cal3: Unable to load the calibration");

10
gtsam/geometry/Cal3.h
View File

@ -103,7 +103,15 @@ class GTSAM_EXPORT Cal3 {
/// @name Advanced Constructors /// @name Advanced Constructors
/// @{ /// @{
/// load calibration from location (default name is calibration_info.txt) /**
* Load calibration parameters from `calibration_info.txt` file located in
* `path` directory.
*
* The contents of calibration file should be the 5 parameters in order:
* `fx, fy, s, u0, v0`
*
* @param path path to directory containing `calibration_info.txt`.
*/
Cal3(const std::string& path); Cal3(const std::string& path);
/// @} /// @}