From b5c75b36571280fe4390086a7bfbc38751cf2a94 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Tue, 17 Sep 2019 13:08:49 +0300
Subject: [PATCH] Fix calibration compile errors
---
applications/calibration-multi/src/main.cpp | 21 +++++++++++----------
1 file changed, 11 insertions(+), 10 deletions(-)
diff --git a/applications/calibration-multi/src/main.cpp b/applications/calibration-multi/src/main.cpp
index f9c258d76..4f1f24eb5 100644
--- a/applications/calibration-multi/src/main.cpp
+++ b/applications/calibration-multi/src/main.cpp
@@ -37,6 +37,7 @@ using cv::Vec4d;
using ftl::net::Universe;
using ftl::rgbd::Source;
+using ftl::rgbd::Channel;
Mat getCameraMatrix(const ftl::rgbd::Camera ¶meters) {
Mat m = (cv::Mat_<double>(3,3) << parameters.fx, 0.0, -parameters.cx, 0.0, parameters.fy, -parameters.cy, 0.0, 0.0, 1.0);
@@ -377,8 +378,8 @@ void runCameraCalibration( ftl::Configurable* root,
);
for (size_t i = 0; i < n_sources; i++) {
- auto params_r = sources[i]->parameters(ftl::rgbd::kChanRight);
- auto params_l = sources[i]->parameters(ftl::rgbd::kChanLeft);
+ auto params_r = sources[i]->parameters(Channel::Right);
+ auto params_l = sources[i]->parameters(Channel::Left);
CHECK(resolution == Size(params_r.width, params_r.height));
CHECK(resolution == Size(params_l.width, params_l.height));
@@ -395,7 +396,7 @@ void runCameraCalibration( ftl::Configurable* root,
ftl::rgbd::Group group;
for (Source* src : sources) {
- src->setChannel(ftl::rgbd::kChanRight);
+ src->setChannel(Channel::Right);
group.addSource(src);
}
@@ -408,14 +409,14 @@ void runCameraCalibration( ftl::Configurable* root,
group.sync([&mutex, &new_frames, &rgb_new](ftl::rgbd::FrameSet &frames) {
mutex.lock();
bool good = true;
- for (size_t i = 0; i < frames.channel1.size(); i ++) {
- if (frames.channel1[i].empty()) good = false;
- if (frames.channel1[i].empty()) good = false;
- if (frames.channel1[i].channels() != 3) good = false; // ASSERT
- if (frames.channel2[i].channels() != 3) good = false;
+ for (size_t i = 0; i < frames.sources.size(); i ++) {
+ if (frames.frames[i].get<cv::Mat>(Channel::Left).empty()) good = false;
+ if (frames.frames[i].get<cv::Mat>(Channel::Right).empty()) good = false;
+ if (frames.frames[i].get<cv::Mat>(Channel::Left).channels() != 3) good = false; // ASSERT
+ if (frames.frames[i].get<cv::Mat>(Channel::Right).channels() != 3) good = false;
if (!good) break;
- cv::swap(frames.channel1[i], rgb_new[2 * i]);
- cv::swap(frames.channel2[i], rgb_new[2 * i + 1]);
+ cv::swap(frames.frames[i].get<cv::Mat>(Channel::Left), rgb_new[2 * i]);
+ cv::swap(frames.frames[i].get<cv::Mat>(Channel::Right), rgb_new[2 * i + 1]);
}
new_frames = good;
--
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