From bdd8f80c6882ebc427d4787d569892b2bb0601bd Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Fri, 24 Jul 2020 15:53:16 +0300
Subject: [PATCH] update calibration to nodes
---
.../src/modules/calibration/extrinsic.cpp | 26 +++++--------------
.../src/views/calibration/extrinsicview.cpp | 3 +--
2 files changed, 8 insertions(+), 21 deletions(-)
diff --git a/applications/gui2/src/modules/calibration/extrinsic.cpp b/applications/gui2/src/modules/calibration/extrinsic.cpp
index 9ebadc97c..9f88e3b6c 100644
--- a/applications/gui2/src/modules/calibration/extrinsic.cpp
+++ b/applications/gui2/src/modules/calibration/extrinsic.cpp
@@ -242,27 +242,17 @@ bool ExtrinsicCalibration::isBusy() {
void ExtrinsicCalibration::updateCalibration() {
auto fs = std::atomic_load(&fs_current_);
- unsigned int nsources = fs->frames.size();
- std::vector<CalibrationData> data(nsources);
- std::vector<bool> update(nsources, false);
-
- for (unsigned int i = 0; i < nsources; i++) {
- data[i] = (*fs)[i].get<CalibrationData>(Channel::CalibrationData);
- }
-
- for (const auto& camera : state_.cameras) {
- auto srcid = camera.id.source();
- data[srcid].get(camera.id.channel) = camera.calib;
- update[srcid] = true;
- }
-
- for (unsigned int i = 0; i < nsources; i++) {
- setCalibration((*fs)[i], data[i]);
+ for (unsigned int i = 0; i < state_.cameras.size(); i++) {
+ auto& c = state_.cameras[i];
+ auto& frame = fs->frames[c.id];
+ auto calib = frame.get<CalibrationData>(Channel::CalibrationData);
+ calib.get(c.id.channel) = state_.calib.calibration(i);
+ setCalibration(frame, calib);
}
}
void ExtrinsicCalibration::updateCalibration(int c) {
-
+ throw ftl::exception("Not implemented");
}
void ExtrinsicCalibration::stereoRectify(int cl, int cr,
@@ -360,8 +350,6 @@ int ExtrinsicCalibration::getFrameCount(int camera) {
// debug method: save state to file (msgpack)
void ExtrinsicCalibration::saveInput(const std::string& filename) {
- LOG(WARNING) << "DISABLED";
- return;
ftl::pool.push([this, filename](int){
do {
// calib must not be modified; would be better to have mutex here
diff --git a/applications/gui2/src/views/calibration/extrinsicview.cpp b/applications/gui2/src/views/calibration/extrinsicview.cpp
index 284ba035b..4e583f6c2 100644
--- a/applications/gui2/src/views/calibration/extrinsicview.cpp
+++ b/applications/gui2/src/views/calibration/extrinsicview.cpp
@@ -193,9 +193,8 @@ ExtrinsicCalibrationView::ControlWindow::ControlWindow(nanogui::Widget* parent,
bupload_ = new nanogui::Button(buttons, "", ENTYPO_ICON_UPLOAD);
bupload_->setTooltip("Save input to sources");
bupload_->setCallback([this](){
- ctrl_->save();
+ ctrl_->updateCalibration();
bupload_->setTextColor(nanogui::Color(32, 192, 32, 255));
- bupload_->setEnabled(false);
});
bresults_ = new nanogui::Button(buttons, "Show Calibration");
--
GitLab