void Dialog::on_Load_Result_Btn_clicked()
{
QFileDialog FileDialog;
QString path=FileDialog.getExistingDirectory(this, tr("Open Calibration Files"), "/home/nubot/ros_workspace/src/omni_vision/calibration/",
QFileDialog::ShowDirsOnly|QFileDialog::DontResolveSymlinks);
calibration_result_dir_=path.toStdString();
std::string file_path=calibration_result_dir_+"/CTable.dat";
std::ifstream CTable_Read(file_path.c_str(), std::ios::binary|std::ios::in);
CTable_Read.read((char *)CTable_,sizeof(unsigned char)*64*64*64);
CTable_Read.close();
file_path=calibration_result_dir_+"/CTableBGR.dat";
std::ifstream CTableBGR_Read(file_path.c_str(), std::ios::binary|std::ios::out);
CTableBGR_Read.read((char *)CTable_bgr_,sizeof(unsigned char)*64*64*64);
CTableBGR_Read.close();
file_path=calibration_result_dir_+"/ROI.xml";
cv::FileStorage roi_file(file_path, cv::FileStorage::READ);
int tmp1,tmp2;
roi_file["center_point_row"]>>tmp2;
roi_file["center_point_column"]>>tmp1;
circle_center_=QPoint(tmp1,tmp2);
roi_file["big_radius"] >>circle_radius_;
roi_file ["small_radius"] >> small_radius_;
roi_file ["rows"]>>height_;
roi_file ["cols"]<<width_;
roi_file.release();
file_path=calibration_result_dir_+"/calibration.xml";
cv::FileStorage calibration(file_path, cv::FileStorage::READ);
std::vector<int> poly_pts;
std::vector<int> lint_pts;
cv::FileNode calib_result = calibration["Color_Calib"];
cv::FileNodeIterator it = calib_result.begin(), it_end = calib_result.end();
int idx=0;
for( ; it != it_end; ++it)
{
QVector<QPoint> polys_pt;
(*it)["poly_pts"]>>poly_pts;
polys_pt.push_back(QPoint(poly_pts[0],poly_pts[1]));
polys_pt.push_back(QPoint(poly_pts[2],poly_pts[3]));
polys_pt.push_back(QPoint(poly_pts[4],poly_pts[5]));
polys_pt.push_back(QPoint(poly_pts[6],poly_pts[7]));
calib_final_result_[idx]=polys_pt;
QVector<QPoint> line_pt;
(*it)["line_pts"]>>lint_pts;
line_pt.push_back(QPoint(lint_pts[0],0));
line_pt.push_back(QPoint(lint_pts[1],0));
calib_Line_final_result_[idx]=line_pt;
idx++;
}
calibration.release();
load_interim_result();
}
nubot::ColorSegment::ColorSegment(std::string _table_name)
{
std::ifstream CTable_Read(_table_name.c_str(), std::ios::binary|std::ios::in);
CTable_Read.read((char *)table_,sizeof(unsigned char)*64*64*64);
CTable_Read.close();
}
