void CDifodoDatasets::loadConfiguration(unsigned int &i_rows, unsigned int &i_cols,
vector<CPose3D> &v_poses,
const string &rawlogFileName,
vector<unsigned int> &cameras_order,
bool visualizeResults )
{
visualize_results = visualizeResults;
fovh = M_PI*62.5/180.0; //Larger FOV because depth is registered with color
fovv = M_PI*48.5/180.0;
rows = i_rows;
cols = i_cols;
cam_mode = 2;
fast_pyramid = false;
downsample = 1; // 1 - 640x480, 2 - 320x240, 4 - 160x120
ctf_levels = 5;
fast_pyramid = true;
// Load cameras' extrinsic calibrations
//==================================================================
cams_oder = cameras_order;
for ( int c = 0; c < NC; c++ )
{
cam_pose[c] = v_poses[c];
CMatrixDouble44 homoMatrix;
cam_pose[c].getHomogeneousMatrix(homoMatrix);
calib_mat[c] = (CMatrixFloat44)homoMatrix.inverse();
}
// Open Rawlog File
//==================================================================
if (!dataset.loadFromRawLogFile(rawlogFileName))
throw std::runtime_error("\nCouldn't open rawlog dataset file for input...");
rawlog_count = 0;
// Set external images directory:
const string imgsPath = CRawlog::detectImagesDirectory(rawlogFileName);
CImage::IMAGES_PATH_BASE = imgsPath;
// Resize matrices and adjust parameters
//=========================================================
width = 640/(cam_mode*downsample);
height = 480/(cam_mode*downsample);
repr_level = utils::round(log(float(width/cols))/log(2.f));
//Resize pyramid
const unsigned int pyr_levels = round(log(float(width/cols))/log(2.f)) + ctf_levels;
for (unsigned int c=0; c<NC; c++)
{
for (unsigned int i = 0; i<pyr_levels; i++)
{
unsigned int s = pow(2.f,int(i));
cols_i = width/s; rows_i = height/s;
depth[c][i].resize(rows_i, cols_i);
depth_inter[c][i].resize(rows_i, cols_i);
depth_old[c][i].resize(rows_i, cols_i);
depth[c][i].assign(0.0f);
depth_old[c][i].assign(0.0f);
xx[c][i].resize(rows_i, cols_i);
xx_inter[c][i].resize(rows_i, cols_i);
xx_old[c][i].resize(rows_i, cols_i);
xx[c][i].assign(0.0f);
xx_old[c][i].assign(0.0f);
yy[c][i].resize(rows_i, cols_i);
yy_inter[c][i].resize(rows_i, cols_i);
yy_old[c][i].resize(rows_i, cols_i);
yy[c][i].assign(0.0f);
yy_old[c][i].assign(0.0f);
zz_global[c][i].resize(rows_i, cols_i);
xx_global[c][i].resize(rows_i, cols_i);
yy_global[c][i].resize(rows_i, cols_i);
if (cols_i <= cols)
{
depth_warped[c][i].resize(rows_i,cols_i);
xx_warped[c][i].resize(rows_i,cols_i);
yy_warped[c][i].resize(rows_i,cols_i);
}
}
//Resize matrix that store the original depth image
depth_wf[c].setSize(height,width);
}
//Resize the transformation matrices
for (unsigned int l = 0; l<pyr_levels; l++)
global_trans[l].resize(4,4);
for (unsigned int c=0; c<NC; c++)
for (unsigned int l = 0; l<pyr_levels; l++)
transformations[c][l].resize(4,4);
}
