opencv Vector CameraParams save(yaml file store) and load(yaml file restore ) using FileNode, FileNodeIterator

Refer to load & save function.

..

std::vector<cv::detail::CameraParams> params;

bool loadCameraParams(std::string fileName){

cv::FileStorage fs(fileName+".yaml", cv::FileStorage::READ);

if(!fs.isOpened())

return false;

/////

int nObjects= 0;

fs["NC"] >> nObjects;

params.clear();

params.resize(nObjects);

/////

cv::FileNode fn = fs["cameras"];

int id=0;

for (cv::FileNodeIterator it = fn.begin(); it != fn.end(); it++,id++)

{

cv::FileNode item = *it;

cv::Mat K, R, t;

double ppx, ppy, focal, aspect;

item["K"] >> K;

item["R"] >> R;

item["t"] >> t;

item["ppx"] >> ppx;

item["ppy"] >> ppy;

item["focal"] >> focal;

item["aspect"] >> aspect;

mg_params[id].K() = (cv::Mat)K;

mg_params[id].R = R;

mg_params[id].t = t;

mg_params[id].ppx = (double)ppx;

mg_params[id].ppy = (double)ppy;

mg_params[id].focal = (double)focal;

mg_params[id].aspect = (double)aspect;

}

return true;

}

bool saveCameraParams(std::string fileName){

cv::FileStorage fs(fileName+".yaml", cv::FileStorage::WRITE);

cv::detail::CameraParams cameras = mg_params[0];

fs << "NC" << int(params.size());

fs << "cameras" << "[";

for (const auto& param : mg_params)

{

fs << "{";

fs << "K" << param.K();

fs << "R" << param.R;

fs << "t" << param.t;

fs << "ppx" << param.ppx;

fs << "ppy" << param.ppy;

fs << "focal" << param.focal;

fs << "aspect" << param.aspect;

fs << "}";

}

fs << "]";

fs.release();

return true;

}

..

Thank you!!

☕️