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  • master default protected
  • opencv4
  • custom_realsense
  • deproject
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sandboxConfig.cpp

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  • sandboxConfig.cpp 9.03 KiB
    #include "../../inc/sandboxConfig.h"
    
    static int saveConfigIn(char *path, YAML::Node config);
    
    
    int SandboxConfig::saveAdjustingMatrixInto(char *path, cv::Mat_<float> matrix){
    
        // convert matrix into a one layer vector
        YAML::Node vec = YAML::Load("[]");
        for (int y = 0; y < matrix.rows; y++){
            for (int x = 0; x < matrix.cols; x++){
                vec.push_back(matrix.at<float>(y, x));
            }
        }
    
        YAML::Node val;
        
        val["width"] = matrix.cols;
        val["height"] = matrix.rows;
        val["matrix"] = vec;
    
        YAML::Node config;
        try{
            config = YAML::LoadFile(path);
        }catch(YAML::BadFile err){
            //std::cout << "[Error] No Config File found : " << err.what() << std::endl;
        }
    
        config[SCFG_MATRIX] = val;
    
        return saveConfigIn(path, config);
    }
    
    
    int SandboxConfig::saveDistanceToSandboxTopInto(char *path, float distance){
        
        YAML::Node val;
    
        val["distance"] = distance;
    
        YAML::Node config;
        try{
            config = YAML::LoadFile(path);
        }catch(YAML::BadFile err){
            //std::cout << "[Error] No Config File found : " << err.what() << std::endl;
        }
    
        config[SCFG_DISTANCE] = val;
    
        return saveConfigIn(path, config);
    }
    
    
    int SandboxConfig::saveCroppingMaskInto(char *path, cv::Rect mask){
        
        YAML::Node val;
    
        val["x"] = mask.x;
        val["y"] = mask.y;
        val["width"] = mask.width;
        val["height"] = mask.height;
    
        YAML::Node config;
        try{
            config = YAML::LoadFile(path);
        }catch(YAML::BadFile err){
            //std::cout << "[Error] No Config File found : " << err.what() << std::endl;
        }
    
        config[SCFG_MASK] = val;