ORB-SLAM3的源码学习： Settings.cc：settings构造函数

前言

配置文件的相关的构造函数

1.函数声明

settings的构造函数

Settings::Settings(const std::string &configFile, const int &sensor) 
: bNeedToUndistort_(false), bNeedToRectify_(false), bNeedToResize1_(false), bNeedToResize2_(false)

这个构造函数接受两个参数：

1.configFile：配置文件的路径。

2.sensor：传感器类型。

列表初始化成员变量bNeedToUndistort_、bNeedToRectify_、bNeedToResize1_ 和bNeedToResize2_，它们表示在设置过程中是否需要进行去畸变、校正、缩放等操作。

2.函数定义

1.打开配置文件

// Open settings filecv::FileStorage fSettings(configFile, cv::FileStorage::READ);if (!fSettings.isOpened()){cerr << "[ERROR]: could not open configuration file at: " << configFile << endl;cerr << "Aborting..." << endl;exit(-1);}else{cout << "Loading settings from " << configFile << endl;}

使用 OpenCV 的 cv::FileStorage 打开传入的配置文件。如果文件打开失败，打印错误信息并终止程序。如果文件成功打开，输出 "Loading settings from" 配置文件路径。

2.读取相机参数

1.读取相机1参数

调用settings文件中定义的readCamera1函数来提取配置文件中的相机参数。

// Read first camerareadCamera1(fSettings);cout << "\t-Loaded camera 1" << endl;

2.读取相机2参数

如果是双目模式则还需要读取第二个相机的参数。

// Read second camera if stereo (not rectified)if (sensor_ == System::STEREO || sensor_ == System::IMU_STEREO){readCamera2(fSettings);cout << "\t-Loaded camera 2" << endl;}

3.读取图像信息

// Read first camerareadCamera1(fSettings);cout << "\t-Loaded camera 1" << endl;

4.读取IMU参数

如果是imu模式就需要读取相关参数

if (sensor_ == System::IMU_MONOCULAR || sensor_ == System::IMU_STEREO || sensor_ == System::IMU_RGBD){readIMU(fSettings);cout << "\t-Loaded IMU calibration" << endl;}

5.读取RGBD参数

如果是RGBD模式就需读取相关参数

if (sensor_ == System::RGBD || sensor_ == System::IMU_RGBD){readRGBD(fSettings);cout << "\t-Loaded RGB-D calibration" << endl;}

6.读取配置文件中的其余参数

readORB(fSettings);cout << "\t-Loaded ORB settings" << endl;readViewer(fSettings);cout << "\t-Loaded viewer settings" << endl;readLoadAndSave(fSettings);cout << "\t-Loaded Atlas settings" << endl;readOtherParameters(fSettings);cout << "\t-Loaded misc parameters" << endl;

7 .检查是否需要矫正操作

如果需要进行图像的校正（例如，去畸变），调用 precomputeRectificationMaps() 预计算校正地图。

 if (bNeedToRectify_){precomputeRectificationMaps();cout << "\t-Computed rectification maps" << endl;}

完整的代码

Settings::Settings(const std::string &configFile, const int &sensor) : bNeedToUndistort_(false), bNeedToRectify_(false), bNeedToResize1_(false), bNeedToResize2_(false)
{sensor_ = sensor;// Open settings filecv::FileStorage fSettings(configFile, cv::FileStorage::READ);if (!fSettings.isOpened()){cerr << "[ERROR]: could not open configuration file at: " << configFile << endl;cerr << "Aborting..." << endl;exit(-1);}else{cout << "Loading settings from " << configFile << endl;}// Read first camerareadCamera1(fSettings);cout << "\t-Loaded camera 1" << endl;// Read second camera if stereo (not rectified)if (sensor_ == System::STEREO || sensor_ == System::IMU_STEREO){readCamera2(fSettings);cout << "\t-Loaded camera 2" << endl;}// Read image inforeadImageInfo(fSettings);cout << "\t-Loaded image info" << endl;if (sensor_ == System::IMU_MONOCULAR || sensor_ == System::IMU_STEREO || sensor_ == System::IMU_RGBD){readIMU(fSettings);cout << "\t-Loaded IMU calibration" << endl;}if (sensor_ == System::RGBD || sensor_ == System::IMU_RGBD){readRGBD(fSettings);cout << "\t-Loaded RGB-D calibration" << endl;}readORB(fSettings);cout << "\t-Loaded ORB settings" << endl;readViewer(fSettings);cout << "\t-Loaded viewer settings" << endl;readLoadAndSave(fSettings);cout << "\t-Loaded Atlas settings" << endl;readOtherParameters(fSettings);cout << "\t-Loaded misc parameters" << endl;if (bNeedToRectify_){precomputeRectificationMaps();cout << "\t-Computed rectification maps" << endl;}cout << "----------------------------------" << endl;
}