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

媒介

设置文件的相干的构造函数
1.函数声明 

settings的构造函数

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

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这个构造函数继续两个参数：
1.configFile：设置文件的路径。
2.sensor：传感器范例。
列表初始化成员变量bNeedToUndistort_、bNeedToRectify_、bNeedToResize1_ 和bNeedToResize2_，它们表现在设置过程中是否须要举行去畸变、校正、缩放等使用。
2.函数界说

1.打开设置文件 

2. // Open settings file
3.     cv::FileStorage fSettings(configFile, cv::FileStorage::READ);
4.     if (!fSettings.isOpened())
5.     {
6.         cerr << "[ERROR]: could not open configuration file at: " << configFile << endl;
7.         cerr << "Aborting..." << endl;
9.         exit(-1);
10.     }
11.     else
12.     {
13.         cout << "Loading settings from " << configFile << endl;
14.     }

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使用 OpenCV 的 cv::FileStorage 打开传入的设置文件。假如文件打开失败，打印错误信息并停止步调。假如文件乐成打开，输出 "Loading settings from" 设置文件路径。
2.读取相机参数

1.读取相机1参数

调用settings文件中界说的readCamera1函数来提取设置文件中的相机参数。

2. // Read first camera
3.     readCamera1(fSettings);
4.     cout << "\t-Loaded camera 1" << endl;

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2.读取相机2参数 

假如是双目模式则还须要读取第二个相机的参数。

2. // Read second camera if stereo (not rectified)
3.     if (sensor_ == System::STEREO || sensor_ == System::IMU_STEREO)
4.     {
5.         readCamera2(fSettings);
6.         cout << "\t-Loaded camera 2" << endl;
7.     }

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3.读取图像信息

2. // Read first camera
3.     readCamera1(fSettings);
4.     cout << "\t-Loaded camera 1" << endl;

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4.读取IMU参数

假如是imu模式就须要读取相干参数

2. if (sensor_ == System::IMU_MONOCULAR || sensor_ == System::IMU_STEREO || sensor_ == System::IMU_RGBD)
3.     {
4.         readIMU(fSettings);
5.         cout << "\t-Loaded IMU calibration" << endl;
6.     }

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5.读取RGBD参数 

假如是RGBD模式就需读取相干参数

2. if (sensor_ == System::RGBD || sensor_ == System::IMU_RGBD)
3.     {
4.         readRGBD(fSettings);
5.         cout << "\t-Loaded RGB-D calibration" << endl;
6.     }

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6.读取设置文件中的别的参数

2. readORB(fSettings);
3.     cout << "\t-Loaded ORB settings" << endl;
4.     readViewer(fSettings);
5.     cout << "\t-Loaded viewer settings" << endl;
6.     readLoadAndSave(fSettings);
7.     cout << "\t-Loaded Atlas settings" << endl;
8.     readOtherParameters(fSettings);
9.     cout << "\t-Loaded misc parameters" << endl;

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7 .查抄是否须要改正使用

假如须要举行图像的校正（比方，去畸变），调用 precomputeRectificationMaps() 预盘算校正舆图。

2. if (bNeedToRectify_)
3.     {
4.         precomputeRectificationMaps();
5.         cout << "\t-Computed rectification maps" << endl;
6.     }

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完备的代码 

2. Settings::Settings(const std::string &configFile, const int &sensor)
3. : bNeedToUndistort_(false), bNeedToRectify_(false), bNeedToResize1_(false), bNeedToResize2_(false){    sensor_ = sensor;   
4. // Open settings file
5.     cv::FileStorage fSettings(configFile, cv::FileStorage::READ);
6.     if (!fSettings.isOpened())
7.     {
8.         cerr << "[ERROR]: could not open configuration file at: " << configFile << endl;
9.         cerr << "Aborting..." << endl;
11.         exit(-1);
12.     }
13.     else
14.     {
15.         cout << "Loading settings from " << configFile << endl;
16.     }   
17. // Read first camera
18.     readCamera1(fSettings);
19.     cout << "\t-Loaded camera 1" << endl;   
20. // Read second camera if stereo (not rectified)
21.     if (sensor_ == System::STEREO || sensor_ == System::IMU_STEREO)
22.     {
23.         readCamera2(fSettings);
24.         cout << "\t-Loaded camera 2" << endl;
25.     }    // Read image info    readImageInfo(fSettings);    cout << "\t-Loaded image info" << endl;   
26. if (sensor_ == System::IMU_MONOCULAR || sensor_ == System::IMU_STEREO || sensor_ == System::IMU_RGBD)
27.     {
28.         readIMU(fSettings);
29.         cout << "\t-Loaded IMU calibration" << endl;
30.     }   
31. if (sensor_ == System::RGBD || sensor_ == System::IMU_RGBD)
32.     {
33.         readRGBD(fSettings);
34.         cout << "\t-Loaded RGB-D calibration" << endl;
35.     }   
36. readORB(fSettings);
37.     cout << "\t-Loaded ORB settings" << endl;
38.     readViewer(fSettings);
39.     cout << "\t-Loaded viewer settings" << endl;
40.     readLoadAndSave(fSettings);
41.     cout << "\t-Loaded Atlas settings" << endl;
42.     readOtherParameters(fSettings);
43.     cout << "\t-Loaded misc parameters" << endl;   
44. if (bNeedToRectify_)
45.     {
46.         precomputeRectificationMaps();
47.         cout << "\t-Computed rectification maps" << endl;
48.     }    cout << "----------------------------------" << endl;}

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竣事语

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