rob2048 / vectorone Goto Github PK

        printf(JSON);
	QJsonObject trackerObj = QJsonDocument::fromJson(JSON).object();

	name = trackerObj["name"].toString();
	exposure = trackerObj["exposure"].toInt();
	iso = trackerObj["iso"].toInt();

	QJsonArray jsonIntrinMat = trackerObj["intrinsic"].toObject()["camera"].toArray();
	QJsonArray jsonIntrinDist = trackerObj["intrinsic"].toObject()["distortion"].toArray();
	QJsonArray jsonExtrinProj = trackerObj["extrinsic"].toObject()["pose"].toArray();

	distCoefs = cv::Mat::zeros(5, 1, CV_64F);
	distCoefs.at<double>(0) = jsonIntrinDist[0].toDouble();
	distCoefs.at<double>(1) = jsonIntrinDist[1].toDouble();
	distCoefs.at<double>(2) = jsonIntrinDist[2].toDouble();
	distCoefs.at<double>(3) = jsonIntrinDist[3].toDouble();
	distCoefs.at<double>(4) = jsonIntrinDist[4].toDouble();

	camMat = cv::Mat::eye(3, 3, CV_64F);
	camMat.at<double>(0, 0) = jsonIntrinMat[0].toDouble();
	camMat.at<double>(1, 0) = jsonIntrinMat[1].toDouble();
	camMat.at<double>(2, 0) = jsonIntrinMat[2].toDouble();
	camMat.at<double>(0, 1) = jsonIntrinMat[3].toDouble();
	camMat.at<double>(1, 1) = jsonIntrinMat[4].toDouble();
	camMat.at<double>(2, 1) = jsonIntrinMat[5].toDouble();
	camMat.at<double>(0, 2) = jsonIntrinMat[6].toDouble();
	camMat.at<double>(1, 2) = jsonIntrinMat[7].toDouble();
	camMat.at<double>(2, 2) = jsonIntrinMat[8].toDouble();

distCoefs.at<double>(0) = jsonIntrinDist[0].toDouble();