save/load camera config to avoid read-adapting

core/calibration/loader/DeviceCalibrationJson.cpp

@@ -82,7 +82,7 @@ std::optional<DeviceCalibration> deviceCalibrationFromJson(const std::string& ca
     deviceSubtype = json["DeviceClassInfo"]["BuildVersion"];
   }
 
-  // Create a Camera Config builder to parse in camera config information
+  // Create a Camera Config builder to parse in camera default config information
   CameraConfigBuilder cameraConfigBuilder(deviceVersion);
 
   std::map<std::string, CameraCalibration> cameraCalibs;
@@ -206,6 +206,15 @@ nlohmann::json cameraCalibrationToJson(const CameraCalibration& camCalib) {
     camJson["TimeOffsetSec_Device_Camera"] = camCalib.getTimeOffsetSecDeviceCamera();
   }
 
+  // Store config, so we can correctly load an already configured camera without re-applying
+  auto& jsonConfig = camJson["ConfigData"];
+  jsonConfig["ImageWidth"] = camCalib.getImageSize().x();
+  jsonConfig["ImageHeight"] = camCalib.getImageSize().y();
+  jsonConfig["MaxSolidAngle"] = camCalib.getMaxSolidAngle();
+  if(camCalib.getValidRadius().has_value()) {
+    jsonConfig["ValidRadius"] = *camCalib.getValidRadius();
+  }
+
   return camJson;
 }
 

core/calibration/loader/SensorCalibrationJson.cpp

@@ -53,11 +53,27 @@ CameraCalibration parseCameraCalibrationFromJson(
       ? static_cast<double>(json["TimeOffsetSec_Device_Camera"])
       : 0.0;
 
-  // Obtain camera config from builder
-  const auto maybeConfig = configBuilder.getCameraConfigData(label);
-  if (!maybeConfig.has_value()) {
-    throw std::runtime_error(
-        fmt::format("No config found for camera {} from Config builder", label));
+  // load saved config, if available - if not, then defaults will be loaded
+  std::optional<CameraConfigData> maybeConfig;
+  if(json.contains("ConfigData")) {
+    auto jsonConfig = json["ConfigData"];
+    maybeConfig = CameraConfigData {
+      .imageWidth = jsonConfig["ImageWidth"],
+      .imageHeight = jsonConfig["ImageHeight"],
+      .maxSolidAngle = jsonConfig["MaxSolidAngle"],
+    };
+    if(jsonConfig.contains("ValidRadius")) {
+      maybeConfig->maybeValidRadius = static_cast<double>(jsonConfig["ValidRadius"]);
+    }
+  }
+
+  // Obtain default camera config from builder
+  if(!maybeConfig.has_value()) {
+    maybeConfig = configBuilder.getCameraConfigData(label);
+    if (!maybeConfig.has_value()) {
+      throw std::runtime_error(
+          fmt::format("No config found for camera {} from Config builder", label));
+    }
   }
 
   CameraCalibration camCalib(