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t/util: Add dump function for single camera calibration struct

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Mateo de Mayo 2021-11-23 17:11:32 -03:00 committed by Jakob Bornecrantz
parent 0268daff2d
commit 31f71251e0
2 changed files with 29 additions and 11 deletions
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30
src/xrt/auxiliary/tracking/t_data_utils.c
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@ -80,15 +80,15 @@ dump_size(const char *var, struct xrt_size size)
}
static void
dump_distortion(const char *prefix, struct t_camera_calibration *view)
dump_distortion(struct t_camera_calibration *view)
{
char buf[1024];
ssize_t curr = 0;
U_LOG_RAW("%s.use_fisheye = %s", prefix, view->use_fisheye ? "true" : "false");
U_LOG_RAW("use_fisheye = %s", view->use_fisheye ? "true" : "false");
if (view->use_fisheye) {
P("%s.distortion_fisheye = [", prefix);
P("distortion_fisheye = [");
for (uint32_t col = 0; col < 4; col++) {
P("%f", view->distortion_fisheye[col]);
if (col < 3) {
@ -97,7 +97,7 @@ dump_distortion(const char *prefix, struct t_camera_calibration *view)
}
P("]");
} else {
P("%s.distortion = [", prefix);
P("distortion = [");
for (uint32_t col = 0; col < view->distortion_num; col++) {
P("%f", view->distortion[col]);
if (col < view->distortion_num - 1) {
@ -133,15 +133,25 @@ t_stereo_camera_calibration_destroy(struct t_stereo_camera_calibration *c)
free(c);
}
void
t_camera_calibration_dump(struct t_camera_calibration *c)
{
U_LOG_RAW("t_camera_calibration {");
dump_size("image_size_pixels", c->image_size_pixels);
dump_mat("intrinsic", c->intrinsics);
dump_distortion(c);
U_LOG_RAW("}");
}
void
t_stereo_camera_calibration_dump(struct t_stereo_camera_calibration *c)
{
dump_size("view[0].image_size_pixels", c->view[0].image_size_pixels);
dump_mat("view[0].intrinsic", c->view[0].intrinsics);
dump_distortion("view[0]", &c->view[0]);
dump_size("view[1].image_size_pixels", c->view[0].image_size_pixels);
dump_mat("view[1].intrinsic", c->view[1].intrinsics);
dump_distortion("view[1]", &c->view[1]);
U_LOG_RAW("t_stereo_camera_calibration {");
U_LOG_RAW("view[0] = ");
t_camera_calibration_dump(&c->view[0]);
U_LOG_RAW("view[1] = ");
t_camera_calibration_dump(&c->view[1]);
dump_vector("camera_translation", c->camera_translation);
dump_mat("camera_rotation", c->camera_rotation);
U_LOG_RAW("}");
}

10
src/xrt/auxiliary/tracking/t_tracking.h
View file

@ -149,7 +149,15 @@ t_stereo_camera_calibration_reference(struct t_stereo_camera_calibration **dst,
}
/*!
* Small helper function that dumps the calibration data to logging.
* Small helper function that dumps one camera calibration data to logging.
*
* @relates t_camera_calibration
*/
void
t_camera_calibration_dump(struct t_camera_calibration *c);
/*!
* Small helper function that dumps the stereo calibration data to logging.
*
* @relates t_stereo_camera_calibration
*/