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t/calib: Also save the fisheye distortion always

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This commit is contained in:
Jakob Bornecrantz 2019-11-14 17:05:16 +00:00
parent f9599a6763
commit 419f038017
3 changed files with 24 additions and 17 deletions
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10
src/xrt/auxiliary/tracking/t_calibration_opencv.h
View file

@ -35,13 +35,11 @@ public:
cv::Mat l_intrinsics_mat = {};
cv::Mat l_distortion_mat = {};
cv::Mat l_distortion_fisheye_mat = {};
cv::Mat l_translation_mat = {};
cv::Mat l_rotation_mat = {};
cv::Mat l_projection_mat = {};
cv::Mat r_intrinsics_mat = {};
cv::Mat r_distortion_mat = {};
cv::Mat r_distortion_fisheye_mat = {};
cv::Mat r_translation_mat = {};
cv::Mat r_rotation_mat = {};
cv::Mat r_projection_mat = {};
@ -57,11 +55,13 @@ public:
l_intrinsics_mat = cv::Mat(3, 3, CV_64F, &l_intrinsics[0][0]);
l_distortion_mat = cv::Mat(1, 5, CV_64F, &l_distortion[0]);
l_distortion_fisheye_mat = cv::Mat(1, 4, CV_64F, &l_distortion_fisheye[0]);
l_rotation_mat = cv::Mat(3, 3, CV_64F, &l_rotation[0][0]);
l_projection_mat = cv::Mat(3, 4, CV_64F, &l_projection[0][0]);
r_intrinsics_mat = cv::Mat(3, 3, CV_64F, &r_intrinsics[0][0]);
r_distortion_mat = cv::Mat(1, 5, CV_64F, &r_distortion[0]);
r_distortion_fisheye_mat = cv::Mat(1, 4, CV_64F, &r_distortion_fisheye[0]);
r_rotation_mat = cv::Mat(3, 3, CV_64F, &r_rotation[0][0]);
r_projection_mat = cv::Mat(3, 4, CV_64F, &r_projection[0][0]);
// clang-format on
@ -76,14 +76,12 @@ public:
camera_fundamental_mat.size() == cv::Size(3, 3) &&
l_intrinsics_mat.size() == cv::Size(3, 3) &&
l_distortion_mat.size() == cv::Size(5, 1) &&
l_distortion_fisheye_mat.size() == cv::Size(0, 0) &&
l_translation_mat.size() == cv::Size(0, 0) &&
l_distortion_fisheye_mat.size() == cv::Size(4, 1) &&
l_rotation_mat.size() == cv::Size(3, 3) &&
l_projection_mat.size() == cv::Size(4, 3) &&
r_intrinsics_mat.size() == cv::Size(3, 3) &&
r_distortion_mat.size() == cv::Size(5, 1) &&
r_distortion_fisheye_mat.size() == cv::Size(0, 0) &&
r_translation_mat.size() == cv::Size(0, 0) &&
r_distortion_fisheye_mat.size() == cv::Size(4, 1) &&
r_rotation_mat.size() == cv::Size(3, 3) &&
r_projection_mat.size() == cv::Size(4, 3);
}

20
src/xrt/auxiliary/tracking/t_file.cpp
View file

@ -61,6 +61,10 @@ t_file_load_stereo_calibration_v1(FILE *calib_file,
assert(raw.isDataStorageValid());
// Dummies
cv::Mat l_translation_dummy;
cv::Mat r_translation_dummy;
//! @todo Load from file.
bool use_fisheye = false;
@ -74,8 +78,8 @@ t_file_load_stereo_calibration_v1(FILE *calib_file,
read_cv_mat(calib_file, &raw.r_distortion_fisheye_mat, "r_distortion_fisheye");
read_cv_mat(calib_file, &raw.l_rotation_mat, "l_rotation"); // 3 x 3
read_cv_mat(calib_file, &raw.r_rotation_mat, "r_rotation"); // 3 x 3
read_cv_mat(calib_file, &raw.l_translation_mat, "l_translation"); // empty
read_cv_mat(calib_file, &raw.r_translation_mat, "r_translation"); // empty
read_cv_mat(calib_file, &l_translation_dummy, "l_translation"); // empty
read_cv_mat(calib_file, &r_translation_dummy, "r_translation"); // empty
read_cv_mat(calib_file, &raw.l_projection_mat, "l_projection"); // 3 x 4
read_cv_mat(calib_file, &raw.r_projection_mat, "r_projection"); // 3 x 4
read_cv_mat(calib_file, &raw.disparity_to_depth_mat, "disparity_to_depth"); // 4 x 4
@ -213,6 +217,10 @@ t_file_save_raw_data(FILE *calib_file, struct t_calibration_raw_data *raw_data)
{
CalibrationRawData &raw = *(CalibrationRawData *)raw_data;
cv::Mat l_translation_dummy;
cv::Mat r_translation_dummy;
write_cv_mat(calib_file, &raw.l_intrinsics_mat);
write_cv_mat(calib_file, &raw.r_intrinsics_mat);
write_cv_mat(calib_file, &raw.l_distortion_mat);
@ -221,8 +229,8 @@ t_file_save_raw_data(FILE *calib_file, struct t_calibration_raw_data *raw_data)
write_cv_mat(calib_file, &raw.r_distortion_fisheye_mat);
write_cv_mat(calib_file, &raw.l_rotation_mat);
write_cv_mat(calib_file, &raw.r_rotation_mat);
write_cv_mat(calib_file, &raw.l_translation_mat);
write_cv_mat(calib_file, &raw.r_translation_mat);
write_cv_mat(calib_file, &l_translation_dummy);
write_cv_mat(calib_file, &r_translation_dummy);
write_cv_mat(calib_file, &raw.l_projection_mat);
write_cv_mat(calib_file, &raw.r_projection_mat);
write_cv_mat(calib_file, &raw.disparity_to_depth_mat);
@ -345,6 +353,10 @@ read_cv_mat(FILE *f, cv::Mat *m, const char *name)
return false;
}
if (header[1] == 0 && header[2] == 0) {
return true;
}
//! @todo We may have written things other than CV_32F and CV_64F.
if (header[0] == 4) {
m->create(static_cast<int>(header[1]),

11
src/xrt/auxiliary/tracking/t_tracking.h
View file

@ -249,6 +249,8 @@ struct t_calibration_raw_data
double l_intrinsics[3][3];
//! Left camera distortion
double l_distortion[5];
//! Left fisheye camera distortion
double l_distortion_fisheye[4];
//! Left rectification transform (rotation matrix).
double l_rotation[3][3];
//! Left projection matrix in the new (rectified) coordinate systems.
@ -258,17 +260,12 @@ struct t_calibration_raw_data
double r_intrinsics[3][3];
//! Right camera distortion
double r_distortion[5];
//! Right fisheye camera distortion
double r_distortion_fisheye[4];
//! Right rectification transform (rotation matrix).
double r_rotation[3][3];
//! Right projection matrix in the new (rectified) coordinate systems.
double r_projection[3][4];
#if 0
double r_translation[3]; // [0 x 0] [1 x 3]??
double r_distortion_fisheye[4]; // [0 x 0] [4 x 1]??
double l_translation[3]; // [0 x 0] [1 x 3]??
double l_distortion_fisheye[4]; // [0 x 0] [4 x 1]??
#endif
};
/*!