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aux/tracking: Adjust checkerboard corners for subpixel accuracy

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This commit is contained in:
Jakob Bornecrantz 2019-09-28 02:45:28 +01:00
parent ee3f54adb6
commit 6dcf69df83
3 changed files with 21 additions and 3 deletions
src/xrt
auxiliary/tracking
t_calibration.cppt_tracking.h
targets/gui
gui_scene_calibrate.c

17
src/xrt/auxiliary/tracking/t_calibration.cpp
View file

@ -113,6 +113,9 @@ public:
} state;
bool subpixel_enable;
bool subpixel_size;
bool clear_frame = false;
cv::Mat grey;
@ -241,6 +244,16 @@ do_view(class Calibration &c,
draw_rect(rgb, view.post_rect, cv::Scalar(0, 255, 0));
}
if (found && c.subpixel_enable) {
cv::TermCriteria tcrit(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30,
0.1);
cv::Size size(c.subpixel_size, c.subpixel_size);
cv::Size zero(-1, -1);
cv::cornerSubPix(grey, view.current, size, zero, tcrit);
}
cv::drawChessboardCorners(rgb, c.chessboard_size, view.current, found);
return found;
@ -557,12 +570,12 @@ t_calibration_stereo_create(struct xrt_frame_context *xfctx,
struct xrt_frame_sink *gui,
struct xrt_frame_sink **out_sink)
{
auto &c = *(new Calibration());
c.gui.sink = gui;
c.base.push_frame = t_calibration_frame;
c.subpixel_enable = params->subpixel_enable;
c.subpixel_size = params->subpixel_size;
*out_sink = &c.base;

5
src/xrt/auxiliary/tracking/t_tracking.h
View file

@ -177,7 +177,7 @@ t_psvr_create(struct xrt_frame_context *xfctx,
#define T_CALIBRATION_DEFAULT_PARAMS \
{ \
9, 7, 0.025f, \
9, 7, 0.025f, true, 5, \
}
struct t_calibration_params
@ -185,6 +185,9 @@ struct t_calibration_params
int checker_cols_num;
int checker_rows_num;
float checker_size_meters;
bool subpixel_enable;
int subpixel_size;
};
int

2
src/xrt/targets/gui/gui_scene_calibrate.c
View file

@ -112,6 +112,8 @@ scene_render_select(struct gui_scene *scene, struct program *p)
igInputInt("Checkerboard Rows", &cs->params.checker_rows_num, 1, 5, 0);
igInputInt("Checkerboard Columns", &cs->params.checker_cols_num, 1, 5,
0);
igCheckbox("Subpixel", &cs->params.subpixel_enable);
igInputInt("Subpixel Search Size", &cs->params.subpixel_size, 1, 5, 0);
static ImVec2 button_dims = {0, 0};
bool pressed = igButton("Done", button_dims);