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t/calib: Expand mono calibration a bit

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Jakob Bornecrantz 2019-11-18 19:13:12 +00:00 committed by Jakob Bornecrantz
parent 9347ecfe00
commit 79b7d2504a
2 changed files with 50 additions and 4 deletions
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48
src/xrt/auxiliary/tracking/t_calibration.cpp
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@ -112,10 +112,20 @@ public:
uint32_t calibration_count;
bool calibrated;
uint32_t waited_for;
uint32_t collected_of_part;
} state;
bool subpixel_enable;
bool subpixel_size;
int subpixel_size;
//! Number of frames to wait for before collecting.
uint32_t num_wait_for;
//! Total number of samples to collect.
uint32_t num_collect_total;
//! Number of frames to capture before restarting.
uint32_t num_collect_restart;
bool clear_frame = false;
@ -366,7 +376,37 @@ make_calibration_frame_mono(class Calibration &c)
bool found = do_view(c, c.state.view[0], grey, rgb);
(void)found;
P("MONO IS WIP!");
int num = (int)c.state.chessboards_model.size();
int of = c.num_collect_total;
P("(%i/%i) SHOW CHESSBOARD", num, of);
// Poor mans goto.
do {
if (!found) {
c.state.waited_for = c.num_wait_for;
c.state.collected_of_part = 0;
break;
}
if (c.state.waited_for > 0) {
P("(%i/%i) WAITING %i FRAMES", num, of,
c.state.waited_for);
c.state.waited_for--;
break;
}
if (c.state.collected_of_part >= c.num_collect_restart) {
c.state.waited_for = c.num_wait_for * 2;
c.state.collected_of_part = 0;
break;
}
c.state.chessboards_model.push_back(c.chessboard_model);
c.state.view[0].measured.push_back(c.state.view[0].current);
c.state.collected_of_part++;
P("(%i/%i) COLLECTED #%i", num, of, c.state.collected_of_part);
} while (false);
// Draw text and finally send the frame off.
print_txt(rgb, c.text, 1.5);
@ -570,7 +610,9 @@ t_calibration_stereo_create(struct xrt_frame_context *xfctx,
c.base.push_frame = t_calibration_frame;
c.subpixel_enable = params->subpixel_enable;
c.subpixel_size = params->subpixel_size;
c.num_wait_for = params->num_wait_for;
c.num_collect_total = params->num_collect_total;
c.num_collect_restart = params->num_collect_restart;
*out_sink = &c.base;
P("Waiting for camera");

6
src/xrt/auxiliary/tracking/t_tracking.h
View file

@ -329,7 +329,7 @@ t_psvr_create(struct xrt_frame_context *xfctx,
#define T_CALIBRATION_DEFAULT_PARAMS \
{ \
9, 7, 0.025f, true, 5, \
9, 7, 0.0173333f, true, 5, 20, 60, 2 \
}
struct t_calibration_params
@ -340,6 +340,10 @@ struct t_calibration_params
bool subpixel_enable;
int subpixel_size;
uint32_t num_wait_for;
uint32_t num_collect_total;
uint32_t num_collect_restart;
};
int