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aux/util: Add North Star "VIPD" and "polynomial 2D" distortion methods
This commit is contained in:
Moses Turner
parent
017997fba3
commit
93ec678110
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@ -1,9 +1,10 @@
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// Copyright 2019, Collabora, Ltd.
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// Copyright 2019-2021, Collabora, Ltd.
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief Code to generate disortion meshes.
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* @author Jakob Bornecrantz <jakob@collabora.com>
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* @author Moses Turner <moses@collabora.com>
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* @ingroup aux_distortion
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*/
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@ -14,6 +15,7 @@
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#include "util/u_distortion_mesh.h"
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#include "math/m_vec2.h"
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#include "math/m_api.h"
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#include <stdio.h>
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#include <assert.h>
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@ -266,6 +268,125 @@ u_compute_distortion_cardboard(struct u_cardboard_distortion_values *values,
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return true;
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}
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/*
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*
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* North Star "2D Polynomial" distortion
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* Sometimes known as "v2", filename is often NorthStarCalibration.json
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*
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*/
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static float
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u_ns_polyval2d(float X, float Y, float C[16])
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{
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float X2 = X * X;
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float X3 = X2 * X;
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float Y2 = Y * Y;
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float Y3 = Y2 * Y;
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return (((C[0]) + (C[1] * Y) + (C[2] * Y2) + (C[3] * Y3)) +
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((C[4] * X) + (C[5] * X * Y) + (C[6] * X * Y2) + (C[7] * X * Y3)) +
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((C[8] * X2) + (C[9] * X2 * Y) + (C[10] * X2 * Y2) + (C[11] * X2 * Y3)) +
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((C[12] * X3) + (C[13] * X3 * Y) + (C[14] * X3 * Y2) + (C[15] * X3 * Y3)));
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}
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bool
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u_compute_distortion_ns_p2d(struct u_ns_p2d_values *values, int view, float u, float v, struct xrt_uv_triplet *result)
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{
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// I think that OpenCV and Monado have different definitions of v coordinates, but not sure. if not,
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// unexplainable
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v = 1.0 - v;
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float x_ray = u_ns_polyval2d(u, v, view ? values->x_coefficients_left : values->x_coefficients_right);
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float y_ray = u_ns_polyval2d(u, v, view ? values->y_coefficients_left : values->y_coefficients_right);
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struct xrt_fov fov = values->fov[view];
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float left_ray_bound = tan(fov.angle_left);
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float right_ray_bound = tan(fov.angle_right);
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float up_ray_bound = tan(fov.angle_up);
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float down_ray_bound = tan(fov.angle_down);
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float u_eye = math_map_ranges(x_ray, left_ray_bound, right_ray_bound, 0, 1);
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float v_eye = math_map_ranges(y_ray, down_ray_bound, up_ray_bound, 0, 1);
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// boilerplate, put the UV coordinates in all the RGB slots
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result->r.x = u_eye;
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result->r.y = v_eye;
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result->g.x = u_eye;
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result->g.y = v_eye;
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result->b.x = u_eye;
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result->b.y = v_eye;
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return true;
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}
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/*
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*
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* Moses's "variable-IPD 2D" distortion
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* If Moses goes away or stops using North Star for some reason, please remove this - as of june 2021 nobody else is
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* using it.
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*
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*/
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bool
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u_compute_distortion_ns_vipd(struct u_ns_vipd_values *values, int view, float u, float v, struct xrt_uv_triplet *result)
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{
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int u_index_int = floorf(u * 64);
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int v_index_int = floorf(v * 64);
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float u_index_frac = (u * 64) - u_index_int;
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float v_index_frac = (v * 64) - v_index_int;
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float x_ray;
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float y_ray;
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if (u_index_frac > 0.0001) {
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// Probably this codepath if grid size is not 65x65
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// {top,bottom}-{left,right} notation might be inaccurate. The code *works* right now but don't take its
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// word when reading
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struct xrt_vec2 topleft = values->grid_for_use.grid[view][v_index_int][u_index_int];
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struct xrt_vec2 topright = values->grid_for_use.grid[view][v_index_int][u_index_int + 1];
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struct xrt_vec2 bottomleft = values->grid_for_use.grid[view][v_index_int + 1][u_index_int];
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struct xrt_vec2 bottomright = values->grid_for_use.grid[view][v_index_int + 1][u_index_int + 1];
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struct xrt_vec2 leftcorrect = {math_map_ranges(v_index_frac, 0, 1, topleft.x, bottomleft.x),
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math_map_ranges(v_index_frac, 0, 1, topleft.y, bottomleft.y)};
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struct xrt_vec2 rightcorrect = {math_map_ranges(v_index_frac, 0, 1, topright.x, bottomright.x),
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math_map_ranges(v_index_frac, 0, 1, topright.y, bottomright.y)};
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y_ray = math_map_ranges(u_index_frac, 0, 1, leftcorrect.x, rightcorrect.x);
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x_ray = math_map_ranges(u_index_frac, 0, 1, leftcorrect.y, rightcorrect.y);
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} else {
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// probably this path if grid size is 65x65 like normal
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x_ray = values->grid_for_use.grid[view][v_index_int][u_index_int].y;
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y_ray = values->grid_for_use.grid[view][v_index_int][u_index_int].x;
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}
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struct xrt_fov fov = values->fov[view];
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float left_ray_bound = tan(fov.angle_left);
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float right_ray_bound = tan(fov.angle_right);
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float up_ray_bound = tan(fov.angle_up);
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float down_ray_bound = tan(fov.angle_down);
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// printf("%f %f", fov.angle_down, fov.angle_up);
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float u_eye = math_map_ranges(x_ray, left_ray_bound, right_ray_bound, 0, 1);
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float v_eye = math_map_ranges(y_ray, down_ray_bound, up_ray_bound, 0, 1);
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// boilerplate, put the UV coordinates in all the RGB slots
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result->r.x = u_eye;
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result->r.y = v_eye;
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result->g.x = u_eye;
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result->g.y = v_eye;
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result->b.x = u_eye;
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result->b.y = v_eye;
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// printf("%f %f\n", values->grid_for_use.grid[view][v_index_int][u_index_int].y,
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// values->grid_for_use.grid[view][v_index_int][u_index_int].x);
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return true;
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}
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bool
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u_compute_distortion_none(float u, float v, struct xrt_uv_triplet *result)
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{
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@ -279,6 +400,7 @@ u_compute_distortion_none(float u, float v, struct xrt_uv_triplet *result)
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}
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/*
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*
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* No distortion.
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@ -4,6 +4,7 @@
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* @file
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* @brief Code to generate disortion meshes.
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* @author Jakob Bornecrantz <jakob@collabora.com>
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* @author Moses Turner <moses@collabora.com>
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* @ingroup aux_distortion
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*/
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@ -107,6 +108,60 @@ u_compute_distortion_cardboard(struct u_cardboard_distortion_values *values,
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struct xrt_uv_triplet *result);
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/*
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*
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* North Star 2D/Polynomial distortion.
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*
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*/
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struct u_ns_p2d_values
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{
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float x_coefficients_left[16];
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float x_coefficients_right[16];
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float y_coefficients_left[16];
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float y_coefficients_right[16];
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struct xrt_fov fov[2]; // left, right
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float ipd;
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};
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/*!
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* Distortion correction implementation for North Star 2D/Polynomial.
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*
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* @ingroup aux_distortion
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*/
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bool
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u_compute_distortion_ns_p2d(struct u_ns_p2d_values *values, int view, float u, float v, struct xrt_uv_triplet *result);
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/*
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*
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* North Star 2D/"VIPD" distortion.
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*
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*/
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struct u_ns_vipd_grid
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{
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struct xrt_vec2 grid[2][65][65];
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};
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struct u_ns_vipd_values
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{
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int number_of_ipds;
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float *ipds;
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struct u_ns_vipd_grid *grids;
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struct u_ns_vipd_grid grid_for_use;
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struct xrt_fov fov[2]; // left, right
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float ipd;
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};
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/*!
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* Distortion correction implementation for North Star 2D/"VIPD".
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*
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* @ingroup aux_distortion
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*/
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bool
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u_compute_distortion_ns_vipd(
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struct u_ns_vipd_values *values, int view, float u, float v, struct xrt_uv_triplet *result);
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/*
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*
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* None distortion
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