mirror of
https://gitlab.freedesktop.org/monado/monado.git
synced 2024-12-29 11:06:18 +00:00
st/gui: Save camera and calibration data using new settings
This commit is contained in:
Jakob Bornecrantz
Jakob Bornecrantz
parent
bc31233570
commit
a11aa689a7
1
doc/changes/state_trackers/mr.266.1.md
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1
doc/changes/state_trackers/mr.266.1.md
Normal file
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@ -0,0 +1 @@
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gui: Save camera and calibration data using new settings structs and format.
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@ -30,6 +30,7 @@ struct xrt_prober;
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struct xrt_fs;
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struct xrt_frame_sink;
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struct xrt_frame_context;
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struct xrt_settings_tracking;
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struct time_state;
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struct gui_scene_manager;
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@ -213,6 +214,7 @@ gui_scene_debug(struct gui_program *p);
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/*!
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* Given the frameserver runs some debug code on it.
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* Claims ownership of @p s.
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*
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* @ingroup gui
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*/
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@ -220,10 +222,11 @@ void
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gui_scene_debug_video(struct gui_program *p,
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struct xrt_frame_context *xfctx,
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struct xrt_fs *xfs,
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size_t mode);
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struct xrt_settings_tracking *s);
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/*!
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* Given the frameserver runs the calibration code on it.
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* Claims ownership of @p s.
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*
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* @ingroup gui
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*/
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@ -231,7 +234,7 @@ void
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gui_scene_calibrate(struct gui_program *p,
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struct xrt_frame_context *xfctx,
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struct xrt_fs *xfs,
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size_t mode);
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struct xrt_settings_tracking *s);
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#ifdef __cplusplus
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@ -11,6 +11,8 @@
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#include "util/u_var.h"
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#include "util/u_misc.h"
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#include "util/u_sink.h"
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#include "util/u_file.h"
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#include "util/u_json.h"
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#ifdef XRT_HAVE_OPENCV
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#include "tracking/t_tracking.h"
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@ -18,6 +20,7 @@
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#include "xrt/xrt_frame.h"
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#include "xrt/xrt_prober.h"
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#include "xrt/xrt_settings.h"
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#include "xrt/xrt_tracking.h"
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#include "xrt/xrt_frameserver.h"
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@ -27,13 +30,6 @@
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#include <assert.h>
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enum camera_type
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{
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CAM_REGULAR,
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CAM_PS4,
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CAM_LEAP_MOTION,
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};
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struct calibration_scene
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{
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struct gui_scene base;
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@ -45,9 +41,11 @@ struct calibration_scene
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struct xrt_frame_context *xfctx;
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struct xrt_fs *xfs;
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size_t mode;
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struct xrt_settings_tracking *settings;
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int camera_type;
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char filename[16];
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bool saved;
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};
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@ -58,18 +56,99 @@ struct calibration_scene
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*/
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#ifdef XRT_HAVE_OPENCV
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static void
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saved_header(struct calibration_scene *cs)
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{
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if (cs->saved) {
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igText("Saved!");
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} else {
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igText("#### NOT SAVED! NOT SAVED! NOT SAVED! NOT SAVED! ####");
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}
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}
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static void
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save_calibration(struct calibration_scene *cs)
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{
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if (cs->status.stereo_data == NULL) {
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igText("Calibration complete - showing preview of undistortion.");
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saved_header(cs);
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igSetNextItemWidth(115);
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igInputText(".calibration", cs->filename, sizeof(cs->filename), 0, NULL,
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NULL);
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igSameLine(0.0f, 4.0f);
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static ImVec2 button_dims = {0, 0};
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if (!igButton("Save", button_dims)) {
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saved_header(cs);
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return;
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}
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// Save the data.
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t_stereo_camera_calibration_save_v1_hack(cs->status.stereo_data);
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// Free data, no longer needed.
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t_stereo_camera_calibration_reference(&cs->status.stereo_data, NULL);
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/*
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*
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* Create the calibration path.
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*
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*/
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char tmp[sizeof(cs->filename) + 16];
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snprintf(tmp, sizeof(tmp), "%s.calibration", cs->filename);
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u_file_get_path_in_config_dir(tmp, cs->settings->calibration_path,
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sizeof(cs->settings->calibration_path));
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/*
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*
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* Camera config file.
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*
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*/
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cJSON *root = cJSON_CreateObject();
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cJSON *t = cJSON_AddObjectToObject(root, "tracking");
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cJSON_AddNumberToObject(t, "version", 0);
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cJSON_AddStringToObject(t, "camera_name", cs->settings->camera_name);
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cJSON_AddNumberToObject(t, "camera_mode", cs->settings->camera_mode);
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switch (cs->settings->camera_type) {
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case XRT_SETTINGS_CAMERA_TYPE_REGULAR_MONO:
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cJSON_AddStringToObject(t, "camera_type", "regular_mono");
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break;
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case XRT_SETTINGS_CAMERA_TYPE_REGULAR_SBS:
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cJSON_AddStringToObject(t, "camera_type", "regular_sbs");
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break;
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case XRT_SETTINGS_CAMERA_TYPE_PS4:
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cJSON_AddStringToObject(t, "camera_type", "ps4");
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break;
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case XRT_SETTINGS_CAMERA_TYPE_LEAP_MOTION:
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cJSON_AddStringToObject(t, "camera_type", "leap_motion");
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break;
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}
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cJSON_AddStringToObject(t, "calibration_path",
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cs->settings->calibration_path);
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char *str = cJSON_Print(root);
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fprintf(stderr, "%s\n", str);
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cJSON_Delete(root);
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FILE *config_file =
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u_file_open_file_in_config_dir("config_v0.json", "w");
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fprintf(config_file, "%s\n", str);
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fflush(config_file);
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fclose(config_file);
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config_file = NULL;
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free(str);
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/*
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*
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* Camera calibration file.
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*
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*/
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FILE *calib_file = fopen(cs->settings->calibration_path, "wb");
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t_stereo_camera_calibration_save_v1(calib_file, cs->status.stereo_data);
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fclose(calib_file);
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calib_file = NULL;
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cs->saved = true;
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}
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#endif
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@ -108,9 +187,6 @@ render_progress(struct calibration_scene *cs)
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{
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#ifdef XRT_HAVE_OPENCV
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if (cs->status.finished) {
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igText(
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"Calibration complete - showing preview of undistortion.");
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save_calibration(cs);
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return;
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}
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@ -194,18 +270,22 @@ scene_render_select(struct gui_scene *scene, struct gui_program *p)
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igBegin("Params", NULL, 0);
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// clang-format off
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igComboStr("Type", &cs->camera_type, "Regular\0PS4\0Leap Motion Controller\0\0", -1);
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igComboStr("Type", (int*)&cs->settings->camera_type, "Regular Mono\0Regular Stereo (Side-by-Side)\0PS4\0Leap Motion Controller\0\0", -1);
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switch (cs->camera_type) {
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case CAM_REGULAR:
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switch (cs->settings->camera_type) {
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case XRT_SETTINGS_CAMERA_TYPE_REGULAR_MONO:
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igCheckbox("Fisheye Camera", &cs->params.use_fisheye);
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igCheckbox("Stereo (Side-By-Side) Camera", &cs->params.stereo_sbs);
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cs->params.stereo_sbs = false;
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break;
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case CAM_PS4:
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case XRT_SETTINGS_CAMERA_TYPE_REGULAR_SBS:
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igCheckbox("Fisheye Camera", &cs->params.use_fisheye);
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cs->params.stereo_sbs = true;
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break;
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case XRT_SETTINGS_CAMERA_TYPE_PS4:
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cs->params.use_fisheye = false;
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cs->params.stereo_sbs = true;
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break;
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case CAM_LEAP_MOTION:
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case XRT_SETTINGS_CAMERA_TYPE_LEAP_MOTION:
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cs->params.use_fisheye = true;
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cs->params.stereo_sbs = true;
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break;
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@ -285,12 +365,13 @@ scene_render_select(struct gui_scene *scene, struct gui_program *p)
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struct u_sink_quirk_params qp;
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U_ZERO(&qp);
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qp.stereo_sbs = cs->params.stereo_sbs;
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qp.ps4_cam = cs->camera_type == CAM_PS4;
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qp.leap_motion = cs->camera_type == CAM_LEAP_MOTION;
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qp.ps4_cam = cs->settings->camera_type == XRT_SETTINGS_CAMERA_TYPE_PS4;
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qp.leap_motion =
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cs->settings->camera_type == XRT_SETTINGS_CAMERA_TYPE_LEAP_MOTION;
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u_sink_quirk_create(cs->xfctx, cali, &qp, &cali);
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// Now that we have setup a node graph, start it.
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xrt_fs_stream_start(cs->xfs, cali, cs->mode);
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xrt_fs_stream_start(cs->xfs, cali, cs->settings->camera_mode);
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#else
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gui_scene_delete_me(p, &cs->base);
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#endif
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@ -306,6 +387,14 @@ scene_destroy(struct gui_scene *scene, struct gui_program *p)
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cs->xfctx = NULL;
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}
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if (cs->settings != NULL) {
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free(cs->settings);
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cs->settings = NULL;
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}
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// Free data, no longer needed.
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t_stereo_camera_calibration_reference(&cs->status.stereo_data, NULL);
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free(cs);
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}
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@ -320,7 +409,7 @@ void
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gui_scene_calibrate(struct gui_program *p,
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struct xrt_frame_context *xfctx,
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struct xrt_fs *xfs,
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size_t mode)
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struct xrt_settings_tracking *s)
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{
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struct calibration_scene *cs = U_TYPED_CALLOC(struct calibration_scene);
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@ -328,7 +417,7 @@ gui_scene_calibrate(struct gui_program *p,
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cs->base.destroy = scene_destroy;
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cs->xfctx = xfctx;
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cs->xfs = xfs;
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cs->mode = mode;
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cs->settings = s;
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#ifdef XRT_HAVE_OPENCV
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t_calibration_params_default(&cs->params);
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@ -343,25 +432,36 @@ gui_scene_calibrate(struct gui_program *p,
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cs->params.num_cooldown_frames = 240;
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cs->params.num_wait_for = 10;
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cs->params.stereo_sbs = true;
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cs->camera_type = CAM_PS4;
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cs->settings->camera_type = XRT_SETTINGS_CAMERA_TYPE_PS4;
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snprintf(cs->filename, sizeof(cs->filename), "PS4");
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}
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// Leap Motion.
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if (strcmp(xfs->name, "Leap Motion Controller") == 0) {
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cs->params.use_fisheye = true;
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cs->params.stereo_sbs = true;
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cs->camera_type = CAM_LEAP_MOTION;
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cs->settings->camera_type =
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XRT_SETTINGS_CAMERA_TYPE_LEAP_MOTION;
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snprintf(cs->filename, sizeof(cs->filename), "LeapMotion");
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}
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bool valve = strcmp(xfs->name, "3D Camera: eTronVideo") == 0;
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bool elp = strcmp(xfs->name, "3D USB Camera: 3D USB Camera") == 0;
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if (valve) {
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snprintf(cs->filename, sizeof(cs->filename), "Index");
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}
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if (elp) {
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snprintf(cs->filename, sizeof(cs->filename), "ELP");
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}
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// Valve Index and ELP Stereo Camera.
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if (strcmp(xfs->name, "3D Camera: eTronVideo") == 0 ||
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strcmp(xfs->name, "3D USB Camera: 3D USB Camera") == 0) {
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if (valve || elp) {
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cs->params.use_fisheye = true;
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cs->params.stereo_sbs = true;
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cs->camera_type = CAM_REGULAR;
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cs->settings->camera_type =
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XRT_SETTINGS_CAMERA_TYPE_REGULAR_SBS;
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}
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#endif
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gui_scene_push_front(p, &cs->base);
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}
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@ -19,6 +19,7 @@
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#include "xrt/xrt_frame.h"
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#include "xrt/xrt_prober.h"
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#include "xrt/xrt_tracking.h"
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#include "xrt/xrt_settings.h"
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#include "xrt/xrt_frameserver.h"
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#include "math/m_api.h"
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@ -372,7 +373,7 @@ void
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gui_scene_debug_video(struct gui_program *p,
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struct xrt_frame_context *xfctx,
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struct xrt_fs *xfs,
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size_t mode)
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struct xrt_settings_tracking *s)
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{
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struct debug_scene *ds = U_TYPED_CALLOC(struct debug_scene);
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uint32_t num_texs = 0;
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@ -406,7 +407,7 @@ gui_scene_debug_video(struct gui_program *p,
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u_var_visit(on_root_enter_sink, on_root_exit_sink, on_elem_sink, p);
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// Now that we have setup a node graph, start it.
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xrt_fs_stream_start(xfs, xsink, mode);
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xrt_fs_stream_start(xfs, xsink, s->camera_mode);
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}
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void
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@ -11,6 +11,7 @@
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#include "util/u_format.h"
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#include "xrt/xrt_prober.h"
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#include "xrt/xrt_settings.h"
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#include "xrt/xrt_frameserver.h"
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#include "gui_common.h"
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@ -27,11 +28,13 @@ struct video_select
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struct xrt_frame_context *xfctx;
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struct xrt_fs *xfs;
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struct xrt_settings_tracking *settings;
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struct xrt_fs_mode *modes;
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uint32_t num_modes;
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};
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static ImVec2 button_dims = {256, 0};
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static ImVec2 button_dims = {256 + 64, 0};
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/*
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@ -52,10 +55,16 @@ on_video_device(struct xrt_prober *xp,
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return;
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}
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if (!igButton(name, button_dims)) {
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char buf[256] = {0};
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snprintf(buf, sizeof(buf), "%04x:%04x '%s'\n", pdev->vendor_id,
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pdev->product_id, name);
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if (!igButton(buf, button_dims)) {
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return;
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}
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snprintf(vs->settings->camera_name, sizeof(vs->settings->camera_name),
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"%s", name);
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vs->xfctx = U_TYPED_CALLOC(struct xrt_frame_context);
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xrt_prober_open_video_device(xp, pdev, vs->xfctx, &vs->xfs);
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xrt_fs_enumerate_modes(vs->xfs, &vs->modes, &vs->num_modes);
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@ -93,14 +102,19 @@ scene_render(struct gui_scene *scene, struct gui_program *p)
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continue;
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}
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vs->settings->camera_mode = i;
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// User selected this mode, create the debug scene.
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if (vs->test) {
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gui_scene_debug_video(p, vs->xfctx, vs->xfs, i);
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gui_scene_debug_video(p, vs->xfctx, vs->xfs,
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vs->settings);
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} else if (vs->calibrate) {
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gui_scene_calibrate(p, vs->xfctx, vs->xfs, i);
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gui_scene_calibrate(p, vs->xfctx, vs->xfs,
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vs->settings);
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}
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// We should not clean these up, zero them out.
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vs->settings = NULL;
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vs->xfctx = NULL;
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vs->xfs = NULL;
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@ -133,9 +147,26 @@ scene_destroy(struct gui_scene *scene, struct gui_program *p)
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vs->modes = NULL;
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}
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if (vs->settings != NULL) {
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free(vs->settings);
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vs->settings = NULL;
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}
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free(scene);
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}
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static struct video_select *
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create(void)
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{
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struct video_select *vs = U_TYPED_CALLOC(struct video_select);
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vs->base.render = scene_render;
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vs->base.destroy = scene_destroy;
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vs->settings = U_TYPED_CALLOC(struct xrt_settings_tracking);
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return vs;
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}
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/*
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*
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@ -146,10 +177,7 @@ scene_destroy(struct gui_scene *scene, struct gui_program *p)
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void
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gui_scene_select_video_test(struct gui_program *p)
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{
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struct video_select *vs = U_TYPED_CALLOC(struct video_select);
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||||
|
||||
vs->base.render = scene_render;
|
||||
vs->base.destroy = scene_destroy;
|
||||
struct video_select *vs = create();
|
||||
vs->test = true;
|
||||
|
||||
gui_scene_push_front(p, &vs->base);
|
||||
|
|
@ -158,10 +186,7 @@ gui_scene_select_video_test(struct gui_program *p)
|
|||
void
|
||||
gui_scene_select_video_calibrate(struct gui_program *p)
|
||||
{
|
||||
struct video_select *vs = U_TYPED_CALLOC(struct video_select);
|
||||
|
||||
vs->base.render = scene_render;
|
||||
vs->base.destroy = scene_destroy;
|
||||
struct video_select *vs = create();
|
||||
vs->calibrate = true;
|
||||
|
||||
gui_scene_push_front(p, &vs->base);
|
||||
|
|
|
|||
Loading…
Reference in a new issue