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t/file: Add comments and restyle (NFC)

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This commit is contained in:
Jakob Bornecrantz 2019-10-12 12:23:42 +01:00
parent 783a36fbcc
commit a435817a6f
1 changed files with 53 additions and 23 deletions
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76
src/xrt/auxiliary/tracking/t_file.cpp
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@ -58,8 +58,6 @@ t_file_load_stereo_calibration_v1(FILE *calib_file,
CalibrationRawData &raw = *(new CalibrationRawData());
CalibrationData &data = *(new CalibrationData());
cv::Mat zero_distortion = cv::Mat(5, 1, CV_32F, cv::Scalar(0.0f));
//! @todo Load from file.
bool use_fisheye = false;
@ -113,32 +111,64 @@ t_file_load_stereo_calibration_v1(FILE *calib_file,
if (use_fisheye) {
cv::fisheye::initUndistortRectifyMap(
raw.l_intrinsics, raw.l_distortion_fisheye, cv::noArray(),
raw.l_intrinsics, image_size, CV_32FC1,
data.l_undistort_map_x, data.l_undistort_map_y);
raw.l_intrinsics, // cameraMatrix
raw.l_distortion_fisheye, // distCoeffs
cv::noArray(), // R
raw.l_intrinsics, // newCameraMatrix
image_size, // size
CV_32FC1, // m1type
data.l_undistort_map_x, // map1
data.l_undistort_map_y); // map2
cv::fisheye::initUndistortRectifyMap(
raw.r_intrinsics, raw.r_distortion_fisheye, cv::noArray(),
raw.r_intrinsics, image_size, CV_32FC1,
data.r_undistort_map_x, data.r_undistort_map_y);
raw.r_intrinsics, // cameraMatrix
raw.r_distortion_fisheye, // distCoeffs
cv::noArray(), // R
raw.r_intrinsics, // newCameraMatrix
image_size, // size
CV_32FC1, // m1type
data.r_undistort_map_x, // map1
data.r_undistort_map_y); // map2
} else {
cv::initUndistortRectifyMap(
raw.l_intrinsics, raw.l_distortion, cv::noArray(),
raw.l_intrinsics, image_size, CV_32FC1,
data.l_undistort_map_x, data.l_undistort_map_y);
cv::initUndistortRectifyMap(
raw.r_intrinsics, raw.r_distortion, cv::noArray(),
raw.r_intrinsics, image_size, CV_32FC1,
data.r_undistort_map_x, data.r_undistort_map_y);
cv::initUndistortRectifyMap(raw.l_intrinsics, // cameraMatrix
raw.l_distortion, // distCoeffs
cv::noArray(), // R
raw.l_intrinsics, // newCameraMatrix
image_size, // size
CV_32FC1, // m1type
data.l_undistort_map_x, // map1
data.l_undistort_map_y); // map2
cv::initUndistortRectifyMap(raw.r_intrinsics, // cameraMatrix
raw.r_distortion, // distCoeffs
cv::noArray(), // R
raw.r_intrinsics, // newCameraMatrix
image_size, // size
CV_32FC1, // m1type
data.r_undistort_map_x, // map1
data.r_undistort_map_y); // map2
}
// Generate our rectification maps
/*
* Generate our rectification maps
*
* Here cv::noArray() means zero distortion.
*/
cv::initUndistortRectifyMap(
raw.l_intrinsics, zero_distortion, raw.l_rotation, raw.l_projection,
image_size, CV_32FC1, data.l_rectify_map_x, data.l_rectify_map_y);
cv::initUndistortRectifyMap(
raw.r_intrinsics, zero_distortion, raw.r_rotation, raw.r_projection,
image_size, CV_32FC1, data.r_rectify_map_x, data.r_rectify_map_y);
cv::initUndistortRectifyMap(raw.l_intrinsics, // cameraMatrix
cv::noArray(), // distCoeffs
raw.l_rotation, // R
raw.l_projection, // newCameraMatrix
image_size, // size
CV_32FC1, // m1type
data.l_rectify_map_x, // map1
data.l_rectify_map_y); // map2
cv::initUndistortRectifyMap(raw.r_intrinsics, // cameraMatrix
cv::noArray(), // distCoeffs
raw.r_rotation, // R
raw.r_projection, // newCameraMatrix
image_size, // size
CV_32FC1, // m1type
data.r_rectify_map_x, // map1
data.r_rectify_map_y); // map2
*out_data = &data;
*out_raw_data = &raw;