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t/calib: Stub in support for mono calibration

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This commit is contained in:
Jakob Bornecrantz 2019-11-17 22:01:59 +00:00
parent ad45aeb0a7
commit b358e22fd7
1 changed files with 42 additions and 26 deletions
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68
src/xrt/auxiliary/tracking/t_calibration.cpp
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@ -354,32 +354,33 @@ process_stereo_samples(class Calibration &c, int cols, int rows)
t_file_save_raw_data_hack(&raw);
}
/*!
* Make a mono frame.
*/
static void
make_calibration_frame(class Calibration &c)
make_calibration_frame_mono(class Calibration &c)
{
auto &rgb = c.gui.rgb;
auto &grey = c.grey;
// This should not happen.
if (rgb.rows == 0 || rgb.cols == 0) {
return;
}
bool found = do_view(c, c.state.view[0], grey, rgb);
(void)found;
// Don't do anything if we are done.
if (c.state.calibrated) {
print_txt(rgb, c.text, 1.5);
P("MONO IS WIP!");
send_rgb_frame(c);
return;
}
// Draw text and finally send the frame off.
print_txt(rgb, c.text, 1.5);
send_rgb_frame(c);
}
// Clear our gui frame.
if (c.clear_frame) {
cv::rectangle(rgb, cv::Point2f(0, 0),
cv::Point2f(rgb.cols, rgb.rows),
cv::Scalar(0, 0, 0), -1, 0);
}
/*!
* Make a stereo frame side by side.
*/
static void
make_calibration_frame_sbs(class Calibration &c)
{
auto &rgb = c.gui.rgb;
auto &grey = c.grey;
int cols = rgb.cols / 2;
int rows = rgb.rows;
@ -515,13 +516,6 @@ t_calibration_frame(struct xrt_frame_sink *xsink, struct xrt_frame *xf)
{
auto &c = *(class Calibration *)xsink;
//! @todo Add single view support.
if (xf->stereo_format != XRT_STEREO_FORMAT_SBS) {
P("ERROR: Not side by side stereo!");
make_gui_str(c);
return;
}
// Fill both c.gui.rgb and c.grey with the data we got.
switch (xf->format) {
case XRT_FORMAT_YUV888: process_frame_yuv(c, xf); break;
@ -532,7 +526,29 @@ t_calibration_frame(struct xrt_frame_sink *xsink, struct xrt_frame *xf)
return;
}
make_calibration_frame(c);
// Don't do anything if we are done.
if (c.state.calibrated) {
print_txt(c.gui.rgb, c.text, 1.5);
send_rgb_frame(c);
return;
}
// Clear our gui frame.
if (c.clear_frame) {
cv::rectangle(c.gui.rgb, cv::Point2f(0, 0),
cv::Point2f(c.gui.rgb.cols, c.gui.rgb.rows),
cv::Scalar(0, 0, 0), -1, 0);
}
switch (xf->stereo_format) {
case XRT_STEREO_FORMAT_SBS: make_calibration_frame_sbs(c); break;
case XRT_STEREO_FORMAT_NONE: make_calibration_frame_mono(c); break;
default:
P("ERROR: Unknown stereo format! '%i'", xf->stereo_format);
make_gui_str(c);
return;
}
}