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t/calib: Print out rectify matricies

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This commit is contained in:
Jakob Bornecrantz 2020-01-17 13:24:56 +00:00
parent 67d33550cf
commit ba10152765
1 changed files with 30 additions and 26 deletions
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56
src/xrt/auxiliary/tracking/t_calibration.cpp
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@ -576,34 +576,9 @@ process_stereo_samples(class Calibration &c, int cols, int rows)
// Validate that nothing has been re-allocated.
assert(wrapped.isDataStorageValid());
// Tell the user what has happened.
P("CALIBRATION DONE RP ERROR %f", rp_error);
// clang-format off
std::cout << "#####\n";
std::cout << "calibration rp_error: " << rp_error << "\n";
std::cout << "camera_rotation:\n" << wrapped.camera_rotation_mat << "\n";
std::cout << "camera_translation:\n" << wrapped.camera_translation_mat << "\n";
if (!c.use_fisheye) {
std::cout << "camera_essential:\n" << wrapped.camera_essential_mat << "\n";
std::cout << "camera_fundamental:\n" << wrapped.camera_fundamental_mat << "\n";
}
std::cout << "#####\n";
std::cout << "view[0].intrinsics_mat:\n" << wrapped.view[0].intrinsics_mat << "\n";
if (c.use_fisheye) {
std::cout << "view[0].distortion_fisheye_mat:\n" << wrapped.view[0].distortion_fisheye_mat << "\n";
} else {
std::cout << "view[0].distortion_mat:\n" << wrapped.view[0].distortion_mat << "\n";
}
std::cout << "#####\n";
std::cout << "view[1].intrinsics_mat:\n" << wrapped.view[1].intrinsics_mat << "\n";
if (c.use_fisheye) {
std::cout << "view[1].distortion_fisheye_mat:\n" << wrapped.view[1].distortion_fisheye_mat << "\n";
} else {
std::cout << "view[1].distortion_mat:\n" << wrapped.view[1].distortion_mat << "\n";
}
// clang-format on
t_file_save_raw_data_hack(&data);
// Preview undistortion/rectification.
@ -615,6 +590,35 @@ process_stereo_samples(class Calibration &c, int cols, int rows)
c.state.view[1].map1 = maps.view[1].rectify.remap_x;
c.state.view[1].map2 = maps.view[1].rectify.remap_y;
c.state.view[1].maps_valid = true;
// clang-format off
std::cout << "#####\n";
std::cout << "calibration rp_error: " << rp_error << "\n";
std::cout << "camera_rotation:\n" << wrapped.camera_rotation_mat << "\n";
std::cout << "camera_translation:\n" << wrapped.camera_translation_mat << "\n";
if (!c.use_fisheye) {
std::cout << "camera_essential:\n" << wrapped.camera_essential_mat << "\n";
std::cout << "camera_fundamental:\n" << wrapped.camera_fundamental_mat << "\n";
}
std::cout << "#####\n";
if (c.use_fisheye) {
std::cout << "view[0].distortion_fisheye_mat:\n" << wrapped.view[0].distortion_fisheye_mat << "\n";
} else {
std::cout << "view[0].distortion_mat:\n" << wrapped.view[0].distortion_mat << "\n";
}
std::cout << "view[0].intrinsics_mat:\n" << wrapped.view[0].intrinsics_mat << "\n";
std::cout << "view[0].projection_mat:\n" << maps.view[0].projection_mat << "\n";
std::cout << "view[0].rotation_mat:\n" << maps.view[0].rotation_mat << "\n";
std::cout << "#####\n";
if (c.use_fisheye) {
std::cout << "view[1].distortion_fisheye_mat:\n" << wrapped.view[1].distortion_fisheye_mat << "\n";
} else {
std::cout << "view[1].distortion_mat:\n" << wrapped.view[1].distortion_mat << "\n";
}
std::cout << "view[1].intrinsics_mat:\n" << wrapped.view[1].intrinsics_mat << "\n";
std::cout << "view[1].projection_mat:\n" << maps.view[1].projection_mat << "\n";
std::cout << "view[1].rotation_mat:\n" << maps.view[1].rotation_mat << "\n";
// clang-format on
}
static void