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t/psmv: Retrieve more data from camera calib.

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Ryan Pavlik 2020-01-13 17:40:18 -06:00 committed by Jakob Bornecrantz
parent e5224cf02e
commit cf883817c2
1 changed files with 17 additions and 1 deletions
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18
src/xrt/auxiliary/tracking/t_tracker_psmv.cpp
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@ -39,14 +39,25 @@ struct View
cv::Mat undistort_rectify_map_x;
cv::Mat undistort_rectify_map_y;
cv::Matx33d intrinsics;
cv::Mat distortion; // size may vary
cv::Vec4d distortion_fisheye;
bool use_fisheye;
std::vector<cv::KeyPoint> keypoints;
cv::Mat frame_undist_rectified;
void
populate_from_calib(t_camera_calibration & /* calib */,
populate_from_calib(t_camera_calibration &calib,
const RemapPair &rectification)
{
CameraCalibrationWrapper wrap(calib);
intrinsics = wrap.intrinsics_mat;
distortion = wrap.distortion_mat.clone();
distortion_fisheye = wrap.distortion_fisheye_mat;
use_fisheye = wrap.use_fisheye;
undistort_rectify_map_x = rectification.remap_x;
undistort_rectify_map_y = rectification.remap_y;
}
@ -82,6 +93,8 @@ struct TrackerPSMV
bool calibrated;
cv::Mat disparity_to_depth;
cv::Vec3d r_cam_translation;
cv::Matx33d r_cam_rotation;
cv::Ptr<cv::SimpleBlobDetector> sbd;
@ -567,6 +580,9 @@ t_psmv_create(struct xrt_frame_context *xfctx,
t.view[0].populate_from_calib(data->view[0], rectify.view[0].rectify);
t.view[1].populate_from_calib(data->view[1], rectify.view[1].rectify);
t.disparity_to_depth = rectify.disparity_to_depth_mat;
StereoCameraCalibrationWrapper wrapped(data);
t.r_cam_rotation = wrapped.camera_rotation_mat;
t.r_cam_translation = wrapped.camera_translation_mat;
t.calibrated = true;
// clang-format off