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t/calibration: Make it possible to select number distortion parameters

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Jakob Bornecrantz 2021-06-22 17:58:17 +01:00 committed by Jakob Bornecrantz
parent 9aff6fb9b3
commit dbb6b1f43c
5 changed files with 24 additions and 14 deletions
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2
src/xrt/auxiliary/tracking/t_calibration.cpp
View file

@ -519,7 +519,7 @@ process_stereo_samples(class Calibration &c, int cols, int rows)
cv::Size image_size(cols, rows);
cv::Size new_image_size(cols, rows);
StereoCameraCalibrationWrapper wrapped = {};
StereoCameraCalibrationWrapper wrapped = {5}; // We only use five distortion parameters.
wrapped.view[0].image_size_pixels.w = image_size.width;
wrapped.view[0].image_size_pixels.h = image_size.height;
wrapped.view[1].image_size_pixels = wrapped.view[0].image_size_pixels;

11
src/xrt/auxiliary/tracking/t_calibration_opencv.hpp
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@ -42,7 +42,7 @@ struct CameraCalibrationWrapper
: base(calib), image_size_pixels(calib.image_size_pixels),
image_size_pixels_cv(calib.image_size_pixels.w, calib.image_size_pixels.h),
intrinsics_mat(3, 3, &calib.intrinsics[0][0]),
distortion_mat(XRT_DISTORTION_MAX_DIM, 1, &calib.distortion[0]),
distortion_mat(base.distortion_num, 1, &calib.distortion[0]),
distortion_fisheye_mat(4, 1, &calib.distortion_fisheye[0]), use_fisheye(calib.use_fisheye)
{
assert(isDataStorageValid());
@ -55,7 +55,7 @@ struct CameraCalibrationWrapper
return intrinsics_mat.size() == cv::Size(3, 3) &&
(double *)intrinsics_mat.data == &(base.intrinsics[0][0]) &&
distortion_mat.size() == cv::Size(1, XRT_DISTORTION_MAX_DIM) &&
distortion_mat.size() == cv::Size(1, base.distortion_num) &&
(double *)distortion_mat.data == &(base.distortion[0]) &&
distortion_fisheye_mat.size() == cv::Size(1, 4) &&
@ -81,10 +81,10 @@ struct StereoCameraCalibrationWrapper
static t_stereo_camera_calibration *
allocData()
allocData(uint32_t distortion_num)
{
t_stereo_camera_calibration *data_ptr = NULL;
t_stereo_camera_calibration_alloc(&data_ptr);
t_stereo_camera_calibration_alloc(&data_ptr, distortion_num);
return data_ptr;
}
@ -102,7 +102,8 @@ struct StereoCameraCalibrationWrapper
assert(isDataStorageValid());
}
StereoCameraCalibrationWrapper() : StereoCameraCalibrationWrapper(allocData())
StereoCameraCalibrationWrapper(uint32_t distortion_num)
: StereoCameraCalibrationWrapper(allocData(distortion_num))
{
// The function allocData returns with a ref count of one,

9
src/xrt/auxiliary/tracking/t_data_utils.c
View file

@ -1,4 +1,4 @@
// Copyright 2019-2020, Collabora, Ltd.
// Copyright 2019-2021, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
@ -11,12 +11,17 @@
#include "util/u_misc.h"
#include <stdio.h>
#include <assert.h>
void
t_stereo_camera_calibration_alloc(struct t_stereo_camera_calibration **out_c)
t_stereo_camera_calibration_alloc(struct t_stereo_camera_calibration **out_c, uint32_t distortion_num)
{
assert(distortion_num == 5 || distortion_num == 14);
struct t_stereo_camera_calibration *c = U_TYPED_CALLOC(struct t_stereo_camera_calibration);
c->view[0].distortion_num = distortion_num;
c->view[1].distortion_num = distortion_num;
t_stereo_camera_calibration_reference(out_c, c);
}

2
src/xrt/auxiliary/tracking/t_file.cpp
View file

@ -179,7 +179,7 @@ t_stereo_camera_calibration_load_v1(FILE *calib_file, struct t_stereo_camera_cal
{
using xrt::auxiliary::tracking::StereoCameraCalibrationWrapper;
t_stereo_camera_calibration *data_ptr = NULL;
t_stereo_camera_calibration_alloc(&data_ptr);
t_stereo_camera_calibration_alloc(&data_ptr, 5); // Hardcoded to 5 distortion parameters.
StereoCameraCalibrationWrapper wrapped(data_ptr);
// Dummy matrix

14
src/xrt/auxiliary/tracking/t_tracking.h
View file

@ -1,4 +1,4 @@
// Copyright 2019-2020, Collabora, Ltd.
// Copyright 2019-2021, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
@ -45,7 +45,7 @@ struct xrt_tracked_hand;
*/
//! Maximum size of rectilinear distortion coefficient array
#define XRT_DISTORTION_MAX_DIM (5)
#define XRT_DISTORTION_MAX_DIM (14)
/*!
* @brief Essential calibration data for a single camera, or single lens/sensor
@ -59,8 +59,10 @@ struct t_camera_calibration
//! Camera intrinsics matrix
double intrinsics[3][3];
//! Rectilinear distortion coefficients: k1, k2, p1, p2[, k3[, k4, k5,
//! k6[, s1, s2, s3, s4]]
//! Number of distortion parameters (non-fisheye).
size_t distortion_num;
//! Rectilinear distortion coefficients: k1, k2, p1, p2[, k3[, k4, k5, k6[, s1, s2, s3, s4[, Tx, Ty]]]]
double distortion[XRT_DISTORTION_MAX_DIM];
//! Fisheye camera distortion coefficients
@ -95,10 +97,12 @@ struct t_stereo_camera_calibration
/*!
* Allocates a new stereo calibration data, unreferences the old @p calib.
*
* Also initializes view[s]::distortion_num, only 5 and 14 is accepted.
*
* @public @memberof t_stereo_camera_calibration
*/
void
t_stereo_camera_calibration_alloc(struct t_stereo_camera_calibration **calib);
t_stereo_camera_calibration_alloc(struct t_stereo_camera_calibration **calib, uint32_t distortion_num);
/*!
* Only to be called by @p t_stereo_camera_calibration_reference.