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t/util: Add function to dump a stereo camera calibration

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This commit is contained in:
Jakob Bornecrantz 2021-10-09 18:26:39 +01:00
parent 7f247604e3
commit e8f7f2de0a
2 changed files with 121 additions and 0 deletions
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115
src/xrt/auxiliary/tracking/t_data_utils.c
View file

@ -8,12 +8,114 @@
*/
#include "tracking/t_tracking.h"
#include "util/u_misc.h"
#include "util/u_logging.h"
#include <stdio.h>
#include <assert.h>
/*
*
* Helpers
*
*/
#define P(...) \
do { \
ssize_t _ret = 0; \
if ((size_t)curr < sizeof(buf)) { \
_ret = snprintf(buf + curr, sizeof(buf) - (size_t)curr, __VA_ARGS__); \
} \
if (_ret > 0) { \
curr += _ret; \
} \
} while (false)
static void
dump_mat(const char *var, double mat[3][3])
{
char buf[1024];
ssize_t curr = 0;
P("%s = [\n", var);
for (uint32_t row = 0; row < 3; row++) {
P("\t");
for (uint32_t col = 0; col < 3; col++) {
P("%f", mat[row][col]);
if (col < 2) {
P(", ");
}
}
P("\n");
}
P("\t]");
U_LOG_RAW("%s", buf);
}
static void
dump_vector(const char *var, double vec[3])
{
char buf[1024];
ssize_t curr = 0;
P("%s = [", var);
for (uint32_t col = 0; col < 3; col++) {
P("%f", vec[col]);
if (col < 2) {
P(", ");
}
}
P("]");
U_LOG_RAW("%s", buf);
}
static void
dump_size(const char *var, struct xrt_size size)
{
U_LOG_RAW("%s = [%ux%u]", var, size.w, size.h);
}
static void
dump_distortion(const char *prefix, struct t_camera_calibration *view)
{
char buf[1024];
ssize_t curr = 0;
U_LOG_RAW("%s.use_fisheye = %s", prefix, view->use_fisheye ? "true" : "false");
if (view->use_fisheye) {
P("%s.distortion_fisheye = [", prefix);
for (uint32_t col = 0; col < 4; col++) {
P("%f", view->distortion_fisheye[col]);
if (col < 3) {
P(", ");
}
}
P("]");
} else {
P("%s.distortion = [", prefix);
for (uint32_t col = 0; col < view->distortion_num; col++) {
P("%f", view->distortion[col]);
if (col < view->distortion_num - 1) {
P(", ");
}
}
P("]");
}
U_LOG_RAW("%s", buf);
}
/*
*
* 'Exported' functions.
*
*/
void
t_stereo_camera_calibration_alloc(struct t_stereo_camera_calibration **out_c, uint32_t distortion_num)
{
@ -30,3 +132,16 @@ t_stereo_camera_calibration_destroy(struct t_stereo_camera_calibration *c)
{
free(c);
}
void
t_stereo_camera_calibration_dump(struct t_stereo_camera_calibration *c)
{
dump_size("view[0].image_size_pixels", c->view[0].image_size_pixels);
dump_mat("view[0].intrinsic", c->view[0].intrinsics);
dump_distortion("view[0]", &c->view[0]);
dump_size("view[1].image_size_pixels", c->view[0].image_size_pixels);
dump_mat("view[1].intrinsic", c->view[1].intrinsics);
dump_distortion("view[1]", &c->view[1]);
dump_vector("camera_translation", c->camera_translation);
dump_mat("camera_rotation", c->camera_rotation);
}

6
src/xrt/auxiliary/tracking/t_tracking.h
View file

@ -147,6 +147,12 @@ t_stereo_camera_calibration_reference(struct t_stereo_camera_calibration **dst,
}
}
/*!
* Small helper function that dumps the calibration data to logging.
*/
void
t_stereo_camera_calibration_dump(struct t_stereo_camera_calibration *c);
/*!
* Load stereo calibration data from a given file.
*/