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t/calib: Verify that storage location doesn't move for wrappers.

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This commit is contained in:
Ryan Pavlik 2020-01-17 18:14:06 -06:00
parent 5f0ba12236
commit eaf834249b
1 changed files with 24 additions and 4 deletions
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26
src/xrt/auxiliary/tracking/t_calibration_opencv.hpp
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@ -36,6 +36,7 @@ t_file_save_raw_data_hack(struct t_stereo_camera_calibration *data);
*/ */
struct CameraCalibrationWrapper struct CameraCalibrationWrapper
{ {
t_camera_calibration &base;
xrt_size &image_size_pixels; xrt_size &image_size_pixels;
cv::Mat_<double> intrinsics_mat; cv::Mat_<double> intrinsics_mat;
cv::Mat_<double> distortion_mat; cv::Mat_<double> distortion_mat;
@ -43,7 +44,7 @@ struct CameraCalibrationWrapper
bool &use_fisheye; bool &use_fisheye;
CameraCalibrationWrapper(t_camera_calibration &calib) CameraCalibrationWrapper(t_camera_calibration &calib)
: image_size_pixels(calib.image_size_pixels), : base(calib), image_size_pixels(calib.image_size_pixels),
intrinsics_mat(3, 3, &calib.intrinsics[0][0]), intrinsics_mat(3, 3, &calib.intrinsics[0][0]),
distortion_mat(XRT_DISTORTION_MAX_DIM, 1, &calib.distortion[0]), distortion_mat(XRT_DISTORTION_MAX_DIM, 1, &calib.distortion[0]),
distortion_fisheye_mat(4, 1, &calib.distortion_fisheye[0]), distortion_fisheye_mat(4, 1, &calib.distortion_fisheye[0]),
@ -57,9 +58,16 @@ struct CameraCalibrationWrapper
isDataStorageValid() const noexcept isDataStorageValid() const noexcept
{ {
return intrinsics_mat.size() == cv::Size(3, 3) && return intrinsics_mat.size() == cv::Size(3, 3) &&
(double *)intrinsics_mat.data ==
&(base.intrinsics[0][0]) &&
distortion_mat.size() == distortion_mat.size() ==
cv::Size(1, XRT_DISTORTION_MAX_DIM) && cv::Size(1, XRT_DISTORTION_MAX_DIM) &&
distortion_fisheye_mat.size() == cv::Size(1, 4); (double *)distortion_mat.data == &(base.distortion[0]) &&
distortion_fisheye_mat.size() == cv::Size(1, 4) &&
(double *)distortion_fisheye_mat.data ==
&(base.distortion_fisheye[0]);
} }
}; };
@ -72,6 +80,7 @@ struct CameraCalibrationWrapper
*/ */
struct StereoCameraCalibrationWrapper struct StereoCameraCalibrationWrapper
{ {
t_stereo_camera_calibration &base;
CameraCalibrationWrapper view[2]; CameraCalibrationWrapper view[2];
cv::Mat_<double> camera_translation_mat; cv::Mat_<double> camera_translation_mat;
cv::Mat_<double> camera_rotation_mat; cv::Mat_<double> camera_rotation_mat;
@ -79,7 +88,7 @@ struct StereoCameraCalibrationWrapper
cv::Mat_<double> camera_fundamental_mat; cv::Mat_<double> camera_fundamental_mat;
StereoCameraCalibrationWrapper(t_stereo_camera_calibration &stereo) StereoCameraCalibrationWrapper(t_stereo_camera_calibration &stereo)
: view{CameraCalibrationWrapper{stereo.view[0]}, : base(stereo), view{CameraCalibrationWrapper{stereo.view[0]},
CameraCalibrationWrapper{stereo.view[1]}}, CameraCalibrationWrapper{stereo.view[1]}},
camera_translation_mat(3, 1, &stereo.camera_translation[0]), camera_translation_mat(3, 1, &stereo.camera_translation[0]),
camera_rotation_mat(3, 3, &stereo.camera_rotation[0][0]), camera_rotation_mat(3, 3, &stereo.camera_rotation[0][0]),
@ -93,10 +102,21 @@ struct StereoCameraCalibrationWrapper
isDataStorageValid() const noexcept isDataStorageValid() const noexcept
{ {
return camera_translation_mat.size() == cv::Size(1, 3) && return camera_translation_mat.size() == cv::Size(1, 3) &&
(double *)camera_translation_mat.data ==
&base.camera_translation[0] &&
camera_rotation_mat.size() == cv::Size(3, 3) && camera_rotation_mat.size() == cv::Size(3, 3) &&
(double *)camera_rotation_mat.data ==
&base.camera_rotation[0][0] &&
camera_essential_mat.size() == cv::Size(3, 3) && camera_essential_mat.size() == cv::Size(3, 3) &&
(double *)camera_essential_mat.data ==
&base.camera_essential[0][0] &&
camera_fundamental_mat.size() == cv::Size(3, 3) && camera_fundamental_mat.size() == cv::Size(3, 3) &&
(double *)camera_fundamental_mat.data ==
&base.camera_fundamental[0][0] &&
view[0].isDataStorageValid() && view[0].isDataStorageValid() &&
view[1].isDataStorageValid(); view[1].isDataStorageValid();
} }