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a/tracking: Make t_camera_models usable from C

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Remove C++-isms in the t_camera_models.h header and wrap it
in conditional extern "C" markers.

Part-of: <https://gitlab.freedesktop.org/monado/monado/-/merge_requests/2188>
This commit is contained in:
Jan Schmidt 2023-08-10 03:33:13 +10:00 committed by Marge Bot
parent 5098695a1a
commit ed67c9c95b
1 changed files with 26 additions and 18 deletions
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44
src/xrt/auxiliary/tracking/t_camera_models.h
View file

@ -26,6 +26,10 @@
#include <assert.h>
#ifdef __cplusplus
extern "C" {
#endif
/*!
* Floating point parameters for @ref T_DISTORTION_FISHEYE_KB4
* @ingroup aux_tracking
@ -64,7 +68,7 @@ struct t_camera_model_params
};
const float SQRT_EPSILON = 0.00316; // sqrt(1e-05)
static const float SQRT_EPSILON = 0.00316; // sqrt(1e-05)
/*
* Functions for @ref T_DISTORTION_FISHEYE_KB4 (un)projections
@ -169,12 +173,12 @@ kb4_unproject(const struct t_camera_model_params *dist, //
const float mx = (x - dist->cx) / dist->fx;
const float my = (y - dist->cy) / dist->fy;
float theta(0);
float sin_theta(0);
float cos_theta(1);
float theta = 0.0;
float sin_theta = 0.0;
float cos_theta = 1.0;
float thetad = sqrt(mx * mx + my * my);
float scaling(1);
float d_func_d_theta(0);
float scaling = 1.0;
float d_func_d_theta = 0.0;
if (thetad > SQRT_EPSILON) {
theta = kb4_solve_theta(dist, &thetad, &d_func_d_theta);
@ -228,19 +232,19 @@ rt8_project(const struct t_camera_model_params *dist, //
}
static inline void
rt8_distort(const t_camera_model_params *params,
const xrt_vec2 *undist,
xrt_vec2 *dist,
xrt_matrix_2x2 *d_dist_d_undist)
rt8_distort(const struct t_camera_model_params *params,
const struct xrt_vec2 *undist,
struct xrt_vec2 *dist,
struct xrt_matrix_2x2 *d_dist_d_undist)
{
const float &k1 = params->rt8.k1;
const float &k2 = params->rt8.k2;
const float &p1 = params->rt8.p1;
const float &p2 = params->rt8.p2;
const float &k3 = params->rt8.k3;
const float &k4 = params->rt8.k4;
const float &k5 = params->rt8.k5;
const float &k6 = params->rt8.k6;
const float k1 = params->rt8.k1;
const float k2 = params->rt8.k2;
const float p1 = params->rt8.p1;
const float p2 = params->rt8.p2;
const float k3 = params->rt8.k3;
const float k4 = params->rt8.k4;
const float k5 = params->rt8.k5;
const float k6 = params->rt8.k6;
const float xp = undist->x;
const float yp = undist->y;
@ -553,3 +557,7 @@ t_camera_models_flip_and_project(const struct t_camera_model_params *dist, //
return t_camera_models_project(dist, x, _y, _z, out_x, out_y);
}
#ifdef __cplusplus
}
#endif