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t/calib: Make prober load calibration data instead of trackers

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This commit is contained in:
Jakob Bornecrantz 2019-11-16 12:15:06 +00:00
parent 5a600ffbcf
commit f364b7a45b
5 changed files with 49 additions and 44 deletions
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21
src/xrt/auxiliary/tracking/t_calibration_opencv.h
View file

@ -100,17 +100,11 @@ struct CalibrationData : t_calibration_data
cv::Mat disparity_to_depth = {};
};
extern "C" bool
t_file_load_stereo_calibration_v1_hack(struct t_calibration_data **out_data);
extern "C" bool
t_file_save_raw_data_hack(struct t_calibration_raw_data *raw_data);
XRT_MAYBE_UNUSED static bool
calibration_get_stereo(const char *configuration_filename,
uint32_t frame_w,
uint32_t frame_h,
bool use_fisheye,
XRT_MAYBE_UNUSED static void
calibration_get_stereo(t_calibration_data *data_c,
cv::Mat *l_undistort_map_x,
cv::Mat *l_undistort_map_y,
cv::Mat *l_rectify_map_x,
@ -121,13 +115,6 @@ calibration_get_stereo(const char *configuration_filename,
cv::Mat *r_rectify_map_y,
cv::Mat *disparity_to_depth)
{
t_calibration_data *data_c;
bool ok = t_file_load_stereo_calibration_v1_hack(&data_c);
if (!ok) {
return false;
}
CalibrationData *data = (CalibrationData *)data_c;
*l_undistort_map_x = data->l_undistort_map_x;
@ -139,10 +126,6 @@ calibration_get_stereo(const char *configuration_filename,
*r_rectify_map_x = data->r_rectify_map_x;
*r_rectify_map_y = data->r_rectify_map_y;
*disparity_to_depth = data->disparity_to_depth;
t_calibration_data_free(&data_c);
return true;
}
//! @todo Move this as it is a generic helper

36
src/xrt/auxiliary/tracking/t_tracker_psmv.cpp
View file

@ -253,28 +253,7 @@ process(TrackerPSMV &t, struct xrt_frame *xf)
}
if (!t.calibrated) {
bool ok = calibration_get_stereo(
"PS4_EYE", // name
xf->width, // width
xf->height, // height
false, // use_fisheye
&t.view[0].undistort_map_x, // l_undistort_map_x
&t.view[0].undistort_map_y, // l_undistort_map_y
&t.view[0].rectify_map_x, // l_rectify_map_x
&t.view[0].rectify_map_y, // l_rectify_map_y
&t.view[1].undistort_map_x, // r_undistort_map_x
&t.view[1].undistort_map_y, // r_undistort_map_y
&t.view[1].rectify_map_x, // r_rectify_map_x
&t.view[1].rectify_map_y, // r_rectify_map_y
&t.disparity_to_depth); // disparity_to_depth
if (ok) {
printf("loaded calibration for camera!\n");
t.calibrated = true;
} else {
xrt_frame_reference(&xf, NULL);
return;
}
return;
}
// Create the debug frame if needed.
@ -574,6 +553,7 @@ t_psmv_start(struct xrt_tracked_psmv *xtmv)
extern "C" int
t_psmv_create(struct xrt_frame_context *xfctx,
struct xrt_colour_rgb_f32 *rgb,
struct t_calibration_data *data,
struct xrt_tracked_psmv **out_xtmv,
struct xrt_frame_sink **out_sink)
{
@ -620,6 +600,18 @@ t_psmv_create(struct xrt_frame_context *xfctx,
break;
}
calibration_get_stereo(data,
&t.view[0].undistort_map_x, // l_undistort_map_x
&t.view[0].undistort_map_y, // l_undistort_map_y
&t.view[0].rectify_map_x, // l_rectify_map_x
&t.view[0].rectify_map_y, // l_rectify_map_y
&t.view[1].undistort_map_x, // r_undistort_map_x
&t.view[1].undistort_map_y, // r_undistort_map_y
&t.view[1].rectify_map_x, // r_rectify_map_x
&t.view[1].rectify_map_y, // r_rectify_map_y
&t.disparity_to_depth); // disparity_to_depth
t.calibrated = true;
// clang-format off
cv::SimpleBlobDetector::Params blob_params;
blob_params.filterByArea = false;

1
src/xrt/auxiliary/tracking/t_tracker_psvr.cpp
View file

@ -262,6 +262,7 @@ t_psvr_start(struct xrt_tracked_psvr *xtvr)
extern "C" int
t_psvr_create(struct xrt_frame_context *xfctx,
struct t_calibration_data *data,
struct xrt_tracked_psvr **out_xtvr,
struct xrt_frame_sink **out_sink)
{

9
src/xrt/auxiliary/tracking/t_tracking.h
View file

@ -69,6 +69,7 @@ extern "C" {
struct xrt_tracked_psmv;
struct xrt_tracked_psvr;
struct t_calibration_data;
/*
@ -203,6 +204,7 @@ t_psmv_start(struct xrt_tracked_psmv *xtmv);
int
t_psmv_create(struct xrt_frame_context *xfctx,
struct xrt_colour_rgb_f32 *rgb,
struct t_calibration_data *data,
struct xrt_tracked_psmv **out_xtmv,
struct xrt_frame_sink **out_sink);
@ -211,6 +213,7 @@ t_psvr_start(struct xrt_tracked_psvr *xtvr);
int
t_psvr_create(struct xrt_frame_context *xfctx,
struct t_calibration_data *data,
struct xrt_tracked_psvr **out_xtvr,
struct xrt_frame_sink **out_sink);
@ -291,6 +294,12 @@ t_file_load_stereo_calibration_v1(FILE *calib_file,
struct t_calibration_data **out_data,
struct t_calibration_raw_data **out_raw_data);
/*!
* Load a stereo calibration struct from a hardcoded place.
*/
bool
t_file_load_stereo_calibration_v1_hack(struct t_calibration_data **out_data);
struct t_calibration_params
{
int checker_cols_num;

26
src/xrt/state_trackers/prober/p_tracking.c
View file

@ -46,6 +46,9 @@ struct p_factory
struct xrt_frame_context xfctx;
#ifdef XRT_HAVE_OPENCV
//! Data to be given to the trackers.
struct t_calibration_data *data;
//! Keep track of how many psmv trackers that has been handed out.
size_t num_xtmv;
@ -114,14 +117,21 @@ p_factory_ensure_frameserver(struct p_factory *fact)
return;
}
// Now load the calibration data.
if (!t_file_load_stereo_calibration_v1_hack(&fact->data)) {
return;
}
struct xrt_frame_sink *xsink = NULL;
struct xrt_frame_sink *xsinks[4] = {0};
struct xrt_colour_rgb_f32 rgb[2] = {{1.f, 0.f, 0.f}, {1.f, 0.f, 1.f}};
// We create the two psmv trackers up front, but don't start them.
t_psmv_create(&fact->xfctx, &rgb[0], &fact->xtmv[0], &xsinks[0]);
t_psmv_create(&fact->xfctx, &rgb[1], &fact->xtmv[1], &xsinks[1]);
t_psvr_create(&fact->xfctx, &fact->xtvr, &xsinks[2]);
// clang-format off
t_psmv_create(&fact->xfctx, &rgb[0], fact->data, &fact->xtmv[0], &xsinks[0]);
t_psmv_create(&fact->xfctx, &rgb[1], fact->data, &fact->xtmv[1], &xsinks[1]);
t_psvr_create(&fact->xfctx, fact->data, &fact->xtvr, &xsinks[2]);
// clang-format on
// Setup origin to the common one.
fact->xtvr->origin = &fact->origin;
@ -256,11 +266,21 @@ p_tracking_teardown(struct prober *p)
#ifdef XRT_HAVE_OPENCV
fact->xtmv[0] = NULL;
fact->xtmv[1] = NULL;
fact->xtvr = NULL;
#endif
// Take down the node graph.
xrt_frame_context_destroy_nodes(&fact->xfctx);
#ifdef XRT_HAVE_OPENCV
/*
* Needs to be done after the trackers has been destroyed.
*
* Does null checking and sets to null.
*/
t_calibration_data_free(&fact->data);
#endif
free(fact);
p->base.tracking = NULL;
}