mirrors/monado
1
0
Fork 0
mirror of https://gitlab.freedesktop.org/monado/monado.git synced 2025-01-19 13:18:32 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

t/calibration: Move more data storage to C portion

Browse source
This commit is contained in:
Jakob Bornecrantz 2019-10-13 10:48:07 +01:00
parent 43c366ad41
commit f8ee9281f8
2 changed files with 52 additions and 8 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

30
src/xrt/auxiliary/tracking/t_calibration_opencv.h
View file

@ -51,9 +51,19 @@ public:
{
// clang-format off
camera_translation_mat = cv::Mat(3, 1, CV_64F, &camera_translation[0]);
camera_rotation_mat = cv::Mat(3, 3, CV_64F, &camera_rotation[0]);
camera_essential_mat = cv::Mat(3, 3, CV_64F, &camera_essential[0]);
camera_fundamental_mat = cv::Mat(3, 3, CV_64F, &camera_fundamental[0]);
camera_rotation_mat = cv::Mat(3, 3, CV_64F, &camera_rotation[0][0]);
camera_essential_mat = cv::Mat(3, 3, CV_64F, &camera_essential[0][0]);
camera_fundamental_mat = cv::Mat(3, 3, CV_64F, &camera_fundamental[0][0]);
l_intrinsics_mat = cv::Mat(3, 3, CV_64F, &l_intrinsics[0][0]);
l_distortion_mat = cv::Mat(1, 5, CV_64F, &l_distortion[0]);
l_rotation_mat = cv::Mat(3, 3, CV_64F, &l_rotation[0][0]);
l_projection_mat = cv::Mat(3, 4, CV_64F, &l_projection[0][0]);
r_intrinsics_mat = cv::Mat(3, 3, CV_64F, &r_intrinsics[0][0]);
r_distortion_mat = cv::Mat(1, 5, CV_64F, &r_distortion[0]);
r_rotation_mat = cv::Mat(3, 3, CV_64F, &r_rotation[0][0]);
r_projection_mat = cv::Mat(3, 4, CV_64F, &r_projection[0][0]);
// clang-format on
}
@ -63,7 +73,19 @@ public:
return camera_rotation_mat.size() == cv::Size(3, 3) &&
camera_translation_mat.size() == cv::Size(1, 3) &&
camera_essential_mat.size() == cv::Size(3, 3) &&
camera_fundamental_mat.size() == cv::Size(3, 3);
camera_fundamental_mat.size() == cv::Size(3, 3) &&
l_intrinsics_mat.size() == cv::Size(3, 3) &&
l_distortion_mat.size() == cv::Size(5, 1) &&
l_distortion_fisheye_mat.size() == cv::Size(0, 0) &&
l_translation_mat.size() == cv::Size(0, 0) &&
l_rotation_mat.size() == cv::Size(3, 3) &&
l_projection_mat.size() == cv::Size(4, 3) &&
r_intrinsics_mat.size() == cv::Size(3, 3) &&
r_distortion_mat.size() == cv::Size(5, 1) &&
r_distortion_fisheye_mat.size() == cv::Size(0, 0) &&
r_translation_mat.size() == cv::Size(0, 0) &&
r_rotation_mat.size() == cv::Size(3, 3) &&
r_projection_mat.size() == cv::Size(4, 3);
}
};

30
src/xrt/auxiliary/tracking/t_tracking.h
View file

@ -236,17 +236,39 @@ struct t_calibration_raw_data
struct xrt_size image_size_pixels;
struct xrt_size new_image_size_pixels;
//! Translation between thw two cameras, in the stereo pair.
//! Translation between the two cameras, in the stereo pair.
double camera_translation[3];
//! Rotation matrix between the two cameras, in the stereo pair.
double camera_rotation[3][3];
//! Essential matrix.
double camera_essential[3][3];
//! Fundamental matrix.
double camera_fundamental[3][3];
//! Left camera intrinsics
double l_intrinsics[3][3];
//! Left camera distortion
double l_distortion[5];
//! Left rectification transform (rotation matrix).
double l_rotation[3][3];
//! Left projection matrix in the new (rectified) coordinate systems.
double l_projection[3][4];
//! Right camera intrinsics
double r_intrinsics[3][3];
//! Right camera distortion
double r_distortion[5];
//! Right rectification transform (rotation matrix).
double r_rotation[3][3];
//! Right projection matrix in the new (rectified) coordinate systems.
double r_projection[3][4];
#if 0
double r_translation[3]; // [0 x 0] [1 x 3]??
double r_distortion_fisheye[4]; // [0 x 0] [4 x 1]??
double l_translation[3]; // [0 x 0] [1 x 3]??
double l_distortion_fisheye[4]; // [0 x 0] [4 x 1]??
#endif
};
/*!