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291 commits

Author SHA1 Message Date
Ryan Pavlik 31ee6a1966 os/time: Documentation. 2020-03-02 13:59:06 -06:00
Ryan Pavlik fca21e83b0 aux/util: Provide a conversion function from CLOCK_MONOTONIC nanoseconds to adjusted time. 2020-03-02 12:34:19 -06:00
Ryan Pavlik 227e53d030 os/time: Clean up comments and ifdefs. 2020-03-02 12:24:49 -06:00
Jakob Bornecrantz 09aa8794b2 aux/vk: Refactor out helper code into own library 2020-03-02 11:58:40 +00:00
Jakob Bornecrantz 63ca028b83 t/hsv: Improve latency when debugging by pushing debug frame after all other frames 2020-02-29 16:20:41 +00:00
Jakob Bornecrantz d375843b65 os/time: Add time getting and conversion functions 
For Linux it is based on CLOCK_MONOTONIC.
 2020-02-27 13:55:57 +00:00
Jakob Bornecrantz 039e29e7ad u/time: Tidy 2020-02-27 13:55:48 +00:00
Jakob Bornecrantz 7207c50992 math: Add filter fifo helper 2020-02-18 13:33:22 +00:00
Nova d48022d55d u/json: Add a lot more helper functions 2020-02-09 21:06:47 +00:00
Nova 4cfd4c4657 math: Added vec3 math functions 2020-02-09 21:06:47 +00:00
Ryan Pavlik f3803f7365 t/imu: Update docs to specify units for gyro. 2020-01-31 17:19:54 +01:00
Ryan Pavlik afd5328bd6 t/imu: Add optional debug prints to simple IMU fusion. 
By request of @pblack.
 2020-01-31 17:19:48 +01:00
Ryan Pavlik a11ba04b96 aux/tracking: handle loading into empty mat 2020-01-31 17:19:48 +01:00
Ryan Pavlik 85761db12c aux/math: Update comment 2020-01-31 17:19:48 +01:00
Ryan Pavlik eaf834249b t/calib: Verify that storage location doesn't move for wrappers. 2020-01-31 10:47:52 +01:00
Jakob Bornecrantz 8aee77401b t/calib: Tweak printing and move assert to after printing 2020-01-26 19:37:37 +00:00
Jakob Bornecrantz be75fe823a t/calib: Fix default asymmetrical circles rows values 2020-01-26 19:37:37 +00:00
Pete Black a80ef43339 t/calib: Also accept L8 frames 2020-01-26 19:37:37 +00:00
Jakob Bornecrantz c14d709a85 u/sink: Better error printing in converters 2020-01-26 19:37:37 +00:00
Jakob Bornecrantz 405f68c98a u/sink: Convert handle YUV888 to RGB888 as well 2020-01-26 19:37:37 +00:00
Jakob Bornecrantz 50b3794816 u/sink: Add quirk support for Leap Motion Conrtoller 2020-01-26 19:37:37 +00:00
Jakob Bornecrantz 16eb05e089 u/sink: Make quirk sink creation parameters into a struct. 2020-01-26 19:37:37 +00:00
Jakob Bornecrantz f16230a2d5 u/sink: Add a converter sink that accepts yuv, yuyv or l8 2020-01-26 19:37:36 +00:00
Pete Black f45f69c9f2 u/sink: Add a deinterleaver sink 2020-01-26 19:37:36 +00:00
Jakob Bornecrantz 1bcf13ba7e u/mesh: Refactor and document 2020-01-26 16:00:14 +00:00
Jakob Bornecrantz ef4798ab1c u/var: Add pose tracking 2020-01-25 16:37:46 +00:00
Jakob Bornecrantz 38fbb1d7ad u/var: Use a macro to only write list once 2020-01-25 14:54:44 +00:00
Ryan Pavlik 798fa623ea u_json: Add array helper. 2020-01-24 21:42:43 +00:00
Jakob Bornecrantz c2560ae6d2 xrt: Switch to new quirking sink 
This is done in one commit as split out they would leave the code
in a fairly broken state.
 2020-01-17 14:31:50 +00:00
Jakob Bornecrantz 6603882a2d u/sink: Add new quirking sink 2020-01-17 14:31:45 +00:00
Jakob Bornecrantz 30e9338aba t/calib: Don't lose any pixels in stereo rectification 2020-01-17 14:01:52 +00:00
Jakob Bornecrantz 1085db150b t/calib: Fix rectify for stereo fisheye camera 2020-01-17 14:00:22 +00:00
Jakob Bornecrantz ba10152765 t/calib: Print out rectify matricies 2020-01-17 14:00:22 +00:00
Jakob Bornecrantz 67d33550cf t/calib: Change how default arguments are applied 2020-01-17 12:09:08 +00:00
Jakob Bornecrantz d1af0b7f15 t/calib: Play around with mono calibration a bit 2020-01-16 22:34:04 +00:00
Jakob Bornecrantz 62013c142b t/helper: Introduce a small debug frame helper 2020-01-16 18:15:21 +00:00
Jakob Bornecrantz 50eda5a262 t/hsv: Copy stereo format to result frame 2020-01-16 17:47:08 +00:00
Jakob Bornecrantz 5d6ed6973c u/sink: Copy stereo format to result frame 2020-01-16 17:47:08 +00:00
Ryan Pavlik c957072dfc t/calib: Remove references to left and right from new structs 2020-01-16 09:14:07 -06:00
Ryan Pavlik 81acc290cb t/calib: Clean up emplace_back calls. 2020-01-16 09:14:07 -06:00
Ryan Pavlik 2d20f2066a t/psmv: Update existing blob tracker to work with simpler input 2020-01-16 09:12:50 -06:00
Ryan Pavlik 91fdfd0c94 t/file: Have matrix reader be more careful about loading, and optionally transpose 
The, actually consistently use result of matrix read and built-in transpose to simplify code
 2020-01-16 09:08:32 -06:00
Ryan Pavlik bc49fd4803 t/calib: Use cv::Mat_<> for wrappers since the element type is known 2020-01-16 09:08:32 -06:00
Ryan Pavlik fcdebc6e9d aux/tracking: Re-organize structs related to camera calibration. 
Removes the "raw" data structures for camera calibration, not needed.
The only thing they contained beyond the revised regular structures
was derived data that the consumer might parameterize differently.

Renames t_settings_stereo to t_stereo_camera_calibration.
The calibration info is data (that could be stored on the device, etc),
not settings.
 2020-01-16 09:07:52 -06:00
Jakob Bornecrantz 771006f97b t/calib: Fix OpenCV type-related assertions and some perf enhancments 
Pre-reserve, use emplace to avoid copies.
This is a combination of Ryan's patches and mine.

t/calib: performance improvements
t/calib: Fix doxygen warning
t/calib: Fix asserts and some perf enhancments
 2020-01-16 00:02:56 +00:00
Ryan Pavlik 9790ca7602 t/calib: Add interface for getting some status info on calib process. 2020-01-14 15:55:50 -06:00
Ryan Pavlik 47f704277a xrt: Let BUILD_TRACKING mean you need more than just the IMU fusion. 
This is required to build anything that uses the IMU fusion module
without OpenCV.
 2020-01-14 11:51:12 -06:00
Jakob Bornecrantz 5bf65b41fa math: Add some more functions 2020-01-14 15:59:41 +00:00
Jakob Bornecrantz 796d9c49ec t/calib: Support stereo fisheye in the config file 2020-01-14 15:42:31 +00:00
Jakob Bornecrantz 4ae650a006 t/calib: Support stereo fisheye in stereo calibration 2020-01-14 15:42:31 +00:00
Jakob Bornecrantz 0e6b908f80 t/callib: Move stereo calibration to new interaction 2020-01-14 15:42:31 +00:00
Jakob Bornecrantz 7082a599c7 xrt: Make it possible for the device set active status on inputs 2020-01-13 21:59:37 +00:00
Jakob Bornecrantz 998b198b44 math: Fix math_pose_invert 2020-01-13 10:37:14 +00:00
Jakob Bornecrantz 7618f4c5a4 math: Make it possible to get a rotation from a rotation matrix 2020-01-09 15:22:14 +00:00
Jakob Bornecrantz eda46d3bea util: Add some wrapper files around cJSON 
This makes cJSON files be accessible from everywhere in Monado,
and adds a nice place to add common helpers.
 2020-01-09 15:21:04 +00:00
Ryan Pavlik 56f8e3272e a/tracking: clang-tidy 2019-12-07 18:25:36 +00:00
Ryan Pavlik ceb600167c u/var: Clang tidy and make param names consistent/expressive 2019-12-07 18:25:34 +00:00
Ryan Pavlik 4f6b4761cb aux/util: Add U_ARRAY_REALLOC_OR_FREE to safely wrap realloc. 2019-12-03 09:39:06 -06:00
Jakob Bornecrantz ba9fd61bb8 u/sink: Reject frames that don't have a valid JPEG header 2019-11-23 00:01:05 +00:00
Jakob Bornecrantz cdec2ca367 t/calib: Add resolution size to image name 2019-11-22 23:59:35 +00:00
Jakob Bornecrantz ab0d94201a t/calib: s/grey/gray/g 2019-11-22 15:53:17 +00:00
Jakob Bornecrantz 6cba920668 t/calib: Force the principal point to the center of the image 2019-11-22 15:51:58 +00:00
Jakob Bornecrantz 9b60bd7c77 t/calib: Add support to load images 2019-11-22 14:20:56 +00:00
Jakob Bornecrantz 0cbd3e8601 t/calib: Do not fix principal point and tweak balance 2019-11-22 14:19:22 +00:00
Jakob Bornecrantz 392b42e900 t/calib: Don't double wait for frame after finding a measurement 2019-11-22 14:09:29 +00:00
Jakob Bornecrantz 3f202d0d6f t/calib: Make cooldown period separate from wait period 2019-11-22 12:36:23 +00:00
Jakob Bornecrantz 86dc9e1a6b t/calib: Re-organize parameters and make it possible to select board type 2019-11-22 12:36:23 +00:00
Jakob Bornecrantz de67590bbf t/calib: Tweak defaults 2019-11-21 22:43:04 +00:00
Jakob Bornecrantz 504a34bc95 t/calib: Tidy messages 2019-11-21 22:43:04 +00:00
Jakob Bornecrantz 276e81c373 t/calib: Add option to mirror RGB image 2019-11-21 22:40:00 +00:00
Jakob Bornecrantz 94c55fc206 t/calib: Ensure that camera is still before taking measurment 2019-11-21 22:40:00 +00:00
Jakob Bornecrantz 50d28369c4 m/headers: Rename C++ headers to hpp and tidy headers 2019-11-21 14:54:17 +00:00
Jakob Bornecrantz 54f7c2ed1d t/headers: Rename C++ headers to hpp and tidy headers 2019-11-21 13:00:52 +00:00
Jakob Bornecrantz d6317b2a14 st/gui: Expose new parameters to calibration 2019-11-20 23:50:42 +00:00
Jakob Bornecrantz 587c71182b t/calib: Make it possible to use fisheye functions (mono only) 2019-11-20 23:50:26 +00:00
Jakob Bornecrantz a36af4227f t/calib: Make it possible to save images used during calibration (mono only) 2019-11-20 23:49:56 +00:00
Jakob Bornecrantz 26d7e91615 t/calib: Even more docs 2019-11-20 22:05:23 +00:00
Jakob Bornecrantz 4925ea657f t/calib: Add support for [asym]circles grid, not active right now 2019-11-20 22:05:23 +00:00
Jakob Bornecrantz bd02e47078 t/calib: Add mono calibration 2019-11-20 22:05:16 +00:00
Jakob Bornecrantz 49f9a1a46f t/calib: Add stub for hacking in measurments 2019-11-20 22:03:20 +00:00
Jakob Bornecrantz 6bc617b8e3 t/calib: Tidy TermCriteria 2019-11-20 22:03:20 +00:00
Jakob Bornecrantz 645a45c167 t/calib: Tweak default params 2019-11-20 22:03:20 +00:00
Jakob Bornecrantz c16756c330 t/calib: Ensure everything have initializers 2019-11-20 22:03:20 +00:00
Jakob Bornecrantz ebb41601ed t/calib: Some doc-comments and typedefs to clarify code 2019-11-20 22:03:20 +00:00
Jakob Bornecrantz 79b7d2504a t/calib: Expand mono calibration a bit 2019-11-18 19:14:02 +00:00
Jakob Bornecrantz b358e22fd7 t/calib: Stub in support for mono calibration 2019-11-17 22:11:41 +00:00
Jakob Bornecrantz ad45aeb0a7 t/calib: Refactor loading a bit more 2019-11-17 22:09:01 +00:00
Jakob Bornecrantz 2ad2243fe7 t/doc: Do not put directory in aux_tracking group 2019-11-16 23:29:29 +00:00
Jakob Bornecrantz 38ec113c04 t/calib: Add comments to sizes 2019-11-16 23:29:10 +00:00
Jakob Bornecrantz 8917607a49 t/calib: Also expose disparity_to_depth on both raw and refined settings 2019-11-16 23:27:32 +00:00
Jakob Bornecrantz 6d8abd87a8 t/calib: Tidy and rename calibration data to settings 2019-11-16 23:17:11 +00:00
Jakob Bornecrantz f364b7a45b t/calib: Make prober load calibration data instead of trackers 2019-11-16 12:17:07 +00:00
Jakob Bornecrantz 5a600ffbcf t/calib: Make destroy funcitons take pointer to pointer 2019-11-16 11:42:33 +00:00
Jakob Bornecrantz ee3d9d08f6 u/time: Send in a pointer to pointer to the timekeeping destroy function 2019-11-15 20:30:01 +00:00
Jakob Bornecrantz 786e67f189 u/time: Mark exported functions as C to get even better errors 2019-11-15 20:28:24 +00:00
Jakob Bornecrantz 419f038017 t/calib: Also save the fisheye distortion always 2019-11-14 17:05:16 +00:00
Jakob Bornecrantz f9599a6763 t/imu: Make sure imu_fusion is aligned 2019-11-14 16:35:56 +00:00
Ryan Pavlik e01cf5efd3 t_imu: Actually return non-zero leftover acceleration data. 2019-11-14 12:14:58 +00:00
Ryan Pavlik 2823193302 t_imu_fusion: Add capability to get world non-gravity acceleration 2019-11-14 12:14:58 +00:00
Ryan Pavlik 21352ca338 t_imu: Add param for accelerometer output 2019-11-14 12:14:58 +00:00