// Copyright 2019, Collabora, Ltd. // SPDX-License-Identifier: BSL-1.0 /*! * @file * @brief Tracking API interface. * @author Pete Black * @author Jakob Bornecrantz * @ingroup aux_tracking */ #pragma once #include "xrt/xrt_frame.h" #include #ifdef __cplusplus extern "C" { #endif /*! * @defgroup aux_tracking Tracking * @ingroup aux * @brief Trackers, filters and associated helper code. * * * ### Coordinate system * * Right now there is no specific convention on where a tracking systems * coordinate system is centered, and is something we probably need to figure * out. Right now the stereo based tracking system used by the PSVR and PSMV * tracking system is centered on the camera that OpenCV decided is origin. * * To go a bit further on the PSVR/PSMV case. Think about a idealized start up * case, the user is wearing the HMD headset and holding two PSMV controllers. * The HMD's coordinate system axis are perfectly parallel with the user * coordinate with the user's coordinate system. Where -Z is forward. The user * holds the controllers with the ball pointing up and the buttons on the back * pointing forward. Which if you read the documentation of @ref psmv_device * will that the axis of the PSMV are also perfectly aligned with the users * coordinate system. So everything "attached" to the user have it's coordinate * system parallel to the user's. * * The camera on the other hand is looking directly at the user, it's Z-axis and * X-axis is flipped in relation to the user's. So to compare what is sees to * what the user sees, everything is rotated 180° around the Y-axis. */ /*! * @dir auxiliary/tracking * @ingroup aux * * @brief Trackers, filters and associated helper code. */ /*! * @ingroup aux_tracking * @{ */ /* * * Pre-declare * */ struct xrt_tracked_psmv; struct xrt_tracked_psvr; /* * * Calibration data. * */ /*! * Refined calibration data settings to be given to trackers. */ struct t_settings_stereo { //! Source image size before undistortion. struct xrt_size image_size_pixels; //! Target image size after undistortion. struct xrt_size new_image_size_pixels; //! Disparity and position to camera world coordinates. double disparity_to_depth[4][4]; }; /*! * Raw calibration data settings saved and loaded from disk. */ struct t_settings_stereo_raw { //! Source image size before undistortion. struct xrt_size image_size_pixels; //! Target image size after undistortion. struct xrt_size new_image_size_pixels; //! 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]; //! Disparity and position to camera world coordinates. double disparity_to_depth[4][4]; //! Left camera intrinsics double l_intrinsics[3][3]; //! Left camera distortion double l_distortion[5]; //! Left fisheye camera distortion double l_distortion_fisheye[4]; //! 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 fisheye camera distortion double r_distortion_fisheye[4]; //! Right rectification transform (rotation matrix). double r_rotation[3][3]; //! Right projection matrix in the new (rectified) coordinate systems. double r_projection[3][4]; }; /*! * Refine a raw calibration data, this how you create stereo calibration data. */ void t_settings_stereo_refine(struct t_settings_stereo_raw *raw_data, struct t_settings_stereo **out_data); /*! * Free stereo calibration data. */ void t_settings_stereo_free(struct t_settings_stereo **data_ptr); /*! * Create a raw stereo calibration data. */ void t_settings_stereo_raw_create(struct t_settings_stereo_raw **out_raw_data); /*! * Free raw stereo calibration data. */ void t_settings_stereo_raw_free(struct t_settings_stereo_raw **raw_data_ptr); /*! * Load stereo calibration data from a given file. */ bool t_settings_stereo_load_v1(FILE *calib_file, struct t_settings_stereo_raw **out_raw_data); /*! * Load a stereo calibration struct from a hardcoded place. */ bool t_settings_stereo_load_v1_hack(struct t_settings_stereo_raw **out_raw_data); /* * * Conversion functions. * */ struct t_convert_table { uint8_t v[256][256][256][3]; }; void t_convert_fill_table(struct t_convert_table *t); void t_convert_make_y8u8v8_to_r8g8b8(struct t_convert_table *t); void t_convert_make_y8u8v8_to_h8s8v8(struct t_convert_table *t); void t_convert_make_h8s8v8_to_r8g8b8(struct t_convert_table *t); void t_convert_in_place_y8u8v8_to_r8g8b8(uint32_t width, uint32_t height, size_t stride, void *data_ptr); void t_convert_in_place_y8u8v8_to_h8s8v8(uint32_t width, uint32_t height, size_t stride, void *data_ptr); void t_convert_in_place_h8s8v8_to_r8g8b8(uint32_t width, uint32_t height, size_t stride, void *data_ptr); /* * * Filter functions. * */ #define T_HSV_SIZE 32 #define T_HSV_STEP (256 / T_HSV_SIZE) #define T_HSV_DEFAULT_PARAMS() \ { \ { \ {165, 30, 160, 100}, \ {135, 30, 160, 100}, \ {95, 30, 160, 100}, \ }, \ {128, 80}, \ } struct t_hsv_filter_color { uint8_t hue_min; uint8_t hue_range; uint8_t s_min; uint8_t v_min; }; struct t_hsv_filter_params { struct t_hsv_filter_color color[3]; struct { uint8_t s_max; uint8_t v_min; } white; }; struct t_hsv_filter_large_table { uint8_t v[256][256][256]; }; struct t_hsv_filter_optimized_table { uint8_t v[T_HSV_SIZE][T_HSV_SIZE][T_HSV_SIZE]; }; void t_hsv_build_convert_table(struct t_hsv_filter_params *params, struct t_convert_table *t); void t_hsv_build_large_table(struct t_hsv_filter_params *params, struct t_hsv_filter_large_table *t); void t_hsv_build_optimized_table(struct t_hsv_filter_params *params, struct t_hsv_filter_optimized_table *t); XRT_MAYBE_UNUSED static inline uint8_t t_hsv_filter_sample(struct t_hsv_filter_optimized_table *t, uint32_t y, uint32_t u, uint32_t v) { return t->v[y / T_HSV_STEP][u / T_HSV_STEP][v / T_HSV_STEP]; } int t_hsv_filter_create(struct xrt_frame_context *xfctx, struct t_hsv_filter_params *params, struct xrt_frame_sink *sinks[4], struct xrt_frame_sink **out_sink); /* * * Tracker code. * */ int 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_settings_stereo *data, struct xrt_tracked_psmv **out_xtmv, struct xrt_frame_sink **out_sink); int t_psvr_start(struct xrt_tracked_psvr *xtvr); int t_psvr_create(struct xrt_frame_context *xfctx, struct t_settings_stereo *data, struct xrt_tracked_psvr **out_xtvr, struct xrt_frame_sink **out_sink); /* * * Camera calibration * */ #define T_CALIBRATION_DEFAULT_PARAMS \ { \ 9, 7, 0.0173333f, true, 5, 20, 60, 2 \ } struct t_calibration_params { int checker_cols_num; int checker_rows_num; float checker_size_meters; bool subpixel_enable; int subpixel_size; uint32_t num_wait_for; uint32_t num_collect_total; uint32_t num_collect_restart; }; int t_calibration_stereo_create(struct xrt_frame_context *xfctx, struct t_calibration_params *params, struct xrt_frame_sink *gui, struct xrt_frame_sink **out_sink); /* * * Sink creation functions. * */ int t_convert_yuv_or_yuyv_create(struct xrt_frame_sink *next, struct xrt_frame_sink **out_sink); int t_debug_hsv_picker_create(struct xrt_frame_context *xfctx, struct xrt_frame_sink *passthrough, struct xrt_frame_sink **out_sink); int t_debug_hsv_viewer_create(struct xrt_frame_context *xfctx, struct xrt_frame_sink *passthrough, struct xrt_frame_sink **out_sink); int t_debug_hsv_filter_create(struct xrt_frame_context *xfctx, struct xrt_frame_sink *passthrough, struct xrt_frame_sink **out_sink); /*! * @} */ #ifdef __cplusplus } #endif