rift_s_util.cpp File Reference

Driver code for Oculus Rift S headsets. More...

#include <stdbool.h>
#include <math.h>
#include "tinyceres/tiny_solver.hpp"
#include "tinyceres/tiny_solver_autodiff_function.hpp"
#include "rift_s_util.h"

Include dependency graph for rift_s_util.cpp:

Data Structures
struct	UndistortCostFunctor
struct	TargetPoint
struct	DistortParamKB4CostFunctor

Macros
#define	STEPS   21

Functions
template<typename T >
bool	fisheye62_undistort_func (struct t_camera_calibration *calib, const double *distortion_params, const T point[2], T *out_point)
template<typename T >
bool	kb4_distort_func (struct t_camera_calibration *calib, const T *distortion_params, const double point[2], T *out_point)
struct t_camera_calibration	rift_s_get_cam_calib (struct rift_s_camera_calibration_block *camera_calibration, enum rift_s_camera_id cam_id)
struct t_stereo_camera_calibration *	rift_s_create_stereo_camera_calib_rotated (struct rift_s_camera_calibration_block *camera_calibration)
	Allocate and populate an OpenCV-compatible t_stereo_camera_calibration pointer from the Rift S config. More...

Variables
const int	N_KB4_DISTORT_PARAMS = 4

Detailed Description

Driver code for Oculus Rift S headsets.

Utility functions for generating a stereo camera calibration, and converting the Rift S Fisheye62 distortion parameters into OpenCV-compatible Kannala-Brandt parameters

Author

Jan Schmidt jan@c.nosp@m.entr.nosp@m.icula.nosp@m.r.co.nosp@m.m

Function Documentation

rift_s_create_stereo_camera_calib_rotated()

struct t_stereo_camera_calibration * rift_s_create_stereo_camera_calib_rotated

(

struct rift_s_camera_calibration_block *

camera_calibration

)

Allocate and populate an OpenCV-compatible t_stereo_camera_calibration pointer from the Rift S config.

This requires fitting a KB4 fisheye polynomial to the 6 radial + 2 tangential 'Fisheye62' parameters provided by the Rift S.

References T_DISTORTION_FISHEYE_KB4, and t_stereo_camera_calibration::t_stereo_camera_calibration_alloc().