Calibration code. More...

#include "util/u_sink.h"
#include "util/u_misc.h"
#include "util/u_debug.h"
#include "util/u_frame.h"
#include "util/u_format.h"
#include "util/u_logging.h"
#include "tracking/t_tracking.h"
#include "tracking/t_calibration_opencv.hpp"
#include <opencv2/opencv.hpp>
#include <sys/stat.h>
#include <utility>
#include <stdexcept>

Include dependency graph for t_calibration.cpp:

Data Structures
struct	xrt::auxiliary::tracking::ViewState
	Current state for each view, one view for mono cameras, two for stereo. More...

class	xrt::auxiliary::tracking::Calibration
	Main class for doing calibration. More...

Macros
#define	P(...) snprintf(c.text, sizeof(c.text), __VA_ARGS__)

Typedefs
typedef std::vector< cv::Point3f >	xrt::auxiliary::tracking::ModelF32
	Model of the thing we are measuring to calibrate, 32 bit. More...

typedef std::vector< cv::Point3d >	xrt::auxiliary::tracking::ModelF64
	Model of the thing we are measuring to calibrate, 64 bit. More...

typedef std::vector< cv::Point2f >	xrt::auxiliary::tracking::MeasurementF32
	A measurement of the model as viewed on the camera. More...

typedef std::vector< cv::Point2d >	xrt::auxiliary::tracking::MeasurementF64
	In doubles, because OpenCV can't agree on a single type to use. More...

typedef std::vector< ModelF32 >	xrt::auxiliary::tracking::ArrayOfModelF32s
	For each MeasurementF32 we take we also save the ModelF32. More...

typedef std::vector< ModelF64 >	xrt::auxiliary::tracking::ArrayOfModelF64s
	For each MeasurementF64 we take we also save the ModelF64. More...

typedef std::vector< MeasurementF32 >	xrt::auxiliary::tracking::ArrayOfMeasurementF32s
	A array of MeasurementF32. More...

typedef std::vector< MeasurementF64 >	xrt::auxiliary::tracking::ArrayOfMeasurementF64s
	A array of MeasurementF64. More...

typedef std::vector< cv::Rect >	xrt::auxiliary::tracking::ArrayOfRects
	A array of bounding rects. More...

Functions
static void	xrt::auxiliary::tracking::to_stdout (const char *name, const cv::Mat &mat)

static void	xrt::auxiliary::tracking::refresh_gui_frame (class Calibration &c, int rows, int cols)

static void	xrt::auxiliary::tracking::send_rgb_frame (class Calibration &c)

static void	xrt::auxiliary::tracking::ensure_buffers_are_allocated (class Calibration &c, int rows, int cols)

static void	xrt::auxiliary::tracking::print_txt (cv::Mat &rgb, const char *text, double fontScale)

static void	xrt::auxiliary::tracking::make_gui_str (class Calibration &c)

static void	xrt::auxiliary::tracking::draw_rect (cv::Mat &rgb, const cv::Rect &rect, const cv::Scalar &colour)
	Simple helper to draw a bounding rect. More...

static void	xrt::auxiliary::tracking::do_view_coverage (class Calibration &c, struct ViewState &view, cv::Mat &gray, cv::Mat &rgb, bool found)

static bool	xrt::auxiliary::tracking::do_view_chess (class Calibration &c, struct ViewState &view, cv::Mat &gray, cv::Mat &rgb)

static bool	xrt::auxiliary::tracking::do_view_circles (class Calibration &c, struct ViewState &view, cv::Mat &gray, cv::Mat &rgb)

static bool	xrt::auxiliary::tracking::do_view (class Calibration &c, struct ViewState &view, cv::Mat &gray, cv::Mat &rgb)

static void	xrt::auxiliary::tracking::remap_view (class Calibration &c, struct ViewState &view, cv::Mat &rgb)

static void	xrt::auxiliary::tracking::build_board_position (class Calibration &c)

static void	xrt::auxiliary::tracking::push_model (Calibration &c)

static void	xrt::auxiliary::tracking::push_measurement (ViewState &view)

static bool	xrt::auxiliary::tracking::has_measurement_moved (MeasurementF64 &last, MeasurementF64 &current)
	Returns true if any one of the measurement points have moved. More...

static bool	xrt::auxiliary::tracking::moved_state_check (struct ViewState &view)

static XRT_NO_INLINE void	xrt::auxiliary::tracking::process_stereo_samples (class Calibration &c, int cols, int rows)

static void	xrt::auxiliary::tracking::process_view_samples (class Calibration &c, struct ViewState &view, int cols, int rows)

static void	xrt::auxiliary::tracking::update_public_status (class Calibration &c, bool found)

static void	xrt::auxiliary::tracking::do_capture_logic_mono (class Calibration &c, struct ViewState &view, bool found, cv::Mat &gray, cv::Mat &rgb)
	Logic for capturing a frame. More...

static void	xrt::auxiliary::tracking::do_capture_logic_stereo (class Calibration &c, cv::Mat &gray, cv::Mat &rgb, bool l_found, struct ViewState &l_view, cv::Mat &l_gray, cv::Mat &l_rgb, bool r_found, struct ViewState &r_view, cv::Mat &r_gray, cv::Mat &r_rgb)
	Capture logic for stereo frames. More...

static void	xrt::auxiliary::tracking::make_calibration_frame_mono (class Calibration &c)
	Make a mono frame. More...

static void	xrt::auxiliary::tracking::make_calibration_frame_sbs (class Calibration &c)
	Make a stereo frame side by side. More...

static void	xrt::auxiliary::tracking::make_calibration_frame (class Calibration &c, struct xrt_frame *xf)

static void	xrt::auxiliary::tracking::make_remap_view (class Calibration &c, struct xrt_frame *xf)

static XRT_NO_INLINE void	xrt::auxiliary::tracking::process_frame_l8 (class Calibration &c, struct xrt_frame *xf)

static XRT_NO_INLINE void	xrt::auxiliary::tracking::process_frame_yuv (class Calibration &c, struct xrt_frame *xf)

static XRT_NO_INLINE void	xrt::auxiliary::tracking::process_frame_yuyv (class Calibration &c, struct xrt_frame *xf)

static XRT_NO_INLINE void	xrt::auxiliary::tracking::process_frame_uyvy (class Calibration &c, struct xrt_frame *xf)

static XRT_NO_INLINE void	xrt::auxiliary::tracking::process_frame_rgb (class Calibration &c, struct xrt_frame *xf)

static XRT_NO_INLINE void	xrt::auxiliary::tracking::process_load_image (class Calibration &c, struct xrt_frame *xf)

void	xrt::auxiliary::tracking::t_calibration_frame (struct xrt_frame_sink xsink, struct xrt_frame xf)

int	xrt::auxiliary::tracking::t_calibration_stereo_create (struct xrt_frame_context xfctx, const struct t_calibration_params params, struct t_calibration_status status, struct xrt_frame_sink gui, struct xrt_frame_sink **out_sink)

static std::vector< cv::Vec2f >	xrt::auxiliary::tracking::generateInputCoordsAndReserveOutputCoords (const cv::Size &size, std::vector< cv::Vec2f > &outputCoords)
	Helper for NormalizedCoordsCache constructors. More...

static void	xrt::auxiliary::tracking::populateCacheMats (const cv::Size &size, const std::vector< cv::Vec2f > &inputCoords, const std::vector< cv::Vec2f > &outputCoords, cv::Mat_< float > &cacheX, cv::Mat_< float > &cacheY)
	Helper for NormalizedCoordsCache constructors. More...

Detailed Description

Calibration code.

Author: Pete Black pblac.nosp@m.k@co.nosp@m.llabo.nosp@m.ra.c.nosp@m.om; Jakob Bornecrantz jakob.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m; Rylie Pavlik rylie.nosp@m..pav.nosp@m.lik@c.nosp@m.olla.nosp@m.bora..nosp@m.com

Typedef Documentation

◆ ArrayOfMeasurementF32s

typedef std::vector<MeasurementF32> xrt::auxiliary::tracking::ArrayOfMeasurementF32s

A array of MeasurementF32.

◆ ArrayOfMeasurementF64s

typedef std::vector<MeasurementF64> xrt::auxiliary::tracking::ArrayOfMeasurementF64s

A array of MeasurementF64.

◆ ArrayOfModelF32s

typedef std::vector<ModelF32> xrt::auxiliary::tracking::ArrayOfModelF32s

For each MeasurementF32 we take we also save the ModelF32.

◆ ArrayOfModelF64s

typedef std::vector<ModelF64> xrt::auxiliary::tracking::ArrayOfModelF64s

For each MeasurementF64 we take we also save the ModelF64.

◆ ArrayOfRects

typedef std::vector<cv::Rect> xrt::auxiliary::tracking::ArrayOfRects

A array of bounding rects.

◆ MeasurementF32

typedef std::vector<cv::Point2f> xrt::auxiliary::tracking::MeasurementF32

A measurement of the model as viewed on the camera.

◆ MeasurementF64

typedef std::vector<cv::Point2d> xrt::auxiliary::tracking::MeasurementF64

In doubles, because OpenCV can't agree on a single type to use.

◆ ModelF32

typedef std::vector<cv::Point3f> xrt::auxiliary::tracking::ModelF32

Model of the thing we are measuring to calibrate, 32 bit.

◆ ModelF64

typedef std::vector<cv::Point3d> xrt::auxiliary::tracking::ModelF64

Model of the thing we are measuring to calibrate, 64 bit.

Function Documentation

◆ do_capture_logic_mono()

static void xrt::auxiliary::tracking::do_capture_logic_mono	(	class Calibration &	c,
		struct ViewState &	view,
		bool	found,
		cv::Mat &	gray,
		cv::Mat &	rgb
	)

static

Logic for capturing a frame.

References xrt::auxiliary::tracking::do_capture_logic_mono(), and xrt::auxiliary::tracking::Calibration::num_collect_total.

Referenced by xrt::auxiliary::tracking::do_capture_logic_mono().

◆ do_capture_logic_stereo()

static void xrt::auxiliary::tracking::do_capture_logic_stereo	(	class Calibration &	c,
		cv::Mat &	gray,
		cv::Mat &	rgb,
		bool	l_found,
		struct ViewState &	l_view,
		cv::Mat &	l_gray,
		cv::Mat &	l_rgb,
		bool	r_found,
		struct ViewState &	r_view,
		cv::Mat &	r_gray,
		cv::Mat &	r_rgb
	)

static

Capture logic for stereo frames.

References xrt::auxiliary::tracking::do_capture_logic_stereo(), and xrt::auxiliary::tracking::Calibration::num_collect_total.

Referenced by xrt::auxiliary::tracking::do_capture_logic_stereo().

◆ draw_rect()

static void xrt::auxiliary::tracking::draw_rect	(	cv::Mat &	rgb,
		const cv::Rect &	rect,
		const cv::Scalar &	colour
	)

static

Simple helper to draw a bounding rect.

References xrt::auxiliary::tracking::draw_rect().

Referenced by xrt::auxiliary::tracking::draw_rect().

◆ generateInputCoordsAndReserveOutputCoords()

static std::vector< cv::Vec2f > xrt::auxiliary::tracking::generateInputCoordsAndReserveOutputCoords	(	const cv::Size &	size,
		std::vector< cv::Vec2f > &	outputCoords
	)

inlinestatic

Helper for NormalizedCoordsCache constructors.

References xrt::auxiliary::tracking::generateInputCoordsAndReserveOutputCoords().

Referenced by xrt::auxiliary::tracking::generateInputCoordsAndReserveOutputCoords(), and xrt::auxiliary::tracking::NormalizedCoordsCache::NormalizedCoordsCache().

◆ has_measurement_moved()

static bool xrt::auxiliary::tracking::has_measurement_moved	(	MeasurementF64 &	last,
		MeasurementF64 &	current
	)

static

Returns true if any one of the measurement points have moved.

References xrt::auxiliary::tracking::has_measurement_moved().

Referenced by xrt::auxiliary::tracking::has_measurement_moved().

◆ make_calibration_frame_mono()

static void xrt::auxiliary::tracking::make_calibration_frame_mono ( class Calibration & c )

static

Make a mono frame.

References xrt::auxiliary::tracking::make_calibration_frame_mono().

Referenced by xrt::auxiliary::tracking::make_calibration_frame_mono().

◆ make_calibration_frame_sbs()

static void xrt::auxiliary::tracking::make_calibration_frame_sbs ( class Calibration & c )

static

Make a stereo frame side by side.

References xrt::auxiliary::tracking::make_calibration_frame_sbs().

Referenced by xrt::auxiliary::tracking::make_calibration_frame_sbs().

◆ populateCacheMats()

static void xrt::auxiliary::tracking::populateCacheMats	(	const cv::Size &	size,
		const std::vector< cv::Vec2f > &	inputCoords,
		const std::vector< cv::Vec2f > &	outputCoords,
		cv::Mat_< float > &	cacheX,
		cv::Mat_< float > &	cacheY
	)

inlinestatic

Helper for NormalizedCoordsCache constructors.

References xrt::auxiliary::tracking::populateCacheMats().

Referenced by xrt::auxiliary::tracking::NormalizedCoordsCache::NormalizedCoordsCache(), and xrt::auxiliary::tracking::populateCacheMats().

Data Structures

Macros

Typedefs

Functions

Detailed Description

Typedef Documentation

◆ ArrayOfMeasurementF32s

◆ ArrayOfMeasurementF64s

◆ ArrayOfModelF32s

◆ ArrayOfModelF64s

◆ ArrayOfRects

◆ MeasurementF32

◆ MeasurementF64

◆ ModelF32

◆ ModelF64

Function Documentation

◆ do_capture_logic_mono()

◆ do_capture_logic_stereo()

◆ draw_rect()

◆ generateInputCoordsAndReserveOutputCoords()

◆ has_measurement_moved()

◆ make_calibration_frame_mono()

◆ make_calibration_frame_sbs()

◆ populateCacheMats()