t_file.cpp File Reference

Handling of files and calibration data. More...

#include "tracking/t_calibration_opencv.hpp"
#include "util/u_misc.h"
#include "util/u_logging.h"
#include "util/u_json.hpp"
#include "os/os_time.h"

Include dependency graph for t_file.cpp:

Macros
#define	CALIB_TRACE(...)   U_LOG_IFL_T(debug_get_log_option_calib_log(), __VA_ARGS__)
#define	CALIB_DEBUG(...)   U_LOG_IFL_D(debug_get_log_option_calib_log(), __VA_ARGS__)
#define	CALIB_INFO(...)   U_LOG_IFL_I(debug_get_log_option_calib_log(), __VA_ARGS__)
#define	CALIB_WARN(...)   U_LOG_IFL_W(debug_get_log_option_calib_log(), __VA_ARGS__)
#define	CALIB_ERROR(...)   U_LOG_IFL_E(debug_get_log_option_calib_log(), __VA_ARGS__)
#define	CALIB_ASSERT(predicate, ...)
#define	CALIB_ASSERT_(predicate)   CALIB_ASSERT(predicate, "Assertion failed " #predicate)
#define	CALIB_ASSERTR(predicate, ...)
#define	COPY(TO, FROM)
#define	PINHOLE_RADTAN5   "pinhole_radtan5"
#define	FISHEYE_EQUIDISTANT4   "fisheye_equidistant4"

Functions
static bool	read_cv_mat (FILE *f, cv::Mat *m, const char *name)
static bool	write_cv_mat (FILE *f, cv::Mat *m)
RemapPair	xrt::auxiliary::tracking::calibration_get_undistort_map (t_camera_calibration &calib, cv::InputArray rectify_transform_optional=cv::noArray(), cv::Mat new_camera_matrix_optional=cv::Mat())
	Prepare undistortion/normalization remap structures for a rectilinear or fisheye image. More...
bool	t_stereo_camera_calibration_load_v1 (FILE *calib_file, struct t_stereo_camera_calibration **out_data)
static bool	t_stereo_camera_calibration_load_path_v1 (const char *calib_path, struct t_stereo_camera_calibration **out_data)
static bool	load_mat_field (const JSONNode &jn, int rows, int cols, cv::Mat_< double > &out_mat)
	Fills out_mat from a json array stored in jn. More...
template<int rows, int cols>
static XRT_MAYBE_UNUSED bool	load_mat_field (const JSONNode &jn, double(&out_arr)[rows][cols])
	Overload of load_mat_field that saves the result into a 2D C-array. More...
template<int dim>
static XRT_MAYBE_UNUSED bool	load_mat_field (const JSONNode &jn, double(&out_arr)[dim])
	Overload of load_mat_field that saves the result into a 1D C-array. More...
static bool	t_camera_calibration_load_v2 (cJSON *cjson_cam, t_camera_calibration *cc)
bool	t_stereo_camera_calibration_from_json_v2 (cJSON *cjson, struct t_stereo_camera_calibration **out_stereo)
static bool	t_stereo_camera_calibration_load_path_v2 (const char *calib_path, struct t_stereo_camera_calibration **out_stereo)
bool	t_stereo_camera_calibration_save_v1 (FILE *calib_file, struct t_stereo_camera_calibration *data)
static bool	t_stereo_camera_calibration_save_path_v1 (const char *calib_path, struct t_stereo_camera_calibration *data)
static JSONBuilder &	operator<< (JSONBuilder &jb, const cv::Mat_< double > &mat)
	Writes mat data into a jb as a json array. More...
bool	t_stereo_camera_calibration_to_json_v2 (cJSON **out_cjson, struct t_stereo_camera_calibration *data)
static bool	t_stereo_camera_calibration_save_path_v2 (const char *calib_path, struct t_stereo_camera_calibration *data)
static bool	has_json_extension (const char *filename)
bool	t_stereo_camera_calibration_load (const char *calib_path, struct t_stereo_camera_calibration **out_data)
bool	t_stereo_camera_calibration_save (const char *calib_path, struct t_stereo_camera_calibration *data)

Detailed Description

Handling of files and calibration data.

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

Macro Definition Documentation

CALIB_ASSERT

#define CALIB_ASSERT	(		predicate,
			...
	)

Value:

        do {                                                                                                           \
                bool p = predicate;                                                                                    \
                if (!p) {                                                                                              \
                        U_LOG(U_LOGGING_ERROR, __VA_ARGS__);                                                           \
                        assert(false && "CALIB_ASSERT failed: " #predicate);                                           \
                        exit(EXIT_FAILURE);                                                                            \
                }                                                                                                      \
        } while (false);

CALIB_ASSERTR

#define CALIB_ASSERTR	(		predicate,
			...
	)

Value:

        if (!(predicate)) {                                                                                            \
                U_LOG(U_LOGGING_ERROR, __VA_ARGS__);                                                                   \
                return false;                                                                                          \
        }

COPY

#define COPY	(		TO,
			FROM
	)

Value:

        do {                                                                                                           \
                CALIB_ASSERT(FROM.size() == TO.size(), "Sizes doesn't match for " #FROM);                              \
                FROM.copyTo(TO);                                                                                       \
        } while (false)

PINHOLE_RADTAN5

#define PINHOLE_RADTAN5   "pinhole_radtan5"

Todo:

merge these with t_tracking.h

Function Documentation

calibration_get_undistort_map()

RemapPair xrt::auxiliary::tracking::calibration_get_undistort_map	(	t_camera_calibration &	calib,
		cv::InputArray	rectify_transform_optional = cv::noArray(),
		cv::Mat	new_camera_matrix_optional = cv::Mat()
	)

Prepare undistortion/normalization remap structures for a rectilinear or fisheye image.

Parameters

calib	A single camera calibration structure.
rectify_transform_optional	A rectification transform to apply, if desired.
new_camera_matrix_optional	Unlike OpenCV, the default/empty matrix here uses the input camera matrix as your output camera matrix.

Todo:

Scale Our intrinsics if the frame size we request

Todo:

Scale Our intrinsics if the frame size we request

References xrt::auxiliary::tracking::calibration_get_undistort_map(), t_camera_calibration::distortion_model, t_camera_calibration::image_size_pixels, T_DISTORTION_FISHEYE_KB4, and T_DISTORTION_OPENCV_RADTAN_5.

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

load_mat_field() [1/3]

template<int dim>

static XRT_MAYBE_UNUSED bool load_mat_field ( const JSONNode &  jn, double(&)  out_arr[dim]  )

static

Overload of load_mat_field that saves the result into a 1D C-array.

References load_mat_field().

load_mat_field() [2/3]

template<int rows, int cols>

static XRT_MAYBE_UNUSED bool load_mat_field ( const JSONNode &  jn, double(&)  out_arr[rows][cols]  )

static

Overload of load_mat_field that saves the result into a 2D C-array.

References load_mat_field().

load_mat_field() [3/3]

static bool load_mat_field ( const JSONNode &  jn, int  rows, int  cols, cv::Mat_< double > &  out_mat  )

static

Fills out_mat from a json array stored in jn.

Returns true if jn is a valid rows * cols matrix, false otherwise.

Referenced by load_mat_field().

operator<<()

static JSONBuilder & operator<< ( JSONBuilder &  jb, const cv::Mat_< double > &  mat  )

static

Writes mat data into a jb as a json array.

read_cv_mat()

static bool read_cv_mat ( FILE *  f, cv::Mat *  m, const char *  name  )

static

Todo:

We may have written things other than CV_32F and CV_64F.

t_stereo_camera_calibration_from_json_v2()

bool t_stereo_camera_calibration_from_json_v2 ( cJSON *  cjson, struct t_stereo_camera_calibration **  out_stereo  )

related

Todo:

At some point it'll make sense to support different distortion models per-camera, but right now we don't have any cameras like that and the way t_stereo_camera_calib_alloc and (Stereo)CameraCalibrationWrapper work makes it pretty annoying.