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The open source OpenXR runtime
a/tracking: Merge ctors for NormalizedCoordsCache
Replaces the individual constructors with one constructor that mimics
the API used by opencv, and takes a distortion_model parameter to
allow use with fisheye distortion models as well.
Part-of: <https://gitlab.freedesktop.org/monado/monado/-/merge_requests/2519>
authored by
Joel-Valenciano
and committed by
Beyley Cardellio
6c193b61
4a6a143f
+15
-43
src/xrt/auxiliary/tracking/t_calibration.cpp
+15
-43
src/xrt/auxiliary/tracking/t_calibration.cpp
···
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#include <opencv2/opencv.hpp>
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#include <sys/stat.h>
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#include <utility>
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#include <stdexcept>
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#if CV_MAJOR_VERSION >= 4
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#define SB_CHEESBOARD_CORNERS_SUPPORTED
···
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}
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NormalizedCoordsCache::NormalizedCoordsCache(cv::Size size, // NOLINT // small, pass by value
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const cv::Matx33d &intrinsics,
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const cv::Matx<double, 5, 1> &distortion)
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t_camera_distortion_model distortion_model,
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cv::InputArray intrinsics,
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cv::InputArray distortion,
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cv::InputArray rectification,
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cv::InputArray new_camera_or_projection_matrix)
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{
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std::vector<cv::Vec2f> outputCoords;
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std::vector<cv::Vec2f> inputCoords = generateInputCoordsAndReserveOutputCoords(size, outputCoords);
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// Undistort/reproject those coordinates in one call, to make use of
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// cached internal/intermediate computations.
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cv::undistortPoints(inputCoords, outputCoords, intrinsics, distortion);
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populateCacheMats(size, inputCoords, outputCoords, cacheX_, cacheY_);
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}
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NormalizedCoordsCache::NormalizedCoordsCache(cv::Size size, // NOLINT // small, pass by value
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const cv::Matx33d &intrinsics,
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const cv::Matx<double, 5, 1> &distortion,
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const cv::Matx33d &rectification,
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const cv::Matx33d &new_camera_matrix)
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{
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std::vector<cv::Vec2f> outputCoords;
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std::vector<cv::Vec2f> inputCoords = generateInputCoordsAndReserveOutputCoords(size, outputCoords);
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// Undistort/reproject those coordinates in one call, to make use of
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// cached internal/intermediate computations.
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cv::undistortPoints(inputCoords, outputCoords, intrinsics, distortion, rectification, new_camera_matrix);
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populateCacheMats(size, inputCoords, outputCoords, cacheX_, cacheY_);
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}
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NormalizedCoordsCache::NormalizedCoordsCache(cv::Size size, // NOLINT // small, pass by value
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const cv::Matx33d &intrinsics,
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const cv::Matx<double, 5, 1> &distortion,
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const cv::Matx33d &rectification,
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const cv::Matx<double, 3, 4> &new_projection_matrix)
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{
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std::vector<cv::Vec2f> outputCoords;
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std::vector<cv::Vec2f> inputCoords = generateInputCoordsAndReserveOutputCoords(size, outputCoords);
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// Undistort/reproject those coordinates in one call, to make use of
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// cached internal/intermediate computations.
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cv::undistortPoints(inputCoords, outputCoords, intrinsics, distortion, rectification, new_projection_matrix);
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populateCacheMats(size, inputCoords, outputCoords, cacheX_, cacheY_);
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}
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NormalizedCoordsCache::NormalizedCoordsCache(cv::Size size, // NOLINT // small, pass by value
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const cv::Mat &intrinsics,
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const cv::Mat &distortion)
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{
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std::vector<cv::Vec2f> outputCoords;
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std::vector<cv::Vec2f> inputCoords = generateInputCoordsAndReserveOutputCoords(size, outputCoords);
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// Undistort/reproject those coordinates in one call, to make use of
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// cached internal/intermediate computations.
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cv::undistortPoints(inputCoords, outputCoords, intrinsics, distortion);
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if (t_camera_distortion_model_is_opencv_fisheye(distortion_model)) {
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cv::fisheye::undistortPoints(inputCoords, outputCoords, intrinsics, distortion, rectification,
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new_camera_or_projection_matrix);
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} else if (t_camera_distortion_model_is_opencv_non_fisheye(distortion_model)) {
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cv::undistortPoints(inputCoords, outputCoords, intrinsics, distortion, rectification,
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new_camera_or_projection_matrix);
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} else {
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throw std::invalid_argument("unsupported distortion model");
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}
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populateCacheMats(size, inputCoords, outputCoords, cacheX_, cacheY_);
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}
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src/xrt/auxiliary/tracking/t_calibration_opencv.hpp
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src/xrt/auxiliary/tracking/t_calibration_opencv.hpp
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* @brief Set up the precomputed cache for a given camera.
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*
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* @param size Size of the image in pixels
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* @param intrinsics Camera intrinsics matrix
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* @param distortion Distortion coefficients
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*
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* This overload applies no rectification (`R`) and uses a
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* normalized/identity new camera matrix (`P`).
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*/
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NormalizedCoordsCache(cv::Size size, const cv::Matx33d &intrinsics, const cv::Matx<double, 5, 1> &distortion);
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/*!
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* @brief Set up the precomputed cache for a given camera (overload for
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* rectification and new camera matrix)
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*
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* @param size Size of the image in pixels
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* @param distortion_model Model used with `distortion`
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* @param intrinsics Camera intrinsics matrix
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* @param distortion Distortion coefficients
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* @param rectification Rectification matrix - corresponds to parameter
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* `R` to cv::undistortPoints().
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* @param new_camera_matrix A 3x3 new camera matrix - corresponds to
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* parameter `P` to cv::undistortPoints().
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* @param new_camera_or_projection_matrix A new 3x3 camera matrix or
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* 3x4 projection matrix - corresponds to parameter `P` to
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* cv::undistortPoints().
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*/
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NormalizedCoordsCache(cv::Size size,
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const cv::Matx33d &intrinsics,
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const cv::Matx<double, 5, 1> &distortion,
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const cv::Matx33d &rectification,
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const cv::Matx33d &new_camera_matrix);
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/*!
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* @brief Set up the precomputed cache for a given camera. (overload for
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* rectification and new projection matrix)
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*
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* @param size Size of the image in pixels
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* @param intrinsics Camera intrinsics matrix
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* @param distortion Distortion coefficients
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* @param rectification Rectification matrix - corresponds to parameter
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* `R` to cv::undistortPoints().
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* @param new_projection_matrix A 3x4 new projection matrix -
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* corresponds to parameter `P` to cv::undistortPoints().
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*/
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NormalizedCoordsCache(cv::Size size,
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const cv::Matx33d &intrinsics,
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const cv::Matx<double, 5, 1> &distortion,
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const cv::Matx33d &rectification,
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const cv::Matx<double, 3, 4> &new_projection_matrix);
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/*!
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* @brief Set up the precomputed cache for a given camera.
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*
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* Less-strongly-typed overload.
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*
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* @overload
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*
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* This overload applies no rectification (`R`) and uses a
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* normalized/identity new camera matrix (`P`).
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*/
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NormalizedCoordsCache(cv::Size size, const cv::Mat &intrinsics, const cv::Mat &distortion);
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t_camera_distortion_model distortion_model,
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cv::InputArray intrinsics,
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cv::InputArray distortion,
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cv::InputArray rectification = cv::noArray(),
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cv::InputArray new_camera_or_projection_matrix = cv::noArray());
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/*!
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* @brief Get normalized, undistorted coordinates from a point in the