t_calibration.cpp File Reference

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 "tracking/t_tracking.h"
#include "tracking/t_calibration_opencv.hpp"
#include <opencv2/opencv.hpp>
#include <sys/stat.h>

Include dependency graph for t_calibration.cpp:

Data Structures
struct	ViewState
	Current state for each view, one view for mono cameras, two for stereo. More...
class	Calibration
	Main class for doing calibration. More...

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

Typedefs
typedef std::vector< cv::Point3f >	ModelF32
	Model of the thing we are measuring to calibrate, 32 bit. More...
typedef std::vector< cv::Point3d >	ModelF64
	Model of the thing we are measuring to calibrate, 64 bit. More...
typedef std::vector< cv::Point2f >	MeasurementF32
	A measurement of the model as viewed on the camera. More...
typedef std::vector< cv::Point2d >	MeasurementF64
	In doubles, because OpenCV can't agree on a single type to use. More...
typedef std::vector< ModelF32 >	ArrayOfModelF32s
	For each MeasurementF32 we take we also save the ModelF32. More...
typedef std::vector< ModelF64 >	ArrayOfModelF64s
	For each MeasurementF64 we take we also save the ModelF64. More...
typedef std::vector< MeasurementF32 >	ArrayOfMeasurementF32s
	A array of MeasurementF32. More...
typedef std::vector< MeasurementF64 >	ArrayOfMeasurementF64s
	A array of MeasurementF64. More...
typedef std::vector< cv::Rect >	ArrayOfRects
	A array of bounding rects. More...

Functions
void	t_calibration_frame (struct xrt_frame_sink *xsink, struct xrt_frame *xf)
int	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)
	Create the camera calibration frame sink. 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

Ryan Pavlik ryan..nosp@m.pavl.nosp@m.ik@co.nosp@m.llab.nosp@m.ora.c.nosp@m.om

Macro Definition Documentation

P

#define P

(

...

)

snprintf(c.text, sizeof(c.text), __VA_ARGS__)

Referenced by t_calibration_stereo_create().

Typedef Documentation

ArrayOfMeasurementF32s

typedef std::vector<MeasurementF32> ArrayOfMeasurementF32s

A array of MeasurementF32.

ArrayOfMeasurementF64s

typedef std::vector<MeasurementF64> ArrayOfMeasurementF64s

A array of MeasurementF64.

ArrayOfModelF32s

typedef std::vector<ModelF32> ArrayOfModelF32s

For each MeasurementF32 we take we also save the ModelF32.

ArrayOfModelF64s

typedef std::vector<ModelF64> ArrayOfModelF64s

For each MeasurementF64 we take we also save the ModelF64.

ArrayOfRects

typedef std::vector<cv::Rect> ArrayOfRects

A array of bounding rects.

MeasurementF32

typedef std::vector<cv::Point2f> MeasurementF32

A measurement of the model as viewed on the camera.

MeasurementF64

typedef std::vector<cv::Point2d> MeasurementF64

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

ModelF32

typedef std::vector<cv::Point3f> ModelF32

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

ModelF64

typedef std::vector<cv::Point3d> ModelF64

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

Function Documentation

t_calibration_frame()

void t_calibration_frame	(	struct xrt_frame_sink *	xsink,
		struct xrt_frame *	xf
	)

References Calibration::enabled, and Calibration::load.

Referenced by t_calibration_stereo_create().

t_calibration_stereo_create()

int 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
	)

Create the camera calibration frame sink.

Parameters

xfctx	Context for frame transport.
params	Parameters to use during calibration. Values copied, pointer not retained.
status	Optional pointer to structure for status information. Pointer retained, and pointed-to struct modified.
gui	Frame sink
out_sink	Output: created frame sink.

References t_calibration_params::asymmetric_circles, Calibration::base, Calibration::board, t_calibration_params::checkers, t_calibration_params::circles, t_calibration_params::cols, t_calibration_params::diagonal_distance_meters, Calibration::dims, t_calibration_params::distance_meters, Calibration::enabled, t_calibration_params::enabled, Calibration::gui, Calibration::load, t_calibration_params::load, Calibration::mirror_rgb_image, t_calibration_params::mirror_rgb_image, Calibration::num_collect_restart, t_calibration_params::num_collect_restart, Calibration::num_collect_total, t_calibration_params::num_collect_total, Calibration::num_cooldown_frames, t_calibration_params::num_cooldown_frames, Calibration::num_images, t_calibration_params::num_images, Calibration::num_wait_for, t_calibration_params::num_wait_for, P, Calibration::pattern, t_calibration_params::pattern, xrt_frame_sink::push_frame, t_calibration_params::rows, Calibration::save_images, t_calibration_params::save_images, Calibration::sink, t_calibration_params::size_meters, Calibration::spacing_meters, Calibration::status, Calibration::stereo_sbs, t_calibration_params::stereo_sbs, Calibration::subpixel_enable, t_calibration_params::subpixel_enable, Calibration::subpixel_size, t_calibration_params::subpixel_size, T_BOARD_ASYMMETRIC_CIRCLES, T_BOARD_CHECKERS, T_BOARD_CIRCLES, t_calibration_frame(), Calibration::use_fisheye, and t_calibration_params::use_fisheye.