t_file.cpp File Reference

Handling of files and calibration data. More...

#include "tracking/t_calibration_opencv.hpp"
#include "util/u_misc.h"

Include dependency graph for t_file.cpp:

Functions
RemapPair	calibration_get_undistort_map (t_camera_calibration &calib, cv::InputArray rectify_transform_optional, cv::Mat new_camera_matrix_optional)
	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)
	Load stereo calibration data from a given file. More...
bool	t_stereo_camera_calibration_save_v1 (FILE *calib_file, struct t_stereo_camera_calibration *data)
	Save the given stereo calibration data to the given file. More...

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

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

Function Documentation

calibration_get_undistort_map()

RemapPair 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

References CameraCalibrationWrapper::distortion_fisheye_mat, CameraCalibrationWrapper::distortion_mat, xrt_size::h, t_camera_calibration::image_size_pixels, CameraCalibrationWrapper::intrinsics_mat, RemapPair::remap_x, RemapPair::remap_y, t_camera_calibration::use_fisheye, and xrt_size::w.

Referenced by StereoRectificationMaps::StereoRectificationMaps().

t_stereo_camera_calibration_load_v1()

bool t_stereo_camera_calibration_load_v1	(	FILE *	calib_file,
		struct t_stereo_camera_calibration **	out_data
	)

Load stereo calibration data from a given file.

References t_stereo_camera_calibration_alloc().

t_stereo_camera_calibration_save_v1()

bool t_stereo_camera_calibration_save_v1	(	FILE *	calib_file,
		struct t_stereo_camera_calibration *	data
	)

Save the given stereo calibration data to the given file.