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_file_save_raw_data (FILE *calib_file, struct t_stereo_camera_calibration *data)
bool	t_stereo_camera_calibration_load_v1_hack (struct t_stereo_camera_calibration **out_data)
	Load a stereo calibration struct from a hardcoded place. More...
bool	t_file_save_raw_data_hack (struct t_stereo_camera_calibration *data)
	Save raw calibration data to file, hack until prober has storage for such things. 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 t_camera_calibration::image_size_pixels, and t_camera_calibration::use_fisheye.

Referenced by StereoRectificationMaps::StereoRectificationMaps().

t_file_save_raw_data_hack()

bool t_file_save_raw_data_hack

(

struct t_stereo_camera_calibration *

data

)

Save raw calibration data to file, hack until prober has storage for such things.

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().

Referenced by t_stereo_camera_calibration_load_v1_hack().

t_stereo_camera_calibration_load_v1_hack()

bool t_stereo_camera_calibration_load_v1_hack

(

struct t_stereo_camera_calibration **

out_data

)

Load a stereo calibration struct from a hardcoded place.

Todo:

256 maybe not enough

Todo:

Use multiple env vars?

Todo:

Hardcoded 256

References t_stereo_camera_calibration_load_v1().