Tracking API interface. More...

#include "xrt/xrt_frame.h"
#include "util/u_misc.h"
#include <stdio.h>

Include dependency graph for t_tracking.h:

This graph shows which files directly or indirectly include this file:

Data Structures
struct	t_camera_calibration
	Essential calibration data for a single camera, or single lens/sensor of a stereo camera. More...

struct	t_stereo_camera_calibration
	Stereo camera calibration data to be given to trackers. More...

struct	t_convert_table

struct	t_hsv_filter_color

struct	t_hsv_filter_params

struct	t_hsv_filter_large_table

struct	t_hsv_filter_optimized_table

struct	t_calibration_status

struct	t_calibration_params

#define	XRT_DISTORTION_MAX_DIM (5)
	Maximum size of rectilinear distortion coefficient array. More...

#define	T_HSV_SIZE 32

#define	T_HSV_STEP (256 / T_HSV_SIZE)

#define	T_HSV_DEFAULT_PARAMS()

enum	t_board_pattern { T_BOARD_CHECKERS, T_BOARD_CIRCLES, T_BOARD_ASYMMETRIC_CIRCLES }
	Board pattern type. More...

void	t_stereo_camera_calibration_alloc (struct t_stereo_camera_calibration **calib)
	Allocates a new stereo calibration data, unreferences the old `calib`. More...

void	t_stereo_camera_calibration_destroy (struct t_stereo_camera_calibration *c)
	Only to be called by `t_stereo_camera_calibration_reference`. 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_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...

void	t_convert_fill_table (struct t_convert_table *t)

void	t_convert_make_y8u8v8_to_r8g8b8 (struct t_convert_table *t)

void	t_convert_make_y8u8v8_to_h8s8v8 (struct t_convert_table *t)

void	t_convert_make_h8s8v8_to_r8g8b8 (struct t_convert_table *t)

void	t_convert_in_place_y8u8v8_to_r8g8b8 (uint32_t width, uint32_t height, size_t stride, void *data_ptr)

void	t_convert_in_place_y8u8v8_to_h8s8v8 (uint32_t width, uint32_t height, size_t stride, void *data_ptr)

void	t_convert_in_place_h8s8v8_to_r8g8b8 (uint32_t width, uint32_t height, size_t stride, void *data_ptr)

void	t_hsv_build_convert_table (struct t_hsv_filter_params params, struct t_convert_table t)

void	t_hsv_build_large_table (struct t_hsv_filter_params params, struct t_hsv_filter_large_table t)

void	t_hsv_build_optimized_table (struct t_hsv_filter_params params, struct t_hsv_filter_optimized_table t)

int	t_hsv_filter_create (struct xrt_frame_context xfctx, struct t_hsv_filter_params params, struct xrt_frame_sink sinks[4], struct xrt_frame_sink *out_sink)

int	t_psmv_start (struct xrt_tracked_psmv *xtmv)

int	t_psmv_create (struct xrt_frame_context xfctx, struct xrt_colour_rgb_f32 rgb, struct t_stereo_camera_calibration data, struct xrt_tracked_psmv out_xtmv, struct xrt_frame_sink *out_sink)

int	t_psvr_start (struct xrt_tracked_psvr *xtvr)

int	t_psvr_create (struct xrt_frame_context xfctx, struct t_stereo_camera_calibration data, struct xrt_tracked_psvr out_xtvr, struct xrt_frame_sink out_sink)

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...

int	t_convert_yuv_or_yuyv_create (struct xrt_frame_sink next, struct xrt_frame_sink *out_sink)

int	t_debug_hsv_picker_create (struct xrt_frame_context xfctx, struct xrt_frame_sink passthrough, struct xrt_frame_sink **out_sink)

int	t_debug_hsv_viewer_create (struct xrt_frame_context xfctx, struct xrt_frame_sink passthrough, struct xrt_frame_sink **out_sink)

int	t_debug_hsv_filter_create (struct xrt_frame_context xfctx, struct xrt_frame_sink passthrough, struct xrt_frame_sink **out_sink)

Detailed Description

Tracking API interface.

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

◆ T_HSV_DEFAULT_PARAMS

#define T_HSV_DEFAULT_PARAMS ( )

Value:

{                                                                      \
                {                                                              \
                    {165, 30, 160, 100},                                       \
                    {135, 30, 160, 100},                                       \
                    {95, 30, 160, 100},                                        \
                },                                                             \
                    {128, 80},                                                 \
        }

◆ XRT_DISTORTION_MAX_DIM

#define XRT_DISTORTION_MAX_DIM (5)

Maximum size of rectilinear distortion coefficient array.

Referenced by CameraCalibrationWrapper::isDataStorageValid().

Enumeration Type Documentation

◆ t_board_pattern

enum t_board_pattern

Board pattern type.

Function Documentation

◆ 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.