The open source OpenXR runtime
aux/tracking; st/gui: save/load calibration gui state to file
authored by
Moses Turner
and committed by
Jakob Bornecrantz
7b3378b2
254c233c
+216
-46
+199
src/xrt/auxiliary/tracking/t_data_utils.c
+199
src/xrt/auxiliary/tracking/t_data_utils.c
···
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#include "tracking/t_tracking.h"
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#include "util/u_config_json.h"
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#include "util/u_misc.h"
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#include "util/u_logging.h"
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···
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dump_mat("camera_rotation", c->camera_rotation);
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U_LOG_RAW("}");
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}
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void
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t_calibration_gui_params_parse_from_json(const struct cJSON *params, struct t_calibration_params *p)
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{
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if (params == NULL || p == NULL) {
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return;
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}
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const struct cJSON *c = params; // Less typing
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u_json_get_bool(u_json_get(c, "use_fisheye"), &p->use_fisheye);
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u_json_get_bool(u_json_get(c, "stereo_sbs"), &p->stereo_sbs);
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u_json_get_bool(u_json_get(c, "save_images"), &p->save_images);
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u_json_get_bool(u_json_get(c, "mirror_rgb_image"), &p->mirror_rgb_image);
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u_json_get_int(u_json_get(c, "num_cooldown_frames"), &p->num_cooldown_frames);
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u_json_get_int(u_json_get(c, "num_wait_for"), &p->num_wait_for);
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u_json_get_int(u_json_get(c, "num_collect_total"), &p->num_collect_total);
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u_json_get_int(u_json_get(c, "num_collect_restart"), &p->num_collect_restart);
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u_json_get_bool(u_json_get(u_json_get(c, "load"), "enabled"), &p->load.enabled);
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u_json_get_int(u_json_get(u_json_get(c, "load"), "num_images"), &p->load.num_images);
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const struct cJSON *pattern_j = u_json_get(c, "pattern");
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char *pattern_s = cJSON_GetStringValue(pattern_j);
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if (pattern_s != NULL) {
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if (strcmp(pattern_s, "checkers") == 0) {
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p->pattern = T_BOARD_CHECKERS;
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} else if (strcmp(pattern_s, "sb_checkers") == 0) {
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p->pattern = T_BOARD_SB_CHECKERS;
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} else if (strcmp(pattern_s, "circles") == 0) {
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p->pattern = T_BOARD_CIRCLES;
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} else if (strcmp(pattern_s, "asymmetric_circles") == 0) {
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p->pattern = T_BOARD_ASYMMETRIC_CIRCLES;
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}
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// If we get here that is bad
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}
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{
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const struct cJSON *pat = u_json_get(c, "checkers");
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u_json_get_int(u_json_get(pat, "cols"), &p->checkers.cols);
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u_json_get_int(u_json_get(pat, "rows"), &p->checkers.rows);
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u_json_get_float(u_json_get(pat, "size_meters"), &p->checkers.size_meters);
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u_json_get_bool(u_json_get(pat, "subpixel_enable"), &p->checkers.subpixel_enable);
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u_json_get_int(u_json_get(pat, "subpixel_size"), &p->checkers.subpixel_size);
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}
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{
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const struct cJSON *pat = u_json_get(c, "sb_checkers");
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u_json_get_int(u_json_get(pat, "cols"), &p->sb_checkers.cols);
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u_json_get_int(u_json_get(pat, "rows"), &p->sb_checkers.rows);
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u_json_get_float(u_json_get(pat, "size_meters"), &p->sb_checkers.size_meters);
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u_json_get_bool(u_json_get(pat, "marker"), &p->sb_checkers.marker);
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u_json_get_bool(u_json_get(pat, "normalize_image"), &p->sb_checkers.normalize_image);
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}
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{
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const struct cJSON *pat = u_json_get(c, "circles");
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u_json_get_int(u_json_get(pat, "cols"), &p->circles.cols);
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u_json_get_int(u_json_get(pat, "rows"), &p->circles.rows);
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u_json_get_float(u_json_get(pat, "distance_meters"), &p->circles.distance_meters);
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}
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{
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const struct cJSON *pat = u_json_get(c, "asymmetric_circles");
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u_json_get_int(u_json_get(pat, "cols"), &p->asymmetric_circles.cols);
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u_json_get_int(u_json_get(pat, "rows"), &p->asymmetric_circles.rows);
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u_json_get_float(u_json_get(pat, "diagonal_distance_meters"),
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&p->asymmetric_circles.diagonal_distance_meters);
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}
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}
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void
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t_calibration_gui_params_to_json(struct cJSON **out_json, struct t_calibration_params *p)
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{
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struct cJSON *scene = cJSON_CreateObject();
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cJSON_AddBoolToObject(scene, "use_fisheye", p->use_fisheye);
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cJSON_AddBoolToObject(scene, "stereo_sbs", p->stereo_sbs);
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cJSON_AddBoolToObject(scene, "mirror_rgb_image", p->mirror_rgb_image);
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cJSON_AddBoolToObject(scene, "save_images", p->save_images);
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cJSON_AddNumberToObject(scene, "num_cooldown_frames", p->num_cooldown_frames);
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cJSON_AddNumberToObject(scene, "num_wait_for", p->num_wait_for);
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cJSON_AddNumberToObject(scene, "num_collect_total", p->num_collect_total);
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cJSON_AddNumberToObject(scene, "num_collect_restart", p->num_collect_restart);
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struct cJSON *load = cJSON_AddObjectToObject(scene, "load");
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cJSON_AddBoolToObject(load, "enabled", p->load.enabled);
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cJSON_AddNumberToObject(load, "num_images", p->load.num_images);
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switch (p->pattern) {
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case T_BOARD_CHECKERS: cJSON_AddStringToObject(scene, "pattern", "checkers"); break;
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case T_BOARD_SB_CHECKERS: cJSON_AddStringToObject(scene, "pattern", "sb_checkers"); break;
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case T_BOARD_CIRCLES: cJSON_AddStringToObject(scene, "pattern", "circles"); break;
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case T_BOARD_ASYMMETRIC_CIRCLES: cJSON_AddStringToObject(scene, "pattern", "asymmetric_circles"); break;
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}
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{
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struct cJSON *pat = cJSON_AddObjectToObject(scene, "checkers");
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cJSON_AddNumberToObject(pat, "cols", p->checkers.cols);
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cJSON_AddNumberToObject(pat, "rows", p->checkers.rows);
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cJSON_AddNumberToObject(pat, "size_meters", p->checkers.size_meters);
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cJSON_AddBoolToObject(pat, "subpixel_enable", p->checkers.subpixel_enable);
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cJSON_AddNumberToObject(pat, "subpixel_size", p->checkers.subpixel_size);
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}
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{
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struct cJSON *pat = cJSON_AddObjectToObject(scene, "sb_checkers");
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cJSON_AddNumberToObject(pat, "cols", p->sb_checkers.cols);
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cJSON_AddNumberToObject(pat, "rows", p->sb_checkers.rows);
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cJSON_AddNumberToObject(pat, "size_meters", p->sb_checkers.size_meters);
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cJSON_AddBoolToObject(pat, "marker", p->sb_checkers.marker);
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cJSON_AddBoolToObject(pat, "normalize_image", p->sb_checkers.normalize_image);
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}
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{
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struct cJSON *pat = cJSON_AddObjectToObject(scene, "circles");
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cJSON_AddNumberToObject(pat, "cols", p->circles.cols);
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cJSON_AddNumberToObject(pat, "rows", p->circles.rows);
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cJSON_AddNumberToObject(pat, "distance_meters", p->circles.distance_meters);
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}
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{
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struct cJSON *pat = cJSON_AddObjectToObject(scene, "asymmetric_circles");
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cJSON_AddNumberToObject(pat, "cols", p->asymmetric_circles.cols);
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cJSON_AddNumberToObject(pat, "rows", p->asymmetric_circles.rows);
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cJSON_AddNumberToObject(pat, "diagonal_distance_meters",
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p->asymmetric_circles.diagonal_distance_meters);
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}
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*out_json = scene;
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}
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void
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t_calibration_gui_params_default(struct t_calibration_params *p)
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{
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// Camera config.
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p->use_fisheye = false;
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p->stereo_sbs = true;
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// Which board should we calibrate against.
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p->pattern = T_BOARD_CHECKERS;
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// Checker board.
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p->checkers.cols = 9;
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p->checkers.rows = 7;
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p->checkers.size_meters = 0.025f;
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p->checkers.subpixel_enable = true;
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p->checkers.subpixel_size = 5;
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// Sector based checker board.
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p->sb_checkers.cols = 14;
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p->sb_checkers.rows = 9;
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p->sb_checkers.size_meters = 0.01206f;
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p->sb_checkers.marker = false;
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p->sb_checkers.normalize_image = false;
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// Symmetrical circles.
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p->circles.cols = 9;
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p->circles.rows = 7;
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p->circles.distance_meters = 0.025f;
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// Asymmetrical circles.
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p->asymmetric_circles.cols = 5;
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p->asymmetric_circles.rows = 17;
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p->asymmetric_circles.diagonal_distance_meters = 0.02f;
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// Loading of images.
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p->load.enabled = false;
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p->load.num_images = 20;
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// Frame collection info.
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p->num_cooldown_frames = 20;
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p->num_wait_for = 5;
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p->num_collect_total = 20;
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p->num_collect_restart = 1;
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// Misc.
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p->mirror_rgb_image = false;
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p->save_images = true;
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}
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void
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t_calibration_gui_params_load_or_default(struct t_calibration_params *p)
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{
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t_calibration_gui_params_default(p);
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// Load defaults from file, if it exists. This overwrites the above
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struct u_config_json config_json = {0};
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u_gui_state_open_file(&config_json);
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if (config_json.root != NULL) {
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struct cJSON *scene = u_gui_state_get_scene(&config_json, GUI_STATE_SCENE_CALIBRATE);
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t_calibration_gui_params_parse_from_json(scene, p);
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}
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}
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src/xrt/auxiliary/tracking/t_tracking.h
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src/xrt/auxiliary/tracking/t_tracking.h
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* Sets the calibration parameters to the their default values.
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* @public @memberof t_calibration_params
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*/
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static inline void
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t_calibration_params_default(struct t_calibration_params *p)
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{
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// Camera config.
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p->use_fisheye = false;
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p->stereo_sbs = true;
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void
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t_calibration_gui_params_default(struct t_calibration_params *p);
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// Which board should we calibrate against.
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p->pattern = T_BOARD_CHECKERS;
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void
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t_calibration_gui_params_load_or_default(struct t_calibration_params *p);
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// Checker board.
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p->checkers.cols = 9;
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p->checkers.rows = 7;
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p->checkers.size_meters = 0.025f;
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p->checkers.subpixel_enable = true;
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p->checkers.subpixel_size = 5;
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void
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t_calibration_gui_params_to_json(struct cJSON **out_json, struct t_calibration_params *p);
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// Sector based checker board.
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p->sb_checkers.cols = 14;
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p->sb_checkers.rows = 9;
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p->sb_checkers.size_meters = 0.01206f;
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p->sb_checkers.marker = false;
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p->sb_checkers.normalize_image = false;
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// Symmetrical circles.
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p->circles.cols = 9;
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p->circles.rows = 7;
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p->circles.distance_meters = 0.025f;
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// Asymmetrical circles.
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p->asymmetric_circles.cols = 5;
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p->asymmetric_circles.rows = 17;
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p->asymmetric_circles.diagonal_distance_meters = 0.02f;
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// Loading of images.
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p->load.enabled = false;
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p->load.num_images = 20;
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// Frame collection info.
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p->num_cooldown_frames = 20;
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p->num_wait_for = 5;
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p->num_collect_total = 20;
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p->num_collect_restart = 1;
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// Misc.
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p->mirror_rgb_image = false;
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p->save_images = true;
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}
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void
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t_calibration_gui_params_parse_from_json(const struct cJSON *params, struct t_calibration_params *p);
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/*!
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* @brief Create the camera calibration frame sink.
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src/xrt/state_trackers/gui/gui_scene_calibrate.c
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src/xrt/state_trackers/gui/gui_scene_calibrate.c
···
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return;
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}
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struct u_config_json config_json;
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u_gui_state_open_file(&config_json);
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struct cJSON *new_state;
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t_calibration_gui_params_to_json(&new_state, &cs->params);
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u_gui_state_save_scene(&config_json, GUI_STATE_SCENE_CALIBRATE, new_state);
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cs->base.render = scene_render_video;
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struct xrt_frame_sink *rgb = NULL;
···
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cs->settings = s;
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#ifdef XRT_HAVE_OPENCV
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t_calibration_params_default(&cs->params);
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t_calibration_gui_params_load_or_default(&cs->params);
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/*
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* Pre-quirk some known cameras.