The open source OpenXR runtime
a/tracking: Make t_camera_models usable from C
Remove C++-isms in the t_camera_models.h header and wrap it
in conditional extern "C" markers.
Part-of: <https://gitlab.freedesktop.org/monado/monado/-/merge_requests/2188>
authored by
Jan Schmidt
and committed by
Marge Bot
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src/xrt/auxiliary/tracking/t_camera_models.h
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src/xrt/auxiliary/tracking/t_camera_models.h
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#include <assert.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*!
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* Floating point parameters for @ref T_DISTORTION_FISHEYE_KB4
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* @ingroup aux_tracking
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};
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const float SQRT_EPSILON = 0.00316; // sqrt(1e-05)
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static const float SQRT_EPSILON = 0.00316; // sqrt(1e-05)
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/*
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* Functions for @ref T_DISTORTION_FISHEYE_KB4 (un)projections
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const float mx = (x - dist->cx) / dist->fx;
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const float my = (y - dist->cy) / dist->fy;
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float theta(0);
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float sin_theta(0);
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float cos_theta(1);
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float theta = 0.0;
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float sin_theta = 0.0;
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float cos_theta = 1.0;
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float thetad = sqrt(mx * mx + my * my);
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float scaling(1);
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float d_func_d_theta(0);
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float scaling = 1.0;
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float d_func_d_theta = 0.0;
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if (thetad > SQRT_EPSILON) {
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theta = kb4_solve_theta(dist, &thetad, &d_func_d_theta);
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}
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static inline void
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rt8_distort(const t_camera_model_params *params,
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const xrt_vec2 *undist,
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xrt_vec2 *dist,
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xrt_matrix_2x2 *d_dist_d_undist)
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rt8_distort(const struct t_camera_model_params *params,
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const struct xrt_vec2 *undist,
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struct xrt_vec2 *dist,
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struct xrt_matrix_2x2 *d_dist_d_undist)
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{
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const float &k1 = params->rt8.k1;
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const float &k2 = params->rt8.k2;
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const float &p1 = params->rt8.p1;
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const float &p2 = params->rt8.p2;
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const float &k3 = params->rt8.k3;
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const float &k4 = params->rt8.k4;
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const float &k5 = params->rt8.k5;
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const float &k6 = params->rt8.k6;
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const float k1 = params->rt8.k1;
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const float k2 = params->rt8.k2;
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const float p1 = params->rt8.p1;
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const float p2 = params->rt8.p2;
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const float k3 = params->rt8.k3;
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const float k4 = params->rt8.k4;
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const float k5 = params->rt8.k5;
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const float k6 = params->rt8.k6;
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const float xp = undist->x;
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const float yp = undist->y;
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return t_camera_models_project(dist, x, _y, _z, out_x, out_y);
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}
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#ifdef __cplusplus
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}
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#endif