diff options
| -rw-r--r-- | tracker-easy/tracker-easy.cpp | 28 | ||||
| -rw-r--r-- | tracker-kinect-face/camera_kinect_ir.cpp | 16 | ||||
| -rw-r--r-- | video/camera.hpp | 18 |
3 files changed, 30 insertions, 32 deletions
diff --git a/tracker-easy/tracker-easy.cpp b/tracker-easy/tracker-easy.cpp index 84d14db0..0217b07f 100644 --- a/tracker-easy/tracker-easy.cpp +++ b/tracker-easy/tracker-easy.cpp @@ -125,23 +125,25 @@ namespace EasyTracker // Create our camera matrix iCameraMatrix.create(3, 3, CV_64FC1); iCameraMatrix.setTo(cv::Scalar(0)); - iCameraMatrix.at<double>(0, 0) = iCameraInfo.focalLengthX; - iCameraMatrix.at<double>(1, 1) = iCameraInfo.focalLengthY; - iCameraMatrix.at<double>(0, 2) = iCameraInfo.principalPointX; - iCameraMatrix.at<double>(1, 2) = iCameraInfo.principalPointY; + iCameraMatrix.at<double>(0, 0) = iCameraInfo.fx; + iCameraMatrix.at<double>(1, 1) = iCameraInfo.fy; + iCameraMatrix.at<double>(0, 2) = iCameraInfo.P_x; + iCameraMatrix.at<double>(1, 2) = iCameraInfo.P_y; iCameraMatrix.at<double>(2, 2) = 1; // Create distortion cooefficients iDistCoeffsMatrix = cv::Mat::zeros(8, 1, CV_64FC1); // As per OpenCV docs they should be thus: k1, k2, p1, p2, k3, k4, k5, k6 - iDistCoeffsMatrix.at<double>(0, 0) = 0; // Radial first order - iDistCoeffsMatrix.at<double>(1, 0) = iCameraInfo.radialDistortionSecondOrder; // Radial second order - iDistCoeffsMatrix.at<double>(2, 0) = 0; // Tangential first order - iDistCoeffsMatrix.at<double>(3, 0) = 0; // Tangential second order - iDistCoeffsMatrix.at<double>(4, 0) = 0; // Radial third order - iDistCoeffsMatrix.at<double>(5, 0) = iCameraInfo.radialDistortionFourthOrder; // Radial fourth order - iDistCoeffsMatrix.at<double>(6, 0) = 0; // Radial fith order - iDistCoeffsMatrix.at<double>(7, 0) = iCameraInfo.radialDistortionSixthOrder; // Radial sixth order + // 0 - Radial first order + // 1 - Radial second order + // 2 - Tangential first order + // 3 - Tangential second order + // 4 - Radial third order + // 5 - Radial fourth order + // 6 - Radial fifth order + // 7 - Radial sixth order + for (unsigned k = 0; k < 8; k++) + iDistCoeffsMatrix.at<double>(k, 0) = (double)iCameraInfo.dist_c[k]; } @@ -334,7 +336,7 @@ namespace EasyTracker // Create OpenCV matrix from our frame // TODO: Assert channel size is one or two - iMatFrame = cv::Mat(iFrame.height, iFrame.width, CV_MAKETYPE((iFrame.channelSize == 2 ? CV_16U : CV_8U), iFrame.channels), iFrame.data, iFrame.stride); + iMatFrame = cv::Mat(iFrame.height, iFrame.width, CV_MAKETYPE((iFrame.channel_size == 2 ? CV_16U : CV_8U), iFrame.channels), iFrame.data, iFrame.stride); iFrameCount++; bool doPreview = check_is_visible(); diff --git a/tracker-kinect-face/camera_kinect_ir.cpp b/tracker-kinect-face/camera_kinect_ir.cpp index 4d442bf2..a4e6b203 100644 --- a/tracker-kinect-face/camera_kinect_ir.cpp +++ b/tracker-kinect-face/camera_kinect_ir.cpp @@ -105,7 +105,7 @@ namespace Kinect { iFrame.height = iHeight; iFrame.stride = cv::Mat::AUTO_STEP; iFrame.channels = iMatFrame.channels(); - iFrame.channelSize = iMatFrame.elemSize1(); + iFrame.channel_size = iMatFrame.elemSize1(); return { iFrame, new_frame }; } @@ -177,13 +177,13 @@ namespace Kinect { hr = iCoordinateMapper->GetDepthCameraIntrinsics(&intrinsics); if (SUCCEEDED(hr)) { - aInfo.focalLengthX = intrinsics.FocalLengthX; - aInfo.focalLengthY = intrinsics.FocalLengthY; - aInfo.principalPointX = intrinsics.PrincipalPointX; - aInfo.principalPointY = intrinsics.PrincipalPointY; - aInfo.radialDistortionFourthOrder = intrinsics.RadialDistortionFourthOrder; - aInfo.radialDistortionSecondOrder = intrinsics.RadialDistortionSecondOrder; - aInfo.radialDistortionSixthOrder = intrinsics.RadialDistortionSixthOrder; + aInfo.fx = intrinsics.FocalLengthX; + aInfo.fy = intrinsics.FocalLengthY; + aInfo.P_x = intrinsics.PrincipalPointX; + aInfo.P_y = intrinsics.PrincipalPointY; + aInfo.dist_c[1] = intrinsics.RadialDistortionSecondOrder; + aInfo.dist_c[3] = intrinsics.RadialDistortionFourthOrder; + aInfo.dist_c[5] = intrinsics.RadialDistortionSixthOrder; } } diff --git a/video/camera.hpp b/video/camera.hpp index c08fedb1..9ff2821b 100644 --- a/video/camera.hpp +++ b/video/camera.hpp @@ -21,9 +21,8 @@ struct frame final { unsigned char* data = nullptr; // the `stride' member can have a special value of zero, - // signifying equal to width * element size - int width = 0, height = 0, stride = 0, channels = 0; - int channelSize = 1; + // signifying stride equal to width * element size + int width = 0, height = 0, stride = 0, channels = 0, channel_size = 1; }; } // ns video @@ -41,7 +40,7 @@ struct OTR_VIDEO_EXPORT camera_ virtual std::vector<QString> camera_names() const = 0; virtual std::unique_ptr<camera> make_camera(const QString& name) = 0; - [[nodiscard]] virtual bool show_dialog(const QString& camera_name) = 0; + virtual bool show_dialog(const QString& camera_name) = 0; virtual bool can_show_dialog(const QString& camera_name) = 0; }; @@ -49,14 +48,11 @@ struct OTR_VIDEO_EXPORT camera { struct info final { + // TODO: expose FOV-based focal length for regular webcams int width = 0, height = 0, fps = 0; - float focalLengthX = 0.0f; - float focalLengthY = 0.0f; - float principalPointX = 0.0f; - float principalPointY = 0.0f; - float radialDistortionSecondOrder = 0.0f; - float radialDistortionFourthOrder = 0.0f; - float radialDistortionSixthOrder = 0.0f; + float fx = 0, fy = 0; // focal length + float P_x = 0, P_y = 0; // principal point + float dist_c[8] {}; // distortion coefficients }; camera(); |