Add stereographic support

PhotonVision · Jan 6, 2024 · 86ed8ea · 86ed8ea
1 parent fc730d4
commit 86ed8ea
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Showing 2 changed files with 31 additions and 4 deletions.
diff --git a/src/mrcal_wrapper.cpp b/src/mrcal_wrapper.cpp
@@ -360,7 +360,13 @@ mrcal_result::~mrcal_result() {
   return;
 }
 
-bool unproject_mrcal(cv::Mat& src, cv::Mat& dst, cv::Mat& cameraMat, cv::Mat& distCoeffs, CameraLensModel lensModel) {
+bool unproject_mrcal(cv::Mat& src, cv::Mat& dst, cv::Mat& cameraMat, cv::Mat& distCoeffs, CameraLensModel lensModel,
+  // Extra stuff for splined stereographic models
+  uint16_t order,
+  uint16_t Nx,
+  uint16_t Ny,
+  uint16_t fov_x_deg
+) {
 
   mrcal_lensmodel_t mrcal_lensmodel;
   switch (lensModel) {
@@ -370,6 +376,21 @@ bool unproject_mrcal(cv::Mat& src, cv::Mat& dst, cv::Mat& cameraMat, cv::Mat& di
     case CameraLensModel::LENSMODEL_OPENCV8:
       mrcal_lensmodel.type = MRCAL_LENSMODEL_OPENCV8;
       break;
+    case CameraLensModel::LENSMODEL_STEREOGRAPHIC:
+      mrcal_lensmodel.type = MRCAL_LENSMODEL_STEREOGRAPHIC;
+      break;
+    case CameraLensModel::LENSMODEL_SPLINED_STEREOGRAPHIC:
+      mrcal_lensmodel.type = MRCAL_LENSMODEL_SPLINED_STEREOGRAPHIC;
+
+      /* Maximum degree of each 1D polynomial. This is almost certainly 2 */          
+      mrcal_lensmodel.LENSMODEL_SPLINED_STEREOGRAPHIC__config.fov_x_deg = fov_x_deg;
+      /* The horizontal field of view. Not including fov_y. It's proportional with */ 
+      /* Ny and Nx */                                                                 
+      mrcal_lensmodel.LENSMODEL_SPLINED_STEREOGRAPHIC__config.order = order;
+      /* We have a Nx by Ny grid of control points */                                 
+      mrcal_lensmodel.LENSMODEL_SPLINED_STEREOGRAPHIC__config.Nx = Nx;
+      mrcal_lensmodel.LENSMODEL_SPLINED_STEREOGRAPHIC__config.Ny = Ny;
+      break;
     default:
       std::cerr << "Unknown lensmodel\n";
       return false;

diff --git a/src/mrcal_wrapper.h b/src/mrcal_wrapper.h
@@ -75,8 +75,14 @@ std::unique_ptr<mrcal_result> mrcal_main(
 enum class CameraLensModel {
   LENSMODEL_OPENCV5 = 0,
   LENSMODEL_OPENCV8,
-  LENSMODEL_STERIOGRAPHIC,
-  LENSMODEL_SPLIEND_STERIOGRAPHIC
+  LENSMODEL_STEREOGRAPHIC,
+  LENSMODEL_SPLINED_STEREOGRAPHIC
 };
 
-bool unproject_mrcal(cv::Mat& src, cv::Mat& dst, cv::Mat& cameraMat, cv::Mat& distCoeffs, CameraLensModel lensModel);
+bool unproject_mrcal(cv::Mat& src, cv::Mat& dst, cv::Mat& cameraMat, cv::Mat& distCoeffs, CameraLensModel lensModel,
+  // Extra stuff for splined stereographic models
+  uint16_t order,
+  uint16_t Nx,
+  uint16_t Ny,
+  uint16_t fov_x_deg
+);