#include <k-to-dsm.h>

Public Member Functions
algo_calibration_registers	apply_ac_res_on_dsm_model (const rs2_dsm_params_double &ac_data, const algo_calibration_registers &regs, const ac_to_dsm_dir &type)

los_shift_scaling	convert_ac_data_to_los_error (const algo_calibration_registers &algo_calibration_registers, const rs2_dsm_params_double &ac_data)

rs2_dsm_params_double	convert_new_k_to_DSM (const rs2_intrinsics_double &old_k, const rs2_intrinsics_double &new_k, const z_frame_data &z, std::vector< double3 > &new_vertices, rs2_dsm_params_double const &previous_dsm_params, algo_calibration_registers &new_dsm_regs, data_collect *data=nullptr)

algo_calibration_info const &	get_calibration_info () const

algo_calibration_registers const &	get_calibration_registers () const

const pre_process_data &	get_pre_process_data () const

	k_to_DSM (const rs2_dsm_params_double &orig_dsm_params, algo_calibration_info const &cal_info, algo_calibration_registers const &cal_regs, const double &max_scaling_step)

pre_process_data	pre_processing (const algo_calibration_info &regs, const rs2_dsm_params_double &ac_data, const algo_calibration_registers &algo_calibration_registers, const rs2_intrinsics_double &k_raw, const std::vector< uint8_t > &relevant_pixels_image, data_collect *data=nullptr)

Private Member Functions
std::vector< double3 >	calc_relevant_vertices (const std::vector< uint8_t > &relevant_pixels_image, const rs2_intrinsics_double &k)

double2	convert_k_to_los_error (algo::depth_to_rgb_calibration::algo_calibration_info const &regs, algo_calibration_registers const &dsm_regs, rs2_intrinsics_double const &k_raw, data_collect *data=nullptr)

rs2_dsm_params_double	convert_los_error_to_ac_data (const rs2_dsm_params_double &ac_data, const algo_calibration_registers &dsm_regs, double2 los_shift, double2 los_scaling)

std::vector< double3 >	convert_los_to_norm_vertices (algo::depth_to_rgb_calibration::algo_calibration_info const &regs, algo_calibration_registers const &dsm_regs, std::vector< double2 > los, data_collect *data=nullptr)

std::vector< double2 >	convert_norm_vertices_to_los (const algo_calibration_info &regs, const algo_calibration_registers &algo_calibration_registers, std::vector< double3 > const &vertices, convert_norm_vertices_to_los_data *data=nullptr)

double3	laser_incident_direction (double2 angle_rad)

std::vector< double3x3 >	optimize_k_under_los_error (algo::depth_to_rgb_calibration::algo_calibration_info const &regs, algo_calibration_registers const &dsm_regs, double scaling_grid_x[25], double scaling_grid_y[25])

double2	run_scaling_optimization_step (algo::depth_to_rgb_calibration::algo_calibration_info const &regs, algo_calibration_registers const &dsm_regs, double scaling_grid_x[SIZE_OF_GRID_X], double scaling_grid_y[SIZE_OF_GRID_X], double2 focal_scaling, data_collect *data=nullptr)

std::vector< double3 >	transform_to_direction (std::vector< double3 > const &)

Private Attributes
algo::depth_to_rgb_calibration::algo_calibration_registers	_dsm_regs

double	_max_scaling_step

pre_process_data	_pre_process_data

algo::depth_to_rgb_calibration::algo_calibration_info	_regs

Detailed Description

Definition at line 173 of file k-to-dsm.h.

Constructor & Destructor Documentation

k_to_DSM::k_to_DSM	(	const rs2_dsm_params_double &	orig_dsm_params,
		algo_calibration_info const &	cal_info,
		algo_calibration_registers const &	cal_regs,
		const double &	max_scaling_step
	)

Definition at line 43 of file k-to-dsm.cpp.

Member Function Documentation

algo_calibration_registers k_to_DSM::apply_ac_res_on_dsm_model	(	const rs2_dsm_params_double &	ac_data,
		const algo_calibration_registers &	regs,
		const ac_to_dsm_dir &	type
	)

Definition at line 54 of file k-to-dsm.cpp.

std::vector< double3 > k_to_DSM::calc_relevant_vertices	(	const std::vector< uint8_t > &	relevant_pixels_image,
		const rs2_intrinsics_double &	k
	)

private

Definition at line 663 of file k-to-dsm.cpp.

los_shift_scaling k_to_DSM::convert_ac_data_to_los_error	(	const algo_calibration_registers &	algo_calibration_registers,
		const rs2_dsm_params_double &	ac_data
	)

Definition at line 119 of file k-to-dsm.cpp.

double2 k_to_DSM::convert_k_to_los_error	(	algo::depth_to_rgb_calibration::algo_calibration_info const &	regs,
		algo_calibration_registers const &	dsm_regs,
		rs2_intrinsics_double const &	k_raw,
		data_collect *	data = `nullptr`
	)

private

Definition at line 261 of file k-to-dsm.cpp.

rs2_dsm_params_double k_to_DSM::convert_los_error_to_ac_data	(	const rs2_dsm_params_double &	ac_data,
		const algo_calibration_registers &	dsm_regs,
		double2	los_shift,
		double2	los_scaling
	)

private

Definition at line 326 of file k-to-dsm.cpp.

std::vector< double3 > k_to_DSM::convert_los_to_norm_vertices	(	algo::depth_to_rgb_calibration::algo_calibration_info const &	regs,
		algo_calibration_registers const &	dsm_regs,
		std::vector< double2 >	los,
		data_collect *	data = `nullptr`
	)

private

Definition at line 577 of file k-to-dsm.cpp.

rs2_dsm_params_double k_to_DSM::convert_new_k_to_DSM	(	const rs2_intrinsics_double &	old_k,
		const rs2_intrinsics_double &	new_k,
		const z_frame_data &	z,
		std::vector< double3 > &	new_vertices,
		rs2_dsm_params_double const &	previous_dsm_params,
		algo_calibration_registers &	new_dsm_regs,
		data_collect *	data = `nullptr`
	)

Definition at line 177 of file k-to-dsm.cpp.

std::vector< double2 > k_to_DSM::convert_norm_vertices_to_los	(	const algo_calibration_info &	regs,
		const algo_calibration_registers &	algo_calibration_registers,
		std::vector< double3 > const &	vertices,
		convert_norm_vertices_to_los_data *	data = `nullptr`
	)

private

Definition at line 703 of file k-to-dsm.cpp.

algo_calibration_info const& librealsense::algo::depth_to_rgb_calibration::k_to_DSM::get_calibration_info ( ) const

inline

Definition at line 207 of file k-to-dsm.h.

algo_calibration_registers const& librealsense::algo::depth_to_rgb_calibration::k_to_DSM::get_calibration_registers ( ) const

inline

Definition at line 208 of file k-to-dsm.h.

const pre_process_data & k_to_DSM::get_pre_process_data ( ) const

Definition at line 255 of file k-to-dsm.cpp.

double3 k_to_DSM::laser_incident_direction ( double2 angle_rad )

private

Definition at line 832 of file k-to-dsm.cpp.

std::vector< double3x3 > k_to_DSM::optimize_k_under_los_error	(	algo::depth_to_rgb_calibration::algo_calibration_info const &	regs,
		algo_calibration_registers const &	dsm_regs,
		double	scaling_grid_x[25],
		double	scaling_grid_y[25]
	)

private

Definition at line 500 of file k-to-dsm.cpp.

pre_process_data k_to_DSM::pre_processing	(	const algo_calibration_info &	regs,
		const rs2_dsm_params_double &	ac_data,
		const algo_calibration_registers &	algo_calibration_registers,
		const rs2_intrinsics_double &	k_raw,
		const std::vector< uint8_t > &	relevant_pixels_image,
		data_collect *	data = `nullptr`
	)

Definition at line 151 of file k-to-dsm.cpp.

double2 k_to_DSM::run_scaling_optimization_step	(	algo::depth_to_rgb_calibration::algo_calibration_info const &	regs,
		algo_calibration_registers const &	dsm_regs,
		double	scaling_grid_x[SIZE_OF_GRID_X],
		double	scaling_grid_y[SIZE_OF_GRID_X],
		double2	focal_scaling,
		data_collect *	data = `nullptr`
	)

private

Definition at line 366 of file k-to-dsm.cpp.

std::vector< double3 > k_to_DSM::transform_to_direction ( std::vector< double3 > const & vec )

private

Definition at line 843 of file k-to-dsm.cpp.

Member Data Documentation

algo::depth_to_rgb_calibration::algo_calibration_registers librealsense::algo::depth_to_rgb_calibration::k_to_DSM::_dsm_regs

private

Definition at line 257 of file k-to-dsm.h.

double librealsense::algo::depth_to_rgb_calibration::k_to_DSM::_max_scaling_step

private

Definition at line 260 of file k-to-dsm.h.

pre_process_data librealsense::algo::depth_to_rgb_calibration::k_to_DSM::_pre_process_data

private

Definition at line 253 of file k-to-dsm.h.

algo::depth_to_rgb_calibration::algo_calibration_info librealsense::algo::depth_to_rgb_calibration::k_to_DSM::_regs

private

Definition at line 256 of file k-to-dsm.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation